CN114532942A - Endoscope auxiliary operation device and control method thereof - Google Patents
Endoscope auxiliary operation device and control method thereof Download PDFInfo
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- CN114532942A CN114532942A CN202210187577.2A CN202210187577A CN114532942A CN 114532942 A CN114532942 A CN 114532942A CN 202210187577 A CN202210187577 A CN 202210187577A CN 114532942 A CN114532942 A CN 114532942A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 62
- 238000003780 insertion Methods 0.000 claims abstract description 42
- 230000037431 insertion Effects 0.000 claims abstract description 42
- 238000005452 bending Methods 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 67
- 230000009471 action Effects 0.000 claims description 28
- 230000033001 locomotion Effects 0.000 claims description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 238000002347 injection Methods 0.000 claims description 5
- 239000007924 injection Substances 0.000 claims description 5
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 description 9
- 230000036544 posture Effects 0.000 description 8
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000001839 endoscopy Methods 0.000 description 2
- 231100000915 pathological change Toxicity 0.000 description 2
- 230000036285 pathological change Effects 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 210000001035 gastrointestinal tract Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00066—Proximal part of endoscope body, e.g. handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
- A61B1/015—Control of fluid supply or evacuation
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- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
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- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
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- Optics & Photonics (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Signal Processing (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Endoscopes (AREA)
Abstract
The invention relates to the technical field of medical instruments, in particular to an endoscope auxiliary operation device and a control method thereof, which comprises an operation part auxiliary device and an insertion part feeding device, wherein the operation part auxiliary device and the insertion part feeding device act on an endoscope; the auxiliary device of the operating part is used for controlling the bending part to deflect up and down and left and right, and comprises a concentric driving mechanism for driving a rotating wheel I and a rotating wheel II to rotate, and the concentric driving mechanism is respectively connected with the rotating wheel I and the rotating wheel II; the insertion part feeding device is used for driving the insertion part to move back and forth, and comprises a spacing adjusting mechanism used for adjusting the size of the insertion part, so that the technical problems that an endoscope auxiliary operation device in the prior art is poor in control precision, incapable of acquiring the posture and the position of a tip part in real time, poor in control safety and low in applicability are solved.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an endoscope auxiliary operation device and a control method thereof.
Background
The endoscope examination is an optical instrument examination which is sent into the body from the outside of the body through a natural cavity of the human body to examine internal diseases, can directly observe the pathological changes of the internal cavity of the viscera, determine the position and the range of the pathological changes, and can carry out photography, biopsy or brushing, thereby greatly improving the diagnosis accuracy of the cancer and carrying out certain treatments; the prior traditional endoscope has the following problems during operation: firstly, the traditional operation mode can not accurately control the angle deflection, the inflation and water absorption functions of the tip part and the feeding action of the insertion part, and the labor intensity of a doctor is high; the traditional endoscope operation cannot feed back the angle deflection condition of the tip part and the movement condition of the insertion part in real time, so that a doctor cannot judge the posture and the position of the tip part in the intestinal tract; the operation safety is poor, and no countermeasure is taken when the stress exceeds the safety value under extreme conditions, so that the patient is easily injured; and fourthly, the traditional endoscope auxiliary operation device cannot be suitable for insertion parts with different diameters and has low application degree.
Disclosure of Invention
The invention provides an endoscope auxiliary operation device and a control method thereof, aiming at overcoming the defects in the prior art, and solving the technical problems that the endoscope auxiliary operation device in the prior art is poor in control precision, incapable of acquiring the posture and position of a tip part in real time, poor in control safety and low in applicability.
The technical scheme for solving the technical problems is as follows: an endoscope auxiliary operation device includes an operation portion auxiliary device and an insertion portion feeding device which act on an endoscope;
the operation part auxiliary device is used for controlling the bending part to deflect up and down, left and right, and comprises a concentric driving mechanism for driving a rotating wheel I and a rotating wheel II to rotate, the concentric driving mechanism is respectively connected with the rotating wheel I and the rotating wheel II, the rotation of the rotating wheel I and the rotating wheel II is automatically controlled by arranging the concentric driving mechanism, the whole device occupies small space, and the occupied degree of the space of an operation place and the usable length of an insertion part of an endoscope is low;
the insertion part feeding device is used for driving the insertion part to move back and forth, the insertion part feeding device comprises a distance adjusting mechanism used for adjusting the size of the insertion part, the distance adjusting mechanism is arranged, the insertion part can be guaranteed to move back and forth, meanwhile, the adjustment distance is achieved to be suitable for insertion parts of different sizes, and the application range is wider.
Further, concentric actuating mechanism includes I actuating mechanism of runner and II actuating mechanism of runner, and I actuating mechanism of this runner includes rotary driving spare I, and this rotary driving spare I drives I rotations of runner through I drive wheel control piece of drive mechanism, II actuating mechanism of runner include rotary driving spare II, and this rotary driving spare II drives II rotations of runner through II drive wheel control pieces of drive mechanism II, II concentric installations of runner control piece I and runner control piece.
Further, runner control piece I and runner I realize synchronous rotation through shaping, friction, joint or centre gripping mode, synchronous rotation is realized through shaping, friction, joint or centre gripping mode to runner control piece II and runner II, can realize the synchronous rotation of runner control piece and corresponding runner through adopting above-mentioned mode to improve the operation precision.
Further, the transmission mechanism I and the transmission mechanism II are in gear transmission, belt transmission or worm and gear transmission.
Furthermore, the rotary driving piece I and the rotary driving piece II adopt a rotary motor or a rotary oil cylinder.
Further, the transmission mechanism I comprises an active transmission part I which is driven by a rotary driving part I to rotate, a torque limiter I is coaxially arranged between the rotary driving part I and the active transmission part I, the active transmission part I and a passive transmission part I are installed in a meshed mode, and the passive transmission part I and the rotary wheel control part I are installed in a synchronous rotating mode; the transmission mechanism II comprises an active transmission part II driven by a rotary driving part II to rotate, a torque limiter II is coaxially arranged between the rotary driving part II and the active transmission part II, the active transmission part II is meshed with a passive transmission part II, the passive transmission part II and the rotary wheel control part II are synchronously rotated and arranged, and by adopting the torque limiter, if the stress of the tip part exceeds a safety value under an extreme condition, a countermeasure is taken, so that the injury to a patient is not easily caused, and the operation safety is improved.
Further, I coaxial arrangement transmission shaft I of passive driving medium, this transmission shaft I pass through I rotation of bearing and install on the shell an, I coaxial arrangement of runner control piece and transmission shaft, II rotation of passive driving medium pass through II rotation of bearing and install on the shell an, rotary driving piece I and rotary driving piece II are all installed on shell an, and this shell an and endoscope are all installed on the base.
Furthermore, the insertion part feeding device also comprises a feeding power part, a driving friction wheel and a driven friction wheel, wherein the driving friction wheel is driven by the feeding power part to rotate, the driven friction wheel is installed on the interval adjusting mechanism, a gap for the insertion part to pass through is reserved between the driving friction wheel and the driven friction wheel, the gap is adjusted through the interval adjusting mechanism, and the problem that the tip of the endoscope is difficult to place between the two friction wheels due to the fact that the interval between the driving friction wheel and the driven friction wheel is too small or sufficient pressing force is difficult to provide for driving the insertion part of the endoscope to move due to the fact that the interval between the driving friction wheel and the driven friction wheel is too large is solved.
Further, the distance adjusting mechanism comprises a driven wheel supporting frame which is installed on the shell b through an elastic component, a driven friction wheel is installed on the driven wheel supporting frame in a rotating mode, the distance between the driven friction wheel and the driving friction wheel is adjusted under the elastic action of the elastic component of the driven wheel supporting frame, the driven wheel supporting frame is installed with the feeding power part in a sliding mode through a sliding mechanism, the elastic component can adopt a spring, pressing force between the driving friction wheel and the driven friction wheel can be guaranteed through the arrangement of the elastic component, and meanwhile the fact that a tip part is placed fast can be achieved to improve operation efficiency.
Furthermore, slide mechanism is including installing the slide rail on shell b and the slider of slidable mounting on the slide rail, and this slider is installed on driven wheel support frame, still install the actuating lever on the driven wheel support frame, the other end of this actuating lever passes shell b and extends to the shell b outside, through setting up the actuating lever, when needing to increase the clearance between two friction pulleys, can stimulate the actuating lever to make driven wheel support frame remove in order to place the leading-end portion fast towards the direction of keeping away from the action wheel support frame, and structural design is nimble easy to operate.
Furthermore, a boss for installing an elastic component is arranged on the driven wheel support frame, an adjusting piece is detachably installed on the shell b, and a rod part of the adjusting piece is connected with the elastic component.
Further, the driving friction wheel is rotatably installed on the driving wheel support frame, the driving wheel support frame is installed on the shell b, the driving friction wheel is connected with the feeding power part through an output shaft transmission part shaft, and the feeding power part is further provided with an encoder in signal connection with the feeding power part.
Further, still including being used for driving button I and button II's sharp power unit respectively, button I and button II control the gas injection and the function that absorbs water of tip respectively, button I and button II carry out sharp reciprocating motion through the sharp power unit drive that installs on shell an respectively, through adopting the sharp action of sharp power unit control button I and button II, convenient and fast, labour saving and time saving is favorable to realizing automatic control, install the bolster between sharp power unit and the shell an, this bolster has the impact force of reducing, carries out the function of auxiliary fixation to the position of straight power unit.
The gesture feedback control device comprises a control center, a control signal end, a signal display part and a data display part, wherein the control signal end, the signal display part and the data display part are respectively in signal connection with the control center;
the control center is used for receiving action signals of a control signal end, sending the action signals to a linear power driving part of a button I and a button II, a rotary driving part I and a rotary driving part II of an operation part auxiliary device and a feeding power part of an insertion part feeding device, receiving rotation angle data of the rotary driving part I and the rotary driving part II and moving length data of the feeding power part, sending the action signals to a signal display part for state display, feeding the data back to the data display part for data display, and acquiring the state of each power part and deflection angle and length displacement of a bending part in real time by arranging a posture feedback control device for data and signal display, so that the posture and the position of the endoscope in a cavity can be known in time during operation, and the life safety of a patient cannot be threatened due to error of an operator, the safety of the operation is improved.
A control method of an auxiliary operation device for endoscopy comprises the steps of receiving rotation angle data of a rotary driving piece I and a rotary driving piece II and movement length data of a feeding power part through a control center, and then transmitting the data to a data display part for displaying.
Further, the control method comprises the step of sending action signals to the rotary driving piece I, the rotary driving piece II, the feeding power part and the linear power driving parts of the button I and the button II through the control signal end, the rotary driving piece I and the rotary driving piece II are respectively used for controlling the rotating wheel I and the rotating wheel II to rotate, so that the upper deflection, the lower deflection, the left deflection and the right deflection of the bending part are realized, the feeding power part is used for controlling the driving friction wheel to rotate, the inserting part is driven to move back and forth under the friction force of the driving friction wheel and the driven friction wheel, the linear power driving part is used for driving the button I and the button II to do linear motion, and then the gas injection and water absorption actions of the front end part are realized.
Further, the control method also comprises the step of sending the states of all the components to a signal display part through the control center so as to realize the running states of all the components.
The control method has the beneficial effects that: the signal control end sends an action signal to the control center, and then the control center sends an instruction, so that the action of each power part is automatically controlled, the up-down and left-right deviation of the bending part of the endoscope and the back-and-forth movement of the insertion part are realized, the action data of each power part are collected and displayed at the same time, and the action of the endoscope is accurately controlled.
Drawings
FIG. 1 is a schematic view of a prior art endoscope;
FIG. 2 is a partial schematic view of a prior art endoscope;
FIG. 3 is a schematic diagram of the overall structure of an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an auxiliary device of an operation portion according to an embodiment of the present invention;
fig. 5 is a schematic top view of the operating portion auxiliary device in fig. 4;
FIG. 6 is a cross-sectional view taken at A-A of FIG. 5;
FIG. 7 is a cross-sectional view taken at B-B of FIG. 5;
fig. 8 is an external configuration view of an insertion portion feeding device according to an embodiment of the present invention;
fig. 9 is a schematic view of the internal structure of the insertion section feeding device according to the embodiment of the present invention.
In the figure, 1, a base, 2, an endoscope, 21, an insertion part, 22, a bending part, 23, a tip part, 24, a rotating wheel I, 25, a rotating wheel II, 3, an insertion part feeding device, 301, a feeding power part, 302, an encoder, 303, a driving wheel supporting frame, 304, an output shaft transmission part, 305, a driving friction wheel, 306, a driven friction wheel, 307, a sliding rail, 308, a sliding block, 309, an elastic part, 310, a driving rod, 311, an adjusting part, 312, a driven wheel supporting frame, 4, a shell a, 50, a rotary driving part I, 51, a torque limiter I, 52, a driving transmission part I, 53, a driven transmission part I, 54, a bearing I, 55, a transmission shaft I, 56, a rotating wheel control part I, 61, a rotary driving part II, 62, a torque limiter II, 63, a driving transmission part II, 64, a bearing II, 65, a rotating wheel control part II, 66, a driven transmission part II, 7, a button I, 8. button II, 9, shell b, 10, linear power component, 11, buffer.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1-2, a conventional endoscope 2 is generally composed of a wheel i 24, a wheel ii 25, a button i 7, a button ii 8, an insertion portion 21, a bending portion 23, and a tip portion 23, the wheel i 24 and the wheel ii 25 of the endoscope 2 can drive the bending portion 22 to deflect up and down and left and right by rotation, and the button i 7 and the button ii 8 control the air injection and water suction functions of the tip portion 23.
Referring to fig. 3 and 4, the present embodiment provides an endoscope auxiliary operation device, which includes an operation portion auxiliary device acting on a wheel i 24 and a wheel ii 25 of an endoscope 2, an insertion portion feeding device 3 acting on an insertion portion 21 of the endoscope 2, a linear power unit 10 for driving a button i 7 and a button ii 8, respectively, and a posture feedback control device for sending a control signal and receiving data feedback.
The button I7 and the button II 8 respectively control the gas injection and water absorption functions of the tip part 23, the button I7 and the button II 8 are respectively driven to do linear reciprocating motion by the linear power component 10 arranged on the shell a4, the linear motion of the button I7 and the button II 8 is controlled by the linear power component 10, the button I7 and the button II 8 are convenient, quick, time-saving and labor-saving, and automatic control can be realized, and the linear power component 10 can adopt a linear motor, an air cylinder or a hydraulic cylinder and the like; a cushion member 11 is attached between the linear power element 10 and the case a4, and the cushion member 11 has a function of reducing an impact force and assisting in fixing the position of the linear power element 10.
Referring to fig. 4-6, the operation portion auxiliary device is used for controlling the bending portion 22 to deflect up and down and left and right, and comprises a concentric driving mechanism for driving a turning wheel i 24 and a turning wheel ii 25 to rotate, the concentric driving mechanism is respectively connected with the turning wheel i 24 and the turning wheel ii 25, the rotation of the turning wheel i 24 and the turning wheel ii 25 is automatically controlled by arranging the concentric driving mechanism, the whole device occupies a small space, and the occupied degree of the space of an operation site and the usable length of the insertion portion 21 of the endoscope 3 is low;
referring to fig. 6 and 7, the concentric driving mechanism comprises a driving mechanism I of a rotating wheel and a driving mechanism II of the rotating wheel, the driving mechanism I of the rotating wheel comprises a rotary driving part I50, the rotary driving part I50 drives a rotating wheel control part I56 to drive the rotating wheel I24 to rotate through a transmission mechanism I, the driving mechanism II of the rotating wheel comprises a rotary driving part II 61, the rotary driving part II 61 drives a rotating wheel control part II 65 through a transmission mechanism II to drive the rotating wheel II 25 to rotate, and the rotating wheel control part I56 and the rotating wheel control part II 65 are concentrically installed. The synchronous rotation of the rotating wheel control piece I56 and the rotating wheel I24 is realized through a forming mode, a friction mode, a clamping mode or a clamping mode, the synchronous rotation of the rotating wheel control piece II 65 and the rotating wheel II 25 is realized through a forming mode, a friction mode, a clamping mode or a clamping mode, the synchronous rotation of the rotating wheel control piece and the corresponding rotating wheel can be realized through the adoption of the mode, and therefore the operation precision is improved. The transmission mechanism I and the transmission mechanism II are in gear transmission, belt transmission or worm and gear transmission. The rotary driving piece I50 and the rotary driving piece II 61 adopt a rotary motor or a rotary oil cylinder. The transmission mechanism I comprises an active transmission piece I52 driven by a rotary driving piece I50 to rotate, a torque limiter I51 is coaxially arranged between the rotary driving piece I50 and the active transmission piece I52, the active transmission piece I52 and a passive transmission piece I53 are installed in a meshed mode, and the passive transmission piece I53 and a rotary wheel control piece I56 are installed in a synchronous rotating mode; the transmission mechanism II comprises an active transmission part II 63 driven by a rotary driving part II 61 to rotate, a torque limiter II 62 is coaxially arranged between the rotary driving part II 61 and the active transmission part II 63, the active transmission part II 63 and a passive transmission part II 66 are installed in a meshed mode, the passive transmission part II 66 and a rotary wheel control part II 65 are installed in a synchronous rotating mode, and due to the adoption of the torque limiter, measures are taken occasionally if the stress of the tip part exceeds a safety value under extreme conditions, the injury to a patient is not prone to occurring, and the operation safety is improved. The driven transmission piece I53 is coaxially provided with a transmission shaft I55, the transmission shaft I55 is rotatably arranged on a shell a4 through a bearing I54, the rotating wheel control piece I56 is coaxially arranged with the transmission shaft I55, the driven transmission piece II 66 is rotatably arranged on a shell a4 through a bearing II 64, the rotary driving piece I50 and the rotary driving piece II 61 are both arranged on the shell a4, and the shell a4 and the endoscope 2 are both arranged on the base 1.
Referring to fig. 8 and 9, the inserting portion feeding device 3 is used for driving the inserting portion 21 to move back and forth, and the inserting portion feeding device includes a spacing adjusting mechanism for adjusting the size of the inserting portion 21, and by providing the spacing adjusting mechanism, the inserting portion 21 can be driven to move back and forth, and meanwhile, the adjusting spacing can be achieved to be suitable for inserting portions 21 of different sizes, so that the application range is wider.
Referring to fig. 9, the insertion portion feeding device 3 further includes a feeding power portion 301, a driving friction wheel 305 driven by the feeding power portion 301 to rotate, and a driven friction wheel 306 mounted on the spacing adjustment mechanism, wherein a gap for the insertion portion to pass through is left between the driving friction wheel 305 and the driven friction wheel 306, the gap is adjusted by the spacing adjustment mechanism, and by providing the spacing adjustment mechanism, the problem that it is difficult to place the distal end portion 23 of the endoscope 2 between the driving friction wheel 305 and the driven friction wheel 306 due to too small spacing or to provide enough pressing force to drive the insertion portion 21 of the endoscope 2 to move due to too large spacing is avoided, so that the practicability is stronger, the operation is facilitated, and the time and labor are saved. The spacing adjusting mechanism comprises a driven wheel supporting frame 312 which is installed on a shell b9 through an elastic component 309, a driven friction wheel 306 is installed on the driven wheel supporting frame 312 in a rotating mode, the driven wheel supporting frame 312 achieves distance adjustment between the driven friction wheel 306 and the driving friction wheel 305 under the action of elastic force of the elastic component 309, the driven wheel supporting frame 312 is installed in a sliding mode relative to the feeding power portion 301 through a sliding mechanism, the elastic component 309 can be a spring, pressing force between the driving friction wheel 305 and the driven friction wheel 306 can be guaranteed through the arrangement of the elastic component 309, and meanwhile the tip portion 23 can be placed fast to improve operation efficiency. The sliding mechanism comprises a sliding rail 307 arranged on a shell b9 and a sliding block 308 arranged on the sliding rail 307 in a sliding manner, the sliding block 308 is arranged on a driven wheel supporting frame 312, a driving rod 310 is further arranged on the driven wheel supporting frame 312, the other end of the driving rod 310 penetrates through a shell b9 and extends to the outside of the shell b9, and by arranging the driving rod 310, when the gap between two friction wheels needs to be enlarged, the driving rod 310 can be pulled to enable the driven wheel supporting frame 312 to move towards the direction far away from a driving wheel supporting frame 303 so as to quickly place the front end part 23, and the structure design is flexible and easy to operate. The driven wheel support frame 312 is provided with a boss for mounting the elastic component 309, the shell b9 is detachably provided with an adjusting piece 311, and the rod part of the adjusting piece 311 is connected with the elastic component 309. The driving friction wheel 305 is rotatably installed on a driving wheel support frame 303, the driving wheel support frame 303 is installed on a shell b9, the driving friction wheel 305 and the feeding power part 301 are connected through an output shaft transmission member 304, and the feeding power part 301 is further provided with an encoder 302 in signal connection with the driving friction wheel 305.
The attitude feedback control device comprises a control center, a control signal end, a signal display part and a data display part, wherein the control signal end, the signal display part and the data display part are respectively in signal connection with the control center; the control center is used for receiving action signals of a control signal end, sending the action signals to a linear power driving part of a button I7 and a button II 8, a rotary driving part I50 and a rotary driving part II 61 of an operation part auxiliary device and a feeding power part 301 of an insertion part feeding device 3, receiving rotation angle data of the rotary driving part I50 and the rotary driving part II 61 and moving length data of the feeding power part 301, sending the action signals to a signal display part for state display, feeding the data back to the data display part for data display, and acquiring the states of all power parts and deflection angles and length displacements of bending parts in real time by arranging a posture feedback control device for data and signal display so as to facilitate timely knowing the posture and the position of the endoscope in a cavity during operation, the life safety of the patient cannot be threatened due to the error of the operator, and the operation safety is improved.
The control method of the auxiliary operation device for the endoscopy comprises the steps of receiving rotation angle data of a rotary driving piece I50 and a rotary driving piece II 61 and movement length data of a feeding power part 301 through a control center, transmitting the data to a data display part for displaying, sending action signals to a linear power driving part of the rotary driving piece I50, the rotary driving piece II 61, the feeding power part 301, a button I7 and a button II 8 through a control signal end, realizing that the rotary driving piece I50 and the rotary driving piece II 61 respectively control the rotation of the rotating wheel I7 and the rotating wheel II 8, thereby realizing the vertical and horizontal deflection of the bending part 22, realizing that the feeding power part 301 controls a driving friction wheel 305 to rotate, and driving an inserting part 21 to move back and forth under the friction force of the driving friction wheel 305 and a driven friction wheel 306, the control method further comprises the step of sending the states of all the parts to the signal display part through the control center so as to realize the running states of all the parts.
The control method has the beneficial effects that: the signal control end sends an action signal to the control center, and then the control center sends an instruction, so that the action of each power part is automatically controlled, the up-down and left-right deviation of the bending part 22 of the endoscope 2 and the back-and-forth movement of the insertion part 21 are realized, and the action data of each power part are collected and displayed simultaneously, so that the action of the endoscope is accurately controlled, the traditional manual operation mode of a doctor is replaced, the labor intensity of the doctor is greatly reduced, the postures and the positions of the tip part 23 and the insertion part 21 of the endoscope 2 can be obtained in real time, the operation of the endoscope 2 is accurately mastered, the injury to a patient caused by the condition that the endoscope 2 cannot be obtained in time is avoided, and the operation safety is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (12)
1. An endoscope-assisted operation device characterized in that: comprises an operation part auxiliary device and an insertion part feeding device;
the auxiliary device of the operating part is used for controlling the bending part to deflect up and down and left and right, and comprises a concentric driving mechanism for driving a rotating wheel I and a rotating wheel II to rotate, and the concentric driving mechanism is respectively connected with the rotating wheel I and the rotating wheel II;
the insertion part feeding device is used for driving the insertion part to move back and forth, and comprises a spacing adjusting mechanism used for adjusting the size of the insertion part.
2. An endoscope-assisted operation device according to claim 1, characterized in that: concentric actuating mechanism includes I actuating mechanism of runner and II actuating mechanism of runner, and I actuating mechanism of this runner includes rotary driving spare I, and this rotary driving spare I drives I rotations of runner through I drive mechanism drive runner control piece I, II actuating mechanism of runner include rotary driving spare II, and this rotary driving spare II drives II rotations of runner through II drive mechanism drive runner control pieces II, I and II concentric installations of runner control piece.
3. An endoscope-assisted operation device according to claim 2, characterized in that: the rotating wheel control piece I and the rotating wheel I are synchronously rotated in a forming mode, a friction mode, a clamping mode or a clamping mode, and the rotating wheel control piece II and the rotating wheel II are synchronously rotated in a forming mode, a friction mode, a clamping mode or a clamping mode.
4. An endoscope operation aid according to claim 2 or 3 and wherein: the transmission mechanism I comprises an active transmission part I driven by a rotary driving part I to rotate, a torque limiter I is coaxially arranged between the rotary driving part I and the active transmission part I, the active transmission part I is meshed with a passive transmission part I, and the passive transmission part I and the rotary wheel control part I are synchronously and rotatably arranged; the transmission mechanism II comprises an active transmission part II driven by a rotary driving part II to rotate, a torque limiter II is coaxially arranged between the rotary driving part II and the active transmission part II, the active transmission part II is meshed with a passive transmission part II, and the passive transmission part II and the rotary wheel control part II are synchronously rotated and arranged.
5. An endoscope-assisted operation device according to claim 4, characterized in that: the I coaxial arrangement transmission shaft I of passive driving medium, this transmission shaft I pass through I rotation of bearing and install on the shell an, I coaxial arrangement of runner control piece and transmission shaft, passive driving medium II passes through II rotations of bearing and installs on the shell an, rotatory driving piece I and rotatory driving piece II are all installed on shell an, and this shell an and endoscope are all installed on the base.
6. An endoscope operation aid according to claim 1 or 2 and wherein: the insertion part feeding device further comprises a feeding power part, a driving friction wheel and a driven friction wheel, wherein the driving friction wheel is driven by the feeding power part to rotate, the driven friction wheel is installed on the interval adjusting mechanism, a gap for the insertion part to penetrate through is reserved between the driving friction wheel and the driven friction wheel, and the gap is adjusted through the interval adjusting mechanism.
7. An endoscope operation aid according to claim 6 and wherein: the distance adjusting mechanism comprises a driven wheel supporting frame arranged on the shell b through an elastic component, a driven friction wheel is rotatably arranged on the driven wheel supporting frame, the distance between the driven friction wheel and the driving friction wheel is adjusted under the elastic action of the elastic component of the driven wheel supporting frame, and the driven wheel supporting frame is arranged in a sliding mode relative to the feeding power part through a sliding mechanism.
8. An endoscope-assisted operation device according to claim 7, characterized in that: the driven wheel support frame is provided with a boss for mounting an elastic component, the shell b is detachably provided with an adjusting piece, and a rod part of the adjusting piece is connected with the elastic component.
9. An endoscope operation aid according to claim 8 and wherein: still including being used for driving the sharp power part of button I and button II respectively, button I and button II carry out sharp reciprocating motion through the sharp power part drive that installs on shell a respectively, install the bolster between sharp power part and the shell a.
10. An endoscope assisted operation device according to any of claims 1 to 9 and comprising: the attitude feedback control device comprises a control center, a control signal end, a signal display part and a data display part, wherein the control signal end, the signal display part and the data display part are respectively in signal connection with the control center; the control center is used for receiving action signals of a control signal end, sending the action signals to a linear power driving part of the button I and the button II, a rotary driving part I and a rotary driving part II of the operation part auxiliary device and a feeding power part of the insertion part feeding device, receiving rotation angle data of the rotary driving part I and the rotary driving part II and movement length data of the feeding power part, sending the action signals to a signal display part for state display, and feeding the data back to the data display part for data display.
11. A control method of an endoscope auxiliary operation device based on any one of the above claims 1 to 10, characterized in that the control method comprises receiving rotation angle data of a rotary driving member i and a rotary driving member ii and movement length data of a feeding power part through a control center, and transmitting the data to a data display part for display.
12. The control method of an auxiliary operating device for an endoscope, as recited in claim 11, further comprising sending action signals to the rotary driving member i, the rotary driving member ii, the feeding power part and the linear power driving parts of the button i and the button ii through the control signal terminal, so that the rotary driving member i and the rotary driving member ii respectively control the rotation of the turning wheel i and the turning wheel ii, thereby realizing the up-and-down and left-and-right deflection of the bending part; the feeding power part is used for controlling the driving friction wheel to rotate, the inserting part is driven to move back and forth under the friction force of the driving friction wheel and the driven friction wheel, the linear power driving part is used for driving the button I and the button II to do linear motion, and then gas injection and water absorption actions of the tip part are achieved.
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