CN115137284A

CN115137284A - 3D endoscope

Info

Publication number: CN115137284A
Application number: CN202210762606.3A
Authority: CN
Inventors: 蒙顺政; 何国良; 王平峰
Original assignee: Nanjing Tuodao Medical Technology Co Ltd
Current assignee: Nanjing Tuodao Medical Technology Co Ltd
Priority date: 2022-06-29
Filing date: 2022-06-29
Publication date: 2022-10-04

Abstract

An embodiment of the present application provides a 3D endoscope, including: the lens body comprises a lens and a snake bone component, and the lens is connected with the far end of the snake bone component; a plurality of traction ropes which are connected to the far end of the snake bone component and enable the snake bone component to bend in multiple directions; the winding assembly is arranged at the proximal end of the endoscope body, and the plurality of traction ropes are wound around the winding assembly; the flexible tube is connected to the near end of the snake bone assembly and extends towards the near end direction of the endoscope body, and the actual length of the flexible tube is larger than the total straight line length between the near end of the flexible tube on the snake bone assembly and the far end of the flexible tube on the endoscope body. The technical problem that the 3D endoscope is single in visual direction angle is solved.

Description

3D endoscope

Technical Field

The application relates to the technical field of electronic endoscopes, in particular to a 3D endoscope.

Background

3D endoscopes are important instruments in laparoscopic surgery. The 3D endoscope simulates human eyes through the two cameras to collect two paths of images in the human body, then transmits the two paths of images to the image processing equipment, and the image processing equipment adjusts the parallax of the two paths of images through a 3D reconstruction technology to obtain a 3D image with depth information, so that the operation is facilitated.

The 3D endoscope commonly used in clinic can be divided into a 0-degree endoscope, a 12-degree endoscope, a 30-degree endoscope, a 45-degree endoscope, a 70-degree endoscope and a 90-degree endoscope according to the visual direction angles, and the 3D endoscope with different visual direction angles is suitable for laparoscopic surgery at different positions. In some laparoscopic surgery, 2 or more kinds of endoscopes may be used, which requires preparing a plurality of endoscopes before surgery, frequently switching the endoscopes during surgery, and cleaning the plurality of endoscopes after surgery, resulting in a complicated procedure and a long operation time for the whole surgery.

Disclosure of Invention

In order to solve the technical problem that the visual direction angle of a 3D endoscope is single, the application provides the 3D endoscope.

The present application provides a 3D endoscope, the 3D endoscope comprising:

the lens body comprises a lens and a snake bone component, and the lens is connected with the far end of the snake bone component;

a plurality of traction ropes which are connected to the far end of the snake bone component and enable the snake bone component to bend in multiple directions;

the winding assembly is arranged at the proximal end of the endoscope body, and the plurality of traction ropes are wound around the winding assembly;

the flexible tube is connected to the near end of the snake bone component and extends towards the near end direction of the endoscope body, and the actual length of the flexible tube is larger than the total linear length between the near end of the flexible tube on the snake bone component and the far end of the flexible tube on the endoscope body.

In some embodiments, the endoscope body rotating gear is further included, and the endoscope body rotating gear is in rotating connection with the endoscope body.

In some embodiments, the minimum redundant length of the elastic tube is:

wherein L is the redundant length of the elastic tube, L ₀ When the rotation angle of the mirror body is zero, the linear length of the elastic tube at the mirror body part is zero, and the redundant length is the actual length and the total linear length L ₀ The total linear length is the linear length between the fixed point of the far end of the elastic tube and the fixed point of the near end of the elastic tube, and alpha is the maximum self-rotation angle of the endoscope body.

In some embodiments, the winding assembly includes a mirror curved drive disc and a winding wheel, the traction rope is wound on the reel, and the mirror body bending driving disc is in transmission connection with the reel.

In some embodiments, the traction rope device further comprises an elastic pipe fixing seat, one end of the elastic pipe fixing seat is provided with a second traction rope groove for penetrating the traction rope, the other end of the elastic pipe fixing seat is provided with a second elastic pipe groove for fixing the elastic pipe, the second traction rope groove and the second elastic pipe groove are coaxially arranged and communicated, and the aperture of the second traction rope groove is smaller than that of the second elastic pipe groove.

In some embodiments, further comprising:

a first guide wheel mounted at an exit of the pull cord from the elastic tube, the first guide wheel receiving the pull cord and reorienting the pull cord toward a second guide wheel;

a second guide wheel mounted at an outlet of the first guide wheel, the second guide wheel receiving the pull cord and redirecting the pull cord toward the reel assembly.

In some embodiments, the winding device further comprises an elastic tube fixing seat, wherein a through hole is formed in the elastic tube fixing seat, a guide assembly is rotatably arranged in the through hole, the proximal end of the elastic tube is fixedly arranged in the guide assembly, and the guide assembly enables the traction rope to be reoriented towards the winding assembly.

In some embodiments, the surface of the hauling cable is wrapped with a hose.

In some embodiments, the endoscope body further comprises a snake bone fixing member, a first traction rope groove for passing the traction rope is formed in the near side of the snake bone fixing member, a first elastic pipe groove for fixing the elastic pipe is formed in the far side of the snake bone fixing member, the first traction rope groove and the first elastic pipe groove are coaxially arranged and communicated, and the aperture of the first traction rope groove is smaller than that of the first elastic pipe groove.

In some embodiments, the lens body further comprises a plurality of illumination fibers surrounding the outside of the lens.

The 3D endoscope provided by the application has the beneficial effects that:

according to the 3D endoscope, the mirror body is provided with the snake bone component and the lens, the plurality of traction ropes are arranged in the snake bone component in a penetrating mode, the traction ropes are wound on the winding component, the orientation of the lens connected with the snake bone component can be changed by rotating the winding component, the adjustment of the viewing direction angle is achieved, and the technical problem that the viewing direction angle of the 3D endoscope is single is solved; further, the haulage rope cover is equipped with the elastic tube, the actual length of elastic tube is greater than the total straight line length between the near-end of elastic tube on the snake bone subassembly and the distal end of elastic tube on the mirror body, the elastic tube is provided with redundant length promptly, because the elastic tube has certain rigidity, consequently, haulage rope in the elastic tube can keep the tensioning state, when the mirror body is rotatory, the haulage rope will be twisted round along with the mirror body, the redundant volume that utilizes the elastic tube reduces, the total length of elastic tube and the total length of haulage rope in the elastic tube are unchangeable, the realization is the variable pitch transmission of haulage rope and is converted into the invariable pitch transmission, effectively solved the haulage rope and stretched and resisted the problem of mirror body rotation, avoided the emergence of haulage rope fracture, 3D endoscope and security have been improved.

Drawings

In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any creative effort.

Fig. 1 shows a schematic representation of a 3D endoscope;

fig. 2 shows a schematic structural view of a mirror body;

fig. 3 is a schematic view illustrating a structure of a snake bone component;

a schematic cross-sectional view of a snake bone assembly is illustrated in fig. 4;

FIG. 5 is a schematic view of an example of a snake bone anchor;

fig. 6 is a schematic view of a driving seat;

fig. 7 is a schematic view of a driving seat;

fig. 8 is a schematic view of a drive socket;

FIG. 9 is a schematic diagram illustrating autorotation of the mirror;

fig. 10 is a schematic structural view illustrating an elastic tube fixing seat;

FIG. 11 schematically illustrates the cross-sectional structure of FIG. 10;

fig. 12 is a schematic structural view illustrating an elastic tube fixing seat;

FIG. 13 schematically illustrates the partial cross-sectional view of FIG. 12;

fig. 14 is a schematic structural view illustrating an elastic tube fixing seat;

FIG. 15 is a schematic bottom view of the housing of a drive socket;

fig. 16 shows an exemplary structural diagram of a drive module;

a schematic view of a handle is illustrated in fig. 17.

Detailed Description

To make the purpose and embodiments of the present application clearer, the following will clearly and completely describe the exemplary embodiments of the present application with reference to the attached drawings in the exemplary embodiments of the present application, and it is obvious that the described exemplary embodiments are only a part of the embodiments of the present application, and not all of the embodiments.

It should be noted that the brief descriptions of the terms in the present application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of the present application. These terms should be understood in their ordinary and customary meaning unless otherwise indicated.

The terms "first," "second," "third," and the like in the description and claims of this application and in the above-described drawings are used for distinguishing between similar or analogous objects or entities and not necessarily for describing a particular sequential or chronological order, unless otherwise indicated. It is to be understood that the terms so used are interchangeable under appropriate circumstances.

The terms "comprises" and "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a product or apparatus that comprises a list of elements is not necessarily limited to all elements expressly listed, but may include other elements not expressly listed or inherent to such product or apparatus.

The terms "proximal" and "distal" are defined herein with respect to an operating user of the robotic arm. The terms "proximal", "proximal" refer to a position of an element closer to an operating user, and the terms "distal", "distal" refer to a position of an element closer to the lens and thus further from the operating user. Moreover, directional terminology, such as upper, lower, upward, downward, left, right, etc., is used with respect to the exemplary embodiments as they are shown in the figures, with the upward or upward direction being toward the top of the corresponding figure and the downward or downward direction being toward the bottom of the corresponding figure.

Embodiments of the presently disclosed lens are now described in detail with reference to the drawings, wherein like reference numerals designate identical or corresponding elements in each of the several views.

Referring to fig. 1, a schematic structural diagram of a 3D endoscope provided in an embodiment of the present application is shown. As shown in fig. 1, the 3D endoscope includes a scope 100, a handle 200, a drive socket 300, and a cable 400.

The driving base 300 and the handle 200 are installed at the proximal end of the endoscope 100, and after the driving module is installed on the driving base 300, the endoscope 100 can be driven to bend in four directions, namely up and down, left and right, and the endoscope 100 can be driven to rotate around the axis of the endoscope 100. The cable 400 can be used for supplying power to the sensor board in the endoscope 100 for acquiring image signals and transmitting the image signals through the cable 400, and the cable 400 can include a power cable for supplying power and a communication cable for transmitting signals.

Referring to fig. 2, a structure of the mirror body 100 is shown in a schematic view. As shown in FIG. 2, the endoscope body comprises an outer lens tube 101, a lens 102, an illuminating optical fiber 103, a snake bone assembly 104, a traction rope 105, a flexible tube 106, an elastic tube 107, a snake bone fixing member 108, a central tube 109 and a snake bone connecting member 110.

In fig. 2, the lens outer tube 101 is provided with a cavity for mounting a lens mount and an illumination fiber 103 and a sensor board, wherein the lens mount is used for mounting two lenses 102, the two lenses 102 are similar to two eyes of a person, two sets of images with parallax can be obtained, and the lens 102 can be controlled by the sensor board to realize image acquisition functions such as photographing and video recording. The half-moon-shaped illumination optical fibers 103 are respectively arranged on two sides of the lens seat, and the illumination optical fibers 103 provide uniform illumination light for the lens 102. The lens outer tube 101 is connected to the snake bone connector 110.

The snake bone connector 110 is made of nonmetal, and the far end of the snake bone connector is connected with the lens outer tube 101 and used for sealing the lens outer tube 101. The connection between the snake bone connector 110 and the lens outer tube 101 can be sealed by medical glue, and a hole is reserved in the middle for passing through the communication signal wires of the illumination optical fiber 103 and the sensor board. The flexible tube 106 is sleeved outside the proximal end of the snake bone connector 110, and the flexible tube 106 can be made of non-metal materials. The proximal end of the flexible tube 106 is inserted into the snake bone anchor 108 and fits over the central tube 109.

The far end of the central tube 109 is fixedly connected to the inside of the snake bone fixing member 108, the near end of the central tube 109 penetrates through the cavity of the handle 200 after passing through the driving seat 300, and the central tube 109 can be made of non-metal materials, such as a glass fiber tube, a carbon fiber tube, a PEEK tube and the like. Thus, a nonmetal conduit is formed between the lens 102 and the cavity of the handle 200 through the snake bone connector 110, the flexible tube 106 and the central tube 109, and the lighting fiber 103 and the communication signal line can penetrate through the conduit, so that the lens end and the handle end are sealed and electromagnetically isolated.

It should be noted that an outer tube is further sleeved outside the central tube 109 to prevent structures such as the elastic tube 107 from directly contacting with a human body during a minimally invasive surgery, and the outer tube can extend into the driving seat and be rotationally connected with a scope rotating gear arranged in the driving seat to realize rotation of the scope.

The snake bone assembly 104 is sleeved on the outside of the hose 106. The snake bone component 104 is fixedly connected at its distal end to the snake bone connector 110 and at its proximal end to the snake bone anchor 108.

Referring to fig. 3, a schematic structural diagram of a snake bone component provided in the embodiment of the present application is shown. As shown in FIG. 3, the two ends of the snake bone component 104 are respectively a connecting part 113 for connecting with the snake bone connecting element 110 and a connecting part 111 for connecting with the snake bone fixing element 108, and the middle is a plurality of joints 112 which are connected by rivets to form a reliable and stable structural component.

Referring to fig. 4, a schematic cross-sectional view of a snake bone component provided in the embodiments of the present application is shown. As shown in fig. 4, two sets of threading holes 114 are symmetrically distributed on the inner side of each joint 112, the central point of the cross section of the joint 112 is a symmetric point, the two sets of threading holes 114 are used for threading two sets of hauling ropes 105, and the hauling ropes 105 can be steel wire ropes. The wire rope is fixedly connected to the distal end of the snake bone assembly 104. The stiffness of the snake bone component 104 can be changed by controlling the pretightening force of the steel wire ropes, and the bending direction of the snake bone component 104 can be adjusted by controlling the length of one group of steel wire ropes in the snake bone component 104 to be changed relatively. For example, for one set of cables, pulling one cable away from the lens 102 may shorten the cable within the snake assembly, while the other cable, in combination with the other cable, may lengthen within the snake assembly 104, which may bend the snake assembly 104 toward the shortened cable. The proximal end of the pull string 105 is threaded through the snake bone assembly 104 and into the snake bone anchor 108.

Referring to fig. 5, which is a schematic structural diagram of a snake bone fixing member provided in an embodiment of the present application, as shown in fig. 5, a flexible tube 106 is inserted through a distal end of the snake bone fixing member 108, a central tube 109 is inserted through a proximal end of the snake bone fixing member 108, and the flexible tube 106 is sleeved on the central tube 109 inside the snake bone fixing member 108. Since the central tube 109 is fixedly connected with the snake bone fixing member 108, the snake bone assembly 104 sleeved on the flexible tube 106 is fixed on the snake bone fixing member 108, and therefore, the snake bone assembly 104 is fixedly connected with the central tube 109 through the snake bone fixing member 108.

The first traction rope groove 115 used for penetrating a traction rope is formed in the near side of the snake bone fixing piece 108 along the axial direction of the central tube 109, the first elastic tube groove 116 used for fixing the elastic tube 107 is formed in the far side of the snake bone fixing piece 108, the first traction rope groove 115 is coaxially arranged with the first elastic tube groove 116 and communicated with the first traction rope groove, the aperture of the first traction rope groove 115 is smaller than that of the first elastic tube groove 116, the far end of the elastic tube 107 can be fixed in the first elastic tube groove 116, the near end of the elastic tube 107 extends towards the near end of the endoscope body, and the elastic tube 107 can be a spring tube or other hollow tubes with certain flexibility and rigidity.

The bottom of the first elastic tube groove 116 may be opened with a rope threading hole 117, and the rope threading hole 117 is coaxially disposed with the first traction rope groove 115 and communicated with the first traction rope groove 115, so that the traction rope 105 can be threaded into the first elastic tube groove 116 through the rope threading hole 117 after being threaded from the first traction rope groove 115. The stringing hole 117 can reduce friction between the pulling string 105 and the first elastic tube groove 116. The bore diameter of the elastic tube 107 is larger than the outer diameter of the pull-cord 105 so that the pull-cord 105 can be threaded into the elastic tube 107. In order to reduce the friction force between the elastic tube 107 and the pulling rope 105, an ultrathin hose can be arranged in the elastic tube 107, the hose can be a polytetrafluoroethylene tube, and the polytetrafluoroethylene tube is sleeved on the pulling rope 105, so that the friction force generated during the transmission of the pulling rope 105 can be reduced, the gap between the elastic tube 107 and the pulling rope 105 can be eliminated, and the transmission position of the pulling rope 105 can be controlled more accurately. Alternatively, the flexible tube 107 may not be sleeved with the flexible tube, and the pulling rope 105 may be a rubber-coated steel wire rope, which also achieves the above technical effects of eliminating the gap and improving the accuracy of the transmission position.

The distal end of the elastic tube 107 is fixed on the snake bone fixing member 108, the proximal end of the elastic tube is inserted into the driving seat 300 along the central tube 109, and the length of the traction rope 105 inside the snake bone assembly 104 can be controlled to control the snake bone assembly 104 to be straightened or bent after the driving seat 300 is connected with the driving module 500 (as shown in fig. 16).

Referring to fig. 6, a schematic structural diagram of a driving seat according to an embodiment of the present application is provided. As shown in fig. 6, the driving socket 300 forms a main body frame by a housing 301 and a mounting bracket 302.

The housing 301 is provided with an unlock button 303, and the unlock button 303 is used for fixing the driving socket 300 on the driving module 500 or detaching the driving socket 300 from the driving module 500.

The mounting frame 302 is provided with an elastic tube fixing seat 307, a driving disc 309, a driving disc 310, a winding wheel 311, a guide wheel 313, a guide wheel 312 and other structures.

Four elastic tubes 306 are arranged at one end of the elastic tube fixing seat 307 in a penetrating manner, one ends of the four elastic tubes 306 are fixed inside the elastic tube fixing seat 307, a traction rope 308 is arranged in the four elastic tubes 306 in a penetrating manner, and the traction rope 308 penetrates out of the elastic tube fixing seat 307 from the other end of the elastic tube fixing seat 307. The pull-cord 308 may also be wrapped in a teflon tube to reduce friction between the pull-cord 308 and the flexible tube 306.

For ease of distinction, the elastic tube 306 in the drive socket 300 can be referred to as a second elastic tube, the elastic tube 107 in the scope body 100 can be referred to as a first elastic tube, the pull cord 308 in the drive socket 300 can be referred to as a second pull cord, and the pull cord 105 in the scope body 100 can be referred to as a first pull cord.

It should be noted that the elastic tube 306 and the elastic tube 107 may be different names of the same elastic tube at different positions of the 3D endoscope, the pulling rope 105 and the pulling rope 308 may be different names of the same pulling rope at different positions of the 3D endoscope, that is, the distal end of the elastic tube 107 is fixed on the snake bone fixing member 108, the proximal end is fixed in the elastic tube fixing seat 307 in the driving seat 300 after penetrating into the driving seat 300, the distal end of the pulling rope 105 is fixed on the snake bone assembly 104, the proximal end is sleeved in the elastic tube 107 and then penetrates into the elastic tube fixing seat 307 in the driving seat 300 along with the elastic tube 107, and then penetrates out of the elastic tube fixing seat 307. Or, the elastic tube 306 and the elastic tube 107 can be two elastic tubes connected together, the pulling rope 105 and the pulling rope 308 can be two pulling ropes connected together, that is, one end of the elastic tube 107 is fixed on the snake bone fixing member 108, the other end of the elastic tube is threaded into the driving seat 300, one end of the elastic tube 306 in the driving seat 300 is fixed in the elastic tube fixing seat 307, the other end of the elastic tube 306 is connected with the elastic tube 107 threaded into the driving seat 300, the pulling rope 308 is arranged in the elastic tube 306 in a penetrating manner, the length of the pulling rope 308 is longer than that of the elastic tube 306, one end of the pulling rope 308 is connected with the pulling rope 105 in the elastic tube 107, and the other end of the pulling rope passes through the elastic tube fixing seat 307.

Two pairs of pull cords 308 extending from the elastic tube holders 307 are wound around one winding assembly.

In some embodiments, the winding assembly may include a set of guide wheels, two reels, and a drive plate, wherein the set of guide wheels may include two guide wheels, such as guide wheel 312 and guide wheel 313.

One pair of pulling ropes 308 which penetrate out of the elastic pipe fixing seat 307 are guided by a guide wheel 312 and a guide wheel 313 and then are respectively wound on two winding wheels 311 which are coaxial with the driving disc 309, the two winding wheels 311 are coaxially driven with the driving disc 309 and are driven in the same direction as the driving disc 309, the pair of pulling ropes 308 are wound around the winding wheels 311 in opposite directions, and when the driving disc 309 rotates, one relaxation of the pair of pulling ropes 308 can be realized, so that the snake bone assembly 104 is driven to bend towards the direction of the tensioned pulling ropes.

Another pair of pulling ropes 308 which penetrate out of the elastic pipe fixing seat 307 are guided by another group of guide wheels and then are respectively wound on two reels which are coaxial with the driving disk 310, at least one pulling rope is wound on each reel, the two reels are also coaxially driven with the driving disk 310, the pair of pulling ropes 308 are wound around the reel 311 in opposite directions, and when the driving disk 310 rotates, one relaxation of the pair of pulling ropes 308 can be realized, so that the snake bone assembly 104 is driven to bend towards the direction of the tensioned pulling ropes.

For further description of the driving socket 300, fig. 7 and 8 show schematic views of the driving socket at different angles.

Referring to fig. 7, a driving disk 314, a mirror body rotation driving wheel 304, a steering gear 315 and a mirror body rotation gear 305 are further disposed in the driving seat 300, wherein the mirror body rotation driving wheel 304 and the driving disk 314 are coaxially disposed and can rotate along with the driving disk 314. The steering gear 315 is disposed between the mirror body rotation driving wheel 304 and the mirror body rotation gear 305, and is in transmission connection with the mirror body rotation driving wheel 304 and the mirror body rotation gear 305, respectively, so that the mirror body rotation driving wheel 304 can be used as a driving wheel, and the mirror body rotation gear 305 can be used as a driven wheel and can rotate synchronously with the driving wheel.

To facilitate the distinction between drive disk 310, drive disk 309, and drive disk 314, drive disk 310 and drive disk 309 may be referred to as a specular curved drive disk, and drive disk 314 may be referred to as a specular spinning drive disk.

When the central tube 109 rotates, the four elastic tubes 107 outside the central tube 109 will twist to some extent along with the central tube 109, and in order to avoid the elastic tubes 107 being twisted to cause the pulling rope 105 in the elastic tubes 107 to stretch and even break, in the embodiment of the present application, the actual length of the elastic tubes 107 is greater than the total linear length between the proximal end of the elastic tubes 107 on the snake bone assembly 104 and the distal end of the elastic tubes 107 on the endoscope 100, so that the elastic tubes 107 have a certain amount of redundancy for twisting, the elastic tubes 107 will not be stretched, and the pulling rope 105 in the elastic tubes 107 will not be stretched.

Referring to fig. 8, the resilient tube 306 is compressed by a certain length. In fig. 8, the elastic tube 306 is arched toward the proximal end of the central tube 109, which shows the elastic tube 306 in a compressed state, and if the elastic tube 306 is straightened to a natural state, the total length of the elastic tube between the flexible tube holder 108 and the flexible tube holder 307 is greater than the linear length between the flexible tube holder 307 and the flexible tube holder 108, i.e., the elastic tube is provided with a redundant length. The four elastic tubes are provided with redundant lengths which can be the same. Because the elastic tube has certain rigidity, the traction rope 105 in the elastic tube can be kept in a tensioning state, when the endoscope body 100 rotates, the elastic tube is twisted, coupling generated by over-tensioning of the traction rope 105 on the endoscope body 100 and rotation of the endoscope body 100 is relieved and even avoided, the elastic tube is in a compression state before and after twisting, the compression degree of the elastic tube before and after twisting is unchanged, and the lengths of the traction rope in the elastic tube and the elastic tube are unchanged.

To further explain the elastic tube in the mirror rotation process, fig. 9 shows a schematic view of mirror rotation, in fig. 9, the left side is a schematic view before the mirror rotates, and the right side is a schematic view after the mirror rotates.

When the scope 100 is not rotated, the elastic tube 107 has a linear length S1 from the proximal end of the scope to the proximal end of the snake assembly and a linear length S2 in the snake assembly 104. When the snake bone component 104 of the endoscope body 100 is not bent in any direction, the total linear length S of each traction rope of the endoscope body part is a fixed value and has the following size: l21= S1+ S2. The total linear length of each pull cord in the drive seat portion is L22, and L22 is the linear length from the proximal end of the central tube 109 to the flexible tube anchor 307.

When the snake assembly 104 is bent toward the direction of one of the pulling ropes, the total length of the pulling rope at the portion of the endoscope body 100 is less than L21, and the length of the pulling rope at the portion of the endoscope body 100 opposite to the pulling rope is greater than L21 because the pulling ropes are driven in pairs.

If the endoscope body 100 rotates, the four pulling ropes will be twisted, which will cause the length of S1 of the four pulling ropes to be simultaneously lengthened, and at this time, if the elastic tube 107 is not provided with a redundant length, the initial total length of each pulling rope of the endoscope body part is still L21, which will cause the length S2 of the four pulling ropes in the snake bone assembly 104 to be shortened, which will cause the snake bone assembly 104 to bend, i.e. the self-rotation of the endoscope body is coupled with the bending of the snake bone assembly.

When the rotation of the lens body is coupled with the bending of the snake bone component, the four traction ropes are tensioned simultaneously, and in order to resist the bending of the snake bone component, the traction ropes can be stretched to a certain degree and subjected to variable-pitch transmission, so that the total length of each traction rope is larger than L. The larger the self-rotation angle is, the larger the stretching degree of the traction rope is, the rigidity of the traction rope is influenced, and even the fracture of the traction rope may occur.

The embodiment of the application sets a redundant length for the elastic tube, so that the actual length L11 of the elastic tube at the mirror body part is larger than L21. In the driving seat portion, the actual length L12 of the elastic tube is greater than L22.

When the endoscope body rotates, the elastic tube can swing relative to the endoscope body at a certain angle, as shown in fig. 9, part of the elastic tube in the driving seat is wound on the endoscope body along with the rotation of the endoscope body, so that the total length of the traction rope of the endoscope body part is prolonged, and the traction rope is prevented from being stretched. When the endoscope body rotates for a certain angle, the elastic tube on the endoscope body and the endoscope body are twisted to a certain degree, but the twisting amplitude and the self-rotation angle of the endoscope body are not in a linear change relation, the twisting angle of the elastic tube is smaller than that of the endoscope body, when the preset redundant length of the elastic tube is larger than the length increased by the twisting of the endoscope body, the redundant length of the elastic tube is reduced, the elastic tube cannot be stretched, the transmission distance of the traction rope cannot be changed, the variable-pitch motion of the traction rope is converted into non-variable-pitch transmission, and the problem of coupling of the rotation of the endoscope body and the bending of the snake bone assembly is solved.

In some embodiments, the redundancy length may be calculated according to the following method:

if the spring rotates 0 degree on the lens body, the linear length of the elastic tube on the lens body part is L ₀ (L ₀ Equal to L21), the outer diameter of the central tube 109 is R, and the mirror body rotation range is ± α rotation according to the design, that is, α is the maximum rotation angle of the central tube, then the minimum value of the required redundant length L is:

if rotated by ± 180 ° as designed, the minimum value of the required redundancy length L is:

the maximum value of the redundant length L can be determined according to the internal control of the driving seat, the elastic tube cannot be wound with other parts, and the bending angle of the elastic tube is not easy to be too large to influence the transmission smoothness.

It should be noted that the redundant length is actually a difference between the actual length of the fixing point at the distal end of the elastic tube and the fixing point at the proximal end of the elastic tube and the straight length, and the redundant length is a sum of a first difference and a second difference, where the first difference is a difference between the actual length of the elastic tube at the L11 segment and the L21 segment, and the second difference is a difference between the actual length of the elastic tube at the L12 segment and the L22 segment, as shown in fig. 9. One end of the elastic tube 306 penetrates into the mirror body rotating gear 305, the other end is fixed in the elastic tube fixing seat 307, and the traction rope 308 in the elastic tube 306 penetrates out of the elastic tube fixing seat 307 and then is wound on the corresponding reel of the mirror body rotating driving disk.

In some embodiments, the structure of the elastic tube fixing base 307 is shown in fig. 10 and 11, wherein fig. 10 is a schematic structural view of an elastic tube fixing base, and fig. 11 is a schematic sectional structural view of fig. 10.

The near side of the elastic tube fixing seat 307 may be opened with two second traction rope grooves 317, the far side is opened with two second elastic tube grooves 316, the second traction rope grooves 317 and the second elastic tube grooves 316 are coaxially arranged and communicated, the aperture of the second traction rope grooves 317 is smaller than that of the second elastic tube grooves 316, so that the elastic tube 306 can not pass through the second traction rope grooves 317 after passing through the second elastic tube grooves 316, thereby being fixed in the second traction rope grooves 317. The pull cord 308 within the elastomeric channel 316 may exit the second pull cord channel 317.

After passing through the elastic tube fixing seat 307, the two groups of traction ropes 308 pass through two groups of first guide wheels 312 and second guide wheels 313 and are wound on the two reels respectively.

Four first guide wheels 312 and four second guide wheels 313 may be provided on the driving socket 300. The first guiding wheel 312 can be installed at the outlet where the pulling rope passes through the elastic tube, that is, the outlet where the pulling rope 308 passes through the elastic tube fixing seat 307, and the first guiding wheel receives the pulling rope 308 and redirects the pulling rope 308 toward the second guiding wheel 313, so as to prevent the pulling rope 308 from being worn by friction with the elastic tube fixing seat 307 when the pulling rope 308 passes through the elastic tube fixing seat 307.

The second guide pulley 313 is mounted at the outlet of the first guide pulley 312, the second guide pulley 313 receives the traction rope 308 and redirects the traction rope 308 towards the reel, preventing the traction rope 308 from falling off the second guide pulley 313 and the first guide pulley 312, enhancing the driving stability of the traction rope 308 between the reel 311 and the first guide pulley 312. The surface of the wrapping arc of the traction rope 308 of the second guide wheel 313 can be close to and coplanar with the tangent line on the reel 311, when the reel 311 rotates, the tangent point of the steel wire rope of the reel 311 moves up and down, only the wrapping angle of the second guide wheel 313 slightly changes, namely the outgoing line direction of the traction rope 308 on the reel 311 is coaxial with the tangent line of the second guide wheel 313, and the traction rope 308 cannot fall off from the second guide wheel 313 and the first guide wheel 312. If only one guide wheel is arranged between the elastic tube fixing seat 307 and the reel 311, the guide wheel can hardly meet the requirements that the traction rope 308 does not rub the elastic tube fixing seat 307 after penetrating out of the elastic tube fixing seat 307 and the surface of the steel wire rope wrapping arc is close to the same plane with the tangent line on the reel 311, so that the friction loss between the traction rope 308 and the guide wheel can be increased, and the falling risk of the traction rope 308 from the guide wheel can be increased.

In some embodiments, the first guide pulley 312 and the second guide pulley 313 may not be provided, and the transmission direction of the traction rope 308 after being led out from the reel 311 may be changed by the elastic tube holder 307. Referring to fig. 12, a guide assembly 318 may be disposed in the elastic tube fixing base 307, and after the pulling rope 308 passes through the guide assembly 318, the transmission direction is different from the direction in which the elastic tube 306 passes through the elastic tube fixing base 307.

Fig. 13 is a partial cross-sectional view of fig. 12, showing in fig. 13 the guide assembly 318 being rotatable within the elastomeric tube mount 307 such that the pull-cord 308 exiting the elastomeric tube mount 307 is approximately coplanar with a tangent line on the reel, i.e., the pull-cord direction from the reel is coaxial with the pull-cord direction exiting the elastomeric tube mount.

Fig. 14 shows a schematic structural diagram of an elastic tube fixing base, as shown in fig. 14, four parallel through holes 321 are provided in the elastic tube fixing base 307, a guiding component 318 is provided in each through hole 321, and the guiding component 318 includes a ball in the middle and threading posts at both ends of the ball. The diameter of the through hole 321 can be slightly larger than the diameter of the ball in the middle of the guiding component 318, so that the guiding component 318 can swing in the through hole 321 in small amplitude in the up-down direction and the left-right direction, and cannot be separated from the elastic tube fixing seat 307.

The two threading posts may extend outside the resilient tube holder 307 to facilitate rotation of the guide assembly 318 within the through hole 321. The threading post at the distal end of the guiding component 318 is provided with a third elastic tube slot 319 leading to the inside of the sphere, and the threading post at the proximal end is provided with a third traction rope slot 320 leading to the inside of the sphere, wherein the third elastic tube slot 319 and the third traction rope slot 320 are coaxially arranged and are communicated with each other. The opening diameter of the third traction rope groove 320 can be larger than the diameter of the traction rope 308, so that the friction loss between the traction rope 308 and the third traction rope groove 320 can be reduced.

The elastic tube 306 is inserted into the elastic tube holder 307 and fixed in the third elastic tube groove 319, the pulling rope 308 in the elastic tube 306 can penetrate out of the third pulling rope groove 320 and then be wound on the reel, and the guiding component 318 in the elastic tube holder 307 can incline towards the tangential direction of the reel, so that the friction between the pulling rope 308 and the elastic tube holder 307 is small.

In some embodiments, the guidance assembly 318 may also include only a central sphere.

In some embodiments, the guiding assembly 318 may not be disposed inside the elastic tube fixing base 307, but disposed outside the elastic tube fixing base 307, and slides up and down along the elastic tube fixing base 307 via the Z-axis moving mechanism, and rotates on the horizontal plane of the elastic tube fixing base 307 along the rotating mechanism.

The traction rope 308 penetrating out of the elastic pipe fixing seat 307 is wound on the reel, and the reel can be driven to rotate by the driving disc. Referring to fig. 15, a bottom schematic view of a housing of a driving seat according to an embodiment of the present application is provided. As shown in fig. 15, a pair of asymmetric grooves is disposed on each of the three driving disks, i.e., the driving disk 309, the driving disk 310 and the driving disk 314, and the grooves are matched with the asymmetric protrusions disposed on the servo motor of the driving module 500, the asymmetric protrusions on the servo motor have certain elasticity, the servo motor can automatically coordinate with the driving disk by rotating forward and backward, and after coordination, the driving disk can rotate by the servo motor.

Referring to fig. 16, a schematic structural diagram of a driving module according to an embodiment of the present application is provided. As shown in fig. 16, the driving module 500 may be a general driving module of a robot arm of a surgical robot, the driving module 500 is provided with five sets of servo motors 501, and when the driving module 500 is used for the robot arm, the present application uses three sets of servo motors 501 in the driving module 500 to realize rotation of a mirror body and movement in four directions, i.e., up and down, left and right, and has the advantages of low cost, easy installation, and the like.

Fig. 17 is a schematic view of a handle. As shown in fig. 17, the handpiece 200 includes a handpiece housing 201, a control button assembly 202, a fiber connector 203, and a cable connector 204. The handle housing 201 is the main structure of the handle 200, and a control button assembly 202 is installed on the side of the handle housing, and the button assembly 202 may include a plurality of buttons for controlling functions such as lighting, video recording, and photographing, and the functions and the number of the buttons may be set as required. The bottom of the handle shell 201 is connected with the driving seat 300 through a bearing and is fixedly connected with the central tube 109, so that the handle 200 can be driven to rotate together when the mirror body 100 rotates, and the phenomenon that the lighting optical fiber and the cable in the central tube 109 are repeatedly twisted to cause breakage or other faults is avoided. The bottom of the handle shell 201 is provided with an optical fiber connector 203 and a cable connector 204, the lighting optical fiber 103 in the endoscope body 100 is connected to the optical fiber connector 203, the optical fiber connector 203 is detachably connected with the lighting optical fiber 103, and the lighting optical fiber 103 can be detached when the endoscope body 100 is sterilized. The cable connector 204 and the communication cable can be fixedly connected, so that the power supply safety and stability are guaranteed.

As seen from the above embodiments, the 3D endoscope provided by the present application has the driving seat capable of being drivingly connected with the endoscope body, and the driving disk in the driving seat can drive the reel and the endoscope body rotating gear to rotate. The endoscope body is provided with the snake bone component and the lens, a plurality of traction ropes are arranged in the snake bone component in a penetrating mode, the traction ropes are wound on the winding component, the orientation of the lens connected with the snake bone component can be changed by rotating the winding component, the adjustment of the viewing direction angle is achieved, and the technical problem that the viewing direction angle of the 3D endoscope is single is solved; furthermore, the traction rope is sleeved with an elastic tube, the actual length of the elastic tube is greater than the total linear length between the near end of the elastic tube on the snake bone assembly and the far end of the elastic tube on the endoscope body, namely the elastic tube is provided with a redundant length, and the traction rope in the elastic tube can be kept in a tensioning state due to certain rigidity of the elastic tube; furthermore, through first leading wheel and second leading wheel, or through the direction subassembly, can reduce the transmission friction of haulage rope in the drive seat, improve transmission stability.

Since the above embodiments are all described by referring to and combining with other embodiments, the same portions are provided between different embodiments, and the same and similar portions between the various embodiments in this specification may be referred to each other. And will not be described in detail herein.

The above embodiments of the present application do not limit the scope of the present application.

Claims

1. A3D endoscope, comprising:

the flexible tube is connected to the near end of the snake bone assembly and extends towards the near end direction of the endoscope body, and the actual length of the flexible tube is larger than the total straight line length between the near end of the flexible tube on the snake bone assembly and the far end of the flexible tube on the endoscope body.

2. The 3D endoscope of claim 1, further comprising a scope rotation gear in rotational communication with the scope.

3. The 3D endoscope of claim 1, wherein the elastic tube has a minimum redundant length of:

wherein L is the redundant length of the elastic tube, L ₀ The length of the elastic tube in the endoscope body is the linear length, the redundant length is the difference value between the actual length and the total linear length, the total linear length is the linear length between the fixed point at the far end of the elastic tube and the fixed point at the near end of the elastic tube, and alpha is the maximum self-rotation angle of the endoscope body.

4. The 3D endoscope of claim 1, wherein the winding assembly includes a scope bending drive disk and a reel, the pull cord being wound on the reel, the scope bending drive disk being drivingly connected to the reel.

5. The 3D endoscope of claim 1, further comprising an elastic tube fixing base, wherein one end of the elastic tube fixing base is provided with a second traction rope groove for penetrating the traction rope, the other end of the elastic tube fixing base is provided with a second elastic tube groove for fixing the elastic tube, the second traction rope groove and the second elastic tube groove are coaxially arranged and are communicated, and the aperture of the second traction rope groove is smaller than that of the second elastic tube groove.

6. The 3D endoscope of claim 1, further comprising:

7. The 3D endoscope of claim 1, further comprising an elastic tube holder, wherein the elastic tube holder defines a through hole, a guide assembly is rotatably disposed in the through hole, a proximal end of the elastic tube is fixedly disposed in the guide assembly, and the guide assembly redirects the pull rope toward the winding assembly.

8. The 3D endoscope of claim 1, wherein the pull-cord is covered with a flexible tube.

9. The 3D endoscope of claim 1, wherein the endoscope body further comprises a snake bone fixing member, a first traction rope groove for passing the traction rope is formed on a proximal side of the snake bone fixing member, a first elastic tube groove for fixing the elastic tube is formed on a distal side of the snake bone fixing member, the first traction rope groove and the first elastic tube groove are coaxially arranged and are communicated, and an aperture of the first traction rope groove is smaller than an aperture of the first elastic tube groove.

10. The 3D endoscope of claim 1, wherein the scope body further comprises a plurality of illumination fibers surrounding the outside of the lens.