CN102062939B - Bending control structure for endoscope - Google Patents

Bending control structure for endoscope Download PDF

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Publication number
CN102062939B
CN102062939B CN2011100247528A CN201110024752A CN102062939B CN 102062939 B CN102062939 B CN 102062939B CN 2011100247528 A CN2011100247528 A CN 2011100247528A CN 201110024752 A CN201110024752 A CN 201110024752A CN 102062939 B CN102062939 B CN 102062939B
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endoscope
control structure
crooked control
annulus
extension
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CN102062939A (en
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陆丕清
李涛
黎文富
郑翔
刘国兵
刘文灿
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SHENZHEN YATAI PHOTOELECTRIC TECHNOLOGY Co Ltd
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SHENZHEN YATAI PHOTOELECTRIC TECHNOLOGY Co Ltd
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Abstract

The invention discloses a bending control structure for an endoscope, comprising a rotary mechanism, a support mechanism, a plurality of extending mechanisms and a bending mechanism, wherein the rotary mechanism comprises a bottom surface and a circular arc front surface opposite to the bottom surface; one part of the bottom surface of the rotary mechanism extrudes to the direction opposite to the front surface to form a circular arc support piece; the extending mechanisms are slenderly filiform; the bending mechanism is composed of a plurality of circular rings connected by adapting pieces; the inner wall of the circular ring is provided with a spacing circle corresponding to the extending mechanism; the support mechanism serves as the fulcrum of the support piece; one end of each extending mechanism is connected with the rotary mechanism; and the other end of each extending mechanism successively passes through the spacing circle corresponding to each circular ring. The magnitude of strength is cooperated with the extending mechanism to realize that the bending mechanism can bend at 360 degrees. The bending control structure for the endoscope can rotate 360 degrees in a purely mechanical mode, does not need a power supply and can be used for effectively lightening the power supply burden.

Description

The crooked control structure of endoscope
[technical field]
The present invention relates to Dynamic Non-Destruction Measurement, particularly relate to the crooked control structure of a kind of endoscope.
[background technology]
At present, can realize that the crooked endoscope of any direction mainly has two kinds, electrodynamic type endoscope and knob endoscope.
The rotating mechanism of electrodynamic type endoscope has adopted micro motor; Can realize the accurate rotation of any direction to the control of micro motor through control system; But the setting of micro motor; Will increase the cost of product widely, and the use of micro motor needs consumes power, increased the burden of power supply.
The knob endoscope adopts the mechanical type rotational structure, rotation direction be two directions or four directions to, the angle of rotation is very limited, thereby visual scope is little, causes the situation of omission easily.
[summary of the invention]
Based on this, be necessary to propose a kind of energy but also crooked control structure of endoscope that can arbitrarily angled rotation of not only having saved.
The crooked control structure of a kind of endoscope; Comprise rotating mechanism, supporting mechanism, a plurality of extension mechanism and bending mechanism; Said rotating mechanism comprises bottom surface and the circular-arc front relative with said bottom surface, and the part of the bottom surface of said rotating mechanism is to the circular-arc support member of the outstanding formation of the direction opposite with said front, and it is elongated thread that said extension mechanism is; Said bending mechanism is made up of a plurality of annulus; Connect through web member between the said annulus, the qualification circle corresponding with said extension mechanism is set on the inwall of said annulus, said supporting mechanism is as the fulcrum of said support member; Each extension mechanism one end is connected with said rotating mechanism, and the other end passes the qualification circle of the correspondence of each annulus successively.
In preferred embodiment, also comprise a plurality of bindiny mechanisms, said bindiny mechanism is arranged on the said support member radially.
In preferred embodiment, the number of said bindiny mechanism is four, and on same surface level, is crossing distribution.
In preferred embodiment, the number of said extension mechanism is four.
In preferred embodiment, said bindiny mechanism offers connecting hole, establishes in the said connecting hole to connect pearl, and said connection pearl links to each other with an end of said extension mechanism.
In preferred embodiment, also comprise guide rod and fixed mechanism, said guide rod is arranged on the said support member, and said fixed mechanism is a hollow columnar, and the inwall of said fixed mechanism is provided with the guide rail at the said guide rod of engaging two ends.
In preferred embodiment, said supporting mechanism is combined by concentric cylinder and disk, and the radius of said disk is greater than the radius of said cylinder, and the end face of cylinder is used to support said support member.
In preferred embodiment, said cylinder has elasticity.
In preferred embodiment, said disk is offered perforation, the axis of said perforation and the parallel axes of said disk.
In preferred embodiment, an end of said web member is connected to the outer wall of one of them annulus, and the other end is connected to the outer wall of another adjacent annulus.
In preferred embodiment, said web member forms by two disks are staggered, and two disks connect through fixture in the staggered place.
In preferred embodiment, the axis of said qualification circle and the parallel axes of said annulus.
In preferred embodiment, said extension mechanism is the steel hank knotting.
The crooked control structure of above-mentioned endoscope drives bending mechanism through extension mechanism, and when different dynamics pulled extension mechanism, the degree of crook of bending mechanism was different, and dynamics is big more, and crooked degree is big more; Dynamics is more little, and crooked degree is more little.Cooperate the bending of 360 degree of realizing bending mechanism with extension mechanism through the size of dynamics.The crooked control structure of endoscope realizes 360 degree rotations through pure mechanical mode, need not to use power supply, can effectively alleviate the burden to power supply.
[description of drawings]
Fig. 1 is the synoptic diagram of the bending mechanism of an embodiment;
Fig. 2 is the bending mechanism work synoptic diagram among Fig. 1;
Fig. 3 is the synoptic diagram that rotating mechanism is connected with bindiny mechanism;
Fig. 4 is the synoptic diagram that rotating mechanism is connected with fixed mechanism;
Fig. 5 is the synoptic diagram that rotating mechanism is connected with supporting mechanism;
Fig. 6 is the synoptic diagram that rotating mechanism, supporting mechanism and extension mechanism connect;
Fig. 7 is the synoptic diagram that bending mechanism is connected with endoscope;
Fig. 8 is the crooked control structure outside drawing of the endoscope of an embodiment;
Fig. 9 is in the duty, the synoptic diagram of rotating mechanism sense of rotation.
[embodiment]
Describe below in conjunction with accompanying drawing and concrete embodiment.
Like Fig. 1,2,3,4,5,6, shown in 7, the crooked control structure of a kind of endoscope comprises a plurality of extension mechanism 100, bending mechanism 200, rotating mechanism 300, bindiny mechanism 400, guide rod 500 and fixed mechanism 600.
It is elongated thread that extension mechanism 100 is, and in preferred embodiment, extension mechanism 100 is the steel hank knotting.The number of extension mechanism 100 is a plurality of, and in preferred embodiment, the number of extension mechanism 100 is four.
Bending mechanism 200 is made up of a plurality of annulus 210; Connect through web member 220 between the annulus 210; The qualification circle 230 corresponding with extension mechanism 100 is set on the inwall of annulus 210; Limit the axis of circle 230 and the parallel axes of annulus 210, guarantee that extension mechanism 100 can move freely along the axis direction that limits circle 230.Each extension mechanism 100 passes the qualification circle 230 of the correspondence of each annulus 210 successively.Web member 220 forms by two disks are staggered, and two disks connect through fixture in the staggered place.One end of web member 220 is connected to the outer wall of one of them annulus 210, and the other end is connected to the outer wall of another adjacent annulus 210.The setting of web member 220 can make things convenient for the bending of bending mechanism 200.One end of bending mechanism 200 is used to connect the equipment that endoscope 800 grades need be bent.
Rotating mechanism 300 comprises circular bottom surface 340 and the circular-arc front 330 relative with bottom surface 340; The core of the bottom surface 340 of rotating mechanism 300 forms circular-arc support member 310 to giving prominence to positive 330 opposite directions; In preferred embodiment, the holding mechanism 320 that can also be provided for holding on positive 330 top.
Bindiny mechanism 400 is cylindric, and number is a plurality of, is arranged at radially on the support member 310 in the axis mode of rotating mechanism 300 with the axis normal of bindiny mechanism 400.When support member 310 rotates, drive bindiny mechanism 400 and rotate.Under the cooperation in the circular-arc front 330 of rotating mechanism 300, be convenient to confirm extension mechanism 100 that pulls and the dynamics that pulls extension mechanism 100.In preferred embodiment, the number of bindiny mechanism 400 is four, and on same surface level, is crossing distribution.Bindiny mechanism 400 offers the connecting hole 410 that is connected with extension mechanism 100 away from an end of support member 310.Be placed with the connection pearl in the connecting hole 410, connect pearl one end and be connected with extension mechanism 100.Connecting pearl can roll in connecting hole 410, has cushioned the dynamics of junction in loading process, and directly welding is fixing to have avoided extension mechanism 100, in stressed process, and the stressed disconnection in junction.
Guide rod 500 is column, is arranged on the support member 310 in the axis mode of rotating mechanism 300 with the axis normal of guide rod 500, and in preferred embodiment, the number of guide rod 500 is two, and becomes 180 degree to distribute.
Fixed mechanism 600 be hollow columnar, in preferred embodiment, fixed mechanism 600 middle vacancy rounded, and the axis of circular fixed mechanism 600 and the parallel axes of rotating mechanism 300.The inwall of fixed mechanism 600 is provided with the guide rail 610 that 180 degree distribute, the parallel axes of the axis of guide rail 610 and fixed mechanism 600.Guide rod 500 with can prevent that rotating mechanism 300 from rotating cooperating of fixed mechanism 600 on the axis direction perpendicular to rotating mechanism 300, thereby play the effect that prevents that extension mechanism 100 tangles mutually.
Supporting mechanism 700 is combined by concentric cylinder and disk.The radius of disk is greater than the radius of cylinder.An end face of cylinder is used for supported part 310, and end face is recessed spherical.In preferred embodiment, cylinder has elasticity, or in the cylinder coaxial springs is arranged, and when extension mechanism 100 work, can effectively alleviate the tension force of extension mechanism 100.Offer perforation 710 on the disk, the axis of perforation 710 and the parallel axes of disk.One end of extension mechanism 100 passes perforation 610.Being provided with of perforation 610 can prevent to tangle mutually between the extension mechanism 100 equally.
As shown in Figure 8, shell 900 parcel rotating mechanisms 300, bindiny mechanism 400, guide rod 500, fixed mechanism 600 and supporting mechanism 700.In preferred embodiment, shell 900 also comprises wear-resisting pipe 920, and wear-resisting pipe 920 parcel extension mechanisms 100 prevent that extension mechanism 100 is worn during operation or pulls apart.Shell 900 also is provided with circular control punch 910, and the diameter of the circle of control punch 910 is less than the diameter of the bottom surface 340 of rotating mechanism 300 circles.
During assembling; The holding mechanism 320 of rotating mechanism 300 reaches outside the shell 900 through the control punch 910 of shell 900; The support member 310 of rotating mechanism 300 is connected with an end face of the cylinder of supporting mechanism 700, and the perforation 710 that an end of extension mechanism 100 passes disk links to each other with the connecting hole 410 interior pearls that are connected of bindiny mechanism 400.The other end of extension mechanism 100 passes the qualification circle 230 on each annulus 210 in the bending mechanism 200 successively.Bending mechanism 200 links to each other with endoscope 800.Shell 900 parcel rotating mechanisms 300, bindiny mechanism 400, guide rod 500, fixed mechanism 600 and supporting mechanism 700.In preferred embodiment, shell 900 also comprises wear-resisting pipe 920, wear-resisting pipe 920 parcel extension mechanisms 100.
During work; Wear-resisting pipe 920, bending mechanism 200 and endoscope 800 are goed deep into position to be detected; Control holding mechanism 120 be fulcrum driven rotary mechanism 100 rotations with supporting mechanism 700 under the restriction of control punch 910; Rotating mechanism 100 drives bindiny mechanism's 400 motions, and bindiny mechanism 400 involves extension mechanism 100 motions.Because the restriction of the guide rail 610 of fixed mechanism 600, rotating mechanism 300 can not rotate on the axis direction perpendicular to rotating mechanism 300, can only stir along guide rail 610.Because the cooperation of control punch 910 and supporting mechanism 700 can be exactly with the different different extension mechanisms 100 of dynamics control.
With criss-cross bindiny mechanism 400 is example; As shown in Figure 9, control holding mechanism 120 stirs to the A-B direction, because extension mechanism 100 passes the qualification circle 230 of the correspondence of each annulus 210 successively; The extension mechanism 100 stressed extension mechanisms 100 that make slide through limiting circle 230; According to the composition principle of moment, the distance between the annulus 210 on the final A direction reduces the fastest, and the distance between the annulus 210 on the B direction is the slowest.Bending mechanism 200 natures are crooked to the A direction.In like manner, control holding mechanism 120 is when another direction is stirred, and bending mechanism 200 is crooked to another direction.When the angle of stirring in the A-B direction when holding mechanism 120 was big more, the dynamics on the A direction was big more.When different dynamics pulled extension mechanism 100, the degree of crook of bending mechanism 200 was different, and dynamics is big more, and crooked degree is big more; Dynamics is more little, and crooked degree is more little.Cooperate the bending of 360 degree of realizing bending mechanism 200 with extension mechanism 100 through the size of dynamics.
The crooked control structure of above-mentioned endoscope drives bending mechanism through extension mechanism, and when different dynamics pulled extension mechanism, the degree of crook of bending mechanism was different, and dynamics is big more, and crooked degree is big more; Dynamics is more little, and crooked degree is more little.Cooperate the bending of 360 degree of realizing bending mechanism with extension mechanism through the size of dynamics.The crooked control structure of endoscope realizes 360 degree rotations through pure mechanical mode, need not to use power supply, can effectively alleviate the burden to power supply.
The above embodiment has only expressed several kinds of embodiments of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art under the prerequisite that does not break away from the present invention's design, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with accompanying claims.

Claims (13)

1. the crooked control structure of an endoscope; It is characterized in that, comprise rotating mechanism, supporting mechanism, a plurality of extension mechanism and bending mechanism, said rotating mechanism comprises bottom surface and the circular arc planar front relative with said bottom surface; The part of the bottom surface of said rotating mechanism is to the outstanding support member that forms the arc surface shape of the direction opposite with said front; It is elongated thread that said extension mechanism is, and said bending mechanism is made up of a plurality of annulus, connects through web member between the said annulus; The qualification circle corresponding with said extension mechanism is set on the inwall of said annulus; Said supporting mechanism is as the fulcrum of said support member, and each extension mechanism one end is connected with said rotating mechanism, and the other end passes the qualification circle of the correspondence of each annulus successively.
2. the crooked control structure of endoscope as claimed in claim 1 is characterized in that also comprise a plurality of bindiny mechanisms, said bindiny mechanism is arranged on the said support member radially.
3. the crooked control structure of endoscope as claimed in claim 2 is characterized in that the number of said bindiny mechanism is four, and on same surface level, is crossing distribution.
4. the crooked control structure of endoscope as claimed in claim 3 is characterized in that the number of said extension mechanism is four.
5. the crooked control structure of endoscope as claimed in claim 2 is characterized in that said bindiny mechanism offers connecting hole, establishes in the said connecting hole to connect pearl, and said connection pearl links to each other with an end of said extension mechanism.
6. the crooked control structure of endoscope as claimed in claim 1; It is characterized in that, also comprise guide rod and fixed mechanism, said guide rod is arranged on the said support member; Said fixed mechanism is a hollow columnar, and the inwall of said fixed mechanism is provided with the guide rail at the said guide rod of engaging two ends.
7. the crooked control structure of endoscope as claimed in claim 1 is characterized in that said supporting mechanism is combined by concentric cylinder and disk, and the radius of said disk is greater than the radius of said cylinder, and the end face of cylinder is used to support said support member.
8. the crooked control structure of endoscope as claimed in claim 7 is characterized in that said cylinder has elasticity.
9. the crooked control structure of endoscope as claimed in claim 7 is characterized in that said disk is offered perforation, the axis of said perforation and the parallel axes of said disk.
10. the crooked control structure of endoscope as claimed in claim 1 is characterized in that an end of said web member is connected to the outer wall of one of them annulus, and the other end is connected to the outer wall of another adjacent annulus.
11. the crooked control structure of endoscope as claimed in claim 10 is characterized in that, said web member forms by two disks are staggered, and two disks connect through fixture in the staggered place.
12. the crooked control structure of endoscope as claimed in claim 1 is characterized in that the axis of said qualification circle and the parallel axes of said annulus.
13. the crooked control structure of endoscope as claimed in claim 1 is characterized in that said extension mechanism is the steel hank knotting.
CN2011100247528A 2011-01-21 2011-01-21 Bending control structure for endoscope Active CN102062939B (en)

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CN103330544B (en) * 2013-06-18 2015-01-21 深圳市亚泰光电技术有限公司 Endoscope bending control mechanism and endoscope
CN109116546B (en) * 2018-09-10 2020-08-21 深圳市亚泰光电技术有限公司 Packaging structure and packaging method for packaging snake bones and braided tubes
CN111374711B (en) * 2018-12-28 2023-02-17 深圳迈瑞生物医疗电子股份有限公司 Rotating device and mammary gland machine

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JP2938486B2 (en) * 1989-12-28 1999-08-23 株式会社町田製作所 Curved tube and manufacturing method thereof
FR2740688B1 (en) * 1995-11-07 1997-12-12 Tokendo Sarl FLEXIBLE VIDEOENDOSCOPIC PROBE WITH MOTORIZED CONTROL HANDLE
JP4323441B2 (en) * 2005-02-14 2009-09-02 オリンパス株式会社 Endoscope
CN101940462B (en) * 2005-12-09 2013-04-24 奥林巴斯株式会社 Endoscopic insertion portion
JP2008295774A (en) * 2007-05-31 2008-12-11 Olympus Corp Curbed portion of endoscope
CN101632572B (en) * 2009-08-26 2011-01-05 哈尔滨工业大学 Multi-joint endoscope bending mechanism with force sensing function

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