CN110594375A - Endoscope rotation control mechanism - Google Patents

Endoscope rotation control mechanism Download PDF

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Publication number
CN110594375A
CN110594375A CN201910999240.XA CN201910999240A CN110594375A CN 110594375 A CN110594375 A CN 110594375A CN 201910999240 A CN201910999240 A CN 201910999240A CN 110594375 A CN110594375 A CN 110594375A
Authority
CN
China
Prior art keywords
control mechanism
snake bone
rotation control
gear
driven wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910999240.XA
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Chinese (zh)
Inventor
张俊俊
李凌
辜嘉
龙腾飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Zhongke Advanced Technology Research Institute Co Ltd
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Suzhou Zhongke Advanced Technology Research Institute Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou Zhongke Advanced Technology Research Institute Co Ltd filed Critical Suzhou Zhongke Advanced Technology Research Institute Co Ltd
Priority to CN201910999240.XA priority Critical patent/CN110594375A/en
Publication of CN110594375A publication Critical patent/CN110594375A/en
Pending legal-status Critical Current

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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
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
    • 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
    • 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
    • A61B1/008—Articulations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
    • F16H19/0659—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member combined with means for creating non-linear characteristics, e.g. cams; Means for creating different velocity on forward and reverse stroke

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • General Engineering & Computer Science (AREA)
  • Rehabilitation Therapy (AREA)
  • Nonlinear Science (AREA)
  • Mechanical Engineering (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)

Abstract

The invention discloses an endoscope rotation control mechanism which comprises a base, a driving wheel and a driven wheel, wherein the driving wheel and the driven wheel are rotatably arranged on the base, the driving wheel and the driven wheel are respectively provided with a first gear and a second gear which are meshed with each other, the side surface of the driven wheel is concavely provided with an accommodating groove, and a driving rope communicated with the two sides in a snake bone is arranged in the accommodating groove. The endoscope rotation control mechanism solves the problems that the steel wire wheel type rotation operation proportion is too large and a sprocket gear cannot operate a small-caliber snake bone; the gear transmission is adopted to adjust the bending of the snake bone in the endoscope according to the proportion, so that the finer snake bone can be operated, and the control precision of the snake bone is improved; through the design of the driving wheel and the driven wheel, the equal-ratio transmission of the rotating handle and the snake bone can be realized, and the positioning precision of the end part of the snake bone can be improved in the medical process.

Description

Endoscope rotation control mechanism
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to an endoscope rotation control mechanism.
Background
At present, the traction of an endoscope in the field of endoscopes is controlled by a rotating wheel, a snake bone at the front end is stretched by a traction steel wire, and the movement of the traction steel wire is attached to the movement of the rotating wheel in the endoscope.
Endoscope drive control systems in the prior art are divided into two categories: one type is that a steel wire is connected with a rotating wheel for driving, and the diameter of the rotating wheel is larger due to the characteristic that the steel wire is easy to bend, so that the bending angle of the snake bone cannot be accurately controlled; the other type is driven by chain transmission, chain gears can be made smaller due to the characteristic that the chain is easy to bend, but the chain is complex in structure, is mostly suitable for bending of thick snakes, and cannot control the angle of a thin snake bone.
When the two driving control systems are operated, the rotation condition of the head part of the insertion pipe cannot be confirmed by means of the change of the rotation angle of the handle part, and the problems that the steel wire wheel type rotation operation proportion is too large and a chain gear cannot operate a small-caliber snake bone cannot be solved.
Therefore, in order to solve the above-described problems, it is necessary to provide an endoscope rotation control mechanism.
Disclosure of Invention
In view of the above, an object of the present invention is to provide an endoscope rotation control mechanism.
In order to achieve the above object, an embodiment of the present invention provides the following technical solutions:
the endoscope rotation control mechanism comprises a base, a driving wheel and a driven wheel, wherein the driving wheel and the driven wheel are rotatably installed on the base, a first gear and a second gear which are meshed with each other are respectively arranged on the driving wheel and the driven wheel, an accommodating groove is concavely formed in the side face of the driven wheel, and driving ropes communicated with the two sides in a snake bone are arranged in the accommodating groove.
In one embodiment, the driving wheel comprises a first mounting part and a first main body part, the first gear is positioned on the outer side of the first main body part, the driven wheel comprises a second main body part, the second main body part is provided with a second mounting hole, and the second gear is arranged on a first surface of the second main body part; the base is provided with a first mounting hole and a second mounting portion, the first mounting portion is rotatably mounted in the first mounting hole, and the second mounting portion is rotatably mounted in the second mounting hole.
In one embodiment, the receiving groove is disposed on a side surface of the second main body, an opening is disposed on a side of the receiving groove away from the driving wheel, and a third mounting portion is disposed on a second surface of the second main body.
In one embodiment, the driving rope is wound on the third mounting portion in a crossing manner at the opening of the accommodating groove.
In one embodiment, the bending angle θ of the snake bone1Proportional to the difference in length B between the two ends of the drive rope, i.e. B ═ k θ1Wherein k is a proportionality constant, and the bending angle theta of the snake bone1Angle of rotation theta with the driving wheel2Is in direct proportion.
In one embodiment, the bending angle θ of the snake bone1Angle of rotation theta with the driving wheel2Is 1: 1.
in one embodiment, the rotation control mechanism satisfiesWherein E is the diameter of the first gear, C is the diameter of the second main body part in the driven wheel, and D is the diameter of the second gear.
In one embodiment, a housing is fixedly mounted on the base, and the first mounting portion on the driving wheel penetrates through the housing.
In one embodiment, a rotating handle is fixedly mounted at the tail end of the first mounting part, and the rotating handle is positioned outside the shell.
In one embodiment, the snake bone comprises a plurality of joints which are sequentially and rotatably installed, a first clamping groove and a second clamping groove which are oppositely arranged are formed in the inner side of each joint, and driving ropes on two sides of a driven wheel are respectively installed in the first clamping groove and the second clamping groove.
Compared with the prior art, the invention has the following advantages:
the endoscope rotation control mechanism solves the problems that the steel wire wheel type rotation operation proportion is too large and a chain gear cannot operate a small-caliber snake bone;
the gear transmission is adopted to adjust the bending of the snake bone in the endoscope according to the proportion, so that the finer snake bone can be operated, and the control precision of the snake bone is improved;
through the design of the driving wheel and the driven wheel, the equal-ratio transmission of the rotating handle and the snake bone can be realized, and the positioning precision of the end part of the snake bone can be improved in the medical process.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is an exploded view of a rotating control mechanism according to an embodiment of the present invention;
FIG. 2 is an exploded view of a second perspective of the rotational control mechanism in accordance with an embodiment of the present invention;
FIG. 3 is an exploded view of a third perspective of the rotational control mechanism in accordance with an embodiment of the present invention;
FIG. 4 is an exploded view of a fourth perspective of the rotational control mechanism in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view of an assembly structure of a rotation control mechanism according to an embodiment of the present invention;
FIG. 6 is an exploded view of a fifth perspective of the rotational control mechanism in accordance with an embodiment of the present invention;
FIG. 7 is a schematic plan view of a rotation control mechanism according to an embodiment of the present invention;
FIG. 8 is a schematic perspective view of a snake bone according to an embodiment of the present invention;
FIG. 9 is a schematic plan view of a snake bone bending 180 degrees in accordance with an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to embodiments shown in the drawings. The embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to the embodiments are included in the scope of the present invention.
Terms such as "left", "right", and the like, used herein to denote relative spatial positions, are used for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. The spatially relative positional terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as being "to the left" of other elements or features would then be oriented "to the right" of the other elements or features. Thus, the exemplary term "left side" may encompass both left and right orientations. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Also, it should be understood that, although the terms first, second, etc. may be used herein to describe various elements or structures, these described elements should not be limited by these terms. These terms are only used to distinguish these descriptive objects from one another. For example, the first mounting portion may be referred to as the second mounting portion, and similarly the second mounting portion may also be referred to as the first mounting portion, without departing from the scope of the present application.
Referring to fig. 1 to 5, in an embodiment of the present invention, an endoscope rotation control mechanism is disclosed, the rotation control mechanism includes a base 10, a driving wheel 20 and a driven wheel 30 rotatably mounted on the base, the driving wheel 20 and the driven wheel 30 are respectively provided with a first gear 23 and a second gear 33 engaged with each other, a receiving groove 34 is recessed on a side surface of the driven wheel 30, and a driving rope 40 communicated with two sides of a snake bone is disposed in the receiving groove 34.
Specifically, the driving wheel 20 includes a first mounting portion 21 and a first main body portion 22, the first gear 23 is located outside the first main body portion 22, the driven wheel 30 includes a second main body portion 31, a second mounting hole 32 is provided on the second main body portion 31, and a second gear 33 is provided on a first surface (surface facing the base 10) of the second main body portion 31; the base 10 is provided with a first mounting hole 11 and a second mounting portion 12, the first mounting portion 21 is rotatably mounted in the first mounting hole 11, and the second mounting portion 12 is rotatably mounted in the second mounting hole 32.
Referring to fig. 1 to 3, the receiving groove 34 in this embodiment is disposed on a side surface of the second main body 31, an opening 35 is disposed on a side of the receiving groove 34 away from the driver 20, a third mounting portion 36 is disposed on a second surface (a surface away from the base 10) of the second main body 31, the third mounting portion 39 is disposed in a circular ring shape, and the second mounting hole 32 penetrates through the third mounting portion 39.
As shown in fig. 3 and 7, the driving rope 40 is disposed on the third mounting portion 36 at the opening 35 of the accommodating groove 34 in a crossing manner.
Referring to fig. 6, a housing 50 is fixedly mounted on the base 10, the first mounting portion 21 of the driver 20 penetrates through the top of the housing, and a rotating handle (not shown) is fixedly mounted at the end of the first mounting portion 21 and is located outside the housing 50.
Referring to fig. 8 and 9, the snake bone 60 includes a plurality of joints 61 which are sequentially and rotatably installed, a first engaging groove 611 and a second engaging groove 612 which are oppositely arranged are provided at an inner side of each joint 61, and the driving ropes 40 at both sides of the driven wheel 30 are respectively installed in the first engaging groove 611 and the second engaging groove 612.
The installation mode of the driving rope in this embodiment is specifically: the snake bone 60 comprises a fixed end and a movable end, two ends of the driving rope are connected with two sides of the joint 61 on the snake bone 60, the driving rope is wound from one side of the accommodating groove 34, passes through the opening 35 and then is wound on the third mounting part 36 in a crossed manner, and then is wound from the opening 35 to the other side of the accommodating groove 34.
The specific process of driving the snake bone to bend by the rotary control mechanism comprises the following steps: the capstan 20 is rotated, the capstan 20 drives the driven pulley 30 to rotate through the transmission of the first gear 23 and the second gear 33, the driving rope is fixedly wound in the accommodating groove 34 on the side surface of the driven pulley 30, the rotation of the driven pulley 30 pulls both ends of the driving rope 50 to expand and contract, and the driving rope 50 is fixedly mounted on the movable end of the snake bone 60, so that the distance difference between the driving rope 50 and the two ends of the snake bone drives the snake bone 60 to bend at different angles.
In the present invention, the bending angle θ of the snake bone1Proportional to the difference in length B between the two ends of the drive rope, i.e. B ═ k θ1Wherein k is a proportionality constant. As shown in FIG. 9, in an embodiment of the present invention, when the length difference B between the ends of the driving rope is 30mm, the bending angle θ of the snake bone 60 is equal to1The proportionality constant k is 30mm/180 °, i.e. (1/6) mm/°.
Bending angle theta of snake bone in the invention1Angle of rotation theta with the driving wheel2In proportion, preferably, the bending angle theta of the snake bone1Angle of rotation theta with the driving wheel2Is 1: 1, the equal ratio transmission of the rotating handle and the snake bone can be realized, namely, the rotating angle of the rotating handle is equal to the bending angle of the snake bone.
Referring to fig. 7, in the rotation control mechanism, the length difference B between both ends of the drive rope is (θ)2And/360 DEG π E (C/D) 2, wherein E is the diameter of the first gear, C is the diameter of the second body portion in the driven wheel, and D is the diameter of the second gear.
When theta is1：θ21: 1, from B to k θ1＝(θ2Per 360 DEG π E (C/D) × 2If C is 40mm and D is 32mm in this example, the thickness of the film is increasedNamely, it is
Of course, in other embodiments, if the driving precision of the snake bone needs to be controlled, the driving precision can be realized by increasing the diameter of the driving wheel, and if the rotation amplitude of the snake bone needs to be increased, the driving precision can be realized by reducing the diameter of the driving wheel.
According to the technical scheme, the invention has the following beneficial effects:
the endoscope rotation control mechanism solves the problems that the steel wire wheel type rotation operation proportion is too large and a sprocket gear cannot operate a small-caliber snake bone;
the gear transmission is adopted to adjust the bending of the snake bone in the endoscope according to the proportion, so that the finer snake bone can be operated, and the control precision of the snake bone is improved;
through the design of the driving wheel and the driven wheel, the equal-ratio transmission of the rotating handle and the snake bone can be realized, and the positioning precision of the end part of the snake bone can be improved in the medical process.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (10)

1. The endoscope rotation control mechanism is characterized by comprising a base, a driving wheel and a driven wheel, wherein the driving wheel and the driven wheel are rotatably installed on the base, the driving wheel and the driven wheel are respectively provided with a first gear and a second gear which are meshed with each other, the side surface of the driven wheel is concavely provided with an accommodating groove, and a driving rope communicated with two sides in a snake bone is arranged in the accommodating groove.
2. The endoscope rotation control mechanism of claim 1, wherein the driving wheel includes a first mounting portion and a first main body portion, the first gear is located outside the first main body portion, the driven wheel includes a second main body portion, the second main body portion is provided with a second mounting hole, and the second gear is provided on a first surface of the second main body portion; the base is provided with a first mounting hole and a second mounting portion, the first mounting portion is rotatably mounted in the first mounting hole, and the second mounting portion is rotatably mounted in the second mounting hole.
3. The endoscope rotation control mechanism according to claim 2, wherein the housing groove is provided on a side surface of the second body portion, and an opening is provided on a side of the housing groove away from the driver, and a third mounting portion is provided on a second surface of the second body portion.
4. The endoscope rotation control mechanism according to claim 3, wherein the driving cord is provided on the third mounting portion so as to cross at an opening of the housing groove.
5. The endoscope rotation control mechanism of claim 2, wherein the angle of curvature θ of the snake bone1Proportional to the difference in length B between the two ends of the drive rope, i.e. B ═ k θ1Wherein k is a proportionality constant, and the bending angle theta of the snake bone1Angle of rotation theta with the driving wheel2Is in direct proportion.
6. The endoscope rotation control mechanism of claim 5, wherein the angle of curvature θ of the snake bone1Angle of rotation theta with the driving wheel2Is 1: 1.
7. the endoscope rotation control mechanism of claim 6, wherein the rotation control mechanism satisfiesWherein E is the diameter of the first gear, C is the diameter of the second main body part in the driven wheel, and D is the diameter of the second gear.
8. The endoscope rotation control mechanism of claim 2, wherein the base has a housing fixedly mounted thereon, and the first mounting portion of the driver is disposed through the housing.
9. The endoscope rotation control mechanism of claim 8, wherein a rotary handle is fixedly mounted to the distal end of the first mounting portion, the rotary handle being located outside the housing.
10. The endoscope rotation control mechanism of claim 1, wherein the snake bone comprises a plurality of joints which are rotatably installed in sequence, a first slot and a second slot are oppositely arranged inside each joint, and the driving ropes on two sides of the driven wheel are respectively installed in the first slot and the second slot.
CN201910999240.XA 2019-10-21 2019-10-21 Endoscope rotation control mechanism Pending CN110594375A (en)

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Application Number Priority Date Filing Date Title
CN201910999240.XA CN110594375A (en) 2019-10-21 2019-10-21 Endoscope rotation control mechanism

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023000589A1 (en) * 2021-07-20 2023-01-26 中国科学院深圳先进技术研究院 Lasso-drive-based two-degree-of-freedom flexible buffering endoscope

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Publication number Priority date Publication date Assignee Title
JP2001095754A (en) * 1999-09-29 2001-04-10 Olympus Optical Co Ltd Endoscope
JP2005137701A (en) * 2003-11-07 2005-06-02 Olympus Corp Medical controlling apparatus
US20090076330A1 (en) * 2007-09-19 2009-03-19 Fujifilm Corporation Endoscope
JP2010220961A (en) * 2009-03-25 2010-10-07 Fujifilm Corp Bending portion adjusting device of endoscope system and bending portion adjusting method
JP2011030827A (en) * 2009-08-03 2011-02-17 Fujifilm Corp Endoscope apparatus and control method of endoscope apparatus
CN102122068A (en) * 2011-03-23 2011-07-13 深圳市亚泰光电技术有限公司 Fine adjustment device for endoscope
KR20170074116A (en) * 2015-12-21 2017-06-29 주식회사 인트로메딕 Apparatus For Controlling Endoscope
JP2018000741A (en) * 2016-07-06 2018-01-11 オリンパス株式会社 Wire traction mechanism for endoscope and endoscope
CN110169749A (en) * 2019-06-18 2019-08-27 重庆金山科技（集团）有限公司 A kind of curved part of endoscope self-regulation structure
CN210919992U (en) * 2019-10-21 2020-07-03 苏州中科先进技术研究院有限公司 Endoscope rotation control mechanism

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001095754A (en) * 1999-09-29 2001-04-10 Olympus Optical Co Ltd Endoscope
JP2005137701A (en) * 2003-11-07 2005-06-02 Olympus Corp Medical controlling apparatus
US20090076330A1 (en) * 2007-09-19 2009-03-19 Fujifilm Corporation Endoscope
JP2010220961A (en) * 2009-03-25 2010-10-07 Fujifilm Corp Bending portion adjusting device of endoscope system and bending portion adjusting method
JP2011030827A (en) * 2009-08-03 2011-02-17 Fujifilm Corp Endoscope apparatus and control method of endoscope apparatus
CN102122068A (en) * 2011-03-23 2011-07-13 深圳市亚泰光电技术有限公司 Fine adjustment device for endoscope
KR20170074116A (en) * 2015-12-21 2017-06-29 주식회사 인트로메딕 Apparatus For Controlling Endoscope
JP2018000741A (en) * 2016-07-06 2018-01-11 オリンパス株式会社 Wire traction mechanism for endoscope and endoscope
CN110169749A (en) * 2019-06-18 2019-08-27 重庆金山科技（集团）有限公司 A kind of curved part of endoscope self-regulation structure
CN210919992U (en) * 2019-10-21 2020-07-03 苏州中科先进技术研究院有限公司 Endoscope rotation control mechanism

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023000589A1 (en) * 2021-07-20 2023-01-26 中国科学院深圳先进技术研究院 Lasso-drive-based two-degree-of-freedom flexible buffering endoscope

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