CN110974125B

CN110974125B - Clamping control device for endoscope

Info

Publication number: CN110974125B
Application number: CN201911398960.7A
Authority: CN
Inventors: 张谦; 谢天宇; 付野; 刘彬
Original assignee: Beijing Shuangyiqi Electronics Co ltd; Peking University
Current assignee: Beijing Shuangyiqi Electronics Co ltd; Peking University
Priority date: 2019-12-30
Filing date: 2019-12-30
Publication date: 2022-02-15
Anticipated expiration: 2039-12-30
Also published as: CN110974125A

Abstract

The invention relates to the technical field of endoscope auxiliary equipment, and discloses a clamping control device for an endoscope, which is used for clamping an endoscope tube body and carrying out advancing, retreating and rotating operations on the endoscope tube body, and comprises: the advancing and retreating tube body mechanism is used for driving the endoscope tube body to continuously advance or retreat; the rotating tube body mechanism is used for driving the endoscope tube body to rotate; the advancing and retreating tube body mechanism and/or the rotating tube body mechanism abut against the endoscope tube body to clamp the endoscope tube body. The clamping control device for the endoscope is simple and convenient to maintain, flexible in action, safe and reliable, convenient to detach and clean, good in operation comfort, capable of shortening the time required by operation or examination to a great extent and reducing the fatigue strength of the operation of doctors.

Description

Clamping control device for endoscope

Technical Field

The invention relates to the technical field of endoscope auxiliary equipment, in particular to a clamping control device for an endoscope.

Background

The endoscope is a detection instrument integrating traditional optics, ergonomics, precision machinery, modern electronics, mathematics and software, has an image sensor, an optical lens, light source illumination, water vapor control and the like, can enter the stomach through the oral cavity or enter the body through other natural pores, and can see pathological changes which cannot be displayed by other medical equipment such as X rays and the like by utilizing the endoscope.

At present, endoscopy or treatment is performed through manual operation, the burden of a doctor can be increased through long-time operation, the operation flow is complex, and the physical strength is consumed in the operation process. In the field of medical instruments in the society today, a large number of medical automation devices and medical robots are known, which bring great convenience to medical procedures, improve the precision and simplicity of procedures such as surgery and examination, wherein the control of the flexible tube body is the most complicated, the degree of freedom is not limited at all, and the degree of freedom is also difficult to be limited in the operations of advancing and retracting and rotating, so that the advancing and retracting and the position and the posture of the rotation of the flexible tube body are difficult to be accurately controlled.

In view of the above, it is desirable to provide an endoscope clamping control device capable of controlling a flexible tube body with a certain precision.

Disclosure of Invention

The embodiment of the invention provides a clamping control device for an endoscope, which is used for solving the problems of complicated operation process and labor waste caused by manual operation of the existing endoscope tube body so as to improve the operability of the endoscope tube body.

An embodiment of the present invention provides a clamping control device for an endoscope, which clamps an endoscope tube and performs forward and backward and rotational operations on the endoscope tube, including:

the advancing and retreating tube body mechanism is used for driving the endoscope tube body to continuously advance or retreat;

the rotating tube body mechanism is used for driving the endoscope tube body to rotate;

the advancing and retreating tube body mechanism and/or the rotating tube body mechanism abut against the endoscope tube body to clamp the endoscope tube body.

Wherein the advancing and retreating tube body mechanism clamps the endoscope tube body; the advancing and retreating tube body mechanism comprises at least one advancing and retreating unit arranged along the circumferential direction of the endoscope tube body, and the advancing and retreating unit is abutted against the endoscope tube body towards one side of the endoscope tube body;

the rotary pipe body mechanism comprises a fixed seat and a rotary seat which is rotatably connected with the fixed seat, and the driving and reversing unit is arranged on the rotary seat.

The advancing and retreating unit comprises an advancing and retreating driving piece and a transmission piece, the advancing and retreating driving piece is installed on the rotary seat, an input part of the transmission piece is connected to an output shaft of the advancing and retreating driving piece, and an output part of the transmission piece is abutted against the endoscope tube body so as to convert the rotary motion output by the advancing and retreating driving piece into the axial translational motion of the endoscope tube body.

Wherein the rotating tube body mechanism clamps the endoscope tube body; the rotary pipe body mechanism comprises a fixed seat and a rotary seat;

the rotating seat is rotatably connected to the fixed seat and is sleeved on the endoscope tube body; or the fixed seat and the rotating seat are respectively abutted against two sides of the endoscope tube body, and the rotating seat can move along the radial direction of the endoscope tube body so as to provide radial friction force for rotating the endoscope tube body;

the tube advancing and retreating mechanism comprises an advancing and retreating base and a moving part connected to the advancing and retreating base, and the moving part can move along the axial direction of the endoscope tube;

the fixed seat of the rotary pipe body mechanism is arranged on the moving part of the advancing and retreating pipe body mechanism so as to continuously advance or retreat along with the moving part.

The feeding and discharging tube body mechanism and the rotating tube body mechanism are respectively abutted against two sides of the endoscope tube body so as to clamp the endoscope tube body; the advancing and retreating tube body mechanism comprises an advancing and retreating base and a moving part connected to the advancing and retreating base, and the moving part is abutted against one side of the endoscope tube body so as to provide friction force along the axial direction of the endoscope tube body and enable the endoscope tube body to translate along the axial direction;

the rotating tube body mechanism comprises a friction part connected to the advancing and retreating base, the friction part can move along the radial direction of the endoscope tube body, and the friction part is abutted against the other side of the endoscope tube body to provide a friction force along the radial direction of the endoscope tube body, so that the endoscope tube body rotates.

The endoscope body is sleeved with the advancing and retreating body mechanism and the rotating body mechanism at intervals along the length direction of the endoscope body, and the advancing and retreating body mechanism and the rotating body mechanism are selected to clamp the endoscope body.

The endoscope body is characterized by further comprising a clamping body mechanism, and the advancing and retreating body mechanism and/or the rotating body mechanism are abutted to the endoscope body through the clamping body mechanism.

The endoscope body is characterized by also comprising a forward and backward torque sensor and a forward and backward position sensor which are connected with the forward and backward tube body mechanism so as to monitor the stress condition and the forward and backward position of the endoscope body during forward and backward movement;

the endoscope body mechanism is characterized by further comprising a rotation torque sensor and a rotation angle sensor which are connected to the rotation body mechanism, so that the stress condition and the rotation angle of the endoscope body during rotation can be monitored.

The endoscope tube body clamping device further comprises a clamping force adjusting assembly, and the clamping force adjusting assembly is used for adjusting the clamping force of the advancing and retreating tube body mechanism and/or the rotating tube body mechanism for clamping the endoscope tube body.

The endoscope comprises an endoscope body, and is characterized by further comprising a sealing assembly sleeved on the outer side of the endoscope body and used for preventing sundries brought out of the endoscope body from a body cavity of a patient under the condition that the outer surface of the endoscope body is not damaged.

The clamping control device for the endoscope comprises a tube advancing and retreating mechanism and a rotating tube mechanism, wherein the tube advancing and retreating mechanism is used for driving the endoscope tube to advance or retreat continuously, and the rotating tube mechanism is used for driving the endoscope tube to rotate. The advancing and retreating tube body mechanism and/or the rotating tube body mechanism abut against the endoscope tube body to clamp the endoscope tube body. The clamping control device for the endoscope is simple and convenient to maintain, flexible in action, safe and reliable, convenient to detach and clean, good in operation comfort, capable of shortening the time required by operation or examination to a great extent and reducing the fatigue strength of the operation of doctors.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic configuration diagram of a first endoscope grip control device according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a first advancing/retreating pipe body mechanism according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a first driving member, which advances and retreats according to an embodiment of the present invention;

FIG. 4 is a schematic structural view of a first forward/backward driving member according to an embodiment of the present invention;

FIG. 5 is a schematic view of the first driving and reversing transmission member shown in FIG. 4 from another perspective;

FIG. 6 is a cross-sectional view of a first advancing/retreating tubular body mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a clamping material elasticity adjusting mechanism according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a first guide assembly according to an embodiment of the present invention;

fig. 9 is a schematic structural view of a first fixing base according to an embodiment of the invention;

FIG. 10 is a schematic structural diagram of a first rotating base according to an embodiment of the present invention;

FIG. 11 is a schematic view of the first fixed base and the first rotatable base being installed in cooperation with each other according to the embodiment of the present invention;

FIG. 12 is an enlarged schematic view of a rotational stop according to an embodiment of the present invention;

FIG. 13 is a schematic structural view of a seal assembly according to an embodiment of the present invention;

FIG. 14 is a schematic configuration view of a second endoscope grip control device according to an embodiment of the present invention;

FIG. 15 is a schematic structural view of a second rotary pipe mechanism according to an embodiment of the present invention;

FIG. 16 is a schematic configuration view of a grip control apparatus for a third endoscope according to an embodiment of the present invention;

FIG. 17 is a schematic structural view of a second advancing/retreating tube body mechanism according to the embodiment of the present invention;

FIG. 18 is a schematic structural diagram of a first clamping mechanism for clamping a tubular body according to an embodiment of the present invention;

FIG. 19 is a schematic configuration view of a fourth endoscope grip control device according to an embodiment of the present invention;

fig. 20 is a schematic structural view of a fifth endoscope grip control apparatus according to an embodiment of the present invention;

FIG. 21 is a schematic structural view of the clamping control device for an endoscope in FIG. 20 from another viewing angle;

FIG. 22 is a schematic structural view of a second tubular clamping mechanism according to an embodiment of the present invention;

FIG. 23 is a schematic configuration view of a grip control apparatus for a sixth endoscope according to an embodiment of the present invention;

FIG. 24 is a schematic structural view of the clamping control device for an endoscope in FIG. 23 from another angle of view;

FIG. 25 is a schematic configuration view of a seventh endoscope grip control device according to an embodiment of the present invention;

FIG. 26 is a schematic structural diagram of a Mecanum wheel structure in accordance with an embodiment of the present invention;

fig. 27 is a schematic configuration view of a grip control apparatus for an eighth endoscope according to an embodiment of the present invention;

description of reference numerals:

11: a first advancing and retreating pipe body mechanism;

111: a first driving and reversing element;

1111: a first advancing and retreating motor; 1112: a first advance/retreat torque sensor;

1113: a first advancing-retreating base; 1114: an output worm gear;

1115: an input worm gear; 1116: an angle input worm gear;

1117: a first advance/retreat angle sensor; 1118: an advancing/retreating drive input shaft;

1119: an advancing and retreating drive output bearing;

112: a first advancing and retreating transmission member;

1121: an upper clamping plate; 1122: a lower clamping plate;

1123: an advancing/retreating clamping input shaft; 1124: a pulley; 1125: clamping the elastic body;

1126: a clamping force adjusting knob; 1127: a clamping force adjusting screw;

1128: a clamping material elasticity adjusting mechanism;

11281: a pinch roller; 11282: an elastic force adjusting knob;

11283: an elastic adjusting seat; 11284: a sliding gasket; 11285: adjusting the fixed shaft;

1129: clamping the guide post; 1120: a belt;

113: a first guide assembly;

1131: a first guide bracket; 1132: a first screw; 1133: a guide roller;

1134: a guide roller;

114: disassembling the knob;

21: a first rotating body mechanism;

211: a first fixed seat;

2111: a first bearing outer race; 2112: a first bearing inner race; 2113: a stationary stop block;

2114: a vertical plate; 2115: a base;

212: a first rotating base;

2121: a first rotary power output gear; 2122: a first rotational torque sensor;

2123: a first rotating electrical machine; 2124: rotating the limiting block;

2125: a first rotating base; 2126: a first rotation angle sensor;

2127: an angle input gear; 2128: a limit switch;

3: an endoscope tube body;

4: a seal assembly;

41: a seal assembly base; 42: a second screw; 43: sealing the consumables;

44: a left sealing jaw; 45: a right sealing jaw;

22: a second rotating body mechanism;

221: a second rotating electrical machine; 222: a second fixed seat; 223: a second bearing outer race;

224: a second bearing inner race; 225: an inner ring gear;

226: a second rotary power output gear;

12: a second advancing and retreating pipe body mechanism;

121: a second advance/retreat motor; 122: a second advancing-retreating base; 123: a second advancing and retreating screw rod;

124: a second advancing and retreating nut; 125: a third screw;

51: a first pipe clamping mechanism;

511: a mechanical ejector rod; 512: a first clamping structure frame;

513: moving the wedge block; 514: a clamping body; 515: a fourth screw;

13: a third advancing and retreating pipe body mechanism;

131: a third advancing and retreating base; 132: a sliding table;

23: a third rotating body mechanism;

231: a third fixed seat; 232: a third rotary base;

2321: a third rotating electrical machine; 2322: a magnetic driving wheel;

2323: a third rotational torque sensor; 2324: a third rotating base;

2325: a magnetic driven wheel;

233: a third guide assembly; 2331: a guide friction wheel; 2332: a third guide bracket;

52: a second pipe clamping mechanism;

521: a cover plate; 522: clamping the bracket; 523: fixing the clamping jaw;

524: a movable clamping jaw; 525: a cushion pad; 526: clamping a motor screw rod;

527: clamping the cover plate;

6: adjusting the bracket; 61: the base is adjusted.

24: a fourth rotating pipe mechanism;

241: fixing the clamping plate; 242: a fourth rotary screw; 243: a friction plate;

14: a fourth advancing and retreating pipe body mechanism;

141: a Mecanum wheel structure; 142: a fourth advancing and retreating base; 143: an elastic cord;

1411: a Mecanum wheel body; 1412: the wheel body rotates the supporting arm;

25: a fifth rotating body mechanism;

251: a fifth rotating support; 252: a rotating friction wheel; 253: a transverse slide rail;

254: a transverse mounting block;

15: a fifth pipe body advancing and retreating mechanism; 151: a fifth slider;

53: an air bag.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the terms "first," "second," "third" … … "seventh," and the like, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Likewise, the word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 27, an endoscope holding control device according to an embodiment of the present invention is an endoscope holding control device for holding an endoscope tube 3 and performing an advancing/retreating and rotating operation of the endoscope tube 3, including:

the advancing and retreating tube body mechanism is used for driving the endoscope tube body 3 to continuously advance or retreat; the rotating tube body mechanism is used for driving the endoscope tube body 3 to rotate; the advancing/retreating tube body mechanism and/or the rotating tube body mechanism abuts against the endoscope tube body 3 to hold the endoscope tube body 3.

Specifically, fig. 1 to 13 show a first endoscope grip control device including a first advancing/retreating tube body mechanism 11 and a first rotating tube body mechanism 21, wherein the endoscope tube body 3 is gripped by the first advancing/retreating tube body mechanism 11, and the first advancing/retreating tube body mechanism 11 is attached to a rotating portion of the first rotating tube body mechanism 21.

Fig. 14 to 15 show a second type of holding control device for an endoscope, which includes a first advancing/retreating tube body mechanism 11 and a second rotating tube body mechanism 22, wherein the endoscope tube body 3 is held by the first advancing/retreating tube body mechanism 11, and the first advancing/retreating tube body mechanism 11 is attached to a rotating portion of the second rotating tube body mechanism 22.

Fig. 16 to 17 show a third type of holding control device for an endoscope, which includes a second advancing/retreating tube body mechanism 12 and a second rotating tube body mechanism 22, wherein the endoscope tube body 3 is held by the second advancing/retreating tube body mechanism 12, and the second advancing/retreating tube body mechanism 12 is attached to a rotating portion of the second rotating tube body mechanism 22.

Fig. 19 shows a fourth endoscope grip control device including a third advancing/retreating tube body mechanism 13 and a second rotating tube body mechanism 22, wherein the second rotating tube body mechanism 22 grips the endoscope tube body 3, and the second rotating tube body mechanism 22 is attached to a moving portion of the third advancing/retreating tube body mechanism 13.

Fig. 20 to 21 show a fifth endoscope grip control device which includes a second advancing/retreating tube body mechanism 12 and a third rotating tube body mechanism 23, wherein the endoscope tube body 3 is gripped by the third rotating tube body mechanism 23, and the third rotating tube body mechanism 23 is attached to a moving portion of the second advancing/retreating tube body mechanism 12.

Fig. 23 to 24 show a sixth endoscope grip control device which includes a third advancing/retreating tube body mechanism 13 and a fourth rotating tube body mechanism 24, wherein the fourth rotating tube body mechanism 24 grips the endoscope tube body 3, and the fourth rotating tube body mechanism 24 is attached to a moving portion of the third advancing/retreating tube body mechanism 13.

Fig. 25 to 26 show a seventh endoscope grip control device including a fourth advancing/retreating tube body mechanism 14 and a fifth rotating tube body mechanism 25, the fourth advancing/retreating tube body mechanism 14 and the fifth rotating tube body mechanism 25 are respectively abutted against both sides of the endoscope tube body 3, the fourth advancing/retreating tube body mechanism 14 provides a friction force in the axial direction of the endoscope tube body 3, the fifth rotating tube body mechanism 25 provides a friction force in the radial direction of the endoscope tube body 3, and a fixed portion of the fifth rotating tube body mechanism 25 is connected to an advancing/retreating base of the fourth advancing/retreating tube body mechanism 14.

Fig. 27 shows an eighth endoscope grip control device which includes a fifth advancing/retreating tube body mechanism 15 and a second rotating tube body mechanism 22, and the fifth advancing/retreating tube body mechanism 15 and the second rotating tube body mechanism 22 are alternately fitted to the outside of the endoscope tube body 3 at intervals in the axial direction of the endoscope tube body 3 and grip the endoscope tube body 3.

The first, second, and third types of endoscope grip control devices employ a tube advancing/retreating mechanism for gripping the endoscope tube 3. The fourth, fifth, and sixth endoscope grip control devices employ a rotary tube mechanism for gripping the endoscope tube 3. The seventh type of clamping control device for an endoscope employs a gripping function in which a tube advancing/retreating mechanism and a rotating tube mechanism are simultaneously abutted against both sides of an endoscope tube 3. The eighth clamping control device for an endoscope employs a feeding and discharging tube body mechanism and a rotating tube body mechanism which are simultaneously sleeved outside an endoscope tube body 3, but one clamping of the endoscope tube body 3 is selected, namely, when the feeding and discharging tube body mechanism clamps the endoscope tube body 3 and drives the endoscope tube body 3 to continuously advance or retreat, the rotating tube body mechanism is separated from the endoscope tube body 3; when the rotating tube body mechanism clamps the endoscope tube body 3 and drives the endoscope tube body 3 to rotate, the advancing and retreating tube body mechanism is separated from the endoscope tube body 3.

In addition, the above-described advancing and retreating tube body mechanism and the rotary tube body mechanism can be freely combined into a new configuration, for example, the first rotary tube body mechanism 21 can be combined and connected with the second advancing and retreating tube body mechanism 12, the first rotary tube body mechanism 21 can be combined and connected with the third advancing and retreating tube body mechanism 13, the fourth rotary tube body mechanism 24 can be combined and connected with the fourth advancing and retreating tube body mechanism 14, and the like, as long as the endoscope tube body 3 can be clamped and driven to advance, retreat and rotate, which is not shown in detail herein. In addition, in addition to the above-described embodiments, the transmission structure in the present embodiment may be equally replaced, for example, a belt transmission is converted into a chain transmission, a worm gear transmission is converted into a gear transmission, etc., as long as the same function can be achieved, and they are not listed here.

Further, when the endoscope tube 3 is held by the tube advancing/retreating mechanism, the tube advancing/retreating mechanism includes at least one advancing/retreating unit provided along the circumferential direction of the endoscope tube 3, and the advancing/retreating unit abuts against the endoscope tube 3 toward the side of the endoscope tube 3. The rotary pipe body mechanism comprises a fixed seat and a rotary seat which is rotatably connected with the fixed seat, and the driving and reversing unit is arranged on the rotary seat. In the present embodiment, two advancing and retreating units symmetrically provided on both sides of the endoscope tube body 3 will be described as an example. Further, the advancing and retreating unit may be one, three or more, and may be provided in the form of a jaw, may be provided in a symmetrical form, or may be provided in an asymmetrical form as long as the endoscope tube body 3 can be gripped in the circumferential direction of the endoscope tube body 3.

Furthermore, the advancing and retreating unit comprises an advancing and retreating driving piece and a transmission piece, the advancing and retreating driving piece is installed on the rotating seat, the input part of the transmission piece is connected to the output shaft of the advancing and retreating driving piece, and the output part of the transmission piece is abutted against the endoscope tube body 3 so as to convert the rotary motion output by the advancing and retreating driving piece into the axial translational motion of the endoscope tube body 3. The forward and backward driving member can be driven by electric power, air pressure or hydraulic pressure, as long as it can output rotary motion. The transmission part can adopt belt transmission, lead screw nut transmission or chain transmission, as long as can convert rotary motion into translational motion. In addition, the driving and reversing unit can also directly adopt a linear motor, and the linear motor is a transmission device which directly converts electric energy into linear motion mechanical energy without any intermediate conversion mechanism. The stator of the linear motor is arranged on the rotary seat, and the rotor of the linear motor is abutted against the endoscope tube body 3.

Specifically, as shown in fig. 1 to 6, a first endoscope grip control device is specifically described, which includes a first advancing/retreating tube body mechanism 11, a first rotating tube body mechanism 21, and an endoscope tube body 3. The endoscope tube 3 is held and fixed by the first tube advancing and retreating mechanism 11, and drives the endoscope tube 3 to advance and follow. The first rotating pipe mechanism 21 includes a first fixed seat 211 and a first rotating seat 212, and the first advancing/retreating pipe mechanism 11 is fixed on the first rotating seat 212. When the first rotary base 212 rotates, it drives the first tube advancing and retreating mechanism 11 to rotate, and also drives the endoscope tube 3 to rotate. The first rotating base 212 is rotatably mounted on the first fixed base 211, and the first fixed base 211 can be fixed on any bracket capable of adjusting the spatial position, so that the system can complete the forward and backward movement and the rotation operation of the endoscope tube body 3.

As shown in fig. 2, the first tube advancing and retreating mechanism 11 includes a first advancing and retreating driving member 111, a first advancing and retreating transmission member 112, a first guiding component 113 and a detaching knob 114, and the first advancing and retreating driving member 111 provides a driving force and transmits the driving force to the first advancing and retreating transmission member 112, so that the endoscope tube 3 is driven by the first advancing and retreating transmission member 112 to perform a translational motion. The first guide assembly 113 can effectively prevent the endoscope tube 3 from deviating from the center line of the running track when being driven to move forward and backward. By unscrewing the detaching knob 114, the entire first forward/backward driving member 112 can be detached from the first forward/backward driving member 111, and the entire detachment is completed.

More specifically, as shown in fig. 3, the first forward/backward driving member 111 includes a first forward/backward motor 1111, a first forward/backward torque sensor 1112, a first forward/backward base 1113, an output spiral gear 1114, an input spiral gear 1115, an angle input spiral gear 1116, and a first forward/backward angle sensor 1117. The entire first forward/backward driving member 111 is mounted on the first rotating base 2125 of the first rotating base 212 through the first forward/backward base 1113, so that the first forward/backward driving member 111 can be driven to rotate synchronously when the first rotating base 212 rotates.

The first advancing and retreating motor 1111 is fixedly arranged on the first advancing and retreating base 1113 through a first advancing and retreating motor seat, the first advancing and retreating torque sensor 1112 is arranged on the first advancing and retreating base 1113 through a first advancing and retreating torque sensor seat, and the first advancing and retreating angle sensor 1117 is arranged on the first advancing and retreating base 1113 through a first advancing and retreating angle sensor support.

The first advancing/retreating motor 1111 drives the input spiral gear 1115, and at the same time, the force value is measured by the first advancing/retreating torque sensor 1112, the input spiral gear 1115 is engaged with the angle input spiral gear 1116 to drive the latter to rotate, and the first advancing/retreating angle sensor 1117 records the position information of the first advancing/retreating pipe body mechanism 11 by reading the rotation value of the angle input spiral gear 1116. Meanwhile, the input worm gear 1115 and the output worm gear 1114 are meshed with each other, the former drives the latter to rotate, and the output worm gear 1114 drives the advancing and retreating driving input shaft 1118 to rotate so as to provide rotating power for the whole first advancing and retreating transmission member 112. The forward/backward drive input shaft 1118 is rotatably mounted on the first forward/backward base 1113 by a forward/backward drive output bearing 1119.

As shown in fig. 4 to 6, the first forward/backward movement driving member 112 includes an upper holding plate 1121, a lower holding plate 1122, a forward/backward movement holding input shaft 1123, a pulley 1124, a holding elastic body 1125, a holding force adjusting knob 1126, a holding force adjusting screw 1127, a holding material elasticity adjusting mechanism 1128, a holding guide column 1129, and a belt 1120.

The upper clamp plate 1121 is mounted to the back surface of the first advancing/retreating base 1113 by screws (the first advancing/retreating driving member 111 is mounted to the front surface), and is fixed by a removal knob 114. in the process of mounting and dismounting, it is necessary to ensure that the advancing/retreating driving input shaft 1118 and the advancing/retreating clamp input shaft 1123 are coaxially connected, and the centers of the two parts are in butt joint. The rotation driving force of the first driving member 111 drives the belt wheel 1124 to rotate through the driving and reversing clamping input shaft 1123, and meanwhile, the quick-release and quick-assembly functions can be realized, and cleaning and disinfection are facilitated.

As shown in fig. 5, when the driving force of the first forward/backward driving member 111 is transmitted to the forward/backward clamp input shaft 1123 through the forward/backward driving input shaft 1118, the driving force is transmitted to the pulley 1124, and the pulley 1124 and the forward/backward clamp input shaft 1123 are rotated in synchronization. The pulleys 1124 include four large pulleys and four small pulleys in total. After the endoscope tube body 3 is clamped, one of the large belt wheels is driven to rotate, the other three large belt wheels and the four small belt wheels can synchronously rotate, and the rotation motion is converted into linear motion to drive the tube body to directly move forwards and backwards. As shown in fig. 6, the advancing-retreating drive output bearing 1119 and the advancing-retreating clamp input bearing are used to fix the two rotating shafts so as to be rotatable only in the axial direction. The belt 1120 includes two segments, each of which is wound around the two large belt wheels and the two small belt wheels, and synchronously rotates with the belt wheel 1124. The holding elastic body 1125 is wrapped around the outer side of the belt 1120, and the endoscope tube 3 is wrapped by the upper and lower holding elastic bodies 1125, so that the movement of the above parts is kept consistent, and the forward and backward movement of the endoscope tube 3 is realized.

As shown in fig. 4 and 5, the upper and

lower chucking plates

1121 and 1122 are fixed by chucking guide posts 1129 so as to be slidable only in the axial direction of the chucking guide posts 1129. When the endoscope tube 3 needs to be clamped, the upper clamping plate 1121 and the lower clamping plate 1122 are moved toward or away from each other in the axial direction of the clamping force adjusting screw 1127 by the clamping force adjusting knob 1126 and the clamping force adjusting screw 1127, the endoscope tube 3 is clamped when the upper clamping plate 1121 and the lower clamping plate 1122 are moved toward each other, and the endoscope tube 3 is released when the endoscope tube 3 is moved away from each other.

As shown in fig. 5 and 7, the degree of elasticity of the grip elastic body 1125 can be adjusted by the grip material elasticity adjusting mechanism 1128. The clamping material elasticity adjusting mechanism 1128 comprises a pressing wheel 11281, an elasticity adjusting knob 11282, an elasticity adjusting seat 11283, a sliding gasket 11284 and an adjusting fixing shaft 11285, wherein the pressing wheel 11281 is enabled to move up and down through the rotation of the elasticity adjusting knob 11282 and the adjusting fixing shaft 11285, and in the process of moving up and down, the clamping elastic body 1125 is enabled to be pressed (tightened) and loosened (loosened). The tightening force of the device is adjusted by workers and cannot be automatically adjusted by doctors. The holding material elasticity adjusting mechanism 1128 is installed at the upper and lower sides of the first forward/backward driving member 112 while being pressed inward or released outward, as shown in fig. 4 and 5.

As shown in fig. 8, the first guide assembly 113 includes a first guide bracket 1131, a first screw 1132, a guide roller 1133, and a guide roller 1134. The first guide support 1131 is fixed on the first advancing/retreating base 1113 by two first screws 1132, three guide rollers 1134 are installed in three holes of the first guide support 1131, the three guide rollers 1133 are rotatably sleeved outside the guide rollers 1134 in a one-to-one correspondence manner, and the three guide rollers 1133 are arranged in a right triangle.

As shown in fig. 9, the first fixing seat 211 includes a first bearing outer ring 2111, a first bearing inner ring 2112, a stationary stopper 2113, a vertical plate 2114, and a base 2115. The outer edge of the first bearing outer race 2111 carries external gears and is fixedly attached to a riser 2114, while the first bearing inner race 2112 is rotatable relative to the first bearing outer race 2111, with the portion required for rotation being fully mechanically mounted on the bearing inner race. The first bearing outer ring 2111, the first bearing inner ring 2112 and the static limiting block 2113 are fixed on a vertical plate 2114, and the vertical plate 2114 is fixed on a base 2115.

As shown in fig. 1, the first rotary seat 212 is mounted in a threaded hole of the first bearing inner race 2112, so that the first rotary seat 212 and the first bearing inner race 2112 can rotate simultaneously with respect to the first bearing outer race 2111. The base 2115 can be attached to any support that can be spatially and angularly adjusted, so that the entire endoscopic assistance system can be spatially and angularly adjusted relative to the patient.

As shown in fig. 10, the first rotating base 212 includes a first rotating power output gear 2121, a first rotating torque sensor 2122, a first rotating motor 2123, a rotation stopper 2124, a first rotating base 2125, a first rotating angle sensor 2126, an angle input gear 2127, and a limit switch 2128. The whole first rotary base 212 is mounted on the first bearing inner ring 2112 by fixing bolts through fixing bolt holes around the center hole of the first rotary base 2125.

The first rotating electric machine 2123 rotates the first rotary power output gear 2121, and measures a torque value by the first rotary torque sensor 2122, and the first rotary power output gear 2121 meshes with both gears of the first bearing outer ring 2111. As shown in fig. 11, the planetary gear structure is adopted, and after meshing rotation, the entire first rotating base 212 and the first bearing inner ring 2112 are rotated relative to the first bearing outer ring 2111.

As shown in fig. 11, the angle input gear 2127 is simultaneously engaged with the first bearing outer ring 2111, and when the first rotating base 212 rotates, the angle input gear 2127 is driven to rotate, and the first rotation angle sensor 2126 is coaxially connected to the angle input gear 2127, and the rotation angle and the number of rotations of the angle input gear 2127 are recorded, thereby calculating the rotational position value of the first rotary pipe body mechanism 21.

As shown in fig. 12, the mechanical stopper rotates with the whole first rotating base 212 by using the rotation stopper 2124, and the contact between the two stoppers can limit the whole rotation angle by the mechanical position due to the stationary stopper 2113 in the first fixed base 211. Further, the rotational stopper 2124 has a stopper 2128 in its inner structure, and the stationary stopper 2113 contacts the stopper 2128 in advance before the mechanical stopper contacts, so that the rotation is stopped electrically.

Further, as shown in fig. 1 to 13, the endoscope apparatus further comprises a sealing assembly 4 sleeved outside the endoscope tube body 3 for preventing the endoscope tube body 3 from carrying foreign objects out of the body cavity of the patient without damaging the outer surface of the endoscope tube body 3. The sealing assembly 4 includes a sealing assembly base 41, a second screw 42, a sealing consumable 43, a left sealing jaw 44, and a right sealing jaw 45. Install seal assembly 4 on first advancing and retreating base 1113 through four second screws 42, seal assembly base 41 is in the same place with left sealed clamping piece 44 fixed connection, right sealed clamping piece 45 can follow quick assembly disassembly on left sealed clamping piece 44, left sealed clamping piece 44 and right sealed clamping piece 45 grasp sealed consumptive material 43 simultaneously and make its both ends fixed, and make its centre not atress, there is the round hole in the centre, can make endoscope body 3 pass through, when having the sealed consumptive material 43 of needs to be changed, can tear off right sealed clamping piece 45 and change sealed consumptive material 43 again.

In another embodiment, as shown in fig. 14 to 15, a second endoscopic clip control device includes a first advancing/retreating tube body mechanism 11 (the first advancing/retreating tube body mechanism 11 in fig. 14 is a simplified schematic structural view) and a second rotating tube body mechanism 22, wherein the first advancing/retreating tube body mechanism 11 is the same as the previous embodiment and will not be described again. The second rotary tube body mechanism 22 comprises a second rotary motor 221, a second fixed seat 222, a second bearing outer ring 223, a second bearing inner ring 224, an inner ring gear 225 and a second rotary power output gear 226, and the second fixed seat 222 can be connected to any bracket capable of adjusting the space position and the space angle, so that the whole endoscope auxiliary system can adjust the space position and the space angle relative to the patient. The housing of the second rotating electrical machine 221 is fixed to the left side of the second fixing base 222, and the output shaft of the second rotating electrical machine 221 passes through the second fixing base 222 and then is connected to the second rotating power output gear 226 to drive the second rotating power output gear to rotate. The second rotary power output gear 226 is engaged with the inner ring gear 225 on the outer side of the second bearing inner ring 224, and thus the second bearing inner ring 224 is rotated with the rotation of the second rotary power output gear 226. The second bearing outer ring 223 is fixed to the second fixing base 222 without rotation. The first advancing-retreating pipe body mechanism 11 may be mounted on the second bearing inner race 224 or the inner race gear 225.

In yet another embodiment, as shown in fig. 16 to 17, the third type of endoscopic clip control device includes a second advancing/retreating tube body mechanism 12 and a second rotating tube body mechanism 22, wherein the second rotating tube body mechanism 22 is the same as that of the previous embodiment and will not be described again. The second advancing-retreating pipe body mechanism 12 includes a second advancing-retreating motor 121, a second advancing-retreating base 122, a second advancing-retreating lead screw 123, a second advancing-retreating nut 124, and a third screw 125, and the second advancing-retreating base 122 is attached to the second bearing inner ring 224 or the inner ring gear 225 of the second rotating pipe body mechanism 22 by the third screw 125. The second advance/retreat screw 123 is rotatably mounted on the second advance/retreat base 122 through a bearing, and an output shaft of the second advance/retreat motor 121 is connected to the second advance/retreat screw 123 to drive the second advance/retreat screw 123 to rotate. The second advancing/retreating nut 124 is threadedly engaged with the second advancing/retreating screw 123 to be translated left and right along with the rotation of the second advancing/retreating screw 123. The endoscope tube body 3 is clamped by the upper and lower second advancing and retreating nuts 124, and the endoscope tube body 3 is driven to move horizontally.

In addition, the range of the second advancing-retreating tube body mechanism 12 that can advance and retreat continuously depends on the maximum distance that the second advancing-retreating nut 124 can move on the second advancing-retreating screw 123, and when the maximum distance is exceeded, it is necessary to separate the second advancing-retreating tube body mechanism 12 and the endoscope tube body 3 first, then adjust the second advancing-retreating nut 124 to the starting point end, and then clamp the second advancing-retreating tube body mechanism 12 outside the endoscope tube body 3.

Further, as shown in fig. 16 and 18, the third type of clamping control device for an endoscope further includes a first clamping tube mechanism 51, and the second advancing/retreating nut 124 clamps the endoscope tube 3 by the first clamping tube mechanism 51. Specifically, the first clamping tube mechanism 51 includes a mechanical top bar 511, a first clamping structure frame 512, a moving wedge 513, a clamping body 514, and a fourth screw 515, and the first clamping structure frame 512 is connected to the second advancing/retreating nut 124 through the fourth screw 515. The mechanical top bar 511 is screwed into the first clamping structure frame 512, and can be screwed in and out to the right and left. The moving wedge block 513 is installed at the right end of the mechanical top bar 511, and the clamping body 514 is also wedge-shaped and connected with the inclined surface of the moving wedge block 513 and can slide relatively. With the mechanical push rod 511 screwed in rightward, the wedge-shaped block 513 moves rightward to abut against the clamping body 514, so that the clamping body 514 downwards presses the endoscope tube body 3; conversely, when the mechanical push rod 511 is rotated out to the left, the holder 514 releases the endoscope tube 3.

In another embodiment, as shown in fig. 19 to 24, when the endoscope tube 3 is held by the rotary tube mechanism, the rotary tube mechanism includes a fixed holder and a rotary holder. The fit relationship between the rotary seat and the fixed seat can include two conditions: firstly, the rotating seat is rotationally connected with the fixed seat and is sleeved on the endoscope tube body 3; secondly, the fixed seat and the rotating seat respectively abut against two sides of the endoscope tube body 3, and the rotating seat can move along the radial direction of the endoscope tube body 3 so as to provide radial friction force for rotating the endoscope tube body 3.

Meanwhile, the tube advancing/retreating mechanism includes an advancing/retreating base and a moving portion connected to the advancing/retreating base, and the moving portion is movable in the axial direction of the endoscope tube 3.

The fixed seat of the rotary pipe body mechanism is arranged on the moving part of the pipe body advancing and retreating mechanism so as to advance or retreat continuously along with the moving part.

In particular, the rotary seat may be connected to the fixed seat by mechanical or magnetic actuation. The rotating base is sleeved on the endoscope tube body 3 to clamp the endoscope tube body 3. The moving part and the advancing and retreating base can be in threaded connection with a screw nut, can be in magnetic connection with a linear motor, and can also be in sliding connection. The fixing base is connected in the removal portion, and then can drive the fixing base through the removal portion and remove, and then drive whole rotatory pipe mechanism and remove.

Specifically, as shown in fig. 19, the fourth endoscopic clamping control device will be described in detail, in which the fitting relationship between the rotary holder and the fixed holder is the first case. The device specifically includes a third advancing-retreating tube body mechanism 13 and a second rotating tube body mechanism 22, wherein the second rotating tube body mechanism 22 is the same as the previous embodiment, and is not described herein again. The third advancing-retreating pipe body mechanism 13 includes a third advancing-retreating base 131 and a sliding table 132 slidably connected to the third advancing-retreating base 131, and the second fixing seat 222 is installed on the sliding table 132, so as to drive the second rotating pipe body mechanism 22 to translate. The second rotating tube body mechanism 22 clamps the endoscope tube body 3 by the first clamping tube body mechanism 51, and the first clamping structure frame 512 is connected to the second bearing inner ring 224 or the inner ring gear 225 by the fourth screw 515.

In another embodiment, as shown in fig. 20 to 21, the fitting relationship between the rotary base and the fixed base of the fifth endoscopic clip control device is also the first case, and specifically includes a second nozzle body advancing and retracting mechanism 12 and a third rotary nozzle body mechanism 23, wherein the second nozzle body advancing and retracting mechanism 12 is the same as the above-mentioned embodiment, and the details thereof are omitted. The third rotating pipe body mechanism 23 includes a third fixed seat 231, a third rotating seat 232, and a third guide member 233. The third fixing seat 231 is connected to the second advancing-retreating nut 124 of the second advancing-retreating tube body mechanism 12. The third rotating base 232 is driven by magnetic force, and includes a third rotating motor 2321, a magnetic driving wheel 2322, a third rotating torque sensor 2323, a third rotating base 2324 and a magnetic driven wheel 2325. The rotation driving is to drive the third rotation torque sensor 2323 through the third rotation motor 2321, and then drive the magnetic driving wheel 2322 to rotate, the magnetic driving wheel 2322 drives the magnetic driven wheel 2325 to rotate through magnetic force, the magnetic driven wheel 2325 is fixedly connected to the bearing inner ring of the third rotation base 2324, the bearing inner ring can directly clamp the endoscope tube 3 through the elastic member, and the endoscope tube 3 can also be clamped through the second clamping tube mechanism 52. The elastic piece can adopt silica gel or a rubber elastic block.

The third guide assembly 233 includes a guide friction wheel 2331 and a third guide support 2332, and the endoscope tube 3 is guided by the guide friction wheel 2331 to be prevented from deviating during insertion. The height adjustment and the horizontal position adjustment are performed by adjusting the bracket 6 and the adjusting base 61 before the insertion.

Further, as shown in fig. 22, the fifth endoscope grip control device further includes a second grip tube body mechanism 52 for gripping the endoscope tube body 3. The second clamping tube body mechanism 52 includes a cover plate 521, a clamping bracket 522, a fixed jaw 523, a movable jaw 524, a cushion 525, a clamping motor screw 526, and a clamping cover plate 527. The endoscope tube 3 is clamped by the cushion 525, and the driving force is to press the cushion 525 by the clamping motor screw 526 driving the movable clamping jaw 524. The endoscope tube 3 is inserted and extracted by reciprocating the clamp cushion 525 during the insertion and extraction.

In another embodiment, as shown in fig. 23 to 24, a sixth endoscope grip control device is specifically described, in which the engagement relationship between the rotary holder and the fixed holder is the second case. It specifically comprises a third advancing and retreating pipe body mechanism 13 and a fourth rotating pipe body mechanism 24. Wherein, the third advancing and retreating body mechanism 13 includes a third advancing and retreating base 131 and a sliding table 132 connected to the third advancing and retreating base 131, and the fourth rotating body mechanism 24 is installed on the sliding table 132, and then drives the fourth rotating body mechanism 24 to translate. The fourth rotating pipe mechanism 24 includes a fixed clamp plate 241 (i.e., a fixed base), a fourth rotating lead screw 242, and a friction plate 243 (i.e., a rotating base). The fixing clamp plate 241 and the friction plate 243 clamp the endoscope tube body 3 from the left and right sides, respectively. The fixed clamp plate 241 and the friction plate 243 are made of elastic materials and are in contact with the surface of the endoscope tube body 3, and the friction plate 243 and the fixed clamp plate 241 rub against each other to drive the endoscope tube body 3 to rotate. The third advancing-retreating tube body mechanism 13 advances and retreats, so as to drive the endoscope tube body 3 to advance and retreat.

In another embodiment, when the endoscope tube 3 is held by abutting the advancing/retreating tube body mechanism and the rotating tube body mechanism against both sides of the endoscope tube 3, the advancing/retreating tube body mechanism includes an advancing/retreating base and a moving portion connected to the advancing/retreating base, the moving portion abutting against one side of the endoscope tube 3 to provide a frictional force in the axial direction of the endoscope tube 3; the rotary tube mechanism includes a friction portion connected to the advancing and retreating base, the friction portion is movable in the radial direction of the endoscope tube 3, and the friction portion abuts against the other side of the endoscope tube 3 to provide a friction force in the radial direction of the endoscope tube 3.

Specifically, the moving part and the advancing and retreating base may be connected by a screw of a lead screw nut, a magnetic connection of a linear motor, a sliding connection, or a rotation connection of a mecanum wheel body. The endoscope tube body 3 is advanced and retreated by an axial frictional force provided by the moving portion, and the endoscope tube body 3 is rotated by a radial frictional force provided by the frictional portion.

Specifically, as shown in fig. 25 to 26, a seventh endoscope grip control device is specifically described, which includes a fourth advancing/retreating tube body mechanism 14 and a fifth rotating tube body mechanism 25, wherein the fourth advancing/retreating tube body mechanism 14 includes a mecanum wheel structure 141 (i.e., a moving portion) and a fourth advancing/retreating base 142, and the mecanum wheel structure 141 is rotatably mounted to the fourth advancing/retreating base 142 via a bearing. Mecanum wheel structure 141 includes a mecanum wheel body 1411 and a wheel body rotation support 1412, where wheel body rotation support 1412 is a circular support, and a plurality of rotation shafts are rotatably connected to the outer edge of the support. Mecanum wheel body 1411 includes two parallel rows of rollers, each roller having an axis of rotation that is tangential to the outer circumference of wheel body rotation support 1412. The endoscope tube 3 is advanced and retreated by an axial frictional force applied to the endoscope tube 3 by the rotation of the mecanum wheel structure 141.

The fifth rotating pipe mechanism 25 includes a fifth rotating mount 251, a rotating friction wheel 252 (i.e., a friction portion), a lateral slide rail 253, and a lateral mounting block 254, and the lateral slide rail 253 is fixedly mounted on the fifth rotating mount 251 by the lateral mounting block 254. The rotating friction wheel 252 may translate left and right along a transverse slide 253. The endoscope tube 3 is rotated by a radial frictional force applied to the endoscope tube 3 by the left-right translation of the rotary friction wheel 252. The endoscope tube 3 is held between the rotary friction wheel 252 and the mecanum wheel body 1411. The fifth rotating holder 251 is connected to the fourth advancing/retreating base 142 via the elastic cord 143, and can adjust a holding force of the endoscope tube 3. The mecanum wheel structure 141 is driven by the motor to rotate, and the rotating friction wheel 252 rolls in a driven manner, so that the endoscope tube body 3 is driven to perform axial linear motion. The driving force drives the rotary friction wheel 252 to do reciprocating linear motion along the transverse sliding rail 253, the friction force between the rotary friction wheel 252 and the endoscope tube body 3 enables the endoscope tube body 3 to rotate, and in the rotating process, the mecanum wheel body 1411 rotates in the rotating process of the endoscope tube body 3 in a driven mode, so that the clamping force cannot influence the rotation of the endoscope.

In another embodiment, the body advancing/retreating mechanism and the rotating body mechanism are disposed outside the endoscope body 3 at intervals in the longitudinal direction of the endoscope body 3, and alternatively grip the endoscope body. In the working process, when the rotating tube body mechanism clamps the endoscope tube body 3, the tube body advancing and retreating mechanism is loosened; when the rotary tube body mechanism is released, the tube body advancing and retreating mechanism grips the endoscope tube body 3.

As shown in fig. 27, the eighth endoscope grasping control device is specifically described as including the fifth advancing/retreating tube body mechanism 15 and the second rotating tube body mechanism 22, and the second rotating tube body mechanism 22 is the same as the above-described embodiment, and will not be described again here. The fifth advancing-retreating tube body mechanism 15 includes a fifth slider 151 and a fifth slide rail, and the fifth slider 151 can grip the endoscope tube body 3 by the first gripping tube body mechanism 51 or the second gripping tube body mechanism 52. The second rotating tube body mechanism 22 can hold the endoscope tube body 3 by the balloon 53. When the balloon 53 is inflated, the endoscope tube 3 is held by the second rotating tube mechanism 22, and when the endoscope tube 3 is released, the clamping force of the balloon 53 on the endoscope tube 3 can be adjusted by adjusting the inflation pressure of the balloon 53. In the working process, when the rotating tube body mechanism clamps the endoscope tube body 3, the tube body advancing and retreating mechanism is loosened; when the rotary tube body mechanism is released, the tube body advancing and retreating mechanism grips the endoscope tube body 3. Such that the movements of the two functions do not affect each other.

In addition to the above embodiments, the endoscope further includes a tube holding mechanism, and the tube advancing/retreating mechanism and/or the tube rotating mechanism is abutted to the endoscope tube 3 by the tube holding mechanism. The tube holding mechanism may be an elastic block, or a first tube holding mechanism 51, a second tube holding mechanism 52 or an air bag 53, and the tube holding mechanism may be freely combined with the tube advancing and retreating mechanism and/or the tube rotating mechanism in the above embodiments as long as the requirements of connection and holding are satisfied.

The invention needs to be capable of carrying out middle-level disinfection on the part in contact with the endoscope tube body, and the disinfection contents are as follows: a disinfecting method for killing and removing various pathogenic microorganisms except bacterial spores.

The physical method comprises the following steps: sterilizing by ultrasonic wave; the chemical method comprises the following steps: iodine, compound of alcohols and chlorhexidine, compound of alcohols and quaternary ammonium salts, and phenols.

Further, the endoscope clip control device also has a structure safety function, and includes:

an emergency stop switch: dangerous situations arise during operation for emergency stops.

Limiting: in order to prevent danger in the operation process, the stroke ranges of the rotary driving module and the advancing and retreating driving module are limited by a structural means and an electric control means.

Controlling the range of the force value: in order to prevent danger during operation, mechanical means and electric control means are used to limit the force value range which cannot be exceeded during movement. As can be seen from the above embodiments, the endoscope clamping control device according to the present invention includes a tube advancing and retreating mechanism for driving the endoscope tube to advance or retreat continuously, and a rotating tube mechanism for driving the endoscope tube to rotate. The advancing and retreating tube body mechanism and/or the rotating tube body mechanism clamp the endoscope tube body. The clamping control device for the endoscope is simple and convenient to maintain, flexible in action, safe and reliable, convenient to detach and clean, good in operation comfort and capable of shortening the time required by operation or examination to a great extent.

Furthermore, the pipe clamping mechanism can be quickly disassembled and assembled, so that the endoscope device is convenient to maintain, safe and reliable, and can realize easy horizontal disinfection. The material of the contact part of the tube body clamping mechanism and the endoscope tube body is designed by adopting an elastic material, so that the surface of the tube body of the endoscope is not damaged in the clamping process, and the surface of the tube body and the clamping module are better in connection sealing performance. The clamping tube body mechanism can conveniently and quickly realize closing and opening actions, can quickly realize manual and electric switching, and can quickly and effectively control the device in an emergency state by virtue of the emergency stop switch, so that smooth operation or inspection is guaranteed.

Furthermore, the advancing and retreating tube body mechanism and the rotating tube body mechanism are provided with measuring components, so that the movement position and the driving force of the endoscope clamping control device can be measured timely, a doctor can know the condition of operation or examination conveniently, and the operation time is shortened to a certain extent.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A grip control device for an endoscope, which grips and advances/retracts and rotates an endoscope tube, comprising:

the advancing and retreating tube body mechanism is used for driving the endoscope tube body to continuously advance or retreat along the axial direction of the endoscope tube body;

the rotating tube body mechanism is used for driving the endoscope tube body to rotate along the circumferential direction of the endoscope tube body;

the advancing and retreating tube body mechanism and/or the rotating tube body mechanism is abutted against the endoscope tube body so as to clamp the endoscope tube body;

the rotating tube body mechanism comprises a fixed seat and a rotating seat, the rotating seat is rotatably connected to the fixed seat, and the rotating seat is sleeved on the endoscope tube body; or the fixed seat and the rotating seat are respectively abutted against two sides of the endoscope tube body, and the rotating seat can move along the radial direction of the endoscope tube body so as to provide radial friction force for rotating the endoscope tube body;

the tube body advancing and retreating mechanism comprises an advancing and retreating base and a moving part connected to the advancing and retreating base, the moving part can move along the axial direction of the endoscope tube body, and the fixed seat of the rotating tube body mechanism is arranged on the moving part of the tube body advancing and retreating mechanism so as to advance or retreat continuously along with the moving part.

2. The endoscopic instrument grip control device according to claim 1, wherein the advancing-retreating tube body mechanism grips the endoscopic tube body; the advancing and retreating tube body mechanism comprises at least one advancing and retreating unit arranged along the circumferential direction of the endoscope tube body, and the advancing and retreating unit is abutted against the endoscope tube body towards one side of the endoscope tube body;

3. The endoscope clip control device according to claim 2, wherein the advancing/retreating unit includes an advancing/retreating driver attached to the rotary base, and a transmission member having an input portion connected to an output shaft of the advancing/retreating driver, and an output portion abutting against the endoscope tube body so as to convert a rotational motion output from the advancing/retreating driver into an axial translational motion of the endoscope tube body.

4. The endoscopic clip control apparatus according to claim 1, wherein the rotating tube mechanism clips the endoscopic tube.

5. The endoscopic instrument grip control device according to claim 1, wherein the advancing-retreating tube body mechanism and the rotating tube body mechanism are respectively abutted against both sides of the endoscopic tube body to grip the endoscopic tube body; the moving part is abutted against one side of the endoscope tube body to provide friction force along the axial direction of the endoscope tube body, so that the endoscope tube body is translated along the axial direction;

6. The endoscope grip control device according to claim 1, wherein the tube body advancing/retreating mechanism and the rotating tube body mechanism are provided in the endoscope tube body at intervals in a longitudinal direction of the endoscope tube body, and the endoscope tube body is gripped alternatively by the tube body advancing/retreating mechanism and the rotating tube body mechanism.

7. The endoscope clip control device according to any one of claims 1 to 6, further comprising a clip tube mechanism by which the advancing-retreating tube mechanism and/or the rotating tube mechanism abuts against the endoscope tube.

8. The endoscope clip control device according to any one of claims 1 to 6, further comprising a forward/backward torque sensor and a forward/backward position sensor connected to the advancing/backward tube body mechanism to monitor a force applied to the endoscope tube body and a forward/backward position thereof when advancing/retracting;

9. The endoscope clip control device according to any one of claims 1 to 6, further comprising a clip force adjusting unit for adjusting a clip force with which the advancing/retreating tube body mechanism and/or the rotating tube body mechanism clips the endoscope tube body.

10. The endoscope grip control device according to any one of claims 1 to 6, further comprising a seal member provided on an outer side of the endoscope tube body for preventing foreign matter carried out of the endoscope tube body from the body cavity of the patient without damaging an outer surface of the endoscope tube body.