CN112568999A

CN112568999A - Auxiliary operation structure for endoscope

Info

Publication number: CN112568999A
Application number: CN201910927287.5A
Authority: CN
Inventors: 陈明尧
Original assignee: Baoqiming Investment Co ltd
Priority date: 2019-09-27
Filing date: 2019-09-27
Publication date: 2021-03-30

Abstract

The invention provides an auxiliary operation structure of an endoscope, comprising: the device comprises a control module, a human-computer interface module and a clamping module; the control module comprises a plurality of pressing units, a plurality of turntable driving units and a plurality of knob driving units which are connected to a plurality of control units on a control module of an endoscope of the control module. Under the condition of the auxiliary operation structure of the endoscope, a doctor can easily control the operation module of the endoscope only by placing two hands of the doctor on the manipulator for operation so as to operate the endoscope to complete invasive detection or minimally invasive surgery. In the process of invasive detection or minimally invasive surgery, hands of a doctor do not need to hold the control module of the endoscope, so that extra burden or occupational injury to the wrist or arm of the doctor can not be caused.

Description

Auxiliary operation structure for endoscope

Technical Field

The invention relates to the technical field of medical instruments and instruments for operation, in particular to an auxiliary operation structure of an endoscope.

Background

With the progress of medical instruments and techniques, endoscopes (Endoscopy) such as gastroscopes and colonoscopes can be used not only as instruments for invasive detection, but also for performing minimally invasive surgery. For example: under the condition that the tumor invasion depth does not exceed the submucosa and no lymphatic metastasis exists, local excision by using an endoscope can be considered, and the pain of traditional surgical treatment is avoided.

FIG. 1A shows a perspective view of a conventional endoscope at one viewing angle, and FIG. 1B shows a perspective view of another viewing angle of the conventional endoscope. To explain in more detail, the endoscope 1' shown in fig. 1A and 1B is a Gastroscope (Gastroscope) having a structure including: an operating module 11 ', a cable set 12 ', and a duct 13 '. Wherein the cable set 12 'is connected between the operation module 11' and a host (not shown). One end of the duct 13 'is connected to the operation module 11', and the other end thereof is mounted with an illumination unit and an imaging unit. According to the conventional design, the operation module 11 'of the endoscope 1' is provided with a plurality of control units, including: an image fixing button F1 ', a first function button F2 ', a second function button F3 ', a third function button F4 ', an activation suction button F5 ', a fluid delivery button F6 ', an instrument insertion channel F7 ', a first fixing knob F8 ', a first angle adjustment dial F9 ', a second fixing knob F10 ', and a second angle adjustment dial F11 '.

When using the endoscope 1 ', the physician will hold the manipulator module 11 ' with one hand (e.g., the right hand) and use the other hand (e.g., the left hand) as a feeding mechanism for the tube 13 '. In brief, the physician uses his left hand to send the tube 13 'into the body of a patient, and then uses the illumination unit and the camera unit at the front end of the tube 13' to capture an image of a to-be-detected or a to-be-operated part in the body of the patient. In particular, when the tube 13 ' is located in the patient's body, the physician must operate the plurality of control units on the manipulator module 11 '. For example, when the physician rotates the first angle adjustment dial F9 ', the front end of the tube 13' moves left/right. On the other hand, when the physician rotates the second angle adjustment dial F11 ', the front end of the tube 13' moves up/down. Further, after the front end of the tube 13 'is gradually fed and moved to the site to be operated, the physician may then feed a surgical instrument through the instrument introduction passage F7' to the site to be operated, and then perform a minimally invasive surgical procedure with the surgical instrument on the site to be operated.

As can be seen from the above description, when operating the endoscope 1 'as shown in fig. 1A and 1B, the physician has to continuously hold and control the operating module 11' of the endoscope 1 'by his right hand until the front end of the tube 13' is gradually fed to a target site (e.g., a site to be operated or a site to be examined) in the patient. In the case of holding the operation module 11' for a long time, the wrist and/or arm of the physician will feel aching, and the serious patient may also cause the wrist and/or arm of the physician to be injured.

From the above description, it is necessary to design an auxiliary mechanism for being combined with the endoscope 1 'shown in fig. 1, so that the physician can use the endoscope 1' to complete an invasive test or a minimally invasive surgery by operating the auxiliary mechanism without holding the operation module 11 'and the tube 13'. In view of the above, the present inventors have made extensive studies and finally have developed an auxiliary operation structure for an endoscope according to the present invention.

Disclosure of Invention

The main objective of the present invention is to provide an auxiliary operating structure of endoscope, in which a physician can easily control the operating module of the endoscope by operating the manipulator with both hands, so as to operate the endoscope to complete an invasive detection or a minimally invasive surgery. In the process of invasive detection or minimally invasive surgery, hands of a doctor do not need to hold the control module of the endoscope, so that no burden or injury is caused to the wrist or arm of the doctor.

On the other hand, even in the case of using the auxiliary operation structure of the endoscope of the present invention, the physician who operates the endoscope can intuitively operate the endoscope through the manipulator, thereby smoothly completing an invasive test or a minimally invasive surgery.

To achieve the above objective of the present invention, the present inventor provides an auxiliary operating structure of an endoscope, comprising a control module, a human-machine interface module and a clamping module;

the control module comprises an endoscope, a plurality of pressing units, a plurality of turntable driving units and a plurality of knob driving units; the endoscope comprises an operation module, a cable set and a pipeline, wherein one end of the pipeline is connected with the operation module, the other end of the pipeline is provided with a lighting unit and a camera shooting unit, and the operation module is provided with a plurality of keys, a plurality of turntables and a plurality of knobs; wherein the plurality of pressing units are connected to the plurality of keys of the operation module; the plurality of turntable driving units are connected to the plurality of turntables of the operation module; the plurality of knob driving units are connected to the plurality of knobs of the operation module;

the human-computer interface module comprises a host, a display screen and a controller, wherein the host is in signal connection with the display screen and the controller, the host is connected with the plurality of pressing units, the plurality of turntable driving units and the plurality of knob driving units in a wired or wireless mode, and a cable group of the endoscope is connected between the operation module and the host;

the clamping module is connected with the host in a wired or wireless mode and is used for enabling the pipeline to penetrate into the clamping module and stabilizing the pipeline, and further, the front-back movement control is carried out on the pipeline based on the control of the manipulator, so that the front end of the pipeline moves back and forth towards a part to be detected of a patient or an operation part;

by operating the manipulator, each pressing unit can be driven to correspondingly press each key, each turntable driving unit can be driven to correspondingly drive each turntable to rotate, and each knob driving unit can be driven to correspondingly drive each knob to rotate.

In a possible embodiment, the manipulator is one or a combination of the following: a joystick, a mouse, a keyboard, a touch screen, a handle, and a steering wheel, but not limited thereto.

In a practical embodiment, the auxiliary operating structure of the endoscope further includes a case for accommodating the endoscope, the plurality of pressing units, the plurality of turntable driving units, and the plurality of knob driving units therein, and a front end of the duct of the endoscope and a main connecting end of the cable set are exposed outside the case.

In a practical embodiment, a motor is disposed inside the clamping module, a rotating shaft of the motor extends to form an extending shaft, a transmission wheel is disposed on the extending shaft, the pipeline enters the clamping module through an inlet of the clamping module, the pipeline is partially supported on the transmission wheel inside the clamping module, the pipeline contacts a roller fixedly disposed inside the clamping module above the inner portion of the clamping module, the pipeline leaves the clamping module through an outlet of the clamping module, so that the pipeline is movably clamped by the transmission wheel and the roller, and the pipeline is driven to stably move back and forth through rotation of the transmission wheel in different directions.

In an embodiment of the above-mentioned endoscope auxiliary operation structure of the present invention, the plurality of keys of the operation module include: an image fixing key, a first function key, a second function key, a third function key, a start attracting key and a fluid conveying key.

In an embodiment of the above-mentioned endoscope auxiliary operation structure of the present invention, the plurality of pressing units comprise:

a first pressing unit connected to the image fixing key for pressing the image fixing key based on the control of the controller;

a second pressing unit connected to the first function key for pressing the first function key based on the control of the controller;

a third pressing unit connected to the second function key for pressing the second function key based on the control of the controller;

a fourth pressing unit connected to the third function key for pressing the third function key based on the control of the controller;

a fifth pressing unit connected to the attraction enabling key for pressing the attraction enabling key based on the control of the controller; and

a sixth pressing unit connected to the fluid delivery button for pressing the fluid delivery button based on the control of the manipulator.

In an embodiment of the auxiliary operating structure of the endoscope of the present invention, the first pressing unit, the second pressing unit, the third pressing unit, the fourth pressing unit, the fifth pressing unit, and the sixth pressing unit are any one of the following units: an electrically driven key striker or a cylinder-type key striker.

In an embodiment of the above-mentioned endoscope auxiliary operation structure of the present invention, the plurality of rotating discs comprise: a first angle adjustment turntable and a second angle adjustment turntable.

In an embodiment of the above-mentioned endoscope auxiliary operation structure of the present invention, the plurality of turntable driving units comprise:

a first turntable driving unit connected to the first angle adjustment turntable for driving the first angle adjustment turntable to rotate by an angle based on the control of the controller; and

and the second turntable driving unit is connected to the second angle adjusting turntable and used for driving the second angle adjusting turntable to rotate by an angle based on the control of the manipulator.

In the above-mentioned embodiment of the auxiliary operating structure of the endoscope of the present invention, the first turntable driving unit and the second turntable driving unit are both a rotatable turntable assembly and are rotated by a motor respectively.

In an embodiment of the above-mentioned endoscope auxiliary operation structure of the present invention, the plurality of knobs comprise: a first fixed knob and a second fixed knob.

In an embodiment of the above-mentioned endoscope auxiliary operation structure of the present invention, the plurality of knob driving units comprise:

a first knob driving unit connected to the first fixed knob for driving the first fixed knob to rotate by an angle based on the control of the manipulator; and

and the second knob driving unit is connected to the second fixed knob and used for driving the second fixed knob to rotate by an angle based on the control of the manipulator.

In the above-mentioned embodiment of the auxiliary operating structure of the endoscope of the present invention, the first knob driving unit and the second knob driving unit are both a rotatable turntable assembly or a conveyor belt, and are rotated by a motor.

The main advantages of the invention are: in the case of applying the auxiliary operation structure of the endoscope of the present invention, the physician can easily control the operation module of the endoscope by only operating the manipulator with both hands, so as to operate the endoscope to complete an invasive detection or a minimally invasive surgery. In the process of invasive detection or minimally invasive surgery, hands of a doctor do not need to hold the control module of the endoscope, so that no burden or injury is caused to the wrist or arm of the doctor.

Drawings

FIG. 1A shows a perspective view of a prior art endoscope;

FIG. 1B shows another perspective view of a prior art endoscope;

FIG. 2 is a schematic view showing an application of an auxiliary operating structure of the endoscope of the present invention;

FIG. 3A shows a schematic view of an auxiliary operating structure holding module of the endoscope of the present invention;

FIG. 3B shows another view of the secondary operating structure holding module of the endoscope of the present invention;

FIG. 4 shows a perspective view of an endoscope incorporating the secondary operating structure of the endoscope of the present invention;

FIG. 5 shows another perspective view of the endoscope incorporating the secondary operating structure of the endoscope of the present invention;

FIG. 6 shows an auxiliary operating structure of the endoscope and a perspective view of the endoscope;

FIG. 7 shows an auxiliary operating structure of the endoscope and a perspective view of the endoscope.

Description of reference numerals: < the present invention > an auxiliary operating structure 1 of an endoscope; a control module 10; a case 11; a clamping module 12; a manipulator 15; an endoscope 2; an operation module 21; a cable group 22; a pipe 23; a human-machine interface module 30; a display screen 31; a host 32; the transfer wheel 42; a roller 44; an extension shaft 45; a motor 46; an inlet 47; an outlet 48; an image fixing button F1; a first function key F2; a second function key F3; a third function key F4; actuation of attraction key F5; fluid delivery button F6; instrument insertion channel F7; a first fixing knob F8; a first angle adjustment dial F9; a second fixing knob F10; a second angle adjustment dial F11; the first pressing unit P1; the second pressing unit P2; the third pressing unit P3; the fourth pressing unit P4; a fifth pressing unit P5; a sixth pressing unit P6; the first turntable drive unit D1; a first motor D11; the second turntable driving unit D2; a second motor D21; a first knob drive unit S1; a third motor S11; a second knob drive unit S2; a fourth motor S21; < prior > endoscope 1'; an operating module 11'; a cable group 12'; a duct 13'; an image fixing button F1'; a first function key F2'; a second function key F3'; a third function key F4'; activate attract button F5'; fluid delivery button F6'; instrument insertion channel F7'; a first fixing knob F8'; a first angle adjustment dial F9'; a second fixing knob F10'; the second angle adjustment dial F11'.

Detailed Description

In order to more clearly describe the auxiliary operation structure of the endoscope, the preferred embodiment of the present invention will be described in detail below with reference to the drawings.

Fig. 2 shows an application schematic diagram of an auxiliary operation structure of an endoscope of the present invention, fig. 3A shows a schematic diagram of an auxiliary operation structure holding module of an endoscope of the present invention, fig. 3B shows another schematic diagram of an auxiliary operation structure holding module of an endoscope of the present invention, fig. 4 shows a perspective view of an endoscope incorporating an auxiliary operation structure of an endoscope of the present invention, and fig. 5 shows a perspective view of another perspective view of the endoscope incorporating an auxiliary operation structure of an endoscope of the present invention.

Referring to fig. 2, 3A, 3B, 4, 5 and 6, the auxiliary operating structure 1 of the endoscope of the present invention comprises a control module 10, a human-machine interface module 30 and a clamping module 12;

the control module 10 comprises an endoscope 2, a plurality of pressing units, a plurality of turntable driving units and a plurality of knob driving units; the endoscope 2 includes an operation module 21, a cable assembly 22, and a duct 23, wherein one end of the duct 23 is connected to the operation module 21, and the other end thereof is mounted with an illumination unit and an image capturing unit. The operation module 21 is provided with a plurality of keys, a plurality of turntables, and a plurality of knobs; wherein the plurality of pressing units are connected to the plurality of keys of the operation module; the plurality of turntable driving units are connected to the plurality of turntables of the operation module; the plurality of knob driving units are connected to the plurality of knobs of the operation module;

the human-machine interface module 30 includes a host 32, a display screen 31 and a controller 15, the host 32 is connected to the display screen 31 and the controller 15 by signals, the host 32 is connected to the plurality of pressing units, the plurality of dial driving units and the plurality of knob driving units in a wired or wireless manner, the cable assembly 22 of the endoscope 2 is connected between the operation module 21 and the host 32;

the clamping module 12 is arranged between the control module 10 and the patient, is in signal connection with the control module 10, is connected with the host 32 in a wired or wireless manner through the control module 10, and is used for allowing the pipeline 23 to penetrate into the clamping module 12 and stabilizing the pipeline 23, so that the front-back movement control of the pipeline 23 is executed based on the control of the manipulator 15, and one front end of the pipeline 23 moves back and forth towards a part to be detected of the patient or an operation part;

when the controller 15 is operated, the controller 15 transmits a control signal to the host 32, and the host 32 is connected to the plurality of pressing units and the plurality of dial driving units in a wired or wireless manner, so that the host 32 can transmit the control signal to the plurality of dial driving units, and thus by operating the controller 15, each pressing unit can be driven to correspondingly press each key, each dial driving unit can be driven to correspondingly drive each dial to rotate, and each dial driving unit can be driven to correspondingly drive each knob to rotate.

In one possible embodiment, fig. 4, 5 and 6 show that the plurality of keys include: an image fixing button F1, a first function button F2 (fig. 5), a second function button F3, a third function button F4 (fig. 5), an activation button F5, and a fluid transport button F6. Also, the plurality of dials includes a first angle adjustment dial F9 (fig. 6) and a second angle adjustment dial F11 (fig. 6), and the plurality of knobs includes a first fixed knob F8 (fig. 6) and a second fixed knob F10 (fig. 6).

Please refer to fig. 6 and fig. 7, wherein fig. 6 shows an auxiliary operation structure of the endoscope and a perspective view of the endoscope, and fig. 7 shows an auxiliary operation structure of the endoscope and a perspective view of the endoscope.

In one possible embodiment, as shown in fig. 4, 5, 6 and 7, the plurality of pressing units include: a first pressing unit P1, a second pressing unit P2, a third pressing unit P3, a fourth pressing unit P4 (fig. 6), a fifth pressing unit P5, and a sixth pressing unit P6. The first pressing unit P1 is connected to the image fixing key F1 for pressing the image fixing key F1 under the control of the manipulator 15. Also, the second pressing unit P2 is connected to the first function key F2 for pressing the first function key F2 based on the control of the manipulator 15. On the other hand, the third pressing unit P3 is connected to the second function key F3 for pressing the second function key F3 based on the control of the manipulator 15.

As described above, the fourth pressing unit P4 is connected to the third function key F4 for pressing the third function key F4 under the control of the manipulator 15. Also, the fifth pressing unit P5 is connected to the enable suction key F5 for pressing the enable suction key F5 based on the control of the manipulator 15. Furthermore, the sixth pressing unit P6 is connected to the fluid delivery button F6 for pressing the fluid delivery button F6 under the control of the manipulator 15. Fig. 4, 5, 6 and 7 show that the first pressing unit P1, the second pressing unit P2, the third pressing unit P3, the fourth pressing unit P4, the fifth pressing unit P5 and the sixth pressing unit P6 are all cylinder-type key strikers. However, in other embodiments, each of the pressing units (P1-P6) may be an electrically driven key striker.

Corresponding to the design of the operating module 21 of the endoscope 2, in a possible embodiment, the present invention provides that the plurality of turret drive units comprises a first turret drive unit D1 (fig. 7) and a second turret drive unit D2 (fig. 7). As shown in fig. 4, 5, 6 and 7, the first turntable drive unit D1 is connected to the first angle adjustment turntable F9 for driving the first angle adjustment turntable F9 to rotate an angle based on the control of the manipulator 15. Also, the second turntable driving unit D2 is connected to the second angle adjusting turntable F11 for driving the second angle adjusting turntable F11 to rotate an angle based on the control of the manipulator 15. Fig. 4, 5, 6, and 7 show that the first turntable driving unit D1 and the second turntable driving unit D2 are both rotatable turntable assemblies, and are rotated by a first motor D11 (fig. 6) and a second motor D21 (fig. 7), respectively.

More specifically, the present invention provides that the plurality of knob driving units include a first knob driving unit S1 (fig. 7) and a second knob driving unit S2 (fig. 7). As shown in fig. 4, 5, 6, and 7, the first knob driving unit S1 is connected to the first fixing knob F8 (fig. 6) for driving the first fixing knob F8 to rotate by an angle based on the control of the manipulator 15. Also, the second knob driving unit S2 is connected to the second fixing knob F10 for driving the second fixing knob F10 to rotate an angle based on the control of the manipulator 15. As can be seen from fig. 4, 5, 6, and 7, the first knob drive unit S1 is a rotatable carousel assembly, and the second knob drive unit S2 is a belt, both of which are rotated by a third motor S11 and a fourth motor S21, respectively.

It should be noted that, even though fig. 2 shows the manipulator 15 as a joystick device, it should be understood that the implementable aspect of the manipulator 15 should not be limited to only a joystick, such as: the manipulator 15 may be one or a combination of the following: a joystick, a mouse, a keyboard, a touch screen, a handle, and a steering wheel, but not limited thereto.

In practice, the manipulator 15 is connected to the plurality of pressing units (P1-P6), the plurality of turntable driving units (D1-D2) and the plurality of knob driving units (S1-S2) through the host 32 in a wired or wireless manner. In this configuration, a user (i.e., a physician) controls the pressing units (P1-P6) to correspondingly press the keys (F1-F6) on the operation module 21 of the endoscope 2 by operating the manipulator 15, drives the dial driving units (D1-D2) to correspondingly drive the dials (F9, F11) on the operation module 21 to rotate, and/or drives the knob driving units (S1-S2) to correspondingly drive the knobs (F8, F10) to rotate.

With continuing reference to fig. 2, in the case of applying the auxiliary operating structure 1 of the endoscope of the present invention, the endoscope 2, the plurality of pressing units, the plurality of dial driving units, and the plurality of knob driving units are accommodated in a case 11, and a front end of the duct 23 of the endoscope 2 and a main connecting end of the cable group 22 are exposed outside the case 11. Further, the physician may sit in front of a control table on which a display screen 31 and a host computer 32 are located. Then, the physician can easily control the endoscope 2 by operating the manipulator 15 placed on the tabletop of the control table with both hands without any burden or injury to the physician's wrist or arm.

Furthermore, the physician can operate the manipulator 15, so that the tube 23 passing through the holding module 12 is fed by the holding module 12 to advance toward a target object, such as: is a part to be detected or a part to be operated in the body of a patient. Then, the physician can use the illumination unit and the camera unit at the front end of the tube 23 to capture the image of the to-be-detected part or the to-be-operated part, and the related image is displayed on the display screen 31 in real time under the control of the host 32. Finally, after the holding module 12 gradually feeds the front end of the tube 23 to the site to be operated, the physician may then feed a surgical instrument through an instrument introduction passage F7 to the site to be operated, and then perform a minimally invasive surgical procedure with the surgical instrument on the site to be operated.

As an example, as shown in fig. 3A and 3B, the clamping module 12 has a motor 46 therein, the shaft of the motor 46 is extended to form an extension shaft 45, the extension shaft 45 is provided with a transmission wheel 42, the pipe 23 enters the gripper module 12 through an inlet 47 of the gripper module 12, the pipe 23 is carried on the transfer wheel 42 at an inner portion of the gripper module 12, the pipe 23 contacts a roller 44 fixed inside the clamping module 12 above the inner portion of the clamping module 12, the tube 23 leaves the holding module 12 through an outlet 48 of the holding module 12, so that the tube 23 is movably held by the transmission wheel 42 and the roller 44, and the tube 23 is stably moved back and forth by the rotation of the transmission wheel 42 in different directions, so that the tube 23 can be introduced into or withdrawn from the operation site.

The foregoing description is intended to be illustrative rather than limiting, and it will be appreciated by those skilled in the art that many modifications, variations, or equivalents may be made without departing from the spirit of the invention, which is intended to be within the scope of the invention.

Claims

1. An auxiliary operation structure of an endoscope, characterized in that: comprises a control module, a human-computer interface module and a clamping module;

the control module comprises an endoscope, a plurality of pressing units, a plurality of turntable driving units and a plurality of knob driving units; the endoscope comprises an operation module, a cable set and a pipeline, wherein one end of the pipeline is connected with the operation module, the other end of the pipeline is provided with a lighting unit and a camera shooting unit, and the operation module is provided with a plurality of keys, a plurality of turntables and a plurality of knobs; wherein the plurality of pressing units are connected to the plurality of keys of the operating module; the plurality of turntable driving units are connected to the plurality of turntables of the operation module; the plurality of knob driving units are connected to the plurality of knobs of the operation module;

the clamping module is connected with the host in a wired or wireless mode and is used for enabling the pipeline to penetrate into the clamping module and stabilizing the pipeline, and then the pipeline is controlled to move back and forth based on the control of the manipulator, so that the front end of the pipeline moves back and forth towards a to-be-detected part or an operation part of a patient;

2. The endoscope apparatus of claim 1, wherein the manipulator is one or a combination of: a joystick, a mouse, a keyboard, a touch screen, a handle and a steering wheel.

3. The structure of claim 1, further comprising a case for accommodating the endoscope, the plurality of pressing units, the plurality of turntable driving units, and the plurality of knob driving units therein, and a front end of the duct of the endoscope and a main connecting end of the cable set are exposed outside the case.

4. The structure of claim 1, wherein the grip module has a motor inside, a shaft of the motor extends out and forms an extension shaft, a transmission wheel is disposed on the extension shaft, the tube enters the grip module through an inlet of the grip module, the tube is partially carried on the transmission wheel inside the grip module, the tube contacts a roller fixed inside the grip module above the inner portion of the grip module, the tube leaves the grip module through an outlet of the grip module, the tube is movably gripped by the transmission wheel and the roller, and the tube is stably moved back and forth by the rotation of the transmission wheel in different directions.

5. The structure of claim 1, wherein the plurality of buttons comprise: an image fixing key, a first function key, a second function key, a third function key, a starting attraction key and a fluid conveying key;

the plurality of pressing units include:

6. The structure of claim 5, wherein the first pressing unit, the second pressing unit, the third pressing unit, the fourth pressing unit, the fifth pressing unit, and the sixth pressing unit are any one of the following units: an electrically driven key striker or a cylinder-type key striker.

7. The structure of claim 1, wherein the plurality of dials comprises: a first angle adjusting turntable and a second angle adjusting turntable;

the plurality of turntable driving units include:

a second turntable driving unit connected to the second angle adjustment turntable for driving the second angle adjustment turntable to rotate by an angle based on the control of the manipulator;

the first turntable driving unit and the second turntable driving unit are both a rotatable turntable assembly and are rotated by a motor respectively.

8. The structure of claim 1, wherein the plurality of knobs comprise: a first fixed knob and a second fixed knob;

the plurality of knob driving units include:

9. The structure of claim 1, wherein the first knob driving unit and the second knob driving unit are a rotatable turntable assembly or a belt, and are rotated by a motor.