CN113208545A

CN113208545A - Endoscope device

Info

Publication number: CN113208545A
Application number: CN202110322145.3A
Authority: CN
Inventors: 付野; 许方
Original assignee: Shanghai Aohua Endoscopy Co Ltd; Peking University
Current assignee: Shanghai Aohua Endoscopy Co Ltd; Peking University
Priority date: 2021-03-25
Filing date: 2021-03-25
Publication date: 2021-08-06
Anticipated expiration: 2041-03-25
Also published as: CN113208545B

Abstract

The invention relates to the technical field of medical instruments, and provides an endoscope device, which comprises: an insertion part including a bending unit and a flexible hose; the operation part comprises a shell, a pulling line and a first bending power meshing mechanism arranged on the shell, wherein the bending unit, the flexible hose and the shell are sequentially connected, the pulling line penetrates through the flexible hose, and the first end of the pulling line is connected with the free end of the bending unit; the shell is arranged on the supporting seat, the supporting seat is provided with a second bending power meshing mechanism and a bending power unit, the bending power unit can drive the first bending power meshing mechanism to rotate through the second bending power meshing mechanism, and the supporting seat is provided with a rotary power unit which can drive the operating part to rotate; the first bending power meshing mechanism comprises a first rotating disc, and the rotating shafts of the first rotating disc and the shell are in the same direction; the first rotating disc is connected with the steering transmission mechanism, and the steering transmission mechanism is connected with the second end of the traction line; the engagement point of the first rotating disk and the second bending power engagement mechanism is located on the side surface of the shell.

Description

Endoscope device

Technical Field

The invention relates to the technical field of medical instruments, in particular to an endoscope device.

Background

In recent years, endoscope apparatuses have been widely used which insert an elongated flexible body with a miniature image pickup device into a patient and observe various organs of the patient. Some endoscope devices are also internally provided with a pipeline which can provide an insertion channel for various forceps channel instruments, so that operations such as biopsy sampling, minimally invasive surgery and the like are completed. Recently, endoscope apparatuses have played an important role not only in the medical field but also in industrial fields such as inspection of defects in cavities of boiler gas turbine engines, chemical plant pipes, automobile engines, and the like.

However, the operation of the endoscope apparatus (particularly, the medical endoscope apparatus) is extremely complicated. Generally, an endoscope apparatus includes an insertion portion, an operation portion, an imaging device, and other peripheral components. The insertion part is of an elongated strip structure and comprises a flexible hose capable of changing the shape of the insertion part along the cavity of the patient and a bending unit capable of being controlled by the operation part to perform active bending movement. The operation part is provided with a knob for controlling the bending direction and the bending angle of the bending unit. An endoscope operator usually holds the operating part with one hand and controls the knob to realize the control of the bending unit, and meanwhile, the wrist joint, the elbow joint and the shoulder joint of the hand can be matched with the body posture to realize the motion control of the insertion part rotating around the axis of the insertion part; and the other hand holds the position of the insertion part close to the entrance of the patient cavity and is responsible for pushing and pulling the insertion part so as to realize the movement control of advancing and retreating the insertion part along the long axis direction. Such troublesome long-time operation easily causes fatigue of the operator. In order to reduce the burden on the operator, an electric endoscope has been proposed.

Japanese patent No. 3007715 discloses an endoscope system that realizes a bending function with an electric control device. However, this patent does not relate to an automated solution for controlling the rotation thereof about the axis of the insertion portion.

Patent CN104757930B discloses a control device for handle of digestive endoscope, which can realize the electric control of bending movement and rotation movement around the axis of insertion part of the endoscope. However, due to the structural limitation, when the endoscope rotates around the axis of the insertion part, the motor and the transmission mechanism which are responsible for driving the large and small thumb wheels of the endoscope tend to rotate synchronously with the endoscope, which greatly increases the burden of the rotation power and the rotation radius of the operating device, and is difficult to realize the design of miniaturization and light weight.

Patent CN106510603B discloses a rotary endoscope apparatus, in which an operation part and an insertion part are separate structures, the operation part and the insertion part are respectively provided with a pair of double coaxial rotary connection mechanisms and are correspondingly detachably connected, bending power and rotary power are built in the operation part, and the bending power is transmitted to the insertion part via the double coaxial connection mechanisms in which the operation part and the insertion part are butted with each other to drive a bending unit. The rotary power directly drives the insertion part to rotate around the axis of the insertion part. Because the double-coaxial connecting mechanism in the operating part and the inserting part is coaxial with the rotating shaft center of the inserting part, the device has fewer components participating in the rotation around the rotating shaft center of the inserting part, and the burden and the rotating radius of the rotating power are greatly reduced. However, the power butt joint portion of this device is located at the rear end face of the insertion portion, and it is difficult to achieve both operability and easy cleanability in the line butt joint of the insertion portion. For example, if the line interface is arranged on the side of the insertion portion, the line may be wound around the insertion portion when it is rotated, thereby reducing its operability; whereas if the line connection is arranged near the rear end face of the insertion portion, the line passes through the operation portion. In addition, when the insertion portion is replaced, the operation of detaching and attaching the line is accompanied, so that it is difficult to avoid the liquid in the line from dropping on the operation portion, and the operation portion is difficult to clean, which also has the risk of cross infection.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an endoscope device which can realize miniaturization and light weight design, can ensure that the arrangement of a pipeline interface is more reasonable, and has good operability and easy cleaning performance.

An endoscope apparatus according to an embodiment of the present invention includes:

an insertion part including a bending unit and a flexible hose;

the operation part comprises a shell, a pulling line and a first bending power meshing mechanism arranged on the shell, the bending unit, the flexible hose and the shell are sequentially connected, the pulling line penetrates through the flexible hose, and the first end of the pulling line is connected with the free end of the bending unit;

the shell is mounted on the supporting seat, the supporting seat is provided with a second bending power meshing mechanism and a bending power unit, the bending power unit can drive the first bending power meshing mechanism to rotate through the second bending power meshing mechanism, and the supporting seat is provided with a rotary power unit which can drive the operating part to rotate;

the first bending power meshing mechanism comprises a first rotating disc, and the rotating shafts of the first rotating disc and the shell are in the same direction;

the first rotating disc is connected with a steering transmission mechanism, and the steering transmission mechanism is connected with the second end of the traction line;

the engagement point of the first rotating disc and the second bending power engagement mechanism is located on the side face of the shell.

According to the endoscope device provided by the embodiment of the invention, the second bending power meshing mechanism and the bending power unit are arranged on the supporting seat, and the second bending power meshing mechanism and the bending power unit do not integrally rotate along with the rotation of the operating part, so that the number of rotating parts can be reduced, the driving force required by rotation and the size of a matched driving mechanism are reduced, and the purposes of miniaturization and light weight are achieved. When the insertion part is replaced, the insertion part and the operation part are only required to be detached from the support base together, so that liquid can be prevented from dripping on the operation part or the support base when the insertion part is detached independently, and the cleanness of the endoscope device can be guaranteed. In addition, the second bending power meshing mechanism, the bending power unit and other parts in the original operating part are transferred into the supporting seat, so that the operating part is small in size, light in weight and convenient to operate.

According to one embodiment of the invention, the steering transmission mechanism comprises:

the first bevel gear is connected with the first rotating disc;

the second bevel gear is meshed with the first bevel gear and is connected with the second end of the traction line;

alternatively, the steering transmission mechanism includes:

one end of the steering coupling is connected with the first turntable, and the other end of the steering coupling is connected with the second end of the traction line;

alternatively, the steering transmission mechanism includes:

the worm gear is connected with the first turntable, and the worm gear is connected with the second end of the traction line;

alternatively, the steering transmission mechanism includes:

the first helical gear is connected with the first turntable;

alternatively, the steering transmission mechanism includes:

the pulley changes the traction direction of the traction line, and the first rotating disc is directly connected with the second end of the traction line;

alternatively, the steering transmission mechanism includes:

and the screw rod nut is connected with the first turntable, and the screw rod is directly connected with the second end of the pulling wire.

According to an embodiment of the present invention, when the end of the steering transmission mechanism connected to the pulling wire outputs a rotational motion, a rotational-to-linear transmission mechanism exists between the steering transmission mechanism and the pulling wire, and the rotational-to-linear transmission mechanism includes:

the chain wheel is connected with the steering transmission mechanism;

the chain is matched with the chain wheel and connected with the second end of the traction line;

or, the rotation-to-linear transmission mechanism comprises:

the belt pulley is connected with the steering transmission mechanism;

the belt is matched with the belt pulley and is connected with the second end of the traction line;

or, the rotation-to-linear transmission mechanism comprises:

the gear is connected with the steering transmission mechanism;

and the rack is matched with the gear and is connected with the second end of the traction line.

According to one embodiment of the invention, the first rotary disc is a magnetic rotary disc, the first rotary disc is magnetically engaged with the second bending power engagement mechanism, and the housing completely isolates the first rotary disc from the second bending power engagement mechanism;

or the second bending power meshing mechanism comprises a second rotary disc, and the surface of the second rotary disc is provided with teeth or a rough surface meshed with the first rotary disc;

or the second bending power meshing mechanism comprises a transmission belt, and the surface of the transmission belt is provided with teeth or a rough surface meshed with the first rotating disc;

or the second bending power meshing mechanism comprises a strip-shaped transmission mechanism, and the surface of the strip-shaped transmission mechanism is provided with teeth or a rough surface meshed with the first rotating disc;

alternatively, the second bending power engagement mechanism comprises a chain in chain drive with the first rotor;

alternatively, the second bending power meshing mechanism comprises a lead screw which forms a worm gear transmission with the first rotary disc.

According to one embodiment of the invention, when a non-complete isolation mechanism is arranged between the first rotating disc and the second bending power meshing mechanism, the operating part contains a transmission part made of non-metallic materials;

when the steering transmission mechanism comprises a first bevel gear and a second bevel gear, the transmission part made of the non-metal material can be at least one of a first rotating disc, the first bevel gear and the second bevel gear;

when the steering transmission mechanism comprises a steering coupling, the transmission part made of the non-metal material can be at least one of the first rotating disc and the steering coupling;

when the steering transmission mechanism comprises a worm gear, the transmission part made of the non-metal material can be at least one of a first rotating disc, a worm gear and a worm;

when the steering transmission mechanism comprises a pulley, the transmission part made of the non-metal material can be at least one of a first turntable and a pulley;

when the steering transmission mechanism comprises a screw nut, the transmission part made of the non-metal material can be at least one of a first turntable, a screw and a nut;

when the steering transmission mechanism comprises a bevel gear, the transmission part made of the non-metal material can be at least one of a first turntable and a bevel gear;

when the rotary-to-linear transmission mechanism comprises a chain and a chain wheel, the transmission part made of the non-metal material can be at least one of the chain and the chain wheel;

when the rotary-to-linear transmission mechanism comprises a belt pulley and a belt, the transmission part made of the non-metal material can be at least one of the belt pulley and the belt;

when the rotary-to-linear transmission mechanism comprises a gear and a rack, the transmission part made of the non-metallic material can be at least one of the gear and the rack.

According to one embodiment of the invention, the shell is formed with a first rotary supporting surface, and the supporting seat is formed with a second rotary supporting surface matched with the first rotary supporting surface;

the shell is formed with first rotatory meshing mechanism, the supporting seat is provided with the rotatory meshing mechanism of second, rotatory power unit can pass through the rotatory meshing mechanism of second and the rotatory meshing mechanism drive the operation portion rotates.

According to an embodiment of the present invention, the second rotary supporting surface is provided as a manually openable and closable structure for mounting and detaching operation of the first rotary supporting surface and the second rotary supporting surface, engaging and detaching operation of the first turn table and the second curved engagement mechanism, and engaging and detaching operation between the first rotary engagement mechanism and the second rotary engagement mechanism.

According to one embodiment of the invention, an external pipeline is connected to one end of the shell far away from the flexible hose, and the external pipeline comprises at least one of a water feeding and air feeding pipe, a suction pipe, a signal wire, a fiber optic cable and a clamp channel instrument.

According to one embodiment of the present invention, a distance between any point on the housing and the rotation axis of the operation portion is between 20mm and 50 mm.

According to an embodiment of the present invention, the endoscopic device further comprises:

a bending angle measuring device capable of measuring a bending angle of the bending unit, the bending angle measuring device being attached to the operation portion and/or the support base;

and a rotation angle measuring device which can measure the rotation angle of the operation part and is mounted on the operation part and/or the support seat.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of the overall composition of an endoscopic apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the operation portion according to the embodiment of the present invention;

FIG. 3 is a partial schematic view of an operating portion according to an embodiment of the present invention;

FIG. 4 is a schematic view of another partial structure of the operation portion according to the embodiment of the present invention;

FIG. 5 is a schematic view of the assembled relationship of the endoscopic device corresponding to FIG. 3;

FIG. 6 is a schematic view of the assembled relationship of the endoscopic device corresponding to FIG. 4;

FIG. 7 is a schematic diagram of a quadrature magnetic wheel drive according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a second rotary support surface according to an embodiment of the present invention;

1. an insertion portion; 11. a bending unit; 12. a flexible hose;

2. an operation section; 21. a housing; 211. a middle housing; 212. a front end housing; 213. a rear end housing; 22A, a left turntable; 22B, a right turntable; 24. a steering transmission mechanism; 25. a pulling wire;

3. a supporting seat; 31A, a left rotary supporting surface; 31B, a right rotation support surface; 32A, a first speed reduction motor; 32B, a second speed reduction motor; 33A, a left-side bending engagement mechanism; 33B, a right-side bending engagement mechanism; 34A, a first bending power unit; 34B, a second bending power unit; 35. a rotary power unit; 36. a second rotary engagement mechanism; 37A, a first manual knob; 37B, a second manual knob;

4. an external pipeline; 41. a signal line; 42. a fluid pipe;

51A, a left bevel gear; 51B, right bevel gear; 52A, an upper bevel gear; 52B, a lower bevel gear; 53A, a first sprocket; 53B, a second sprocket; 54A, a first magnet; 54B, a second magnet; 55A, a first circuit board; 55B, a second circuit board;

61A, a first jaw; 61B, a second jaw; 62A, a first half gear; 62B, a second half gear;

7. magnetic force wheel.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.

In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Referring to fig. 1 to 8, according to an embodiment of the present invention, there is provided an endoscope apparatus including an insertion portion 1, an operation portion 2, and a support base 3. The insertion portion 1 includes a bending unit 11 and a flexible hose 12; the operating part 2 comprises a shell 21, a pulling wire 25 and a first bending power meshing mechanism arranged on the shell 21, wherein the bending unit 11, the flexible hose 12 and the shell 21 are sequentially connected, the pulling wire 25 penetrates through the flexible hose 12, and the first end of the pulling wire 25 is connected with the free end of the bending unit 11; the housing 21 is mounted on the supporting base 3, the supporting base 3 is provided with a second bending power engaging mechanism and a bending power unit, the bending power unit can drive the first bending power engaging mechanism to rotate through the second bending power engaging mechanism, and the supporting base 3 is provided with a rotary power unit 35 which can drive the operating portion 2 to rotate. The first bending power meshing mechanism comprises a first rotating disc, and the rotating shaft of the first rotating disc and the rotating shaft of the shell 21 are in the same direction; the first rotating disc is connected with a steering transmission mechanism 24, and the steering transmission mechanism 24 is connected with the second end of the traction wire 25; the engagement point of the first rotary disk and the second bending power engagement mechanism is located on the side of the housing 21.

According to the endoscope device of the embodiment of the invention, because the second bending power meshing mechanism and the bending power unit are arranged on the supporting seat 3, the second bending power meshing mechanism and the bending power unit do not integrally rotate along with the rotation of the operating part 2, so that the number of rotating parts can be reduced, the driving force required by rotation and the size of a matched driving mechanism are reduced, and the purposes of miniaturization and light weight are achieved. And when the insertion part 1 is replaced, only the insertion part 1 and the operation part 2 need to be detached from the support base 3 together, whereby it is possible to prevent liquid from dripping onto the operation part 2 or the support base 3 when the insertion part 1 is detached alone, and thus the cleaning performance of the endoscope apparatus can be ensured.

According to the embodiment of the present invention, the bending unit 11 of the insertion portion 1 generally adopts a snake bone structure, and thus the bending direction control of itself can be realized. Of course, the bending unit 11 may take any structural form that has been disclosed in the prior art as long as it can achieve its own bending control. The flexible tube 12 is not limited to a specific material as long as it can be passively bent or deformed along with the inserted lumen (e.g., the upper digestive tract or the lower digestive tract). To facilitate the pulling of the wire 25 through the flexible hose 12, the flexible hose 12 may be formed in a hollow configuration. The material and structure of the pulling wire 25 are not limited as long as the bending unit 11 can be pulled to perform the bending operation of the bending unit 11.

According to the embodiment of the present invention, the rotation axes of the first rotary plate and the housing 21 are in the same direction, and thus even if the housing 21 rotates, the first rotary plate can be always engaged with the second bending power engagement mechanism. The first rotary disk is preferably coaxial with the axis of rotation of the housing 21, and the second bending power engagement mechanism can drive the steering gear 24 directly via the first rotary disk. Of course, the first rotary plate may be parallel to but not coaxial with the rotation axis of the housing 21, as long as it is ensured that the first rotary plate can always keep the engagement with the second bending power engagement mechanism during the rotation of the housing 21, and the first rotary plate can drive the second end of the pulling wire 25 through the steering transmission mechanism 24. For example, the first turntable may include a plurality of pinion gears disposed along the outer circumference of the housing 21, and a large gear engaged with the pinion gears.

Referring to fig. 3 and 4, according to an embodiment of the present invention, the steering transmission 24 includes: a first bevel gear and a second bevel gear. The first bevel gear is connected with the first rotating disc; the second bevel gear meshes with the first bevel gear and is connected to the second end of the pull lead 25. Furthermore, the first rotating disc can drive the first bevel gear to rotate under the action of the second bending power meshing mechanism. The cooperation between the first bevel gear and the second bevel gear can convert the rotation of the first rotating disk on the plane into the rotation of the first rotating disk on the plane perpendicular to the first rotating disk.

Of course, instead of using the rotation of the steering gear 24 in fig. 2 to 4 to realize the motion transmission of the first rotating disc and the pulling wire 25, other structures may be used instead. For example, the steering gear 24 includes a steering coupling having one end connected to the first turntable and the other end connected to the second end of the pull-cord 25. As another example, the steering gear 24 includes a worm gear, wherein the worm of the worm gear is coupled to the first turntable and the worm gear is coupled to the second end of the pull wire 25. For another example, the steering gear 24 includes a first helical gear and a second helical gear. The first bevel gear is connected with the first turntable; the second beveled gear engages the first beveled gear and connects to the second end of the puller wire 25. As another example, the steering gear 24 includes a pulley that changes the pulling direction of the pulling wire 25, and the first pulley is directly connected to the second end of the pulling wire 25. For another example, the steering gear 24 includes a lead screw nut, the nut of the lead screw nut is connected to the first turntable, and the lead screw is directly connected to the second end of the pull-cord 25.

When the steering transmission mechanism 24 includes a screw nut, the screw nut can directly convert the rotation of the first rotating disk into the linear motion of the second end of the pulling wire 25, so that the structure is simple and the occupied space is small. Similarly, the worm gear can directly convert the rotation of the first rotating disk into the linear motion of the second end of the pulling wire 25.

According to the embodiment of the invention, when the end of the steering transmission mechanism 24 connected with the pulling wire 25 outputs a rotary motion, a rotary straightening transmission mechanism exists between the steering transmission mechanism and the pulling wire 25. For example, when the steering gear 24 includes the first and second bevel gears mentioned above, the second bevel gear is connected to a rotary-to-linear gear, and the rotary-to-linear gear can convert the rotation of the second bevel gear into the linear motion of the pull wire 25.

In fig. 3 and 4, the rotational-to-linear transmission mechanism includes a sprocket and a chain. The chain wheel is connected with a steering transmission mechanism 24; the chain is engaged with the sprocket and connected to the second end of the pull wire 25. Further, after the steering transmission mechanism 24 converts the rotation on the plane of the first turntable into the rotation on the plane perpendicular to the first turntable, the rotation-to-linear transmission mechanism converts the rotation on the plane perpendicular to the first turntable into the linear motion on the current plane.

Of course, other structures can be adopted instead of the rotary-to-linear transmission mechanism in fig. 3 and 4 to realize the rotary-to-linear conversion. For example, the rotational-to-linear transmission includes a pulley and a belt, the pulley being connected to the steering transmission 24; the belt is engaged with the pulley and is connected to the second end of the pull line 25. As another example, the rotational-to-linear actuator includes a gear coupled to the steering actuator 24 and a rack coupled to the gear and coupled to the second end of the pull wire 25.

In fig. 2 to 7, the first rotary disk is a magnetic rotary disk, the first rotary disk is magnetically engaged with the second bending power engagement mechanism, and the housing 21 completely isolates the first rotary disk from the second bending power engagement mechanism. In this case, since the first rotary disk and the second bending power meshing mechanism do not need to be in direct contact, the first rotary disk can be completely sealed within the housing 21. Above structural design has avoided exposing the production in the gap that the casing leads to because of first carousel, makes operating portion 2 sanitization more easily, has reduced the risk that supporting seat 3 pollutes and cross infection, has also reduced transmission wearing and tearing equally, has improved operating portion 2's life.

Of course, the first rotating disc and the second bending power meshing mechanism can also realize motion transmission in a direct contact mode. For example, the second bending power engagement mechanism comprises a second rotary disc, the surface of which is provided with teeth or a rough surface that engages with the first rotary disc. For another example, the second curved power engagement mechanism comprises a belt having a surface provided with teeth or a roughened surface for engaging the first rotatable disk. For another example, the second bending power engagement mechanism includes an elongated transmission mechanism having a surface provided with teeth or a rough surface that engages with the first rotating disk. For another example, the second bending power engagement mechanism includes a chain in chain drive with the first pulley. For another example, the second bending power engagement mechanism includes a lead screw that forms a worm drive with the first rotor. It is clear that the specific configurations of the first rotatable disk and the second bending power engagement mechanism are not exhaustive here.

According to the embodiment of the invention, when the incomplete isolation mechanism is arranged between the first rotating disc and the second bending power meshing mechanism, the operating part 2 contains transmission parts made of non-metallic materials. For parts made of non-metallic materials, the part has the characteristic of oxidation resistance, and the service life can be further ensured. In addition, because the first rotating disk is exposed, a gap which is difficult to wash and disinfect is inevitably formed between the first rotating disk and the shell 21, in order to avoid cross infection risks, the operation part 2 and the insertion part 1 are possibly made into disposable medical consumables, and transmission parts made of non-metal materials in the operation part can greatly reduce the cost and reduce the economic burden of patients.

According to an embodiment of the present invention, when the steering transmission mechanism 24 includes a first bevel gear and a second bevel gear, the transmission component made of a non-metal material may be at least one of the first rotating disk, the first bevel gear and the second bevel gear, that is, the first rotating disk, the first bevel gear or the second bevel gear may be made of a non-metal material or at least partially made of a non-metal material. Likewise, when the steering gear 24 includes a steering coupling, the non-metallic material of the gear component may be at least one of the first rotating disk and the steering coupling. When the steering gear 24 includes a worm gear, the non-metallic material of the gear component may be at least one of the first turntable, the worm gear, and the worm. When the steering gear 24 includes pulleys, the non-metallic material of the gear component may be at least one of the first turntable and the pulleys. When the steering transmission 24 includes a lead screw nut, the transmission component of the non-metallic material may be at least one of the first turntable, the lead screw, and the nut. When the steering transmission 24 includes helical gears (first helical gear and second helical gear), the transmission component of the non-metallic material may be at least one of the first turntable and the helical gears. When the rotation-to-linear transmission mechanism comprises a chain and a chain wheel, the transmission part made of the non-metallic material can be at least one of the chain and the chain wheel. When the rotation-to-linear transmission mechanism includes a pulley and a belt, the transmission component made of the non-metallic material may be at least one of the pulley and the belt. When the rotary-to-linear transmission mechanism comprises a gear and a rack, the transmission part made of the non-metallic material can be at least one of the gear and the rack.

According to the embodiment of the invention, the shell 21 is formed with a first rotary supporting surface, and the supporting seat 3 is formed with a second rotary supporting surface matched with the first rotary supporting surface; the housing 21 is formed with a first rotary engagement mechanism, the support base 3 is provided with a second rotary engagement mechanism 36, and the rotary power unit 35 can drive the operation portion 2 to rotate by the second rotary engagement mechanism 36 and the first rotary engagement mechanism.

According to the embodiment of the present invention, the second rotary supporting surface is provided in a manually openable and closable structure for the mounting and separating operation of the first rotary supporting surface and the second rotary supporting surface, the engaging and separating operation of the first turntable and the second curved engagement mechanism, and the engaging and separating operation between the first rotary engagement mechanism and the second rotary engagement mechanism 36. The arrangement of the manual opening and closing structure can facilitate the insertion of the insertion part 1 and the operation part 2. Even in the power-off state, the operation portion 2 and the insertion portion 1 can be removed from the support base 3 by opening the manual opening and closing mechanism.

According to an embodiment of the present invention, an end of the housing 21 remote from the flexible hose 12 is connected to an external line 4, the external line 4 comprising at least one of a fluid tube 42 (e.g., a water and air feeding tube), a suction tube, a signal wire 41, a fiber optic cable, and a clamp channel instrument. Since the external lines 4 connected to the operation part 2 are all located at the rear end of the operation part 2, when the operation part 2 rotates, the external lines 4 are not wound around the support base 3, the operation part 2, and the insertion part 1, thereby improving the operation comfort.

According to the embodiment of the present invention, the distance between any point on the housing 21 and the rotation axis of the operation part 2 is between 20mm and 50 mm. And thus the size of the operating portion 2 is within a reasonable range.

According to an embodiment of the present invention, the endoscope apparatus further includes a bending angle measuring device that can measure a bending angle of the bending unit 11, and a rotation angle measuring device that is mounted to the operation portion 2 and/or the support base 3; the rotation angle measuring instrument may measure the rotation angle of the operation portion 2, and is attached to the operation portion 2 and/or the support base 3. Both the bending angle measuring device and the rotation angle measuring device may be products already disclosed in the prior art, and will not be described in detail herein.

Some specific embodiments of the endoscopic device of the embodiments are described below with reference to fig. 1 to 7.

In fig. 1 to 7, the bending unit 11 is a snake bone, the pulling wire 25 is a steel wire, and the snake bone is pulled by the steel wire to realize the bending action. Wherein, the first end of steel wire is connected with the snake bone, the second end of steel wire is connected with the steering transmission mechanism 24, and the bending power unit in the supporting seat 3 drives the steering transmission mechanism 24 through the first turntable to provide pulling power for the steel wire. The first rotary table comprises a left rotary table 22A and a right rotary table 22B which are coaxially arranged, and the steering transmission mechanism 24 converts the rotating power of the left rotary table 22A and the right rotary table 22B into the pulling power of the steel wire. Fig. 3 shows a specific implementation of the steering gear 24, comprising a first bevel gear and a second bevel gear. The first bending power engagement mechanism includes a left side rotary disk 22A and a right side rotary disk 22B. The left turntable 22A and the right turntable 22B can independently receive the rotational power from the bending power unit and rotate. The first bevel gears include a left bevel gear 51A and a right bevel gear 51B. The left bevel gear 51A is connected to the left turntable 22A, the right bevel gear 51B is connected to the right turntable 22B, and the left bevel gear 51A and the right bevel gear 51B rotate with the left turntable 22A and the right turntable 22B, respectively. The second bevel gears include an upper bevel gear 52A and a lower bevel gear 52B. The left bevel gear 51A is meshed with the upper bevel gear 52A to realize steering transmission; the right bevel gear 51B and the lower bevel gear 52B mesh and realize steering transmission. The rotation-to-linear transmission mechanism comprises a chain wheel and a chain. The sprockets include a first sprocket 53A and a second sprocket 53B. Wherein the first sprocket 53A and the upper bevel gear 52A are fixed together and rotate together with the upper bevel gear 52A; the second sprocket 53B and the lower bevel gear 52B are fixed and together and rotate together with the lower bevel gear 52B. The first sprocket 53A and the second sprocket 53B convert their rotational motion into linear motion of pulling the wire by chain transmission.

In order to detect the bending angle of the bending unit 11, the bending angle measurer may employ a magnetic encoder, and the magnetic encoder estimates the current bending angle and bending direction of the bending unit 11 by measuring the rotation angles of the upper bevel gear 52A and the lower bevel gear 52B. Specifically, a first magnet 54A and a second magnet 54B are fixedly attached to outer end faces of the upper bevel gear 52A and the lower bevel gear 52B, respectively, and the first magnet 54A rotates coaxially with the upper bevel gear 52A, and the second magnet 54B rotates coaxially with the lower bevel gear 52B. A first circuit board 55A and a second circuit board 55B having magnetic encoder chips are fixedly mounted on the inner side of the housing 21 of the operation unit 2 in the vicinity of the first magnet 54A and the second magnet 54B, respectively, and the magnetic encoder chips on the first circuit board 55A and the second circuit board 55B detect the rotation angles by detecting the magnetic field turning of the first magnet 54A and the second magnet 54B, respectively.

In order to detect the rotation angle of the operation section 2 about the longitudinal direction of the endoscope apparatus during use, a gyroscope chip may be used as the rotation angle measuring device. Specifically, the first circuit board 55A and the second circuit board 55B are provided with gyro chips, and the angular velocity and the angular acceleration of the rotation of the operation unit 2 in the long axis direction of the endoscope apparatus are measured to estimate the real-time angular position thereof.

The housing 21 is a hard shell, which is divided into a front shell 212, a middle shell 211 and a rear shell 213. The front end housing 212, the rear end housing 213 and the middle housing 211 are provided with three coaxially arranged circumferential surfaces, and the circumferential surfaces of the front end housing 212 and the rear end housing 213 form a first rotation support surface which is matched with a second rotation support surface on the support base 3 and provides rotation support for the operation part 2 to rotate around the long axis direction of the endoscope. The coaxial circumferential surfaces of the middle housing 211 form a first rotary engagement mechanism on which strips of texture are uniformly distributed in the same direction as the axis of rotation of the operating part 2, making it easier to generate friction in the circumferential tangential direction. Two friction wheels with soft rubber surfaces attached to the circumferential surface of the first rotary engagement mechanism on the support base 3 form a second rotary engagement mechanism 36, which is driven to rotate by a rotary power unit 35 through a synchronous belt, and provides rotary power for the operation part 2 to rotate around the long axis direction of the endoscope device.

The first rotary supporting surfaces on the front end housing 212 and the rear end housing 213 are two coaxially arranged circular grooves, and are respectively matched with two second rotary supporting surfaces of the supporting seat 3, and the second rotary supporting surfaces comprise a left rotary supporting surface 31A and a right rotary supporting surface 31B. The second rotary supporting surface is provided in an openable and closable structure in order to facilitate the mounting and dismounting operations of the operating portion 2 and the support base 3. As shown in fig. 8, the second rotary supporting surface is composed of two semicircular first jaw 61A and second jaw 61B, and a plurality of rollers are distributed on the inner circumferential surface thereof, and when the first jaw 61A and the second jaw 61B clamp the operating portion 2, the rollers are attached to and roll on the circular groove bottom surfaces of the front end housing 212 and the rear end housing 213, thereby providing a rotary support for the operating portion 2 to rotate around the long axis direction of the endoscope apparatus. The first jaw 61A and the second jaw 61B are respectively fixedly provided with a first half gear 62A and a second half gear 62B with partial flat gear teeth, the first half gear 62A and the second half gear 62B are mutually meshed, when one jaw (the first jaw 61A or the second jaw 61B) is driven to rotate, the other jaw rotates along with the rotation, and the symmetrical opening and closing action is completed. The opening and closing power is provided by a first speed reduction motor 32A and a second speed reduction motor 32B in the support base 3, and in order to separate the operation part 2 from the support base 3 in the power-off state, a first manual knob 37A and a second manual knob 37B are respectively added at the tail parts of the first speed reduction motor 32A and the second speed reduction motor 32B, so that the opening and closing actions can be manually realized. Due to the arrangement, the operation part 2 and the supporting seat 3 do not need to be plugged or pulled in the process of installation and disassembly, the disassembly and assembly process becomes clean, and the risk of cross infection is reduced.

In order to prevent the various external lines 4 (including the fluid pipe 42 such as the water and air supply pipe, the suction pipe, the signal line 41, the optical fiber cable, the clamp channel device, and the like) connected to and rotating with the operation section 2 when rotating around the longitudinal axis direction of the endoscope apparatus from being entangled with each other as much as possible, and to reduce the possibility of interference with itself and peripheral devices, the interfaces corresponding to the various external lines 4 are provided on the rear end surface of the rear end housing 213, and such layout makes the operation thereof more comfortable.

According to the embodiment of the present invention, the left and

right dials

22A and 22B are arranged coaxially with the rotation axis of the operation part 2. By the layout, the relative positions of the rotating shafts of the left rotary disc 22A and the right rotary disc 22B and the supporting seat 3 can not be changed even if the operation part 2 rotates, and then the second bending meshing mechanism and the bending power unit which are meshed with the left rotary disc 22A and the right rotary disc 22B in the supporting seat 3 can still keep meshing with the left rotary disc 22A and the right rotary disc 22B under the state of not following the follow-up rotation of the operation part 2, so that the number of rotating parts is reduced, the driving force required by the rotation and the size of the supporting seat 3 are greatly reduced, and the purpose of miniaturization design is achieved. Wherein the second bending engagement mechanism includes a left bending engagement mechanism 33A and a right bending engagement mechanism 33B. The bending power unit includes a first bending power unit 34A and a second bending power unit 34B. However, since such an arrangement allows the bending angle and the bending direction of the bending unit 11 to be controlled simultaneously by the first bending power unit 34A and the second bending power unit 34B and the rotary power unit 35, the precise control of the bending angle and the bending direction of the bending unit 11 should be achieved by performing the coordinated control of the first bending power unit 34A and the second bending power unit 34B and the rotary power unit 35.

Typical embodiments of the non-contact transmission and the contact transmission are given for the left turntable 22A, the right turntable 22B and the support base 3 in the embodiments of the present invention.

In fig. 3 and 5, the left turntable 22A and the right turntable 22B use the magnetic wheel 7 to perform non-contact transmission. Correspondingly, the left-side bending engaging mechanism 33A and the right-side bending engaging mechanism 33B in the support base 3 are also magnetic wheels 7. At this time, the left-side turn plate 22A and the left-side bending engagement mechanism 33A are engaged, and the right-side turn plate 22B and the right-side bending engagement mechanism 33B are engaged, and the engagement principle is shown in fig. 7. Fig. 7 shows two magnetic wheels 7 which are orthogonally engaged with each other, the rotation axes of the two magnetic wheels 7 are perpendicular to each other, the circumferential surfaces of the two magnetic wheels 7 are close to each other and are not in contact with each other, strip-shaped magnetic poles with S-level and N-level alternate are uniformly formed on the circumferential surfaces of the two magnetic wheels along the direction forming an angle of 45 degrees with the rotation axes of the two magnetic wheels, and when one magnetic wheel 7 rotates along a certain direction, the other magnetic wheel 7 also rotates along with the magnetic force. The left bending meshing mechanism 33A and the right bending meshing mechanism 33B are driven by two first bending power units 34A and two second bending power units 34B in the support base 3 correspondingly and independently, and then power is transmitted to the left rotary table 22A and the right rotary table 22B through magnetic transmission. The first bending power unit 34A and the second bending power unit 34B employ small reduction motors. Because the left rotary table 22A and the right rotary table 22B, the left bending meshing mechanism 33A and the right bending meshing mechanism 33B have a certain gap between the magnetic wheels 7, and the hard shell of the operation part 2 at the corresponding positions of the left rotary table 22A and the right rotary table 22B is of a fully closed structure, the hard shell of the whole operation part 2 has no exposed movable parts, and has good sealing performance, easier decontamination operation and better reliability.

In fig. 4 and 6, the left rotary table 22A and the right rotary table 22B are in contact transmission by using conventional flat gears. Correspondingly, the two left-side bending and

meshing mechanisms

33A and 33B in the support base 3 are also flat gears. The left bending meshing mechanism 33A and the right bending meshing mechanism 33B are driven by a first bending power unit 34A and a second bending power unit 34B in the support base 3, and power is transmitted to the left rotary table 22A and the right rotary table 22B through gear meshing. Because the meshing point positions of the left rotary table 22A and the right rotary table 22B and the left bending meshing mechanism 33A and the right bending meshing mechanism 33B are meshed with each other, the hard shell of the operation part 2 at the corresponding position of the left rotary table 22A and the right rotary table 22B is of a non-complete sealing structure, and the teeth of the left rotary table 22A and the right rotary table 22B are exposed out of the hard shell of the operation part 2, the structure influences the sealing performance of the hard shell of the operation part 2 to a certain degree, but the gear structure is simple, the cost is lower, the disposable endoscope device is more suitable for disposable schemes, and the disposable endoscope device does not need to be washed and disinfected. Similarly, in order to further reduce the cost, the gears and sprockets in the operating part 2 of the contact type transmission scheme are often made of low-cost non-metallic materials, such as POM.

The above embodiments are merely illustrative of the present invention and are not to be construed as limiting the invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications or equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and the technical solution of the present invention is covered by the claims of the present invention.

Claims

1. An endoscopic device, comprising:

an insertion part including a bending unit and a flexible hose;

2. The endoscopic device of claim 1 wherein the steering transmission mechanism comprises:

the first bevel gear is connected with the first rotating disc;

alternatively, the steering transmission mechanism includes:

the first helical gear is connected with the first turntable;

alternatively, the steering transmission mechanism includes:

3. The endoscopic device as defined in claim 2, wherein when the end of the steering transmission mechanism connected to the pulling wire outputs a rotational motion, a rotational-to-linear transmission mechanism exists between the steering transmission mechanism and the pulling wire, and the rotational-to-linear transmission mechanism comprises:

the chain wheel is connected with the steering transmission mechanism;

or, the rotation-to-linear transmission mechanism comprises:

the belt pulley is connected with the steering transmission mechanism;

or, the rotation-to-linear transmission mechanism comprises:

the gear is connected with the steering transmission mechanism;

4. The endoscopic device of claim 1 wherein the first rotary disk is a magnetic rotary disk, the first rotary disk and the second bending power engagement mechanism being in magnetic engagement, the housing completely isolating the first rotary disk and the second bending power engagement mechanism;

5. The endoscopic device according to any one of claims 1 to 4, wherein when a non-complete isolation mechanism is provided between the first rotary table and the second bending power engagement mechanism, the operating portion contains a transmission component made of a non-metallic material;

6. The endoscopic device of claim 1 wherein the housing is formed with a first rotational support surface and the support base is formed with a second rotational support surface adapted to the first rotational support surface;

7. The endoscopic device as defined in claim 6, wherein the second rotary supporting surface is provided in a manually openable and closable structure for mounting and detaching operation of the first rotary supporting surface and the second rotary supporting surface, engaging and detaching operation of the first rotary table and the second bending engaging mechanism, and engaging and detaching operation between the first rotary engaging mechanism and the second rotary engaging mechanism.

8. An endoscopic device as defined in any one of claims 1 to 4, 6 and 7, wherein an end of the housing remote from the flexible tube is connected to an external line, the external line including at least one of a water delivery and air delivery tube, a suction tube, a signal line, a fiber optic cable and a clamp channel instrument.

9. An endoscope apparatus according to any one of claims 1-4, 6 and 7 and wherein a distance between any point on said housing and a rotation axis of said operation portion is 20mm to 50 mm.

10. An endoscopic device as defined in any one of claims 1 to 4, 6 and 7, further comprising: