CN113876282A - Endoscope with a detachable handle - Google Patents

Endoscope with a detachable handle Download PDF

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Publication number
CN113876282A
CN113876282A CN202111327085.0A CN202111327085A CN113876282A CN 113876282 A CN113876282 A CN 113876282A CN 202111327085 A CN202111327085 A CN 202111327085A CN 113876282 A CN113876282 A CN 113876282A
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China
Prior art keywords
joint
axis
endoscope
traction rope
assembly
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Pending
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CN202111327085.0A
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Chinese (zh)
Inventor
王建辰
查传兵
孙强
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Shenzhen Edge Medical Co Ltd
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Shenzhen Edge Medical Co Ltd
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Priority to CN202111327085.0A priority Critical patent/CN113876282A/en
Publication of CN113876282A publication Critical patent/CN113876282A/en
Priority to CN202211261979.9A priority patent/CN116098561A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00066—Proximal part of endoscope body, e.g. handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion

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

Abstract

The invention discloses an endoscope, comprising: the handle part is provided with a poking rod part; a front end portion; a support portion, one end of which is connected to the handle portion and the other end of which is connected to the front end portion; the poking rod part is used for driving the front end part to rotate towards a first preset direction corresponding to the first direction when poking towards the first direction; the poking rod part is further used for driving the front end part to rotate towards a second preset direction corresponding to the second direction when poking towards the second direction. When the shifting lever part of the endoscope is shifted, the power of the shifting lever part is transmitted to the front end part through the supporting part so as to drive the front end part to be bent and increase the imaging range.

Description

Endoscope with a detachable handle
Technical Field
The invention relates to the technical field of medical instruments, in particular to an endoscope.
Background
An endoscope is a medical instrument that enters a human body through a natural duct or an incision to observe the internal condition of the human body. Since a lesion which cannot be visualized by X-ray can be seen by an endoscope, it is very useful for treatment. For example, an endoscopist can observe ulcers or tumors in the stomach, and an optimal treatment plan is made according to the observations. In the prior art, the bending direction of a camera of an endoscope is limited after the camera extends into a body, so that the imaging range is limited. In addition, the transmission mechanism of the endoscope is generally a link mechanism, which has a complex structure and occupies a large space in the body.
Disclosure of Invention
In view of the above, an object of the present invention is to provide an endoscope, in which when a lever portion of the endoscope is toggled, power of the lever portion is transmitted to a distal end portion through a support portion to drive the distal end portion to bend, thereby increasing an imaging range.
In order to achieve the purpose, the invention provides the following technical scheme:
an endoscope, comprising:
the handle part is provided with a poking rod part;
a front end portion for acquiring an image;
a support portion, one end of which is connected to the handle portion and the other end of which is connected to the front end portion;
the poking rod part is used for driving the front end part to rotate towards a first preset direction corresponding to the first direction when poking towards the first direction; the poking rod part is further used for driving the front end part to rotate towards a second preset direction corresponding to the second direction when poking towards the second direction.
Preferably, in the endoscope, the endoscope further includes a first joint assembly connected to the lever portion, and a second joint assembly connected to the front end portion, and the lever portion is configured to drive the first joint assembly to rotate in the first direction when the lever portion is shifted in the first direction, so as to drive the second joint assembly to rotate in the first predetermined direction; the poking rod part is further used for driving the first joint assembly to rotate towards the second direction when the poking rod part is poked towards the second direction, and then the second joint assembly is driven to rotate towards the second preset direction.
Preferably, in the endoscope, the first joint assembly includes a first joint, a second joint and a third joint which are sequentially arranged, the first joint is rotatably connected with the second joint, the third joint is rotatably connected with the second joint, the first joint is fixedly connected with the lever portion, and the third joint is connected with the support portion; and/or the second joint assembly comprises a fourth joint, a fifth joint and a sixth joint which are sequentially arranged, one end of the fourth joint is connected with the supporting part, the other end of the fourth joint is rotationally connected with the fifth joint, the fifth joint is rotationally connected with the sixth joint, and the sixth joint is fixedly connected with the front end part.
Preferably, in the endoscope, a rotation axis of the first joint and the second joint is a first axis, a rotation axis of the second joint and the third joint is a second axis, and an included angle between the first axis and the second axis is greater than 0 °; and/or
The rotation axis of the fourth joint and the rotation axis of the fifth joint are third axes, the rotation axis of the fifth joint and the rotation axis of the sixth joint are fourth axes, and the included angle between the third axes and the fourth axes is larger than 0 degree.
Preferably, in the above endoscope, the first axis is parallel to the fourth axis, and the second axis is parallel to the third axis; or the first axis is parallel to the third axis and the second axis is parallel to the fourth axis.
Preferably, in the endoscope, the first axis is perpendicular to the second axis, and the third axis is perpendicular to the fourth axis.
Preferably, in the endoscope, a ratio of the width of the first joint to the width of the sixth joint is a first predetermined ratio; or the width of the first joint is greater than the width of the sixth joint.
Preferably, in the endoscope, the endoscope further includes a first traction rope and a second traction rope which are inserted into the support portion, one end of each of the first traction rope and the second traction rope is fixed to the first joint, and the other end of each of the first traction rope and the second traction rope is fixed to the sixth joint; or one end of the first traction rope is fixed to the first joint, the other end of the first traction rope is fixed to the sixth joint, one end of the second traction rope is fixed to the second joint, and the other end of the second traction rope is fixed to the sixth joint.
Preferably, in the above endoscope, the endoscope further includes a third pulling rope and a fourth pulling rope penetrating through the support portion, the third pulling rope is arranged opposite to the first pulling rope, and the connection mode of the third pulling rope and the connection mode of the fourth pulling rope is the same as that of the corresponding joint in the first joint assembly and the second joint assembly; the fourth traction rope and the second traction rope are arranged oppositely, and the connection mode of the fourth traction rope and the corresponding joint in the first joint assembly and the second joint assembly is the same.
Preferably, in the above endoscope, the endoscope further includes a tube body sleeved on the first traction rope and the second traction rope, and the tube body is configured to provide a contact force to the first traction rope and the second traction rope so as to change an extending direction of the first traction rope and the second traction rope between the first joint assembly and the second joint assembly.
Preferably, in the above endoscope, the endoscope further includes a reversing wheel disposed in the support portion, and the reversing wheel is configured to change the extending direction of the first traction rope and the second traction rope from between the first joint assembly and the second joint assembly.
Preferably, in the endoscope, the rotation axes of the fourth joint and the fifth joint are a third axis, the rotation axes of the sixth joint and the fifth joint are a fourth axis, and the endoscope further includes a first traction rope, a second traction rope, a third traction rope and a fourth traction rope which are inserted into the support portion;
the first traction rope and the third traction rope are respectively positioned on two sides of the fourth axis, the sixth joint is driven to rotate around the fourth axis through the first traction rope and the third traction rope, and the front end part rotates around the fourth axis in the first preset direction; the second traction rope and the fourth traction rope are respectively located on two sides of the third axis, the fifth joint is driven to rotate around the third axis through the second traction rope and the fourth traction rope, and the front end portion rotates around the third axis in the second preset direction.
Preferably, in the endoscope, the lever portion includes a cap portion fixedly connected to the first joint assembly, and a rotational damping member fixedly connected to the cap portion, and the rotational damping member is configured to generate a resistance force during rotation of the first joint and the second joint.
Preferably, in the above endoscope, the rotational damper includes a damper rod inserted into the first joint assembly, and a pin passing transversely through the damper rod; the cap body part is provided with a through hole, and the pin is used for being inserted into the through hole and fixedly connected with the cap body part.
Preferably, in the above endoscope, a functional relationship between the yaw angle θ of the first joint assembly and the yaw angle α of the sixth joint of the second joint assembly is:
α＝±Kθ；
wherein "+" indicates that the first joint component and the second joint component rotate in the same direction; "-" indicates that the first joint assembly and the second joint assembly rotate in opposite directions.
Preferably, in the endoscope, a straight line on which the first joint component is located and a straight line on which the second joint component is located intersect.
Preferably, in the endoscope, the first joint assembly and/or the second joint assembly further includes a connecting member for connecting two adjacent joints, and the connecting member includes a support rod and two protruding portions protruding from a distal end of the support rod;
each joint is provided with a fixing hole, the protruding part is used for being clamped into the corresponding fixing hole, and when the two adjacent joints rotate relatively, the protruding part rotates in the fixing hole.
Preferably, in the above endoscope, the endoscope further includes a first pulling rope inserted into the support portion, one end of the first pulling rope is fixed to the first joint, and the other end of the first pulling rope is fixed to the sixth joint; the connecting piece also comprises a through hole penetrating through the supporting rod, and each joint is provided with a rope hole; the first traction rope is used for sequentially passing through the rope hole of each joint and the through hole of the connecting piece and then terminating at the sixth joint.
Preferably, in the endoscope, each of the joints is provided with a receiving hole at a position adjacent to the string hole, and the receiving hole is used for a light source cable of the endoscope to pass through.
Preferably, in the above endoscope, the yaw angle of the coupling member is e, Δ lseide is the length change amount of the first traction rope, b' is the distance between the first traction rope and the traction rope opposite to the first traction rope at the fixing point of the second joint component,
Sinε＝ΔLside/b’。
in the actual use process, the first direction is the same as the first preset direction, the second direction is the same as the second preset direction, the first direction can be the front-back direction, and when the deflector rod part is moved forwards, the front end part is driven to rotate forwards; when the poking rod part is poked backwards, the front end part is driven to rotate backwards; the second direction can be a left-right direction, and when the deflector rod part is moved leftwards, the front end part is driven to rotate leftwards; when the poking rod part is poked rightwards, the front end part is driven to rotate rightwards. Or when the first direction is opposite to the first preset direction and the second direction is opposite to the second preset direction, the first direction can be a front-back direction, and when the shifting lever part is shifted forwards, the front end part is driven to rotate backwards; when the poking rod part is poked backwards, the front end part is driven to rotate forwards; the second direction can be a left-right direction, and when the deflector rod part is moved leftwards, the front end part is driven to rotate rightwards; when the poking rod part is poked to the right, the front end part is driven to rotate to the left. From the above, the deflector rod part can be deflected in the front-back and left-right directions to rotate the front end part in the front-back and left-right directions, so that the imaging range of the endoscope can be enlarged.
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 structural diagram of an endoscope provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of the poke rod part of the endoscope in FIG. 1 poking in a first direction;
FIG. 3 is a schematic diagram of the poke rod part of the endoscope in FIG. 1 poking in a second direction;
FIG. 4 is a schematic view of the structure of FIG. 1 with the support and handle portions removed;
FIG. 5 is a schematic view of the first and second joint assemblies of FIG. 1 assembled with a support portion;
FIG. 6 is a schematic view of the first and sixth joints of FIG. 5 being symmetrically curved;
FIG. 7 is a schematic view of the first and sixth joints bending symmetrically in a direction opposite to that of FIG. 6;
FIG. 8 is a schematic view of the second and fifth joints of FIG. 5 being symmetrically curved;
FIG. 9 is a schematic view of the second and fifth joints bending symmetrically in the opposite direction as in FIG. 8;
FIG. 10 is a schematic illustration of the first joint assembly with the first axis and the second axis labeled;
FIG. 11 is a schematic view of the second joint assembly showing a third axis and a fourth axis;
FIG. 12 is a schematic view of a pull cord passing through a tubular body;
FIG. 13 is a schematic view of the assembly of the toggle portion with the first joint component;
FIG. 14 is a schematic structural view of a joint assembly having a connector;
FIG. 15 is a schematic view of the joint assembly of FIG. 14 rotated 90;
FIG. 16 is a schematic structural view of the connector of FIG. 14;
FIG. 17 is a schematic structural view of the first joint of FIG. 4;
FIG. 18 is a schematic structural view of the second joint of FIG. 4;
FIG. 19 is a schematic structural view of the third joint of FIG. 4;
FIG. 20 is a schematic illustration of a joint assembly of FIG. 4 having a connector between the first joint and the second joint;
FIG. 21 is a schematic view of the first joint assembly of FIG. 20 rotated 90;
FIG. 22 is a labeled diagram of parameters of two sets of joint assemblies and a traction rope;
fig. 23 is a mathematical model diagram of two sets of joint assemblies and pull cords.
In fig. 1-23:
100-endoscope, 101-handle part, 102-poke rod part, 1021-cap part, 103-support part, 1031-tube body, 104-second joint component, 1041-fourth joint, 1042-fifth joint, 1043-sixth joint, 105-front end part, 106-camera, 107-first joint component, 1071-first joint, 1072-second joint, 1073-third joint, 1081-first traction rope, 1082-second traction rope, 1083-third traction rope, 1084-fourth traction rope, 109-connector, 109 a-first connector, 109 b-second connector, 1091-support rod, 1092-bulge, 1093-through hole, 1010-pin and 1011-damping rod; 1020-a through hole;
a-a first axis, b-a second axis, c-a third axis, d-a fourth axis; e-groove, f-rope hole, g-accepting hole, h-bulge and i-fixing hole.
Detailed Description
When the lever portion 102 of the endoscope 100 is moved, the power of the lever portion 102 is transmitted to the distal end portion 105 through the support portion 103 to bend the distal end portion 105, thereby increasing the imaging range.
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left" and "right", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the positions or elements referred to must have specific orientations, be constructed in specific orientations, and be operated, and thus are not to be construed as limitations of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1, an endoscope 100 according to the present invention includes a handle portion 101, a lever portion 102, a distal end portion 105, and a support portion 103. The lever portion 102 is disposed on the handle portion 101, and the operator can operate the lever portion 102 while holding the handle portion 101, specifically, the operator can operate the lever portion 102 while holding the handle portion 101 with his thumb and/or forefinger. The front end portion 105 is used to acquire images. Specifically, the front end portion 105 includes a camera 106, and the front end portion 105 extends into the body and is bent in the body to realize that the camera 106 images at different angles. One end of support portion 103 is connected to handle portion 101, and the other end of support portion 103 is connected to distal end portion 105. The support 103 is used to connect the handle 101 and the front end 105, and the support 103 is also used to realize transmission between the lever part 102 and the front end 105.
As shown in fig. 2, when the lever portion 102 is used for shifting in a first direction, the power of the lever portion 102 is transmitted through the support portion 103, and the front end portion 105 is driven to rotate in a first predetermined direction corresponding to the first direction. As shown in fig. 3, when the lever portion 102 is further used for shifting in the second direction, the power of the lever portion 102 is transmitted through the supporting portion 103, and further the front end 105 is driven to rotate in a second predetermined direction corresponding to the second direction.
The first direction is the same as the first predetermined direction, and the second direction is the same as the second predetermined direction, that is, when the lever part 102 is shifted, the front end part 105 rotates in the same direction. Alternatively, the first direction is opposite to the first predetermined direction, and the second direction is opposite to the second predetermined direction, that is, when the lever part 102 is shifted, the front end part 105 rotates reversely.
In the actual use process, the first direction is the same as the first predetermined direction, the second direction is the same as the second predetermined direction, the first direction can be a forward direction or a backward direction, and when the shift lever part 102 shifts forwards, the front end part 105 is driven to rotate forwards; when the poking rod part 102 pokes backwards, the front end part 105 is driven to rotate backwards; the second direction may be a left or right direction, and when the lever portion 102 is moved to the left, the front end portion 105 is driven to rotate to the left; when the lever portion 102 is shifted to the right, the tip portion 105 is driven to rotate to the right. Or, when the first direction is opposite to the first predetermined direction and the second direction is opposite to the second predetermined direction, the first direction may be a forward or backward direction, and when the lever part 102 is moved forward, the front end part 105 is driven to rotate backward; when the poking rod part 102 pokes backwards, the front end part 105 is driven to rotate forwards; the second direction may be a left or right direction, and when the lever portion 102 is moved to the left, the front end portion 105 is driven to rotate to the right; when the lever portion 102 is shifted to the right, the tip portion 105 is driven to rotate to the left. As can be seen from the above, the lever portion 102 can be moved forward, backward, leftward, and rightward to rotate the front end portion 105 forward, backward, leftward, and rightward, thereby achieving four-directional rotation of the front end portion 105.
Of course, in practical applications, the first direction may have an angle with the front-back direction, and the angle between the first direction and the front-back direction may be any angle such as 30 ° and 60 °. Similarly, the second direction may have an angle with the left-right direction, and the angle between the second direction and the left-right direction may be any angle such as 30 ° or 60 °, which is not limited herein.
As shown in FIG. 4, endoscope 100 also includes a first joint assembly 107 and a second joint assembly 104. The first joint assembly 107 is connected to the lever portion 102, and the second joint assembly 104 is connected to the distal end portion 105. Specifically, when the toggle rod portion 102 is used for toggling towards the first direction, the toggle rod portion 102 drives the first joint component 107 to rotate towards the first direction, and then the power of the first joint component 107 is transmitted to the second joint component 104, so that the second joint component 104 rotates towards the first predetermined direction, and finally the second joint component 104 drives the front end portion 105 to rotate towards the first predetermined direction. When the toggle rod part 102 is further used for toggling towards the second direction, the toggle rod part 102 drives the first joint component 107 to rotate towards the second direction, and then the power of the first joint component 107 is transmitted to the second joint component 104, so that the second joint component 104 rotates towards the second predetermined direction, and finally the second joint component 104 drives the front end part 105 to rotate towards the second predetermined direction. In this embodiment, the first joint component 107 and the second joint component 104 are linked to each other to realize the linkage between the lever portion 102 and the distal end portion 105, so that the distal end portion 105 rotates relative to the support portion 103 when the lever portion 102 is toggled.
The first joint assembly 107 is located between the lever part 102 and the support part 103, one end of the first joint assembly 107 is connected with the lever part 102, and the other end of the first joint assembly 107 is connected with the support part 103. As shown in fig. 5, the second joint assembly 104 is located between the distal end portion 105 and the support portion 103, one end of the second joint assembly 104 is connected to the distal end portion 105, and the other end of the second joint assembly 104 is connected to the support portion 103.
As shown in fig. 5, the first joint assembly 107 includes a first joint 1071, a second joint 1072, and a third joint 1073, and the first joint 1071, the second joint 1072, and the third joint 1073 are arranged in this order, and the second joint 1072 is located between the first joint 1071 and the third joint 1073. The first joint 1071 is rotatably connected to the second joint 1072, and the third joint 1073 is rotatably connected to the second joint 1072. Specifically, one end of the second joint 1072 near the first joint 1071 is rotationally coupled to the first joint 1071, and one end of the second joint 1072 near the third joint 1073 is rotationally coupled to the third joint 1073. The second joint 1072 is hinged at both ends thereof to the first joint 1071 and the second joint 1072, respectively. The first joint 1071 is fixedly connected to the lever portion 102, and the third joint 1073 is connected to the support portion 103. Specifically, the first joint 1071 and the lever portion 102 may be in an interference fit, a threaded connection, a screwed connection, or an integral structure, and the third joint 1073 and the support portion 103 may be in an interference fit, a threaded connection, a screwed connection, or an integral structure, and the like, which is not limited herein.
The second joint assembly 104 includes a fourth joint 1041, a fifth joint 1042, and a sixth joint 1043, and the fourth joint 1041, the fifth joint 1042, and the sixth joint 1043 are sequentially arranged, and the fifth joint 1042 is located between the fourth joint 1041 and the sixth joint 1043. The fourth joint 1041 is rotatably connected to the fifth joint 1042, and the sixth joint 1043 is rotatably connected to the fifth joint 1042. Specifically, one end of the fifth joint 1042 near the fourth joint 1041 is rotatably connected to the fourth joint 1041, and one end of the fifth joint 1042 near the sixth joint 1043 is rotatably connected to the sixth joint 1043. The fifth joint 1042 has two ends hinged to the fourth joint 1041 and the sixth joint 1043, respectively. The sixth joint 1043 is fixedly connected to the distal end portion 105, and the fourth joint 1041 is connected to the support portion 103. Specifically, the sixth joint 1043 and the front end portion 105 may be in an interference fit, a threaded connection, a screwed connection, or an integral structure, and the fourth joint 1041 and the supporting portion 103 may be in an interference fit, a threaded connection, a screwed connection, or an integral structure, and the like, which is not limited herein.
The first joint 1071, the second joint 1072, and the third joint 1073 may be provided symmetrically with the sixth joint 1043, the fifth joint 1042, and the fourth joint 1041. In a specific application, as shown in fig. 6 and 7, when the first joint 1071 rotates clockwise or counterclockwise in the first direction, power is transmitted to the sixth joint 1043, so that the sixth joint 1043 rotates in the first predetermined direction. The first direction is specifically the rotation of the first joint 1071 about the axis of rotation between the second joint 1072 and the first joint 1071. As shown in fig. 8 and 9, when the first joint 1071 rotates clockwise or counterclockwise about the second joint 1072 in the second direction, power is transmitted to the sixth joint 1043 to rotate the sixth joint 1043 and the fifth joint 1042 in the second predetermined direction. The second direction is specifically the rotation of the first joint 1071 around the axis of rotation between the second joint 1072 and the third joint 1073.
Further, as shown in fig. 10, the rotation axes of the first joint 1071 and the second joint 1072 are the first axis a, that is, the first joint 1071 can rotate about the first axis a with respect to the second joint 1072. The rotation axis of the third joint 1073 and the second joint 1072 is the second axis b, i.e., the second joint 1072 can rotate about the second axis b with respect to the third joint 1073. The angle between the first axis a and the second axis b is greater than 0 deg.. In other words, the first axis a and the second axis b are not parallel to each other.
As shown in fig. 11, the rotation axes of the fourth joint 1041 and the fifth joint 1042 are a third axis c, that is, the fifth joint 1042 can rotate around the third axis c relative to the fourth joint 1041. The rotation axes of the fifth joint 1042 and the sixth joint 1043 are a fourth axis d, that is, the sixth joint 1043 can rotate around the fourth axis d relative to the fifth joint 1042. The angle between the third axis c and the fourth axis d is greater than 0 deg.. In other words, the third axis c and the fourth axis d are not parallel to each other.
When the first joint assembly 107 and the second joint assembly 104 are symmetrically arranged, the first axis a is parallel to the fourth axis d, and the second axis b is parallel to the third axis c, at this time, when the lever portion 102 drives the first joint 1071 to rotate, power is transmitted to the sixth joint 1043, so that the sixth joint 1043 rotates reversely. Of course, the first axis a may be parallel to the third axis c, and the second axis b may be parallel to the fourth axis d, at this time, the first joint assembly 107 and the second joint assembly 104 are asymmetrically arranged, and when the lever portion 102 drives the first joint 1071 to rotate, power is transmitted to the sixth joint 1043, so that the sixth joint 1043 reversely rotates.
In a preferred embodiment, the first axis a and the second axis b are perpendicular to each other, and the third axis c is perpendicular to the fourth axis d. So set up, the crooked direction when sixth joint 1043 drives front end portion 105 and rotates around third axis c is perpendicular with the crooked direction when sixth joint 1043 drives front end portion 105 and rotates around fourth axis d, and four crooked directions of front end portion 105 are along circumference equipartition, are favorable to medical observation more.
In one embodiment, the ratio of the width of the first joint 1071 to the width of the sixth joint 1043 is a first predetermined ratio, such as reasonable ratios of 1:1, 2:1, 3:2, and 4: 3. The width of the first joint 1071 is the distance between the two farthest points on the first joint 1071, and the width of the sixth joint 1043 is the distance between the two farthest points on the sixth joint 1043. The transmission ratio between the first joint 1071 and the sixth joint 1043 is inversely proportional to the first predetermined ratio, and the transmission ratio between the first joint 1071 and the sixth joint 1043 is further adjusted by adjusting the first predetermined ratio, so that the sixth joint 1043 drives the bending of the front end portion 105 to be suitable for the internal space, and meanwhile, the rotation of the first joint 1071 and the lever portion 102 is suitable for the manual operation of the worker.
In addition, the width of the first joint 1071 may be larger than the width of the sixth joint 1043, so that the sixth joint 1043 may extend into the body, and the width of the first joint 1071 is larger and more convenient to operate.
The first joint 1071 and the sixth joint 1043 may be both cylindrical, in which case the width of the first joint 1071 is the diameter of the first joint 1071 and the width of the sixth joint 1043 is the diameter of the sixth joint 1043.
As shown in FIGS. 10 and 11, in another preferred embodiment, the endoscope 100 further includes a first pull cord 1081 and a second pull cord 1082. The first pulling rope 1081 and the second pulling rope 1082 are both inserted into the support portion 103. One end of each of the first and second hauling ropes 1081, 1082 is fixed to the first joint 1071, and the other end thereof is fixed to the sixth joint 1043. That is, both ends of the first pulling rope 1081 are fixed to the first joint 1071 and the sixth joint 1043, respectively, and both ends of the second pulling rope 1082 are also fixed to the first joint 1071 and the sixth joint 1043, respectively. When the lever portion 102 is shifted, the first joint 1071 is driven to rotate, and the power is transmitted to the sixth joint 1043 through the first pulling rope 1081 and the second pulling rope 1082, so that the sixth joint 1043 drives the front end portion 105 to rotate.
Alternatively, one end of the first pulling rope 1081 is fixed to the first joint 1071, the other end thereof is fixed to the sixth joint 1043, one end of the second pulling rope 1082 is fixed to the second joint 1072, and the other end thereof is fixed to the sixth joint 1043. Specifically, both ends of the first pulling rope 1081 are fixed to the first joint 1071 and the sixth joint 1043, respectively, and both ends of the second pulling rope 1082 are fixed to the second joint 1072 and the sixth joint 1043, respectively. When the lever portion 102 is shifted, the first joint 1071 is driven to rotate along the first direction, and the power is transmitted to the sixth joint 1043 through the first pulling rope 1081, so that the sixth joint 1043 drives the front end portion 105 to rotate along the first predetermined direction. When the lever portion 102 is shifted, the second joint 1072 may be further driven to rotate along the second direction, and the second pulling rope 1082 transmits power to the sixth joint 1043, so that the sixth joint 1043 drives the front end portion 105 to rotate along the second predetermined direction.
Further, the endoscope 100 further includes a third pull cord 1083 and a fourth pull cord 1084, and the third pull cord 1083 and the fourth pull cord 1084 are disposed through the support portion 103. The third tow rope 1083 is disposed opposite to the first tow rope 1081, and the connection manner between the third tow rope 1083 and the corresponding joint of the first joint assembly 107 and the second joint assembly 104 is the same. That is, the first pull cord 1081 and the third pull cord 1083 are fixed to the same joint at the same side end. The fourth pull cord 1084 is disposed opposite the second pull cord 1082 and is coupled to the corresponding joint of the first and second joint assemblies 107, 104 in the same manner. That is, the second pull cord 1082 and the fourth pull cord 1084 are secured to the same joint at the same lateral end.
In the above embodiment, when the camera 106 is bent in the body, the precise transmission in a long distance and a narrow space can be realized by pulling the pulling rope, the pulling rope extends along the length of the support part 103, the connection relationship between the pulling rope and the joint component is simple, and the operation is convenient; moreover, the distance between the camera 106 and the third axis c and the distance between the camera 106 and the fourth axis d are smaller, so that the bending diameter of the camera 106 is smaller, the occupied space during bending is smaller, and collision and interference with other surgical instruments are not easy to happen.
The ratio of the distance between the ends of the first and third pulling ropes 1081 and 1083 on the first joint assembly 107 side to the distance between the ends of the first and third pulling ropes 1081 and 1083 on the second joint assembly 104 side is a second predetermined ratio, the ratio of the distance between the ends of the second and fourth pulling ropes 1082 and 1084 on the first joint assembly 107 side to the distance between the ends of the second and fourth pulling ropes 1082 and 1084 on the second joint assembly 104 side is a third predetermined ratio, and the second and third predetermined ratios may be adjusted according to actual conditions. The second predetermined ratio and the third predetermined ratio may be the same as or different from the first predetermined ratio.
As shown in fig. 12, the endoscope 100 further includes a tube 1031, and the tube 1031 is sleeved on the first and second pull cords 1081 and 1082. The tube 1031 is configured to provide a resistive force to the first and second pull cords 1081, 1082 to change the direction of extension of the first and second pull cords 1081, 1082 between the first and second articulation assemblies 107, 104. When the tube 1031 is bent, the inner wall of the tube 1031 abuts against the first pull cord 1081 and the second pull cord 1082 to bend the first pull cord 1081 and the second pull cord 1082.
Similarly, a tube 1031 may be sleeved on the third and fourth hauling ropes 1083, 1084, and the tube 1031 is used for providing a resisting force to the third and fourth hauling ropes 1083, 1084 to change the extending directions of the third and fourth hauling ropes 1083, 1084 between the first and second joint assemblies 107, 104.
In another embodiment, the endoscope 100 further comprises a reversing wheel (not shown) disposed within the support portion 103 for changing the direction of extension of the first and second pull cords 1081, 1082 between the first and second joint assemblies 107, 104. Specifically, the first traction rope 1081 and the second traction rope 1082 are wound around the reverse sheave, respectively, to achieve bending steering of the first traction rope 1081 and the second traction rope 1082. The reversing wheel may also be used to change the direction of extension of the third and fourth pull cords 1083, 1084 between the first and second joint assemblies 107, 104. That is, the third traction rope 1083 and the fourth traction rope 1084 are wound around the reverse sheave, respectively, to achieve bending steering of the third traction rope 1083 and the fourth traction rope 1084.
As shown in FIG. 11, in a preferred embodiment, the rotation axes of the fourth joint 1041 and the fifth joint 1042 are a third axis c, the rotation axes of the sixth joint 1043 and the fifth joint 1042 are a fourth axis d, and the endoscope 100 further includes a first pull string 1081, a second pull string 1082, a third pull string 1083 and a fourth pull string 1084 inserted into the support portion 103.
The first pulling rope 1081 and the third pulling rope 1083 are respectively located on two sides of the fourth axis d, the sixth joint 1043 is driven to rotate around the fourth axis d by the first pulling rope 1081 and the third pulling rope 1083, and the first predetermined direction is that the front end portion 105 rotates around the fourth axis d. The second pulling rope 1082 and the fourth pulling rope 1084 are respectively disposed at two sides of the third axis c, the fifth joint 1042 is driven by the second pulling rope 1082 and the fourth pulling rope 1084 to rotate around the third axis c, and the second predetermined direction is that the front end 105 rotates around the third axis c.
Specifically, pulling the first pull cord 1081 or the third pull cord 1083 can rotate the sixth joint 1043 about the fourth axis d toward one side or toward the other side. At this time, the sixth joint 1043 drives the front end portion 105 to rotate around the fourth axis d, and the first predetermined direction is that the front end portion 105 rotates around the fourth axis d.
Specifically, pulling on the second pull cord 1082 or the fourth pull cord 1084 can cause the fifth joint 1042 and the sixth joint 1043 to rotate together about the third axis c toward one side or toward the other side. At this time, the sixth joint 1043 drives the front end portion 105 to rotate around the third axis c, and the second predetermined direction is that the front end portion 105 rotates around the third axis c.
As shown in fig. 4, the line on which the first joint assembly 107 is located and the line on which the second joint assembly 104 is located intersect to facilitate the operation of the worker. The straight line on which the first joint assembly 107 is located is along the arrangement direction of the first joint 1071, the second joint 1072, and the third joint 1073, the straight line on which the second joint assembly 104 is located is along the arrangement direction of the fourth joint 1041, the fifth joint 1042, and the sixth joint 1043, and the arrangement direction of the first joint 1071, the second joint 1072, and the third joint 1073 is different from the arrangement direction of the fourth joint 1041, the fifth joint 1042, and the sixth joint 1043. With this arrangement, the relative positions of the line on which the first joint assembly 107 is located and the line on which the second joint assembly 104 is located can be designed according to actual conditions to suit the use of different types of endoscopes 100.
As shown in fig. 13, for convenience of operation, the lever portion 102 includes a cap portion 1021 fixedly connected to the first joint assembly 107, and the cap portion 1021 may be fixedly connected to the first joint 1071.
The cap 1021 may be cylindrical, and the cap 1021 is covered on the first joint 1071. One end of the cap body 1021 is fixedly connected with the first joint 1071, and the other end of the cap body 1021 is an operation end. The first joint assembly 107 is located inside the handle portion 101, the operation end of the cap portion 1021 is exposed outside the handle portion 101, and an operator can hold the handle portion 101 by hand and operate the operation end of the cap portion 1021 with a thumb and/or a forefinger.
As shown in fig. 12, the lever portion 102 further includes a rotation damper (not shown) fixedly connected to the cap portion 1021, and the rotation damper is used for generating resistance during the rotation of the first joint 1071 and the second joint 1072.
Specifically, the rotational damper includes a damping rod 1011 and a pin 1010, and the damping rod 1011 is inserted into the first joint assembly 107, that is, the damping rod 1011 is inserted into the first joint 1071, the second joint 1072, and the third joint 1073. The pin 1010 transversely penetrates through the damping rod 1011, a through hole 1020 is formed in the cap body portion 1021, and the pin 1010 is inserted into the through hole 1020 of the cap body portion 1021, so that the pin 1010 is fixedly connected with the cap body portion 1021.
The damping rod 1011 has a gap with the inner walls of the first joint 1071, the second joint 1072 and the third joint 1073, and the first joint 1071 and the second joint 1072 drive the damping rod 1011 to deform gradually when rotating to generate resistance. The material of the damping rod 1011 may be a memory alloy or other elastic rod, but is not limited thereto. The rotational damper may also be disposed within the second joint assembly 104, and is not limited thereto.
Of course, the rotational damper may also be a torsion spring, and the like, and is not limited herein.
As shown in fig. 14 and 15, first joint assembly 107 and/or second joint assembly 104 further include a connector 109 for connecting two adjacent joints. As shown in fig. 16, the connecting member 109 includes a support rod 1091 and two protrusions 1092 protruding from the end of the support rod 1091.
Each joint is provided with a fixing hole i, the lug boss 1092 is used for being clamped into the corresponding fixing hole i, and when two adjacent joints rotate relatively, the lug boss 1092 rotates in the fixing hole i.
The number of the connecting members 109 may be plural. The plurality of connectors 109 includes a first connector 109a and a second connector 109 b. As will be described below by way of example of the first joint assembly 107, the first link 109a is connected to the first joint 1071 and the second joint 1072, and the second link 109b is connected to the second joint 1072 and the third joint 1073.
The two protruding portions 1092 of the first link 109a are respectively snapped into the fixing holes i of the first joint 1071 and the second joint 1072, and the protruding portions 1092 are able to rotate within the fixing holes i. The axes of the two convex portions 1092 of the first link 109a are parallel to the first axis a, and the first axis a and the axes of the two convex portions 1092 of the first link 109a are located in the same plane. The axes of the two convex portions 1092 of the first link 109a and the first axis a are arranged in order along the arrangement direction of the three joints. The arrangement direction of the three joints is perpendicular to the first axis a and the second axis b. So set up, when first joint 1071 rotated for second joint 1072, two bellying 1092 of first connecting piece 109a rotated in fixed orifices i, drove first connecting piece 109a swing to guarantee that first joint 1071 rotates more steadily. In addition, the first link 109a can also prevent the first joint 1071 and the second joint 1072 from separating.
The second joint 1072 and the third joint 1073 are both provided with fixing holes i into which the protruding portions 1092 are inserted. The two protruding portions 1092 of the second link 109b are respectively snapped into the fixing holes i of the second joint 1072 and the third joint 1073, and the protruding portions 1092 are able to rotate within the fixing holes i. The axes of the two convex portions 1092 of the second link 109b are parallel to the second axis b, and the second axis b and the axes of the two convex portions 1092 of the second link 109b are located in the same plane. The axes of the two convex portions 1092 of the second link 109b and the second axis b are arranged in order along the arrangement direction of the three joints. The arrangement direction of the three joints is perpendicular to the first axis a and the second axis b. So set up, when second joint 1072 rotated for third joint 1073, two bellying 1092 of second connecting piece 109b rotated at fixed orifices i, drove the swing of second connecting piece 109b to guarantee that second joint 1072 rotates more steadily. In addition, the second connector 109b may also prevent the third joint 1073 and the second joint 1072 from separating.
Taking the first joint assembly 107 as an example, one of the first joint 1071 and the second joint 1072 is provided with a protrusion h and the other of the first joint 1071 and the second joint 1072 is provided with a groove e. The inner wall of recess e and the top surface of arch h are the cambered surface, and arch h can block in recess e so that first joint 1071 and second joint 1072 can rotate relatively to realize first joint 1071 and second joint 1072's rotation and connect. After the protrusion h is clamped in the groove e, the arc surface extends around the first axis a, and the cross section of the arc surface is an arc line.
And/or, as shown in fig. 17-19, one of the second joint 1072 and the third joint 1073 is provided with a protrusion h, the other of the second joint 1072 and the third joint 1073 is provided with a groove e, the inner wall of the groove e and the top surface of the protrusion h are both cambered surfaces, and the protrusion h can be clamped in the groove e to enable the second joint 1072 and the third joint 1073 to rotate relatively, so as to realize the rotational connection of the second joint 1072 and the third joint 1073. After the protrusion h is clamped in the groove e, the arc surface extends around the second axis b, and the section of the arc surface is an arc line.
Preferably, both ends of the second joint 1072 are provided with protrusions h, and the first joint 1071 and the third joint 1073 are provided with grooves e. The protrusion h at one end of the second joint 1072 is clamped into the groove e of the first joint 1071, and the protrusion h at the other end of the second joint 1072 is clamped into the groove e of the third joint 1073, so that the two ends of the second joint 1072 are respectively connected with the first joint 1071 and the third joint 1073 in a rotating manner.
The first joint 1071 and the second joint 1072 are rotatably connected to each other by two grooves e and two protrusions h which are respectively engaged in the two grooves e. Two grooves e have been seted up to first joint 1071 promptly, and the first end of second joint 1072 is provided with two archs h with two groove e cooperations of first joint 1071, and two archs h of the first end of second joint 1072 are blocked respectively in two grooves e of first joint 1071 to realize the rotation of first joint 1071 and second joint 1072 and be connected. Or, first joint 1071 is provided with two archs h, and the first end of second joint 1072 is provided with two recesses e with two protruding h cooperations of first joint 1071, and two archs h of first joint 1071 are blocked respectively in two recesses e of the first end of second joint 1072 to realize first joint 1071 and second joint 1072's rotation and be connected.
Similarly, the second joint 1072 and the third joint 1073 are rotatably connected to each other by two grooves e and two protrusions h which are engaged with the two grooves e, respectively. Two grooves e have been seted up to third joint 1073 promptly, and the second end of second joint 1072 is provided with two archs h with two groove e cooperations of third joint 1073, and two archs h of the second end of second joint 1072 are blocked respectively in two grooves e of third joint 1073 to realize second joint 1072 and third joint 1073's swivelling joint. Or, the third joint 1073 is provided with two protrusions h, the second end of the second joint 1072 is provided with two grooves e matched with the two protrusions h of the third joint 1073, and the two protrusions h of the third joint 1073 are respectively clamped into the two grooves e of the second end of the second joint 1072 to realize the rotational connection of the third joint 1073 and the second joint 1072.
Of course, the second joint 1072 and the third joint 1073 may be rotatably connected by a groove e and a protrusion h caught in the groove e, and the second joint 1072 and the first joint 1071 may be rotatably connected by a groove e and a protrusion h caught in the groove e, which is not limited herein.
As shown in fig. 20, the number of the first connectors 109a is two, and the two sets of matching grooves e and protrusions h between the first joints 1071 and the second joints 1072 are respectively located between the two protrusions 1092 of the two first connectors 109 a. Specifically, the first joint 1071 and the second joint 1072 are rotatably coupled by two sets of grooves e and projections h, each set of grooves e and projections h that snap into the grooves e being located between the two projections 1092 of one of the first connectors 109 a.
As shown in fig. 21, the number of the second connectors 109b is two, and the two sets of matching grooves e and protrusions h between the second joint 1072 and the third joint 1073 are respectively located between the two protrusions 1092 of the two second connectors 109 b. Specifically, the second joint 1072 and the third joint 1073 are rotatably connected by two sets of grooves e and projections h, and each set of the grooves e and the projections h caught in the grooves e is located between the two projections 1092 of one of the second links 109 b.
The second joint assembly 104 has the same structure as the first joint assembly 107, and is not described in detail herein.
One end of the first hauling rope 1081 is fixed to the first joint 1071, and the other end of the first hauling rope 1081 is fixed to the sixth joint 1043, that is, two ends of the first hauling rope 1081 are fixed to the first joint 1071 and the sixth joint 1043, respectively. As shown in fig. 16, the connecting member 109 further includes a through hole 1093 penetrating through the support rod 1091, each joint is provided with a rope hole f, the first pulling rope 1081 is used for sequentially passing through the rope holes f of each joint, and the through hole 1093 of the connecting member 109 is terminated at the sixth joint 1043. With such an arrangement, the first pulling rope 1081 is perpendicular to the axes of the two protrusions 1092 of the connecting member 109, so that when the first pulling rope 1081 is pulled, the two joints engaged with the connecting member 109 are not driven to rotate relatively.
In order to facilitate the light source cable of the endoscope system to pass through the inside of the joint assembly, each joint is provided with a receiving hole g at a position adjacent to the string hole f, the receiving hole g being for the light source cable of the endoscope 100 to pass through. The light source cable may be an LED cable, an optical fiber cable, or the like.
As shown in fig. 22, k1 is the distance between the center lines of the two convex portions 1092 of the connecting member 109 between the fifth joint 1042 and the sixth joint 1043; k2 is the distance between the center lines of the two convex portions 1092 of the connecting member 109 between the fifth joint 1042 and the sixth joint 1043; k3 is the distance between the center lines of the two convex portions 1092 of the connecting member 109 between the second joint 1072 and the third joint 1073; k4 is the distance between the center lines of the two convex portions 1092 of the connecting member 109 between the second joint 1072 and the first joint 1071; m is the center distance between two opposite pull cord fixation points in the first joint component 107; w1 is the length of one of the opposing pull cords between the first joint assembly 107 and the second joint assembly 104; w2 is the length of the other of the two opposing pull cords between the first joint assembly 107 and the second joint assembly 104; γ is the angle between the central axis of the first joint component 107 and the central axis of the second joint component 104; θ is the yaw angle of the first joint 1071; α is the yaw angle of the sixth joint 1043.
The spatial position relationship between the angle gamma and the two joint components is determined, proper pretightening force is given to the traction rope (the two ends are pressed by clamping points), so that transmission with a longer distance and no return difference can be formed between the W1 and the W2, and the parameters are applied: the geometric relationships between k1, k2, k3, k4, W, m, W1, W2, γ, find the functional relationship between the yaw angle α of the sixth joint 1043 and the yaw angle θ of the first joint 1071:
α＝±Kθ；
wherein "+" indicates that the first joint assembly 107 and the second joint assembly 104 rotate in the same direction; "-" indicates that the first joint assembly 107 and the second joint assembly 104 rotate in opposite directions. In the above embodiment, the yaw angle θ of the first joint 1071 and the yaw angle α of the sixth joint 1043 are set in proportion to each other, and the yaw direction of the first joint 1071 is the same as or opposite to the yaw direction of the sixth joint 1043.
The coefficient K values are related to K1, K2, K3, K4, W, m, W1, W2, γ. In actual design, a value can be assigned to the parameter, and a certain epsilon value is obtained when the value is assigned to theta, so that the following movement of the second joint component 104 along with the first joint component 107 is realized. Similarly, under the multi-degree-of-freedom motion of the first joint component 107, the second joint component 104 can follow the motion of the head-end joint group according to the same motion relationship to realize the coupling or the decomposition of the motion, and the spatial motion (the translation and the deflection of the multi-degree-of-freedom) of the first joint component 107 is relatively accurately transmitted to the second joint component 104, so that the head-end joint group and the tail-end joint group realize the follow-up motion with the motion cause-and-effect relationship under the common condition.
Specifically, the mathematical models of the first joint assembly 107, the second joint assembly 104 and the pull rope are shown in fig. 23, wherein AB corresponds to the end of the sixth joint 1043 away from the fifth joint 1042, and CD corresponds to the end of the fifth joint 1042 connected to the sixth joint 1043. PQ corresponds to the distance between the center lines of the two projections 1092 of the coupling 109. EF corresponds to one end of the fourth joint 1041 connected to the fifth joint 1042, KL corresponds to one end of the first joint 1071, and IJ corresponds to one end of the first joint 1071 connected to the second joint 1072. MN corresponds to the distance between the center lines of the two projections 1092 of the connecting member 109. GH corresponds to one end of the second joint 1072 connected to the third joint 1073.
The first joint assembly 107 and the second joint assembly 104 form an isosceles trapezoid structure in the transmission process. The feature that the length of the connecting member 109 is constant but is rotatable about the center line of the respective both-end convex portions 1092 maintains the isosceles nature of the trapezoidal joint. From the simple geometric relationship of the above mathematical model, it can be known that:
AB//IJ，β＝β′；
the joint assembly and the traction rope are utilized, so that the movement of the IJ can be transmitted to the other end AB with a certain far spatial distance in a translational mode, and accurate transmission in a long distance and a narrow space is achieved. In the case where the first, second, third and fourth pulling ropes 1081, 1082, 1083 and 1084 are all equal in length, the first joint 1071 and the sixth joint 1043 are parallel to each other, and the movement of the first joint assembly 107 can be accurately transmitted to the second joint assembly 104, so that 1:1, and the transmission has symmetry, and the swing angles of the first joint 1071 and the sixth joint 1043 are equal.
The CF length is L1, the PQ length is L0, and the DE length is L2. PQ is the yaw angle ε of link 109. The first and second pull cords 1081 and 1082 are opposed, and the third and fourth pull cords 1083 and 1084 are opposed. The distance between the first haul line 1081 and the second haul line 1082 is b’。
ΔLsideTo account for variations in the length of the closed loop haul line, such as variations in the length of the first haul line 1081; b' is the distance between the first pull-cord and the fixed point of the pull-cord 1083 opposite the first pull-cord at the second joint assembly 104; from simple geometric relationships: l1 ═ L0+b’sinε；L2＝L0-b’sin epsilon, and Delta Lside ═ L1-L0＝L-L2From the above three equations, one can obtain:
Sinε＝ΔLside/b’；
of course, the first, second, third and fourth pull cords 1081, 1082, 1083, 1084 may also be unequal in length between the two articulation assemblies. With such an arrangement, the sixth joint 1043 rotates with the first joint 1071 at different angles.
Alternatively, only some of the first, second, third, and fourth pull cords 1081, 1082, 1083, 1084 between the two articulation assemblies may be equal in length. Namely, the lengths of part of the hauling ropes in the four hauling ropes are equal, and the lengths of the rest hauling ropes are different from the lengths of the part of the hauling ropes. This also allows first joint 1071 of first joint assembly 107 to rotate with first joint 1071 of second joint assembly 104.
The lengths of the first pulling rope 1081, the second pulling rope 1082, the third pulling rope 1083 and the fourth pulling rope 1084 can be set according to actual conditions.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (20)

1. An endoscope, characterized in that it comprises:
the handle part is provided with a poking rod part;
a front end portion for acquiring an image;
a support portion, one end of which is connected to the handle portion and the other end of which is connected to the front end portion;
the poking rod part is used for driving the front end part to rotate towards a first preset direction corresponding to the first direction when poking towards the first direction; the poking rod part is further used for driving the front end part to rotate towards a second preset direction corresponding to the second direction when poking towards the second direction.
2. The endoscope of claim 1, further comprising a first joint assembly connected to the lever portion, and a second joint assembly connected to the distal end portion, wherein the lever portion is configured to drive the first joint assembly to rotate in the first direction when the lever portion is shifted in the first direction, and further drive the second joint assembly to rotate in the first predetermined direction; the poking rod part is further used for driving the first joint assembly to rotate towards the second direction when the poking rod part is poked towards the second direction, and then the second joint assembly is driven to rotate towards the second preset direction.
3. The endoscope of claim 2, wherein the first joint assembly comprises a first joint, a second joint and a third joint which are sequentially arranged, the first joint is rotatably connected with the second joint, the third joint is rotatably connected with the second joint, the first joint is fixedly connected with the poking rod part, and the third joint is connected with the supporting part; and/or the second joint assembly comprises a fourth joint, a fifth joint and a sixth joint which are sequentially arranged, one end of the fourth joint is connected with the supporting part, the other end of the fourth joint is rotationally connected with the fifth joint, the fifth joint is rotationally connected with the sixth joint, and the sixth joint is fixedly connected with the front end part.
4. The endoscope of claim 3, wherein the axis of rotation of the first and second joints is a first axis, the axis of rotation of the second and third joints is a second axis, and the angle between the first and second axes is greater than 0 °; and/or
The rotation axis of the fourth joint and the rotation axis of the fifth joint are third axes, the rotation axis of the fifth joint and the rotation axis of the sixth joint are fourth axes, and the included angle between the third axes and the fourth axes is larger than 0 degree.
5. The endoscope of claim 4, wherein the first axis is parallel to the fourth axis, and the second axis is parallel to the third axis; or the first axis is parallel to the third axis and the second axis is parallel to the fourth axis.
6. The endoscope of claim 4, wherein the first axis is perpendicular to the second axis and the third axis is perpendicular to the fourth axis.
7. The endoscope of claim 3, wherein the ratio of the width of the first joint to the width of the sixth joint is a first predetermined ratio; or the width of the first joint is greater than the width of the sixth joint.
8. The endoscope of claim 3, further comprising a first pull rope and a second pull rope inserted into the support, wherein one end of each of the first pull rope and the second pull rope is fixed to the first joint, and the other end of each of the first pull rope and the second pull rope is fixed to the sixth joint; or one end of the first traction rope is fixed to the first joint, the other end of the first traction rope is fixed to the sixth joint, one end of the second traction rope is fixed to the second joint, and the other end of the second traction rope is fixed to the sixth joint.
9. The endoscope of claim 8, further comprising a third pull cord and a fourth pull cord disposed through the support portion, wherein the third pull cord is disposed opposite the first pull cord and is connected to a corresponding joint of the first joint assembly and the second joint assembly in the same manner; the fourth traction rope and the second traction rope are arranged oppositely, and the connection mode of the fourth traction rope and the corresponding joint in the first joint assembly and the second joint assembly is the same.
10. The endoscope of claim 8, further comprising a tube disposed over the first and second pull cords, the tube configured to provide a resistive force to the first and second pull cords to change a direction of extension of the first and second pull cords from between the first and second joint assemblies.
11. The endoscope of claim 8, further comprising a reversing wheel disposed within the support portion for changing the direction of extension of the first and second pull cords from between the first and second joint assemblies.
12. The endoscope of claim 3, wherein the axes of rotation of the fourth joint and the fifth joint are third axes and the axes of rotation of the sixth joint and the fifth joint are fourth axes, the endoscope further comprising first, second, third, and fourth pull cords passing through the support;
the first traction rope and the third traction rope are respectively positioned on two sides of the fourth axis, the sixth joint is driven to rotate around the fourth axis through the first traction rope and the third traction rope, and the front end part rotates around the fourth axis in the first preset direction; the second traction rope and the fourth traction rope are respectively located on two sides of the third axis, the fifth joint is driven to rotate around the third axis through the second traction rope and the fourth traction rope, and the front end portion rotates around the third axis in the second preset direction.
13. The endoscope of claim 3, wherein the lever portion comprises a cap portion fixedly coupled to the first joint assembly, and a rotational damping member fixedly coupled to the cap portion for generating a resistance force during rotation of the first and second joints.
14. The endoscope of claim 13, wherein the rotational damper comprises a damper rod inserted into the first joint assembly, and a pin passing transversely through the damper rod; the cap body part is provided with a through hole, and the pin is used for being inserted into the through hole and fixedly connected with the cap body part.
15. An endoscope according to claim 3 and wherein the functional relationship between the yaw angle θ of the first joint of said first joint assembly and the yaw angle α of the sixth joint of said second joint assembly is:
α＝±Kθ；
wherein "+" indicates that the first joint component and the second joint component rotate in the same direction; "-" indicates that the first joint assembly and the second joint assembly rotate in opposite directions.
16. The endoscope of claim 2, wherein a line on which the first joint assembly is located and a line on which the second joint assembly is located intersect.
17. The endoscope of claim 2, wherein the first joint assembly and/or the second joint assembly further comprises a connector for connecting two adjacent joints, the connector comprising a support bar and two protrusions protruding from a distal end of the support bar;
each joint is provided with a fixing hole, the protruding part is used for being clamped into the corresponding fixing hole, and when the two adjacent joints rotate relatively, the protruding part rotates in the fixing hole.
18. The endoscope of claim 17, further comprising a first pull cord disposed through the support portion, the first pull cord having one end secured to the first joint and another end secured to the sixth joint; the connecting piece also comprises a through hole penetrating through the supporting rod, and each joint is provided with a rope hole; the first traction rope is used for sequentially passing through the rope hole of each joint and the through hole of the connecting piece and then terminating at the sixth joint.
19. The endoscope of claim 18, wherein each of the joints is provided with a receiving hole at a position adjacent to the string hole, the receiving hole being for a light source cable of the endoscope to pass through.
20. The endoscope of claim 18, wherein the link has a yaw angle e, and wherein al issideIs the amount of change in length of the first traction rope, b' is the distance between the first traction rope and the traction rope opposite the first traction rope at the fixation point of the second joint component,
Sinε＝ΔLside/b’。
CN202111327085.0A 2021-11-10 2021-11-10 Endoscope with a detachable handle Pending CN113876282A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115281584A (en) * 2022-06-30 2022-11-04 中国科学院自动化研究所 Flexible endoscope robot control system and flexible endoscope robot simulation method
WO2023216860A1 (en) * 2022-05-07 2023-11-16 深圳市精锋医疗科技股份有限公司 Medical device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023216860A1 (en) * 2022-05-07 2023-11-16 深圳市精锋医疗科技股份有限公司 Medical device
CN115281584A (en) * 2022-06-30 2022-11-04 中国科学院自动化研究所 Flexible endoscope robot control system and flexible endoscope robot simulation method
CN115281584B (en) * 2022-06-30 2023-08-15 中国科学院自动化研究所 Flexible endoscope robot control system and flexible endoscope robot simulation method

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