CN114305693A

CN114305693A - Endoscope locking device, endoscope switching device, and endoscope holding system

Info

Publication number: CN114305693A
Application number: CN202111343063.3A
Authority: CN
Inventors: 陈俊; 朱国征; 张齐铭; 袁帅; 何裕源
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2021-11-12
Filing date: 2021-11-12
Publication date: 2022-04-12

Abstract

The invention relates to an endoscope locking device, an endoscope switching device and an endoscope holding lens system, which comprise a base, a positioning sleeve and a magnetic lock controller, wherein the positioning sleeve is assembled on the base in a fixed-shaft rotating mode and is configured to be connected with an endoscope, the magnetic lock controller is arranged on the base, and the magnetic lock controller is configured to move under the driving of at least magnetic force so as to enable the positioning sleeve to be switched between a locking state and an unlocking state. The endoscope locking device can realize the switching function of the endoscope as an independent structure independent of the endoscope, the switching function is separated from the endoscope, the number of parts used for realizing the switching function of the endoscope can be reduced, the structural complexity of the endoscope is reduced, different switching requirements can be realized only by replacing the endoscope locking device or the positioning sleeve, the structure of the endoscope is not required, therefore, the assembly applicability of the endoscope can be improved, and the use cost is effectively reduced.

Description

Endoscope locking device, endoscope switching device, and endoscope holding system

Technical Field

The present invention relates to the technical field of medical instruments, and particularly to an endoscope locking device, an endoscope switching device, and an endoscope holding system.

Background

In the conventional laparoscopic surgery, an endoscope needs to be handled by a surgeon, but the endoscope itself has a large weight and a heavy burden on the surgeon's hand for a long time of operation, and to solve this problem, a surgical robot and various semi-automatic robot arms are introduced into the laparoscopic surgery. When the technologies are used, the endoscope needs to be switched to the robot or the mechanical arm, the switching function is integrated in the endoscope in the scheme in the prior art, however, the structure of the endoscope is more complex, and the endoscope matched with the specific robot or the mechanical arm is used certainly when the specific robot or the mechanical arm is used, so that the applicability of the endoscope is poor, a user has to give up the existing endoscope which is originally high in cost, and the use cost of the user is increased.

Disclosure of Invention

In view of the above, it is necessary to provide an endoscope locking device, an endoscope switching device, and an endoscope holding system, which address the technical problem of poor endoscope applicability.

The present invention provides an endoscope locking device including:

a base;

a positioning sleeve, which is fixed-shaft rotatably mounted on the base and is configured for connecting an endoscope;

a magnetic lock disposed on the base, the magnetic lock configured for movement at least under the drive of a magnetic force to transition the locating sleeve between a locked state and an unlocked state.

In one embodiment, the magnetic lock controller includes:

the first magnetic lock is movably assembled on the base, and the movable range of the first magnetic lock on the base at least comprises a locking position for locking the positioning sleeve and an unlocking position for unlocking the positioning sleeve;

the lock control assembly is arranged on the base and is configured to be used for driving the first magnetic lock piece to move from the unlocking position to the locking position through elasticity or driving the first magnetic lock piece through magnetic force so as to enable the positioning sleeve to be converted into the locking state, or used for driving the first magnetic lock piece to move from the locking position to the unlocking position through magnetic force or driving the first magnetic lock piece through elasticity so as to enable the positioning sleeve to be converted into the unlocking state.

In one embodiment, the lock control assembly includes:

an electromagnet disposed on the base, the electromagnet configured to magnetically drive the first magnetic lock from the locked position to the unlocked position;

the elastic piece is arranged on the base and connected with the first magnetic lock piece, and the elastic piece is configured to be used for elastically driving the first magnetic lock piece to move from the unlocking position to the locking position.

In one embodiment, the lock control assembly further includes:

a first power source configured to supply current to the electromagnet causing the electromagnet to generate a magnetic force that drives the first magnetic latch.

In one embodiment, the lock control assembly further includes:

a first control chip configured to control the first power on-off and/or the intensity of the current and/or the direction of the current.

In one embodiment, the first power supply comprises:

the battery is in power supply connection with the electromagnet;

alternatively, the first and second electrodes may be,

a magnet and a first coil, wherein the magnet is fixed-axis and rotatably assembled on the base, the first coil is in a cylindrical spiral shape, a bus of the cylindrical spiral shape surrounds the magnet, and the first coil is configured to generate alternating current due to cutting of a magnetic induction wire with the magnet in a rotating state in an electrified state; the first control chip is further configured to convert the alternating current into a direct current that can be supplied to the electromagnet.

In one embodiment, the endoscope locking device comprises:

the guide seat is arranged on the base; the first magnetic locking piece is guided and assembled on the guide seat and can reciprocate between the locking position and the unlocking position along the guide track of the guide seat.

In one embodiment, the guide track is a straight track and is perpendicular to the axis of the positioning sleeve.

In one embodiment, the endoscope locking device comprises:

the rotating shaft seat is arranged on the base; the first magnetic locking piece is rotatably assembled on the rotating shaft seat and comprises a head and a tail, the tail is configured to be driven by elastic force or magnetic force of the locking control assembly to drive the first magnetic locking piece to rotate, and the head reciprocates between the locking position and the unlocking position.

In one embodiment, the magnetic lock controller includes:

the second magnetic lock is movably assembled on the base, and the movable range of the second magnetic lock on the base at least comprises a locking position for locking the positioning sleeve and an unlocking position for unlocking the positioning sleeve;

a second coil wound around the second magnetic locking piece;

a second power source configured to supply current to the second coil causing the second magnetic latch to generate a magnetic force;

a second control chip configured to control the second power on/off, the current flowing direction and/or the current intensity;

a zero-position magnetic member disposed on the positioning sleeve, the zero-position magnetic member configured to magnetically cooperate with the second magnetic lock to magnetically attract the second magnetic lock to move to the locked position, or magnetically repel the second magnetic lock to move to the unlocked position.

In one embodiment, the locking sleeve has a null lock portion thereon configured for locking engagement with the magnetic lock moving to the locked position.

In one embodiment, the alignment sleeve has an annular projection thereon, and the null lock is located on the annular projection.

In one embodiment, the zero-locking part is a slot, and the magnetic lock has a plug part configured to mate with the slot; alternatively, the first and second electrodes may be,

the zero-position locking part is a locking hole, and the magnetic locking piece is provided with a locking hook part which is configured to be in hook connection with the locking hole.

In one embodiment, the positioning sleeve is provided with a gear part, the base is rotatably provided with a transmission gear, the transmission gear is meshed with the gear part, and the transmission gear is configured to be driven by a power device to rotate so as to indirectly drive the positioning sleeve to rotate in a fixed shaft mode.

In one embodiment, the gear part is of an annular structure and is sleeved on the positioning sleeve; alternatively, the gear portion is an integral structure surrounding the outer wall of the positioning sleeve.

In one embodiment, the endoscope locking device further comprises:

the adapter assembly is assembled and connected with the positioning sleeve, and the positioning sleeve is connected with the endoscope through the adapter assembly.

In one embodiment, the adapter assembly comprises:

the endoscope supporting barrel is detachably assembled on the positioning sleeve, and the inner diameter of the endoscope supporting barrel is variable in at least one radial direction;

a locking flap mounted on the endoscope support barrel, the locking flap configured for adjusting an inner diameter value in at least one radial direction on the endoscope support barrel for locking or releasing an endoscope mounted in the endoscope support barrel.

In one embodiment, the side wall of the endoscope bearing cylinder is provided with an adjusting notch, and the locking flap is rotatably assembled on the endoscope bearing cylinder;

the locking petals are provided with locking convex parts and are configured to rotate and utilize the locking convex parts to tightly abut against or release the side wall of the endoscope bearing barrel, so that the inner diameter value is adjusted by reducing or restoring the size of the adjusting gap.

In one embodiment, the endoscope supporting barrel is made of a flexible memory material.

In one embodiment, the adapter assembly further comprises:

the quick-release interface is arranged on the positioning sleeve, and the endoscope bearing cylinder is detachably connected with the quick-release interface and is detachably assembled on the positioning sleeve.

In one embodiment, the quick release interface includes any one or a combination of a snap connection, a threaded connection, and a magnetic connection.

In one embodiment, the endoscope locking device further comprises:

the base, the locating sleeve and the magnetic lock controller are installed in an inner cavity of the mechanical box, an assembly hole is formed in the surface of the far end of the mechanical box, and the locating sleeve is connected with the switching assembly outside the mechanical box in an assembly mode through the assembly hole.

The present invention also provides an endoscope adapter device, comprising:

the endoscope locking device;

and the power device is in driving connection with the positioning sleeve and is used for driving the positioning sleeve to rotate in a fixed shaft mode.

In one embodiment, the power device comprises a first motor, and the output end of the first motor is in driving connection with the positioning sleeve.

In one embodiment, the positioning sleeve is provided with a gear part, and the driving end of the first motor is in driving engagement with the gear part through a transmission gear.

In one embodiment, the connection between the power device and the endoscope locking device comprises any one or a combination of a threaded connection, a snap connection and a magnetic attraction connection.

In one embodiment, the power device further comprises an external interface, and the external interface is configured to be connected with an external device.

The present invention also provides an endoscope adapter device, comprising:

the endoscope locking device;

and the power device is in driving connection with the positioning sleeve and the magnet and is used for driving the positioning sleeve and/or the magnet to rotate in a fixed shaft mode.

In one embodiment, the power device comprises a first motor and a second motor, wherein the output end of the first motor is in driving connection with the positioning sleeve, and the output end of the second motor is in driving connection with the magnet.

The present invention also provides an endoscope holding system, including:

an endoscope;

the endoscope locking device; alternatively, the endoscope adapter device.

In one embodiment, the positioning sleeve is removably coupled to the endoscope.

The endoscope locking device can be connected or disconnected with the endoscope by using the positioning sleeve as a separate structure independent of the endoscope, and can realize the switching function of the endoscope by switching the endoscope and other structures such as a robot or a mechanical arm, so that the switching function can be transferred to the endoscope locking device independent of the endoscope instead of being integrated on the endoscope. With switching function separation in the endoscope, can make the endoscope reduce the part that is used for realizing the switching function, reduce the structure complexity of endoscope, make the endoscope can utilize other structures such as the robot or the arm of the indirect and different models of endoscope locking device, size, specification to dismantle the switching, different switching requirements only need replace endoscope locking device, generally only need replace the position sleeve can realize, need not make the requirement to the structure of endoscope itself, consequently, can improve the assembly suitability of endoscope, effectual reduction use cost.

Drawings

FIG. 1 is a schematic view of an endoscope locking device in one embodiment of the present invention;

FIG. 2 is a schematic structural view of a positioning sleeve 1 according to an embodiment of the present invention;

FIG. 3 is a schematic view of a positioning sleeve according to an embodiment of the present invention, shown in FIG. 2;

FIG. 4 is a schematic view of an endoscope support cartridge in accordance with an embodiment of the present invention 1;

FIG. 5 is a schematic structural view of an endoscope support cartridge in an embodiment of the present invention 2;

FIG. 6 is a schematic view showing a locked state of the magnetic lock controller according to one embodiment of the present invention;

FIG. 7 is a schematic view of an unlocked state of the magnetic lock controller in an embodiment of the present invention;

FIG. 8 is a schematic view of FIG. 1 showing the locked condition of the magnetic lock controller in accordance with another embodiment of the present invention;

FIG. 9 is a schematic view of a locked condition of the magnetic lock controller according to another embodiment of the present invention FIG. 2;

FIG. 10 is a schematic view of an unlocked state of the magnetic lock controller in another embodiment of the present invention;

FIG. 11 is a schematic view showing a locked state of the magnetic lock controller according to still another embodiment of the present invention;

FIG. 12 is a schematic view showing a locked state of the magnetic lock controller 1 in accordance with still another embodiment of the present invention;

FIG. 13 is a schematic view showing a locked state of the magnetic lock controller according to still another embodiment of the present invention 2;

FIG. 14 is a schematic view showing an unlocked state of the magnetic lock controller according to still another embodiment of the present invention;

FIG. 15 is a schematic view of an endoscopic translation device in accordance with an embodiment of the present invention.

Reference numerals:

001. an endoscope locking device; 002. a power plant; 003. an endoscope;

100. a base; 200. a positioning sleeve; 300. a magnetic lock controller; 400. a switching component; 500. a quick release interface; 600. a mechanical box;

110. a guide seat; 120. a rotating shaft seat; 130. a transmission gear;

210. a null lock portion; 220. an annular boss; 230. a gear portion;

310. a first magnetic latch; 320. a lock control assembly; 330. a second magnetic latch;

321. an electromagnet; 322. an elastic member; 323. a first power supply; 324. a battery; 325. a magnet; 326. a first coil;

331. a second coil; 332. a second power supply; 333. a zero position magnetic member;

410. an endoscope support cylinder; 420. locking the petals; 411. adjusting the gap; 421. locking the boss.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, 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 an intermediate. 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.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

In addition, the present invention, when describing the orientation, is "proximal" with respect to the direction of approach of the operator to the patient during the operation, and "distal" with respect to the direction of departure from the operator.

Referring to fig. 1 to 14, the present invention provides an endoscope locking device 001, wherein the endoscope locking device 001 comprises a base 100, a positioning sleeve 200 and a magnetic lock 300, the positioning sleeve 200 is fixed on the base 100 in a fixed-axis rotating manner and is configured to be connected with an endoscope 003, the magnetic lock 300 is arranged on the base 100, the magnetic lock 300 is configured to move under the driving of at least magnetic force, so that the positioning sleeve 200 is switched between a locking state and an unlocking state, the locking state is a state for locking the positioning sleeve 200, and the unlocking state is a state for unlocking the positioning sleeve 200.

The endoscope locking device 001 can be applied to a medical robot system or an endoscope 003 holding manipulator for connecting the endoscope 003. The endoscope lock device 001 is a separate structure independent of the endoscope 003, and can be connected to or disconnected from the endoscope 003 by the positioning sleeve 200, and the endoscope 003 can be connected to or disconnected from another structure such as a robot or a robot arm to perform a function of connecting the endoscope 003, so that the function of connecting the endoscope 003 can be transferred to the endoscope lock device 001 independent of the endoscope 003 instead of being integrated with the endoscope 003.

With switching function separation in endoscope 003, can make endoscope 003 reduce the part that is used for realizing the switching function, reduce endoscope 003's structure complexity, make endoscope 003 can utilize other structures such as the robot or the arm of endoscope locking device 001 indirect and different models, size, specification can dismantle the switching, different switching requirements only need replace endoscope locking device 001, generally only need replace locating sleeve 200 can realize, need not make the requirement to the structure of endoscope 003 itself, consequently, can improve endoscope 003's assembly suitability, effectual reduction use cost.

The base 100 serves as an assembly foundation for other components in the endoscope locking device 001, and can be used for assembling the positioning sleeve 200 and the magnetic lock controller 300, after the positioning sleeve 200 is connected with the endoscope 003, the positioning sleeve 200 can be relatively fixed with the endoscope 003, and the fixed shaft of the positioning sleeve 200 on the base 100 rotates to drive the endoscope 003 to rotate, so that the rotation angle of the endoscope 003 can be adjusted, the visual angle of the endoscope 003 can be adjusted, and the operation is facilitated. The magnetic lock controller 300 can form a stable driving assembly with the positioning sleeve 200 on the base 100, and realize locking and unlocking of the positioning sleeve 200, wherein the positioning sleeve 200 is enabled to move non-rotatably in the locking state, and the positioning sleeve 200 is allowed to move rotatably in the unlocking state.

The magnetic lock controller 300 can be connected to a medical robot system or an endoscope 003 endoscope holding mechanical arm, so that fine angle adjustment and fixation of the endoscope 003 are achieved in an auxiliary mode, medical workers can adjust the endoscope 003 to the most appropriate angle conveniently, the medical workers do not need to manually keep the endoscope 003 in position, and operation is convenient and labor-saving.

In the process of locking or unlocking the positioning sleeve 200 by the magnetic lock controller 300, the locking force source of the magnetic lock controller 300 is magnetic force, or the magnetic lock controller 300 is matched with elastic force on the basis of the magnetic force, and the magnetic lock controller 300 can realize the movement of each internal component by utilizing the characteristics of the magnetic force or the elastic force, so that the magnetic lock controller 300 can lock the positioning sleeve 200 in the locking state and unlock the positioning sleeve 200 in the unlocking state.

In one embodiment, the magnetic lock controller 300 includes a first magnetic lock 310 and a lock assembly 320, which are movably mounted on the base 100, and the movable range of the first magnetic lock 310 on the base 100 at least includes a locking position for locking the positioning sleeve 200 and an unlocking position for unlocking the positioning sleeve 200; the lock control assembly 320 is disposed on the base 100, and the lock control assembly 320 is configured to be used for driving the first magnetic lock 310 to move from the unlocking position to the locking position by elastic force or driving the first magnetic lock 310 to move from the unlocking position, so that the positioning sleeve is converted into the locking state, or used for driving the first magnetic lock 310 to move from the locking position to the unlocking position by magnetic force or driving the first magnetic lock 310 by elastic force, so that the positioning sleeve is converted into the unlocking state.

The magnetic force has the effect of attracting magnetic elements, such as magnets, armatures and the like, so that the first magnetic locking part can be moved by the magnetic force. The elastic force also has the function of driving other parts to move. When the moving range or the moving track of the first magnetic lock 310 on the base 100 is limited, the first magnetic lock 310 can be driven to move by using magnetic force or elastic force and move from the unlocking position to the locking position according to a preset moving mode, or move from the locking position to the unlocking position, and after the first magnetic lock 310 moves to the locking position, the first magnetic lock mechanically contacts with the positioning sleeve 200 and mechanically locks the positioning sleeve 200, so that the positioning sleeve 200 cannot rotate, and the endoscope 003 is kept at a proper rotating angle. When the first magnetic locking member 310 moves to the unlocking position, it is mechanically separated from the positioning sleeve 200, so as to unlock the positioning sleeve 200, so that the positioning sleeve 200 can still rotate, and the endoscope 003 is allowed to adjust the rotation angle.

The range of motion of the first magnetic lock 310 includes a locking position, an unlocking position, and a motion path between the locking position and the unlocking position, which enables the first magnetic lock 310 to reciprocate between the locking position and the unlocking position, and the motion path may be a straight line, a curved line or a combination of the two in a three-dimensional space, which will depend on factors such as a motion path preset by the first magnetic lock 310 and a driving force form for driving the first magnetic lock 310 to move, which is not limited herein.

The mechanical contact between the first magnetic lock 310 and the positioning sleeve 200 includes the first magnetic lock 310 abutting against the outer wall of the positioning sleeve 200, and the positioning sleeve 200 is locked by the friction force generated by the abutment between the first magnetic lock 310 and the outer wall of the positioning sleeve 200. Alternatively, referring to fig. 2, a null lock 210 may be disposed on the positioning sleeve 200, wherein the null lock 210 is configured to be in locking engagement with the magnetic lock moving to the locking position. The null-position locking part 210 can also be used for realizing null-position identification of the positioning sleeve 200 and the endoscope 003, and when the first magnetic locking part 310 is in contact with the null-position locking part 210 and locks the positioning sleeve 200, the null-position of the positioning sleeve 200 and the endoscope 003 at the moment is identified. In addition to the above manner, the zero position recognition may also be implemented by using other built-in components such as an angle sensor and an infrared sensor, and therefore, the zero position recognition may be implemented by being integrated in the magnetic lock controller 300, or may be implemented by using an external component alone, which is not limited herein.

The zero-position locking part 210 may be configured as a slot or a keyhole, and thus, after the first magnetic locking part 310 moves to the locking position, it may be plugged into the slot or hooked into the keyhole, and for convenience of plugging or hooking, the magnetic locking part may have a plugging portion configured to be plugged into and matched with the slot or the magnetic locking part may have a locking hook portion configured to be hooked into and matched with the keyhole.

Referring to fig. 2, the positioning sleeve 200 may have an annular protrusion 220 thereon, and the zero locking part 210 is located on the annular protrusion 220. The annular protrusion 220 surrounds the circumference of the positioning sleeve 200 and protrudes, which allows the first magnetic locking member 310 to reach the locking position when moving to the annular protrusion 220, but not reach the positioning sleeve 200 to reach the locking position, at least when the moving paths of the first magnetic locking member 310 are consistent, the moving distance of the first magnetic locking member 310 is shortened, the idle space on the base 100 is reasonably utilized, and the control convenience of the first magnetic locking member 310 is improved.

Referring to fig. 3, the driving rotation of the positioning sleeve 200 can be realized by a power device 002 independent of the endoscope locking device 001, and the positioning sleeve 200 is provided with a gear portion 230, the base 100 is rotatably provided with a transmission gear 130, the transmission gear 130 is meshed with the gear portion 230, and the transmission gear 130 is configured to be driven by the power device 002 to rotate so as to indirectly drive the positioning sleeve 200 to rotate in a fixed axis manner. The gear portion 230 may be a ring structure and is sleeved on the positioning sleeve 200, and at this time, the gear portion 230 formed by the ring structure may be relatively fixed with the positioning sleeve 200 in a welding, clamping, or other manner. Alternatively, the gear portion 230 is an integral structure surrounding the outer wall of the positioning sleeve 200, and the integral structure is more stable. The gear portion 230 is located in the proximal direction of the annular protrusion 220 with respect to the annular protrusion 220, and facilitates the connection with the proximal power unit 002.

Referring to fig. 4 and 5, for the transition between the positioning sleeve 200 and the endoscope 003, the endoscope 003 can be directly or indirectly connected to the positioning sleeve 200 and can be detachably connected with respect to the positioning sleeve 200, and the connection position can be the distal end of the positioning sleeve 200. For indirect attachment, the endoscope locking device 001 may include a coupling assembly 400, the coupling assembly 400 being in assembled connection with the positioning sleeve 200, the positioning sleeve 200 being connected to the endoscope 003 via the coupling assembly 400.

The adapter assembly 400 comprises an endoscope bearing cylinder 410 and a locking flap 420 positioned on the endoscope bearing cylinder 410, wherein the endoscope bearing cylinder 410 is detachably assembled on the positioning sleeve 200, and the inner diameter of the endoscope bearing cylinder 410 is variable in at least one radial direction; a locking flap 420 is fitted on the endoscope bearing cylinder 410, the locking flap 420 being configured for adjusting an inner diameter value in at least one radial direction on the endoscope bearing cylinder 410 for locking or releasing an endoscope 003 mounted in the endoscope bearing cylinder 410.

When the locking flap 420 releases the endoscope bearing cylinder 410, the lumen space of the endoscope bearing cylinder 410 is in a free state, which is usually the maximum state, and can be used for installing the endoscope 003, and at this time, the structural shape of the lumen of the endoscope bearing cylinder 410 is adapted to the structural shape of the connection position on the endoscope 003, so as to facilitate installation, and the specific structural shape is not limited herein. When the endoscope 003 is mounted in the endoscope bearing cylinder 410, the locking flap 420 can be moved to adjust the lumen space of the endoscope bearing cylinder 410 so that the inner diameter of the endoscope bearing cylinder 410 in at least one radial direction is reduced, that is, the outer wall of the endoscope bearing cylinder 410 is pressed toward the endoscope 003 (central axis direction) so that the endoscope 003 in the lumen inside the outer wall of the endoscope bearing cylinder 410 is tightened by the relative pressing, thereby fixing the endoscope 003.

In one form, the side wall of the endoscope holder 410 has an adjustment notch 411, and the locking flap 420 is rotatably fitted over the endoscope holder 410; the locking petals 420 are provided with locking protrusions 421, and the locking petals 420 are configured to rotate and utilize the locking protrusions 421 to abut against or release the side walls of the endoscope supporting barrel 410, so as to adjust the inner diameter value by reducing or restoring the size of the adjustment notch 411. The adjustment notch 411 provides the possibility of more conveniently adjusting the size of the lumen of the endoscope bearing cylinder 410, and when the adjustment notch 411 is reduced, the lumen of the endoscope bearing cylinder 410 naturally becomes smaller, allowing the endoscope 003 to be squeezed and fixed, and when the adjustment notch 411 is restored, which is usually the maximum state, the squeezing of the endoscope 003 can be released, allowing the endoscope 003 to be taken out of the endoscope bearing cylinder 410. The purpose of the locking protrusions 421 on the locking flaps 420 is to tightly abut against the outer wall of the endoscope supporting cylinder 410, and the stronger the force for abutting against, the more firmly the endoscope 003 is fixed. The specific matching mode between the locking flap 420 and the endoscope supporting cylinder 410 can be designed according to the requirement, and the specific form is not limited. The endoscope supporting cylinder 410 is made of a flexible memory material, so that deformation is facilitated, and deformation and recovery of an inner cavity of the endoscope supporting cylinder 410 are facilitated; the flexible memory material can be memory cotton or memory alloy.

In actual use, different endoscope bearing cylinders 410 can be selected and mounted on the positioning sleeve 200 according to different models of endoscopes 003, so that the endoscope locking device 001 can be matched with the endoscopes 003 in different models.

In order to facilitate the connection between the positioning sleeve 200 and the endoscope supporting cylinder 410, the adapter assembly 400 further includes a quick-release interface 500, the quick-release interface 500 is disposed on the positioning sleeve 200, and the endoscope supporting cylinder 410 is detachably connected to the quick-release interface 500 and then detachably assembled on the positioning sleeve 200. The quick-release interface 500 comprises any one or combination of a clamping piece, a threaded connecting piece and a magnetic connecting piece, and after the quick-release interface 500 is fixed on the positioning sleeve 200, the quick-release interface 500 is only required to be connected with or detached from the endoscope supporting cylinder 410, so that the quick-release advantage of the quick-release interface 500 is fully exerted.

Referring to fig. 5, the endoscope locking device 001 further includes a mechanical box 600, the base 100, the positioning sleeve 200 and the magnetic lock controller 300 are installed in an inner cavity of the mechanical box 600, a distal end surface of the mechanical box 600 has an assembly hole, and the positioning sleeve 200 is assembled and connected with the adaptor assembly 400 located outside the mechanical box 600 through the assembly hole. The mechanical box 600 can assemble a plurality of components, namely, the base 100, the positioning sleeve 200 and the magnetic lock controller 300, and can protect the components, not only from being damaged, but also from safely operating between the components. The mechanical box 600 may be a cylinder, a square box, or the like, as long as it is convenient for operation or for structural adaptation and connection with the endoscope 003, and is not particularly limited.

Referring to fig. 6 to 11, the lock control assembly 320 includes an electromagnet 321 and an elastic member 323, wherein the electromagnet 321 is used for providing a magnetic force, and the elastic member 323 is used for providing an elastic force. An electromagnet 321 is disposed on the base 100, the electromagnet 321 being configured to magnetically drive the first magnetic lock 310 from the locked position to the unlocked position; an elastic member 323 is disposed on the base 100 and connected to the first magnetic lock 310, and the elastic member 323 is configured to elastically drive the first magnetic lock 310 to move from the unlocking position to the locking position. The elastic member 323 may be a tension spring, a gas spring, or a torsion spring.

In this manner, the locking hole assembly specifically uses magnetic force to drive the first magnetic locking piece 310 to move from the locking position to the unlocking position, that is, uses magnetic force to unlock the positioning sleeve 200, and specifically uses elastic force to drive the first magnetic locking piece 310 to move from the unlocking position to the locking position, that is, uses elastic force to lock the positioning sleeve 200. When the moving path of the first magnetic lock 310 is predetermined, the first magnetic lock 310 can move only in the moving path.

The elastic member 323 may be fixed on the base 100, and the fixing manner may be that one end of the elastic member 323 is fixed to the base 100 or a corresponding component or structure on the base 100, and the other end of the elastic member 323 is connected to the first magnetic locking member 310, because the elastic force of the elastic member 323 is used to lock the positioning sleeve 200, the elastic member 323 is a compression elastic member 323, such as a compression spring, and the compression elastic member 323 applies an elastic force to the first magnetic locking member 310 after being compressed, which can drive the first magnetic locking member 310 to move away from the positioning sleeve 200 along the movement path, and the elastic force drives the first magnetic locking member 310 to move toward the positioning sleeve 200 from the unlocking position to the locking position, so as to lock the positioning sleeve 200. And the first magnetic locking piece 310 is always kept to move towards the locking position under the driving of the elastic force when no other force than the elastic force is applied.

With it cooperateing, the production or disappearance of magnetic force can be controlled through whether the circular telegram to the magnetic force of electro-magnet 321, and after electro-magnet 321 circular telegram produced magnetic force, magnetic force alright in order adsorbing first magnetism latch fitting 310, makes first magnetism latch fitting 310 can overcome the elasticity that elastic component 323 applyed, and the self-locking position moves to the unblock position, unlocks location sleeve 200.

In another mode, the locking hole assembly may further use elastic force to drive the first magnetic locking piece 310 to move from the locking position to the unlocking position, that is, to unlock the positioning sleeve 200 by using elastic force, and may use magnetic force to drive the first magnetic locking piece 310 to move from the unlocking position to the locking position, that is, to lock the positioning sleeve 200 by using magnetic force. When the moving path of the first magnetic lock 310 is predetermined, the first magnetic lock 310 can move only in the moving path.

The elastic member 323 may be fixed on the base 100, and the fixing manner may be that one end of the elastic member 323 is fixed to the base 100 or a corresponding component or structure on the base 100, and the other end of the elastic member 323 is connected to the first magnetic locking member 310, because the elastic force of the elastic member 323 is used to unlock the positioning sleeve 200, the elastic member 323 is a stretching elastic member 323, such as a stretching spring, and the stretching elastic member 323 applies an elastic force to the first magnetic locking member 310 to drive the first magnetic locking member 310 to approach, and the elastic force drives the first magnetic locking member 310 to move away from the positioning sleeve 200 along the movement path, and moves from the locking position to the unlocking position to unlock the positioning sleeve 200. And the first magnetic locking piece 310 is always kept to move away from the locking position under the driving of the elastic force when no other force is applied besides the elastic force.

In cooperation with it, the magnetic force of electro-magnet 321 can be through whether the production or disappearance of circular telegram control magnetic force, after electro-magnet 321 circular telegram produced magnetic force, magnetic force alright in order to adsorb first magnetism latch fitting 310, after adjusting the position of electro-magnet 321 for first magnetism latch fitting 310, can make first magnetism latch fitting 310 overcome the elasticity that elastic component 323 applyed under magnetic force adsorbs, drive first magnetism latch fitting 310 from the position of unblock move to latched position, lock location sleeve 200.

In the above two modes, the difference is the installation position of the electromagnet 321 relative to the first magnetic lock 310, which determines whether to drive the first magnetic lock 310 to move from the locked position to the unlocked position or from the unlocked position to the locked position when the magnetic force of the electromagnet 321 attracts the first magnetic lock 310, and the elastic member 323 cooperating with the electromagnet needs to be the compression elastic member 323 or the tension elastic member 323.

With respect to the source of electrical power to the electromagnet 321, the lock control assembly 320 further includes a first power source 323, the first power source 323 being configured to supply an electrical current to the electromagnet 321 to cause the electromagnet 321 to generate a magnetic force that drives the first magnetic lock 310. The first power supply 323 may be a wired power supply unit incorporated in the endoscope lock apparatus 001, or may be a wireless power supply unit located outside the endoscope lock apparatus 001 and not occupying the internal space of the endoscope lock apparatus 001. When the first power source 323 is a wired power source component, the first power source 323 comprises a battery 324, the battery 324 can be a dry battery 324, a button battery 324 or the like of various types, and the battery 324 is in power supply connection with the electromagnet 321.

Alternatively, the first power source 323 comprises a magnet 325 and a first coil 326, the magnet 325 is fixed-axis and rotatably mounted on the base 100, the first coil 326 is in a cylindrical spiral shape, a generatrix of the cylindrical spiral shape surrounds the magnet 325, and the first coil 326 is configured to generate an alternating current due to cutting a magnetic induction line with the magnet 325 in a power-on state and a rotating state; the first control chip is also configured to convert the alternating current into a direct current that can be supplied to the electromagnet 321. The magnet 325 can be driven to rotate by the power device 002, and an alternating current is generated by the electromagnetic induction principle, and then converted into a direct current by the first control chip to be supplied to the electromagnet 321 for use.

The lock control assembly 320 further comprises a first control chip, wherein the first control chip is configured to control the on/off of the first power source 323 and/or the intensity of the current and/or the direction of the current, that is, the first control chip can control any one condition or any combination of three conditions of the on/off of the first power source 323, the intensity of the current and the direction of the current. The first control chip controls the first power supply 323 to lose the magnetic force of the electromagnet 321 when power is off, so as to release the overcoming of the elastic force applied to the elastic force, and control the intensity of the magnetic force generated by the electromagnet 321 by controlling the current intensity.

Referring to fig. 6 and 7, for the presetting of the moving path of the first magnetic lock 310, the endoscope locking device 001 includes a guide holder 110, and the guide holder 110 is disposed on the base 100; the first magnetic locking member 310 is guide-fitted to the guide holder 110 and is reciprocally movable between the locking position and the unlocking position along a guide track of the guide holder 110. The guide seat 110 may be provided with a guide structure such as a guide groove or a guide hole, and a guide track capable of guiding the first magnetic locking piece 310 is formed on the guide seat 110, and at this time, the guide track of the guide seat 110 may form a movement path of the first magnetic locking piece 310, and the guide track may be a straight line or a curved line. When the guide track is a straight track perpendicular to the axis of the positioning sleeve 200, and therefore, the movement path of the first magnetic locking piece 310 is shortest, the first magnetic locking piece 310 can be controlled by a smaller motion range to move between the locking position and the unlocking position, and it can be ensured that the first magnetic locking piece 310 is perpendicularly applied to the positioning sleeve 200 by the applied elastic force or magnetic force without generating a component force.

Referring to fig. 8 to 11, in another mode, the endoscope locking device 001 includes a rotation shaft base 120 disposed on the base 100; the first magnetic locking piece 310 is rotatably assembled on the rotating shaft seat 120, and the first magnetic locking piece 310 includes a head portion and a tail portion, and the tail portion is configured to be elastically or magnetically driven by the lock control assembly 320 to drive the first magnetic locking piece 310 to rotate, so that the head portion reciprocates between the locking position and the unlocking position.

The movement of the first magnetic lock 310 is rotational at this time, and the movement of the first magnetic lock 310 to the locking position or the unlocking position will depend on the movement position of the head of the first magnetic lock 310. Movement of the head to the locked position indicates movement of the first magnetic lock 310 to the locked position and movement of the head to the unlocked position indicates movement of the first magnetic lock 310 to the unlocked position. After the tail part is driven by elastic force or magnetic force, the first magnetic locking piece 310 rotates relative to the rotating shaft seat 120 because the first magnetic locking piece 310 is integrally and rotatably assembled on the rotating shaft seat 120, so that the switching of the head movement position can be realized, and the locking and unlocking of the positioning sleeve 200 can be realized.

Similarly, at this time, the elastic force may be used to drive the head to move to the locking position to lock the positioning sleeve 200, and may also be used to drive the head to move to the unlocking position to unlock the positioning sleeve 200, or the magnetic force may be used to drive the head to move to the locking position to lock the positioning sleeve 200, and may also be used to drive the head to move to the unlocking position to unlock the positioning sleeve 200, which is not described herein again.

First magnetism latch fitting 310 is at the rotation in-process, and its rotation direction can set up according to the demand, if the rotation orbit place plane of first magnetism latch fitting 310 with the axis of positioning sleeve 200 is parallel, perhaps, first magnetism latch fitting 310 rotate the orbit place plane with the axis of positioning sleeve 200 is perpendicular, or, the rotation orbit place plane of first magnetism latch fitting 310 with the axis of positioning sleeve 200 has the contained angle, the degree of contained angle is greater than 0 and is less than 90, for example the degree of contained angle is 20 °, 25 °, 30 °, 35 °, 40 °, 45 °, 50 °, 55 °, 60 °, 65 °, 70 °, 75 °, 80 °, etc. do not do the restriction here.

When the plane of the rotation track of the first magnetic locking piece 310 is parallel to the axis of the positioning sleeve 200, as shown in fig. 9 and 10, the tail of the first magnetic locking piece 310 is attracted by magnetic force, so that the tail of the first magnetic locking piece 310 is attracted upwards, the first magnetic locking piece 310 overcomes the elastic force to rotate on the rotation shaft base 120, and the head of the first magnetic locking piece 310 moves to the unlocking position, so as to unlock the positioning sleeve 200. On the contrary, after the magnetic force adsorbing the tail of the first magnetic locking piece 310 disappears, the tail of the first magnetic locking piece 310 moves downward due to the elastic force, the first magnetic locking piece 310 rotates on the rotating shaft seat 120 due to the elastic force, and the head of the first magnetic locking piece 310 moves to the locking position, so that the positioning sleeve 200 is locked.

When the plane of the rotation track of the first magnetic locking piece 310 is perpendicular to the axis of the positioning sleeve 200, referring to fig. 11, the tail of the first magnetic locking piece 310 is attracted by magnetic force, so that the tail of the first magnetic locking piece 310 is attracted leftwards, the first magnetic locking piece 310 overcomes the elastic force to rotate clockwise on the rotation shaft base 120, and the head of the first magnetic locking piece 310 moves to the unlocking position, so as to unlock the positioning sleeve 200. On the contrary, after the magnetic force adsorbing the tail of the first magnetic locking piece 310 disappears, the tail of the first magnetic locking piece 310 moves rightwards due to the elastic force, the first magnetic locking piece 310 rotates anticlockwise on the rotating shaft base 120 due to the elastic force, and the head of the first magnetic locking piece 310 moves to the locking position, so that the positioning sleeve 200 is locked.

As shown in fig. 12 to 14, the magnetic lock controller 300 may further include a second magnetic lock 330, a second coil 331, a second power source 332, a second control chip, and a zero-position magnetic part 333, where the second magnetic lock 330 is movably mounted on the base 100, and a movable range of the second magnetic lock 330 on the base 100 at least includes a locking position for locking the positioning sleeve 200 and an unlocking position for unlocking the positioning sleeve 200; a second coil 331 is wound around the second magnetic locking piece 330; the second power source 332 is configured to supply current to the second coil 331 to cause the second magnetic latch 330 to generate a magnetic force; the second control chip is configured to control the second power source 332 to be turned on or off, the current flowing direction or the current intensity; a zero position magnet 333 is disposed on the positioning sleeve 200 with a constant exposed portion of the magnetic poles, the zero position magnet 333 configured to magnetically cooperate with the second magnetic lock 330 to magnetically attract the second magnetic lock 330 to move to the locked position or magnetically repel the second magnetic lock 330 to move to the unlocked position.

In this manner, the second magnetic lock 330 may form the structure of the electromagnet 321 together with the second coil 331 and form the basic structure of the lockable and unlockable position sleeve 200, i.e., the basic structure of the magnetic lock controller 300, in magnetic cooperation with the zero-position magnetic member 333. When the second power source 332 supplies current to the second coil 331, the second magnetic locking element 330 itself generates magnetic force according to the electromagnetic induction principle, and the magnetic force can be used for magnetically matching with the zero magnetic element 333. In this case, the second power supply 332 may be a wired power supply unit installed in the endoscope lock device 001 or a wireless power supply unit located outside the endoscope lock device 001 and not occupying the internal space of the endoscope lock device 001, with reference to the first power supply 323. When the second power source 332 is a wired power source component, the second power source 332 may be a battery 324 or a reference magnet 325 and the first coil 326 that generate current due to the principle of electromagnetic induction.

The movement of the second magnetic locking piece 330 between the locking position and the unlocking position may also be implemented by a preset movement path, and for the preset movement path of the second magnetic locking piece 330, reference may be made to a structure that the guide seat 110 or the rotating shaft seat 120 is adopted in the first magnetic locking piece 310, for example, the guide seat 110 forms a guide track that can guide the second magnetic locking piece 330 on the guide seat 110 by forming a guide structure such as a guide groove or a guide hole, and the guide track may be a straight line or a curved line, or the second magnetic locking piece 330 may also be rotatably assembled on the rotating shaft seat 120, which is not described herein again.

By controlling the current direction in the second coil 331, the magnetic polarity of the second magnetic locking element 330 can be changed, when the polarity of the matched end of the second magnetic locking element 330 and the zero-position magnetic element 333 is the same, the second magnetic locking element 330 can be mutually exclusive with the zero-position magnetic element 333, and further the second magnetic locking element 330 is driven to move from the self-locking position to the unlocking position, so as to unlock the positioning sleeve 200, when the polarity of the matched end of the second magnetic locking element 330 and the zero-position magnetic element 333 is different, the second magnetic locking element 330 can be mutually attracted with the zero-position magnetic element 333, and further the second magnetic locking element 330 is driven to move from the unlocking position to the locking position, so as to lock the positioning sleeve 200.

The zero-position magnetic member 333 can also be used for realizing zero-position identification of the positioning sleeve 200 and the endoscope 003, and when the second magnetic locking member 330 and the zero-position magnetic member 333 are magnetically adsorbed and realize locking of the positioning sleeve 200, the zero positions of the positioning sleeve 200 and the endoscope 003 are also identified. The zero-position magnetic member 333 may be embedded in the outer wall of the positioning sleeve 200, adhered to the outer wall of the positioning sleeve 200, clamped to the outer wall of the positioning sleeve 200, or the like.

The endoscope locking device 001 uses magnetic force as the driving force for locking and unlocking, the driving force is not generated by mechanical transmission, the complexity of a pure mechanical structure is eliminated, the mechanical part of the endoscope locking device 001 is simpler, the design of a smaller size is realized compared with the pure mechanical structure, the loss of the effective visual distance of the endoscope 003 caused by switching is effectively reduced, the number of parts is greatly reduced, and the reliability of the whole endoscope is improved. And the driving force is not dependent on the transmission of a pure mechanical structure, the application direction of the driving force for locking or unlocking can be consistent with the direction of the motion path of the magnetic lock (the magnetic lock refers to the first magnetic lock 310 or the second magnetic lock 330), no additional component force is generated, the friction force is smaller and the motion is smoother in the locking and unlocking process. And the motor for providing power can use the brushless motor with lower cost, so that the cost is lower.

Referring to fig. 15, the present invention further provides an endoscope 003 adapter, where the endoscope 003 adapter includes the endoscope locking device 001 and a power device 002, and the power device 002 is drivingly connected to the positioning sleeve 200 for driving the positioning sleeve 200 to rotate in a fixed axis. The power unit 002 may take the form of a drive cartridge and may be matched to the form of the endoscope lock 001 and endoscope 003. The connection mode between the power device 002 and the endoscope locking device 001 comprises any one or combination of threaded connection, buckle connection and magnetic attraction connection. The power device 002 may be directly or indirectly connected to the positioning sleeve 200 in a driving manner, for example, the power device 002 includes a first motor, and the power device 002 and the endoscope locking device 001 are provided with a matching motor shaft interface, and the matching of the two motor shaft interfaces enables the torque of the first motor to be input into the endoscope locking device 001, so that the output end of the first motor is connected to the positioning sleeve 200 in a driving manner. Alternatively, the positioning sleeve 200 is provided with a gear portion 230, the driving end of the first motor is in driving engagement with the gear portion 230 through a transmission gear 130, and the transmission gear 130 is rotatably assembled on the base 100. The power device 002 is further provided with an external interface configured to be used for connecting an external device, and the external device may be a surgical robot, a mechanical arm or other medical handle.

With reference to fig. 15, the present invention further provides an endoscope 003 adapter, wherein the endoscope 003 adapter includes the endoscope locking device 001 and a power device 002, and the power device 002 is drivingly connected to the positioning sleeve 200 and the magnet 325 for driving the positioning sleeve 200 and the magnet 325 to rotate in a fixed axis manner, and can separately drive the positioning sleeve 200 or the magnet 325 to rotate in a fixed axis manner. In this embodiment, referring to the endoscope 003 adapter device having one motor, the power device 002 may be directly or indirectly drivingly connected to the positioning sleeve 200, for example, the power device 002 includes a first motor and a second motor, the output end of the first motor is drivingly connected to the positioning sleeve 200, and the output end of the second motor is drivingly connected to the magnet 325. For other structures, reference may be made to the above-mentioned endoscope 003 adapter having one motor, which is not described herein again.

With continued reference to fig. 15, the present invention further provides an endoscope 003 scope holding system, wherein the endoscope 003 scope holding system comprises an endoscope 003 and either the endoscope locking device 001 or the endoscope 003 transfer device. Since the detailed structure, functional principle and technical effects of the adaptor of the endoscope locking device 001 and the endoscope 003 are described in detail in the foregoing, and are not repeated herein, the above descriptions can be referred to for any technical contents related to the adaptor of the endoscope locking device 001 and the endoscope 003. The positioning sleeve 200 on the endoscope locking device 001 or the endoscope 003 conversion device can be detachably connected with the endoscope 003, so that the endoscope 003 can be switched.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An endoscope locking device, comprising:

a base;

2. The endoscopic locking device of claim 1, wherein the magnetic lock controller comprises:

3. The endoscopic locking device according to claim 2, wherein said lock assembly comprises:

4. The endoscopic locking device of claim 3 wherein the lock assembly further comprises:

5. The endoscopic locking device according to claim 4, wherein said lock assembly further comprises:

6. The endoscope locking device of claim 5, wherein the first power source comprises:

the battery is in power supply connection with the electromagnet;

alternatively, the first and second electrodes may be,

7. The endoscopic locking device of claim 2, comprising:

8. The endoscope locking device of claim 7, wherein the guide track is a linear track and is perpendicular to the axis of the positioning sleeve.

9. The endoscopic locking device of claim 2, comprising:

10. The endoscopic locking device of claim 1, wherein the magnetic lock controller comprises:

a second coil wound around the second magnetic locking piece;

11. The endoscope locking device of any one of claims 1-10, wherein the positioning sleeve has a null lock portion thereon configured for locking engagement with the magnetic lock moved to the locked position.

12. The endoscope locking device of claim 11, wherein the alignment sleeve has an annular protrusion thereon, and wherein the null lock portion is located on the annular protrusion.

13. The endoscope locking device of claim 11, wherein the zero position locking portion is a slot, and the magnetic lock has a mating portion thereon configured for mating with the slot; alternatively, the first and second electrodes may be,

14. The endoscope locking device of any one of claims 1-10, wherein the alignment sleeve has a gear portion thereon, and the base has a drive gear rotatably mounted thereon, the drive gear being in meshing engagement with the gear portion, the drive gear being configured to be rotatably driven by a power device to indirectly drive the alignment sleeve to rotate about the axis.

15. The endoscope locking device of claim 14, wherein the gear portion is of annular configuration and fits over the positioning sleeve; alternatively, the gear portion is an integral structure surrounding the outer wall of the positioning sleeve.

16. The endoscope locking device of any of claims 1-10, further comprising:

17. The endoscopic locking device of claim 16, wherein the adapter assembly comprises:

18. The endoscope locking device of claim 17, wherein the side wall of the endoscope bearing cartridge has an adjustment notch, the locking flap being rotatably fitted over the endoscope bearing cartridge;

19. The endoscope locking device of claim 17, wherein the endoscope support barrel is made of a flexible memory material.

20. The endoscopic locking device of claim 17, wherein the adapter assembly further comprises:

21. The endoscope locking device of claim 20, wherein the quick release interface comprises any one or a combination of a snap connection, a threaded connection, and a magnetic connection.

22. The endoscopic locking device of claim 16, further comprising:

23. An endoscope adapter device, comprising:

the endoscope locking device of any of claims 1-5, 7-22;

24. The endoscope adapter of claim 23, wherein the motive device comprises a first motor, an output of the first motor being drivingly connected to the positioning sleeve.

25. The endoscope adapter of claim 24, wherein the alignment sleeve has a gear portion thereon, and the drive end of the first motor is in driving engagement with the gear portion via a drive gear.

26. The endoscope adapter of any one of claims 23-25, wherein the connection between the motive device and the endoscope locking device comprises any one or a combination of a threaded connection, a snap connection, and a magnetically attractive connection.

27. The endoscope adapter of any of claims 23-25, wherein the power device further defines an external interface configured for connection to an external device.

28. An endoscope adapter device, comprising:

the endoscope locking device of claim 6;

29. The endoscope adapter device of claim 28, wherein the motive device comprises a first motor having an output in driving communication with the positioning sleeve and a second motor having an output in driving communication with the magnet.

30. An endoscope holder system, comprising:

an endoscope;

the endoscope locking device of any of claims 1-22; alternatively, the endoscopic adaptor device of any one of claims 23-29.

31. The endoscope system of claim 30, wherein said positioning sleeve is removably coupled to said endoscope.