CN115040056A - Soft endoscope conveying device capable of laterally taking out endoscope body - Google Patents

Abstract

The invention discloses a soft endoscope conveying device capable of laterally taking out an endoscope body, which comprises a main machine body and an executing mechanism, wherein the main machine body is provided with an executing driving mechanism, a rotating body and a rotating driving mechanism, and the executing mechanism is detachably arranged on the rotating body; the interior of the actuating mechanism is provided with a clamping and conveying mechanism, and the actuating driving mechanism is in transmission connection with the clamping and conveying mechanism so as to drive the clamping and conveying mechanism to clamp the soft endoscope and drive the soft endoscope to move back and forth after clamping; the rotary driving mechanism is in transmission connection with the rotating body so as to drive the rotating body and the executing mechanism to rotate, and therefore the soft endoscope is driven to rotate. This conveyor can operate soft scope more nimble, effectively prevents to skid, realizes carrying in succession, reduces the preparation time before the operation, avoids cross contamination, can adapt the soft scope of multiple diameter size, can satisfy medical personnel can take over soft scope rapidly under the special circumstances moreover, carry out the clinical needs of manual relevant operation.

Description

Flexible endoscope conveying device capable of laterally taking out endoscope body

Technical Field

The invention relates to the technical field of medical instruments, in particular to a conveying device of a soft endoscope, which can laterally take out an endoscope body.

Background

Natural cavities such as digestive tracts, respiratory tracts and the like are common parts with good diseases of human beings, and the focus is positioned inside the natural cavity of the human body, so that examination or surgical treatment needs to be carried out through a soft endoscope.

In the traditional soft endoscope examination or operation, the operation process is finished by the actions of matching two hands of a person with an endoscope body, an operation knob, a manual endoscope conveying body and the like; some examinations or operations need to be performed under the guidance of radioactive rays, medical staff need to wear heavy lead protective clothing and the like to manually operate the soft endoscope for a long time, the diagnosis and treatment operation quality, physical strength and health of the medical staff are greatly influenced, and especially the medical staff of the elderly or women with abundant experience are greatly restricted, and even the endoscope is forced to be abandoned.

With the development of the robot auxiliary technology, a doctor can adjust the conveying length and the posture of the soft endoscope by adjusting a handle switch and a button, so that the physical strength and the manual operation fatigue of the doctor can be greatly reduced, the operation requirement of an operation is reduced, the radiation to medical staff is reduced, and meanwhile, the interaction between the medical staff and an image can be improved.

However, the existing soft endoscope conveying device has the problems of inflexible rotation, easy slipping, incapability of continuous conveying and the like during operation, and has the disadvantages of complex structure, large volume, inconvenient installation and replacement and no pollution problem. In addition, when a special condition occurs, the problem that a doctor cannot take over the soft endoscope in time for manual operation exists.

Disclosure of Invention

The invention aims to provide a flexible endoscope conveying device capable of laterally taking out an endoscope body so as to solve the technical problem.

In order to achieve the above object, the present invention provides a flexible endoscope conveying device capable of laterally removing an endoscope body, which comprises a main body and an actuating mechanism located at the front end of the main body. An execution driving mechanism, a rotating body and a rotation driving mechanism are arranged in the main machine body, and the execution mechanism is mounted on the rotating body and can be detached; the interior of the actuating mechanism is provided with a clamping and conveying mechanism, and the actuating driving mechanism is in transmission connection with the clamping and conveying mechanism so as to drive the clamping and conveying mechanism to clamp the soft endoscope and drive the soft endoscope to move back and forth after clamping; the rotary driving mechanism is in transmission connection with the rotating body so as to drive the rotating body and the executing mechanism to rotate, and therefore the soft endoscope is driven to rotate.

Optionally, the execution driving mechanism comprises a clamping driving mechanism and a conveying driving mechanism, the clamping conveying mechanism is provided with a clamping action mechanism, and the clamping driving mechanism is in transmission connection with the clamping action mechanism so as to enable the clamping conveying mechanism to clamp the soft endoscope through the clamping action mechanism; the conveying driving mechanism is in transmission connection with the clamping conveying mechanism so as to drive the clamping conveying mechanism to drive the flexible endoscope to move back and forth.

Optionally, the components inside the main body for the flexible endoscope to pass through are respectively provided with a lateral slot, and the slot is used for taking out the flexible endoscope together with the actuating mechanism from the side of the main body.

Optionally, the rotating body includes a turntable, the rotation driving mechanism includes a rotating motor, and the rotating motor is in transmission connection with the turntable through a rotation transmission mechanism.

Optionally, the rotary transmission mechanism includes a first gear coaxially disposed with the rotary table and connected to each other, through holes for the flexible endoscope to pass through are formed in the middle of the rotary table and the first gear, and an output shaft of the rotary motor is in meshing transmission with the first gear through a second gear.

Optionally, a gear position compensating piece is arranged at the outer end of the first gear at the notch of the first gear, the gear position compensating piece is rotatably mounted on the first gear, a torsion spring is arranged on the rotating shaft, one end of the torsion spring is connected with the first gear, and the other end of the torsion spring is connected with the gear position compensating piece; under the first state, gear filling piece is in the position that shelters from the notch under the effect of torsional spring, and with complete gear is constituteed to first gear, under the second state, gear filling piece overcomes the effort of torsional spring rotates extremely one side of notch, in order to give way the notch.

Optionally, grooves for accommodating the gear compensation pieces are formed in two sides of the notch of the first gear, and the gear compensation pieces are rotatably mounted in the grooves through pin shafts.

Optionally, the first gear is provided with a handle for manually rotating the first gear and the dial to align the slotted openings of the first gear and the dial with the slotted openings of the other component parts.

Optionally, the conveying driving mechanism includes a conveying motor and a conveying transmission shaft, the conveying motor is fixed to the rear side of the first gear along the axial direction, the conveying transmission shaft is rotatably mounted on the turntable along the axial direction, and a rotating shaft of the conveying motor is in transmission connection with the conveying transmission shaft through a transmission member located between the turntable and the first gear;

the clamping driving mechanism comprises a clamping motor and a clamping transmission shaft, the clamping motor is fixed on the rear side of the first gear along the axial direction, the clamping transmission shaft is rotatably arranged on the turntable along the axial direction, and an output shaft of the clamping motor is in transmission connection with the clamping transmission shaft through a transmission part positioned between the turntable and the first gear.

Optionally, the conveying motor is located on the upper portion of the first gear, the clamping motor is located on the lower portion of the first gear, an axially inward concave portion which takes the conveying channel as a center is arranged at the rear end of the main body, and the axially inward concave portion is located in an area between the conveying motor and the clamping motor.

Optionally, the power output end of the execution driving mechanism is connected with the power input end of the clamping and conveying mechanism through an elastic docking mechanism; the elastic butt joint mechanism comprises a spline shaft sleeve, a detection element and a pressure spring, the power input end of the clamping and conveying mechanism and the power output end of the execution driving mechanism are both in a spline structure, and the detection element is arranged on the rotating body; a power output end of the execution driving mechanism is sleeved with a pressure spring and is connected with the spline shaft sleeve through a spline structure, and the pressure spring is positioned between the spline shaft sleeve and the rotating body; the detection element is used for detecting whether the power input end of the clamping and conveying mechanism extrudes the spline shaft sleeve and the pressure spring so as to send a control signal to enable the power output end of the actuating drive mechanism to rotate, and when the spline structure of the power input end of the clamping and conveying mechanism is matched with the spline structure of the spline shaft sleeve, the spline shaft sleeve resets under the action of the pressure spring and is connected with the spline structure of the power input end of the clamping and conveying mechanism.

Optionally, the clamping and conveying mechanism comprises a plurality of crawler mechanisms which are arranged and distributed along the circumferential direction, a conveying channel for the flexible endoscope to pass through is formed between crawler surfaces of the crawler mechanisms, and the front end and the rear end of the actuating mechanism are provided with through holes corresponding to the conveying channel.

Optionally, the crawler comprises a first crawler, a second crawler, and a third crawler; the first crawler mechanism and the second crawler mechanism are located above the conveying channel and are arranged in a bilateral symmetry mode, crawler surfaces of the first crawler mechanism and the second crawler mechanism are inverted V-shaped on the section of the conveying channel, and the third crawler mechanism is located below the conveying channel.

Optionally, the first and second crawler mechanisms are driving crawlers and the third crawler mechanism is a driven crawler; the conveying driving mechanism is in transmission connection with the first crawler mechanism and the second crawler mechanism so as to drive the first crawler mechanism and the second crawler mechanism to operate; the clamping driving mechanism is connected with the third crawler mechanism through the clamping action mechanism so as to drive the third crawler mechanism to move towards or away from the first crawler mechanism and the second crawler mechanism.

Alternatively, the third crawler may be mounted inside the actuator by a structure having a freedom of movement up and down.

Optionally, the clamping action mechanism is a lead screw bevel gear mechanism; the lead screw bevel gear mechanism comprises a bevel gear shaft, a first bevel gear, a second bevel gear, a lead screw sliding block and a driven bracket; the driven support is arranged on the third crawler mechanism, the screw sliding block is connected with the driven support through a concave-convex inserting structure, the screw is vertically arranged on the screw fixing seat, the screw sliding block is arranged on the screw, the first bevel gear is fixed on the screw, the second bevel gear is arranged on a bevel gear shaft, and the first bevel gear is meshed with the second bevel gear.

Optionally, the conveying driving mechanism is in transmission connection with the first crawler mechanism and the second crawler mechanism through a transmission assembly; the transmission assembly comprises a first bevel gear, a second bevel gear, a third bevel gear and a fourth bevel gear, the first bevel gear is mounted on the inner side of the rear end of the actuating mechanism, the second bevel gear and the third bevel gear are coaxially overlapped and are combined gears which are mounted on a track shaft of the first track mechanism, and the fourth bevel gear is mounted on a track shaft of the second track mechanism; the first bevel gear is in meshing transmission with the second bevel gear, and the third bevel gear is in meshing transmission with the fourth bevel gear.

Optionally, the third track mechanism is replaced with a roller mechanism.

Optionally, a rotary supporting mechanism is connected to the rear side of the first gear.

Optionally, the rotary support mechanism is an annular guide rail slider mechanism; the annular guide rail and sliding block mechanism comprises an annular guide rail and a plurality of sliding blocks fixed inside the main machine body, the sliding blocks are distributed along the circumferential direction, two rows of rollers distributed in an arc shape are mounted on each sliding block respectively, and the annular guide rail is connected to the rear side of the first gear and located between the two rows of rollers.

Optionally, the actuating mechanism is connected with the rotating body in a clamping manner through a quick-connection mechanism.

Optionally, the quick-connection mechanism includes a quick-connection joint and a clamping assembly, the quick-connection joint is symmetrically installed at the rear end of the actuator, and the head of the quick-connection joint is provided with a clamping hook; the clamping components are symmetrically arranged on the rotating body, each clamping component comprises a button and a spring, the buttons are arranged on the rotating body through button seats, one end of each spring abuts against the inner end of each button, and the other end of each spring abuts against a spring seat; the button is provided with a wedge-shaped clamping part, and the clamping hook of the quick connector is clamped with the wedge-shaped clamping part.

Optionally, an isolation cleaning mechanism is provided; the isolation cleaning mechanism comprises an isolation sleeve and a cleaning component, the isolation sleeve coaxially penetrates through the soft endoscope through hole, one end of the isolation sleeve is fixed at the rear end of the soft endoscope through hole of the execution mechanism, and the other end of the isolation sleeve is fixed at the rear end of the soft endoscope through hole of the main body; the cleaning assembly comprises a cleaning end and a cleaning end fixing support; the cleaning end is arranged on the fixed support of the cleaning end, and the fixed support of the cleaning end is arranged at the front end of the actuating mechanism, so that the soft endoscope can conveniently penetrate through the cleaning end.

Optionally, further comprising a lubrication device; the lubricating device comprises a lubricating ring, a connecting pipe and a lubricating and filling module, wherein the lubricating ring is of a hollow structure, lubricating holes distributed along the circumferential direction are formed in the inner surface of the lubricating ring, the lubricating ring is installed at the front end of the cleaning component, the lubricating and filling module is installed on the first shell, and the lubricant output end of the lubricating ring is connected with the lubricating ring through the connecting pipe.

Optionally, the lubrication filling module includes a lubricant syringe, a lead screw slider, and a lubricant input motor, the lead screw slider is engaged with the lead screw and connected to a plunger push rod of the lubricant syringe, and the lubricant input motor is in transmission connection with the lead screw through a gear.

Optionally, an instrument recognition circuit and a mechanical installation confirmation circuit are further arranged;

the instrument identification circuit comprises an electronic tag and a reader-writer, the electronic tag is fixed on the shell of the actuating mechanism, and the reader-writer is fixed on the rotating body; the mechanical installation confirming circuit comprises an induction head and a sensor, wherein the induction head is installed on the execution mechanism, and the sensor is installed on the execution driving mechanism.

Optionally, a pressure sensor, a six-dimensional force sensor and a conveying length sensing mechanism are further arranged;

the pressure sensor is arranged on the third crawler mechanism or the roller mechanism to detect the clamping force applied to the soft endoscope by the pressure sensor;

the six-dimensional force sensor is arranged between the conveying device and the mechanical arm for placing the conveying device and is used for detecting the resistance force applied to the front end of the soft endoscope;

the conveying length sensing mechanism comprises a magnetic encoder, a magnetic ring and a magnetic encoder fixing support, the magnetic ring is fixed on a rotating shaft of the third crawler belt mechanism or the roller mechanism, the magnetic encoder is fixed on the magnetic encoder fixing support, the magnetic encoder fixing support is connected to the third crawler belt mechanism or the roller mechanism, when the third crawler belt mechanism or the roller mechanism runs, the magnetic ring is driven to rotate, and the output length is measured by the magnetic encoder according to the rotating speed.

The soft endoscope conveying device provided by the invention at least has the following beneficial effects:

1) can realize pressing from both sides tight then the function of carrying through actuating mechanism soft scope, can realize making soft scope carry out the function of rotation through rotator and rotary driving mechanism, when operating, soft scope can carry alone, also can rotate alone, can also rotate when carrying the motion to can operate soft scope more in a flexible way, carry more refined action.

2) Because the clamping and conveying mechanism in the actuating mechanism has the function of clamping the soft endoscope, the friction force can be increased, thereby effectively preventing the soft endoscope from slipping during conveying movement and realizing continuous conveying.

3) Adopt the modularized design, actuating mechanism detachably installs in the rotator, can independently install and dismantle, can demolish fast after the operation, and the actuating mechanism butt joint of renewing is used again, greatly reduced the preparation time before the operation, can effectively avoid cross contamination.

4) The actuating mechanism is independently arranged at the front end of the main machine body, so that the flexible endoscope is compact in structure, small in size, light in weight, convenient and quick to install and replace, and can be adapted to flexible endoscopes with various diameters.

In a preferred embodiment, the flexible endoscope is provided with a lateral removal function by designing a lateral notch in a component part inside the main body through which the flexible endoscope passes. When emergency happens, an operator can rapidly take the soft endoscope out together with the actuating mechanism along the slotted opening, and can completely take the soft endoscope out after the actuating mechanism is decomposed, so that the soft endoscope is switched into a manual operation mode.

Drawings

Fig. 1 is a schematic overall structure diagram of a flexible endoscope delivery device according to an embodiment of the present invention;

fig. 2 is a front view of the flexible endoscope delivery device shown in fig. 1;

FIG. 3 is a schematic side view of the flexible endoscope delivery device shown in FIG. 1 after the main body housing is removed;

FIG. 4 is an isometric view of the actuator;

FIG. 5 is a schematic view of the internal structure of the actuator shown in FIG. 4;

FIG. 6 is an isometric view of the actuator of FIG. 5;

FIG. 7 is an exploded view of the actuator housing;

FIG. 8 is a schematic view of the structure of the clamping mechanism;

FIG. 9 is a schematic view of the clamping mechanism from another perspective;

FIG. 10 is a schematic structural view of a first track mechanism;

FIG. 11 is an exploded view of the roller mechanism;

FIG. 12 is a schematic view of the transmission of the conveying motor and the clamping motor;

FIG. 13 is a schematic structural view of components inside the main body provided with lateral notches;

FIG. 14 is a schematic structural view of a circular guide slider mechanism;

FIG. 15 is a schematic view of the construction of the split self-lubricating collar;

FIG. 16 is a schematic view of an actuator with an isolation sleeve;

FIG. 17 is a schematic view of a cleaning assembly;

FIG. 18 is a schematic structural view of the rear end of the actuator being coupled to the turntable by the quick-connect mechanism;

FIG. 19 is a schematic structural view of the rear end of the actuator with a quick connect coupling;

FIG. 20 is a schematic structural view of the turntable with a clamping assembly;

FIG. 21 is a schematic structural view of the elastic docking mechanism;

FIG. 22 is an isometric view of the resilient docking mechanism of FIG. 21;

FIG. 23 is a schematic structural view of a gear position compensating member disposed at an outer end of the notch of the first gear;

FIG. 24 is a schematic view of the gear member of FIG. 23 in an open position;

FIG. 25 is a schematic view of the flexible endoscope with the actuator removed from the lateral slit;

FIG. 26 is a schematic view of the flexible endoscope shown in an exploded configuration with the actuator fully removed;

FIG. 27 is a schematic view of the structure of the lubricating device;

fig. 28 is a schematic view of the mounting structure of the conveyance length sensing mechanism.

In the figure:

concave part-110 of main body-100

Actuator-200 isolation sleeve-210 cleaning component-220 cleaning end-221 cleaning end fixed support-222 quick joint-230 hook-231 clamping rebound component-240 button-241 spring-242 button seat-243 spring seat-244 wedge clamping part-245 lubricating device-250 lubricating ring-251 connecting pipe-252 lubricating filling module-253 lubricant syringe-2531 lead screw-2532 lead screw slide-2533 lubricant input motor-2534 knob device-260

Executing driving mechanism-300 conveying motor-311 conveying transmission shaft-312 clamping motor-313 clamping transmission shaft-314

Turntable-400 spline shaft sleeve-410 detection element-420 pressure spring-430

Rotation driving mechanism-500 rotating motor-510 first gear-520 gear position compensating piece-521 groove-522 pin shaft-523 torsional spring-524 second gear-530

Gripper conveyor-600 first crawler-610 synchronous pulley-611 synchronous belt-612 track cover-613 track shaft-614 second crawler-620 roller mechanism-630

Transmission assembly-700 first bevel gear-710 second bevel gear-720 third bevel gear-730 fourth bevel gear-740

Screw bevel gear mechanism-800 first clamping bevel gear-810 second bevel gear-820 screw-830 screw slider-840 driven bracket-850 bevel gear shaft-860 tension spring-870

Annular guide rail sliding block mechanism-900 annular guide rail-910 sliding block-920 roller-930 opening self-lubricating shaft collar-940 opening self-lubricating shaft sleeve base-950

The pressure sensor-1001 delivers a length sensing mechanism-1002.

Detailed Description

In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

In this specification, terms such as "upper, lower, inner, and outer" are established based on positional relationships shown in the drawings, and the corresponding positional relationships may vary depending on the drawings, and therefore, the terms are not to be construed as absolutely limiting the scope of protection; moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.

Referring to fig. 1 to 3, fig. 1 is a schematic overall structure diagram of a flexible endoscope delivery device according to an embodiment of the present invention; fig. 2 is a front view of the flexible endoscope delivery device shown in fig. 1; fig. 3 is a side view of the flexible endoscope delivery device shown in fig. 1 after the main body housing is removed.

In a specific embodiment, the flexible endoscope conveying device provided by the invention is used for completing the flexible endoscope operation of the natural orifice of the human body in the endoscopic examination or treatment process, and mainly comprises a main body 100 and an actuating mechanism 200 positioned at the front end of the main body 100, wherein the main body 100 is internally provided with the actuating mechanism 300, a turntable 400 and a rotary actuating mechanism 500, the turntable 400 is a rotating body, the actuating mechanism 200 is detachably arranged at the front side of the turntable 400, the actuating mechanism 200 is internally provided with a clamping conveying mechanism 600, the clamping conveying mechanism 600 can clamp the flexible endoscope and drive the flexible endoscope to move after clamping, so as to convey the flexible endoscope forwards or backwards, the rotary actuating mechanism 500 is in transmission connection with the turntable 400 so as to drive the turntable 400 and the actuating mechanism 200 on the turntable to rotate together, so as to drive the flexible endoscope to rotate, and the applicable flexible endoscope comprises but is not limited to gastrointestinal endoscope, Pancreaticobiliary tract, trachea and urinary tract endoscopes.

Referring to fig. 4 to 6, fig. 4 is an isometric view of an actuator; FIG. 5 is a schematic view of the internal structure of the actuator shown in FIG. 4; fig. 6 is an isometric view of the actuator of fig. 5.

The clamping and conveying mechanism 600 inside the executing mechanism 200 is mainly composed of two crawler mechanisms and a roller mechanism which are arranged and distributed along the circumferential direction, a conveying channel for the soft endoscope to pass through is formed between the crawler surfaces of the two crawler mechanisms and the roller of the roller mechanism, and through holes corresponding to the conveying channel are arranged at the front end and the rear end of the executing mechanism 200 so as to pass through the soft endoscope.

Specifically, the two crawler mechanisms are respectively a first crawler mechanism 610 and a second crawler mechanism 620, the first crawler mechanism 610 and the second crawler mechanism 620 are located above the conveying channel and are arranged in a bilateral symmetry manner, the crawler surfaces of the first crawler mechanism 610 and the second crawler mechanism 620 are in an inverted "V" shape on the cross section of the conveying channel, and the roller mechanism 630 is located below the conveying channel.

The conveying driving mechanism is in driving connection with the first crawler 610 and the second crawler 620 through the driving assembly 700 to drive the first crawler 610 and the second crawler 620 to run, the tracks of the first crawler 610 and the second crawler 620 are driving tracks, and the roller mechanism 630 is driven by the first crawler 610 and the second crawler 620.

The transmission assembly 700 mainly comprises a first bevel gear 710, a second bevel gear 720, a third bevel gear 730 and a fourth bevel gear 740, wherein the first bevel gear 710 is mounted on the inner side of the rear end of the actuator 200 through a bearing, the second bevel gear 720 and the third bevel gear 730 are coaxially overlapped and are combined gears which are mounted on a track shaft of the first track mechanism 610, and the fourth bevel gear 740 is mounted on a track shaft of the second track mechanism 620; the first bevel gear 710 is in mesh transmission with the second bevel gear 720, and the third bevel gear 730 is in mesh transmission with the fourth bevel gear 740.

When the first bevel gear 710 rotates, the third bevel gear 730 and the fourth bevel gear 740 can be driven to rotate at the same time, so that the first crawler 610 and the second crawler 620 are driven to operate, and the conveying of the soft endoscope is realized.

Of course, a third crawler may be used instead of the roller 630, and the number of the crawler may be three or four, where the number is not limited, and meanwhile, the angle of intersection of the bevel gears may be 90 °, 60 °, or other degrees, where the number of the angle of intersection is not limited.

The first crawler unit 610 and the second crawler unit 620 are mounted in the actuator 200 through their crawler shafts, and the roller unit 630 is mounted inside the actuator through a gripping mechanism, which has a degree of freedom to move up and down, and can perform a function of gripping or loosening the soft endoscope by moving up and down.

Referring to fig. 7, fig. 7 is an exploded view of the housing of the actuator.

The casing of the actuator 200 is a vertically split structure, the upper casing and the lower casing are connected by a knob device 260, the upper casing and the lower casing can be quickly locked or disassembled by rotating the knob device 260, the first crawler unit 610 and the second crawler unit 620 are mounted on the upper casing, the roller mechanism 630 is mounted on the lower casing, and the actuator 200 can be quickly removed from the soft endoscope after the casing of the actuator 200 is disassembled by operating the knob device 260.

Of course, the upper housing and the lower housing of the actuator 200 can be locked or unlocked by other methods, not limited to the knob device 260.

Referring to fig. 8 and 9, fig. 8 is a schematic structural view of the clamping mechanism; fig. 9 is a schematic structural view of the clamping mechanism from another view angle.

The bottom of the roller mechanism 630 is provided with a clamping mechanism, which in this embodiment is a lead screw bevel gear mechanism 800.

The lead screw bevel gear mechanism 800 is mainly composed of a first clamping bevel gear 810, a second bevel gear 820, a lead screw 830, a lead screw slider 840 and a driven support 850, the driven support 850 is installed on the roller mechanism 630, the lead screw slider 840 is connected with the driven support 850 through a concave-convex insertion structure, the lead screw 830 is vertically installed on a lead screw fixing seat, the lead screw slider 840 is installed on the lead screw 830, the first clamping bevel gear 810 is fixed on the lead screw 830, the second clamping bevel gear 820 is installed on a bevel gear shaft 860, the first bevel gear 810 and the second bevel gear 820 are meshed with each other, the roller mechanism 630 is driven to move up and down in a reciprocating mode, and therefore clamping and loosening of the soft endoscope are achieved.

To facilitate the proper reset of the driven bracket 850, a tension spring 870 may be provided at both sides of the driven bracket 850.

Referring to fig. 10 and 11, fig. 10 is a schematic structural view of a first crawler; fig. 11 is a schematic structural diagram of the roller mechanism.

The first crawler belt unit 610 and the second crawler belt unit 620 have substantially the same structure, and taking the first crawler belt unit 610 as an example, the first crawler belt unit mainly includes a pair of synchronous pulleys 611, a synchronous belt 612, and a crawler belt cover 613, the synchronous pulleys 611 are mounted on a crawler belt shaft 614, the synchronous belt 612 is mounted on the two synchronous pulleys 611, the crawler belt cover 613 is mounted on both sides of the synchronous pulleys 611 through bearings, and the crawler belt covers 613 on both sides of the synchronous pulleys 611 are connected and fixed through bolts.

Referring to fig. 12 and 13, fig. 12 is a schematic transmission diagram of a conveying motor and a clamping motor; fig. 13 is a schematic structural view of components in the main body provided with lateral notches.

The rotating motor 510 of the rotation driving mechanism 500 is installed inside the main body 100 through a bracket, and the rotating motor 510 is in transmission connection with the turntable 400 through a rotation transmission mechanism.

Specifically, the rotary transmission mechanism mainly comprises a first gear 520 and a second gear 530, the first gear 520 and the rotary table 400 are coaxially arranged and are connected with each other through an axial connecting column and the rotary table 400, an output shaft of the rotary motor 510 is in meshing transmission with the first gear 520 through the second gear 530, and through holes for the soft endoscope to pass through are formed in the middle parts of the rotary table 400 and the first gear 520.

The actuating drive mechanism 300 is divided into a clamping drive mechanism and a conveying drive mechanism, both of which are mounted on the first gear 520.

The conveying motor 311 of the conveying driving mechanism is fixed at the rear side of the first gear 520 along the axial direction, the conveying transmission shaft 312 is rotatably installed on the turntable 400 along the axial direction, and the rotating shaft of the conveying motor 311 is in transmission connection with the conveying transmission shaft 312 through a belt wheel mechanism located between the turntable 400 and the first gear 520.

The clamping motor 313 of the clamping driving mechanism is fixed at the rear side of the first gear 520 along the axial direction, the clamping transmission shaft 314 is rotatably mounted on the rotating disc 400 along the axial direction, and the output shaft of the clamping motor 313 and the clamping transmission shaft 314 are in transmission connection through the gear between the rotating disc 400 and the first gear 520.

Of course, in other embodiments, the transmission between the conveying motor 311 and the conveying transmission shaft 312 and between the clamping motor 313 and the clamping transmission shaft 314 can be performed in other manners.

The conveying motor 311 is located at an upper portion of the first gear 520, the clamping motor 313 is located at a lower portion of the first gear 520, the main body 100 is provided at a rear end thereof with an axially recessed portion 110 centering on the conveying path, and the axially recessed portion 110 is located in a region between the conveying motor 311 and the clamping motor 313. The axial concave part 110 is formed by the area between the conveying motor 311 and the clamping motor 313, so that the operating handle at the tail of the soft endoscope is abutted to the area, the soft endoscope is conveyed forwards as far as possible, and the loss of the soft endoscope is reduced.

Referring to fig. 14 and 15, fig. 14 is a schematic structural view of the circular guide rail slider mechanism; fig. 15 is a schematic view of the structure of the split self-lubricating collar.

In order to ensure the stability of the rotation, a rotation support mechanism is further provided at the rear side of the first gear 520. The rotation support mechanism in this embodiment is an annular guide rail slider mechanism 900, which mainly comprises an annular guide rail 910 and three sliders 920 fixed inside the main body 100, wherein the sliders 920 are distributed along a circumferential direction, each slider 920 is respectively provided with four U-shaped rollers 930, the four rollers 930 are distributed on the slider 920 in two rows in an arc shape, and the annular guide rail 910 is connected to the rear side of the first gear 520 and is located between the two rows of rollers 930.

When the output shaft of the rotating motor 510 rotates, the second gear 530 fixed on the output shaft of the motor is driven to rotate, so as to drive the first gear 520 to rotate, and the first gear 520 drives the annular guide 910 to roll between the two rows of U-shaped rollers 930 while driving the turntable 400 to rotate together.

The roller 930 may be a U-shaped roller, a V-shaped roller, or other shapes, and the shape of the roller is not limited herein.

Of course, the rotation support mechanism may be a circular guide rail slider mechanism 900, a bearing mechanism, or other structures, which is not limited herein. As shown in fig. 15, the rotary supporting mechanism adopts an opening self-lubricating collar 940, the opening self-lubricating collar 940 is rotatably installed on an opening self-lubricating shaft sleeve base 950, the opening self-lubricating shaft sleeve base 950 is connected with the housing of the main body 100, the opening self-lubricating collar 940 is fixedly connected with the first gear 520, the rotary supporting function can be realized, moreover, the opening self-lubricating collar 940 is provided with a notch, and the soft endoscope can be taken out from the side.

Referring to fig. 16 and 17, fig. 16 is a schematic structural view of an actuator with an isolation sleeve; fig. 17 is a schematic structural view of a cleaning assembly.

Considering that the soft endoscope can be contaminated by body fluid or human tissues in the using process, in order to keep the equipment clean and avoid cross infection, an isolation cleaning mechanism is further arranged.

The isolation cleaning mechanism mainly comprises an isolation sleeve 210 and a cleaning component 220, wherein the isolation sleeve 210 coaxially penetrates through the flexible endoscope passage hole, one end of the isolation sleeve is fixed at the rear end of the execution mechanism 200, the other end of the isolation sleeve extends to the rear end of the main body 100, the isolation sleeve can be detached and installed together with the execution mechanism 200, and the isolation sleeve 110 can be an isolation corrugated pipe or an isolation plastic film, which is not limited herein.

The cleaning assembly 220 mainly comprises a cleaning end 221 and a cleaning end fixing support 222, wherein the cleaning end 221 is arranged on the cleaning end fixing support 222 which can be a cotton ball, a cleaning brush or a cleaning bag, and the like, and the cleaning end fixing support 222 is arranged at the front end of the executing mechanism 200 so that the soft endoscope can pass through the cleaning end to achieve the purpose of cleaning.

Thus, in the using process, the soft endoscope contaminated by body fluid or human tissue only contacts with the actuating mechanism 200 and does not contact with other components except the actuating mechanism 200, and the actuating mechanism 200 can be detached and replaced after being used, so that the pollution can be well avoided.

Referring to fig. 18, 19 and 20, fig. 18 is a schematic structural view illustrating the rear end of the actuator being coupled to the turntable by the quick-connect mechanism; FIG. 19 is a schematic structural view of the rear end of the actuator with a quick connect coupling; FIG. 20 is a schematic view of the structure of the turntable with a clamping assembly.

The actuator 200 is connected with the turntable 400 in a clamping manner through a quick connection mechanism, the quick connection mechanism consists of a quick connection joint knob and a clamping rebounding assembly 240, the quick connection joints 230 are symmetrically arranged at the rear end of the actuator 200, and the heads of the quick connection joints are provided with clamping hooks 231; the clamping and rebounding assemblies 240 are symmetrically arranged on the turntable 400, each clamping and rebounding assembly 240 comprises a button 241 and a spring 242, the button 241 is arranged on the turntable 400 through a button seat 243, one end of the spring 242 abuts against the inner end of the button 241, and the other end abuts against a spring seat 244; the inner end of the button 241 is provided with a wedge-shaped clamping part 245, and the outer end of the button 241 is a pressing operation end.

When the actuator 200 is connected to the main body 100, the hook 231 of the quick connector 230 presses the button 241 through the wedge-shaped engaging portion 245, so that the button 241 moves outward against the spring force, and after the hook 231 passes over the wedge-shaped engaging portion 245, the button 241 returns rapidly under the action of the spring force, so that the hook 231 and the wedge-shaped engaging portion 245 are engaged with each other, and the actuator 200 is fixed to the front side of the turntable 400.

When the actuator needs to be removed, the locking can be released only by pushing the button 241 from the outer end thereof, so that the hook 231 of the quick connector 230 and the wedge-shaped clamping portion 245 are separated from each other, and then the actuator 200 can be removed.

Of course, the quick-connect mechanism 200 may be of other forms, such as locking onto the dial 400 when the actuator 200 is inserted inwardly, the actuator 200 springing outwardly when the actuator 200 is pressed inwardly again, and so forth.

Referring to fig. 21 and 22, fig. 21 is a schematic structural view of the elastic docking mechanism; fig. 22 is an isometric view of the resilient docking mechanism of fig. 21.

The conveying transmission shaft 312 is butted with a rotating shaft of the first bevel gear 710 through an elastic butting mechanism, the clamping transmission shaft 314 is butted with the bevel gear shaft 860 through an elastic butting mechanism, the elastic butting mechanisms of the conveying transmission shaft 312 and the bevel gear shaft 860 have the same structure, and the structure of the conveying transmission shaft 312 is further described below by taking the elastic butting mechanism as an example.

The elastic docking mechanism mainly comprises a spline shaft sleeve 410, a detection element 420 and a pressure spring 430, wherein the docking end of the rotating shaft of the first bevel gear 710 and the docking end of the conveying transmission shaft 312 are both in an external spline structure, the detection element 420 can adopt a micro switch or a proximity sensor and is arranged on the rotary table 400, the pressure spring 430 is sleeved on the docking end of the conveying transmission shaft 312 and is connected with the spline shaft sleeve 410 through the spline structure, the pressure spring 430 is positioned between the spline shaft sleeve 410 and the rotary table 400, one end of the pressure spring is fixed on the rotary table 400, and the other end of the pressure spring is in contact with the spline shaft sleeve 410.

When the actuating mechanism 200 is installed on the rotating disc 400 through the quick-connection mechanism, the rotating shaft of the first bevel gear 710 extrudes the spline shaft sleeve 410 to move backwards, the pressure spring 430 is extruded, the spline shaft sleeve 410 is T-shaped, the detection element 420 can be triggered through the edge, a control signal is sent by the detection element 420, the conveying motor 311 starts to rotate, so that the conveying transmission shaft 312 is driven to rotate, meanwhile, the spline shaft sleeve 410 also rotates together, when the spline structure of the spline shaft sleeve 410 is matched with the spline structure of the rotating shaft of the first bevel gear 710, the spline shaft sleeve 410 moves forwards under the pressure of the pressure spring 430 and is sleeved on the spline structure of the rotating shaft of the first bevel gear 710, and therefore elastic butt joint of the transmission shaft is achieved. At this point, the spline housing 410 no longer triggers the sensing element 420 and the resilient mating is complete.

Referring to fig. 23 and 24, fig. 23 is a schematic structural view of a gear position-compensating member disposed at an outer end of a notch of a first gear; fig. 24 is a schematic view of the gear shifting member of fig. 23 in an open position.

The components of the turntable 400, the first gear 520, and the ring rail 910, which are used for the flexible endoscope to pass through, inside the main body 100 are respectively provided with lateral slots, which are used for taking out the flexible endoscope from the side of the main body 100 together with the actuator 200.

The first gear 520 is provided with a gear position-compensating piece 521 at the outer end of the slotted opening, the first gear 520 is provided with grooves 522 for accommodating the gear position-compensating piece 521 at two sides of the slotted opening, the gear position-compensating piece 521 is rotatably mounted in the grooves 522 through a pin 523, a torsion spring 524 is arranged on a rotating shaft, one end of the torsion spring 524 is connected with the first gear 520, and the other end of the torsion spring is connected with the gear position-compensating piece 521; in the first state, the gear repositioning part 521 is located at a position for shielding the slot under the action of the torsion spring 524, and partially overlaps with the first gear 520, and is used for compensating the missing part of the first gear 520 due to the slot to form a complete gear together with the first gear 520, and in the second state, the gear repositioning part 521 rotates to one side of the slot against the action force of the torsion spring 524 to open the slot.

The first gear 520 may be provided with a handle to manually rotate the first gear and 520 the dial 400 via the handle to align the slotted openings of the first gear 520 and the dial 400 with the slotted openings of the other components.

In case of emergency, after detaching the housing of the main body 100, the physician opens the housing of the main body 100, for example, in a turning manner, and then operates the first gear 520 through the handle to align the slots of all the components, so that the flexible endoscope can be quickly taken out along the slots together with the actuator 200 (see fig. 25), and after disassembling the actuator 200, the flexible endoscope can be completely taken out and switched to the manual operation mode (see fig. 26).

Referring to fig. 1 and 27, fig. 1 is a schematic overall structure diagram of a flexible endoscope delivery device according to an embodiment of the present invention; fig. 27 is a schematic structural view of the lubricating device.

The lubricating device 250 comprises a lubricating ring 251, a connecting pipe 252 and a lubricating and filling module 253, wherein the lubricating ring 251 is of a hollow structure, lubricating holes distributed along the circumferential direction are formed in the inner surface of the lubricating ring 251, a conical shell is arranged on the periphery of the cleaning component 220, the lubricating ring 251 is installed at the front end of the conical shell of the cleaning component 220, the lubricating and filling module 253 is installed at the top of the actuating mechanism 200, and the lubricant output end of the lubricating ring 253 is connected with the lubricating ring 251 through a connecting pipe 252.

The lubrication filling module 253 comprises a lubricant syringe 2531, a lead screw 2532, a lead screw slider 2533 and a lubricant input motor 2534, wherein the lead screw slider 2533 is matched with the lead screw 2532 and is connected to a syringe plug push rod of the lubricant syringe 2531, and the lubricant input motor 2534 is in transmission connection with the lead screw 2532 through a gear.

In this embodiment, the delivery device is further provided with an instrument recognition circuit, a mechanical installation confirmation circuit, a pressure sensor 1001, a six-dimensional force sensor and a delivery length sensing mechanism 1002, so as to provide various information for a doctor and facilitate the operation of the doctor.

The instrument recognition circuit comprises an electronic tag and a reader-writer, wherein the electronic tag is fixed on the shell of the execution mechanism 200, and the reader-writer is fixed on the turntable 400; the mechanical mounting confirmation circuit includes an inductive head mounted on the actuator 200 and a sensor mounted on the drive mechanism.

The pressure sensor 1001 may be disposed between the cover plate of the roller mechanism 630 and the driven bracket 850, and the pressure sensor 1001 may measure a clamping force of the soft endoscope when the roller mechanism 630 moves upward to clamp the soft endoscope.

The six-dimensional force sensor is arranged between the conveying device and the mechanical arm for placing the conveying device and used for detecting the resistance force applied to the front end of the soft endoscope.

As shown in fig. 28, the conveying length sensing mechanism 1002 includes a magnetic encoder, a magnetic ring, and a magnetic encoder fixing bracket, the magnetic ring is fixed at one end of a rotating shaft of one of the rollers of the roller mechanism 630, the magnetic encoder is fixed on the magnetic encoder fixing bracket, the magnetic encoder fixing bracket is fixed on a cover plate of the roller mechanism 630, when the soft endoscope outputs, the roller of the roller mechanism 630 drives the magnetic ring to rotate, and when the soft endoscope outputs, the magnetic encoder can measure the output length according to the rotating speed.

After the actuating mechanism 200 is mounted on the rotary table 400 through axial butt joint, the instrument identification circuit starts to identify, the mechanical identification circuit ensures that the actuating mechanism is mounted in place, then, medical personnel place the soft endoscope in the conveying device through a soft endoscope channel, the clamping motor 313 is started, the rotation of the output shaft of the clamping motor 313 drives the roller mechanism 630 to move upwards, when the soft endoscope starts to be clamped, the pressure sensor 1001 can transmit a pressure value in real time, when a certain value is reached, the soft endoscope is judged to be clamped, the clamping motor 313 stops working and stops at the current position, at the moment, the conveying motor 311 is started, the conveying motor 311 drives the tracks of the first track mechanism 610 and the second track mechanism 620 to rotate, at the moment, the soft endoscope which is in close contact with the tracks starts to move forwards under the action of friction force, and when the soft endoscope moves forwards, the roller mechanism 630 is also driven to rotate, at the moment, the encoder magnetic ring also rotates along with the encoder magnetic ring, and the encoder outputs the real-time soft endoscope conveying length according to the rotating speed and time.

When soft scope is at human natural chamber way motion, the resistance that soft scope front end received can transmit conveyor on through soft scope, conveyor and the six position force sensor in the middle of installation conveyor's the robotic arm can be in real time with soft scope front end resistance real-time output, when soft scope is at human natural chamber way inspection, more comprehensive for the observation, rotating electrical machines 510 starts, it is rotatory with actuating mechanism 200 to drive carousel 400 by rotating electrical machines 510, thereby it is rotatory to drive soft scope, after the inspection, conveying electrical machines 311 reverses, it returns to drive soft scope.

The flexible endoscope conveying device provided by the invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the core concepts of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (27)

1. A flexible endoscope conveying device capable of laterally taking out an endoscope body is characterized by comprising a main machine body and an executing mechanism positioned at the front end of the main machine body, wherein the inside of the main machine body is provided with an executing driving mechanism, a rotating body and a rotating driving mechanism, and the executing mechanism is detachably arranged on the rotating body; the interior of the actuating mechanism is provided with a clamping and conveying mechanism, and the actuating driving mechanism is in transmission connection with the clamping and conveying mechanism so as to drive the clamping and conveying mechanism to clamp the soft endoscope and drive the soft endoscope to move back and forth after clamping; the rotary driving mechanism is in transmission connection with the rotating body so as to drive the rotating body and the executing mechanism to rotate, and therefore the soft endoscope is driven to rotate.

2. The soft endoscope conveying device capable of laterally taking out the endoscope body according to claim 1, wherein the actuating driving mechanism comprises a clamping driving mechanism and a conveying driving mechanism, the clamping driving mechanism is provided with a clamping action mechanism, and the clamping driving mechanism is in transmission connection with the clamping action mechanism so as to enable the clamping conveying mechanism to clamp the soft endoscope through the clamping action mechanism; the conveying driving mechanism is in transmission connection with the clamping conveying mechanism so as to drive the clamping conveying mechanism to drive the flexible endoscope to move back and forth.

3. The flexible endoscope conveying device capable of laterally taking out the endoscope body according to claim 2, wherein the components inside the main body for the flexible endoscope to pass through are respectively provided with lateral notches, and the lateral notches are used for taking out the flexible endoscope together with the actuating mechanism from the side of the main body.

4. The flexible endoscope delivery device capable of laterally taking out the endoscope body according to the claim 3, wherein the rotating body comprises a turntable, the rotation driving mechanism comprises a rotation motor, and the rotation motor is in transmission connection with the turntable through a rotation transmission mechanism.

5. The soft endoscope conveying device capable of laterally taking out an endoscope body according to claim 4, wherein the rotation transmission mechanism comprises a first gear coaxially arranged with the turntable and connected with the turntable, through holes for the soft endoscope to pass through are formed in the middle of the turntable and the first gear, and an output shaft of the rotation motor is in meshing transmission with the first gear through a second gear.

6. The flexible endoscope conveying device capable of laterally taking out the endoscope body according to claim 5, wherein the first gear is provided with a gear position-supplementing piece at the outer end of the notch thereof, the gear position-supplementing piece is rotatably mounted on the first gear, a torsion spring is arranged on the rotating shaft, one end of the torsion spring is connected with the first gear, and the other end of the torsion spring is connected with the gear position-supplementing piece; under the first state, gear filling piece is in the position that shelters from the notch under the effect of torsional spring, and with complete gear is constituteed to first gear, under the second state, gear filling piece overcomes the effort of torsional spring rotates extremely one side of notch, in order to give way the notch.

7. The flexible endoscope conveying device capable of laterally taking out the endoscope body according to the claim 6, wherein the two sides of the notch of the first gear are provided with grooves for accommodating the gear position compensation piece, and the gear position compensation piece is rotatably installed in the grooves through a pin shaft.

8. The flexible endoscope delivery device capable of laterally withdrawing the endoscope body according to claim 7, wherein said first gear is provided with a handle for manually rotating said first gear and dial to align the slotted openings of said first gear and dial with the slotted openings of the other constituent members.

9. The conveying device for a soft endoscope capable of laterally taking out an endoscope body according to claim 4, characterized in that the conveying driving mechanism comprises a conveying motor and a conveying transmission shaft, the conveying motor is fixed at the rear side of the first gear along the axial direction, the conveying transmission shaft is rotatably mounted on the rotary table along the axial direction, and a rotating shaft of the conveying motor is in transmission connection with the conveying transmission shaft through a transmission member positioned between the rotary table and the first gear;

the clamping driving mechanism comprises a clamping motor and a clamping transmission shaft, the clamping motor is fixed on the rear side of the first gear along the axial direction, the clamping transmission shaft is rotatably arranged on the turntable along the axial direction, and an output shaft of the clamping motor is in transmission connection with the clamping transmission shaft through a transmission part positioned between the turntable and the first gear.

10. The feeding device for a flexible endoscope capable of laterally taking out an endoscope body according to claim 9, wherein said feeding motor is disposed at an upper portion of said first gear, said clamping motor is disposed at a lower portion of said first gear, said main body is provided at a rear end thereof with an axially recessed portion centered on a feeding passage, said axially recessed portion being disposed in a region between said feeding motor and said clamping motor.

11. The soft endoscope conveying device capable of laterally taking out the endoscope body according to any one of claims 1 to 10, wherein the power output end of the actuating driving mechanism and the power input end of the clamping conveying mechanism are connected through an elastic docking mechanism; the elastic butt joint mechanism comprises a spline shaft sleeve, a detection element and a pressure spring, the power input end of the clamping and conveying mechanism and the power output end of the execution driving mechanism are both in a spline structure, and the detection element is arranged on the rotating body; a power output end of the execution driving mechanism is sleeved with a pressure spring and is connected with the spline shaft sleeve through a spline structure, and the pressure spring is positioned between the spline shaft sleeve and the rotating body; the detection element is used for detecting whether the power input end of the clamping and conveying mechanism extrudes the spline shaft sleeve and the pressure spring so as to send a control signal to enable the power output end of the actuating drive mechanism to rotate, and when the spline structure of the power input end of the clamping and conveying mechanism is matched with the spline structure of the spline shaft sleeve, the spline shaft sleeve resets under the action of the pressure spring and is connected with the spline structure of the power input end of the clamping and conveying mechanism.

12. The conveying device for the soft endoscope capable of laterally taking out the endoscope body according to claim 2, wherein the clamping and conveying mechanism comprises a plurality of track mechanisms which are arranged and distributed along the circumferential direction, a conveying channel for the soft endoscope to pass through is formed between track surfaces of the track mechanisms, and the actuating mechanism is provided with through holes corresponding to the conveying channel at the front end and the rear end of the actuating mechanism.

13. The flexible endoscope delivery device capable of laterally withdrawing an endoscope body according to claim 12, wherein said crawler comprises a first crawler, a second crawler and a third crawler; the first crawler mechanism and the second crawler mechanism are located above the conveying channel and are arranged in a bilateral symmetry mode, crawler surfaces of the first crawler mechanism and the second crawler mechanism are inverted V-shaped on the section of the conveying channel, and the third crawler mechanism is located below the conveying channel.

14. The flexible endoscope delivery device capable of laterally withdrawing an endoscope body according to claim 13, wherein said first and second crawler mechanisms are driving crawler belts, and said third crawler mechanism is a driven crawler belt; the conveying driving mechanism is in transmission connection with the first crawler belt mechanism and the second crawler belt mechanism so as to drive the first crawler belt mechanism and the second crawler belt mechanism to operate; the clamping driving mechanism is connected with the third crawler mechanism through the clamping action mechanism so as to drive the third crawler mechanism to move towards or away from the first crawler mechanism and the second crawler mechanism.

15. The flexible endoscope delivery device capable of laterally withdrawing an endoscope body according to claim 14, wherein said third crawler is installed inside said actuator by a structure having a freedom degree of up and down movement.

16. The flexible endoscope delivery device capable of laterally withdrawing an endoscope body according to claim 15, wherein said clamping action mechanism is a lead screw bevel gear mechanism; the lead screw bevel gear mechanism comprises a bevel gear shaft, a first bevel gear, a second bevel gear, a lead screw sliding block and a driven bracket; the driven support is installed on the third crawler mechanism, the lead screw sliding block is connected with the driven support through a concave-convex inserting structure, the lead screw is vertically installed on the lead screw fixing seat, the lead screw sliding block is installed on the lead screw, the first bevel gear is fixed on the lead screw, the second bevel gear is installed on a bevel gear shaft, and the first bevel gear is meshed with the second bevel gear.

17. The flexible endoscope conveying device capable of laterally taking out the endoscope body according to the claim 13, wherein the conveying driving mechanism is in transmission connection with the first crawler mechanism and the second crawler mechanism through a transmission assembly; the transmission assembly comprises a first bevel gear, a second bevel gear, a third bevel gear and a fourth bevel gear, the first bevel gear is mounted on the inner side of the rear end of the actuating mechanism, the second bevel gear and the third bevel gear are coaxially overlapped and are combined gears which are mounted on a track shaft of the first track mechanism, and the fourth bevel gear is mounted on a track shaft of the second track mechanism; the first bevel gear is in meshing transmission with the second bevel gear, and the third bevel gear is in meshing transmission with the fourth bevel gear.

18. The flexible endoscope delivery device capable of laterally withdrawing the endoscope body according to any one of claims 13 to 17, wherein the third caterpillar mechanism is replaced by a roller mechanism.

19. The flexible endoscope delivery device capable of laterally withdrawing the endoscope body according to claim 4, wherein a rotation supporting mechanism is connected to a rear side of the first gear.

20. The flexible endoscope delivery device capable of laterally withdrawing the endoscope body according to claim 19, wherein said rotation support mechanism is a circular guide rail slider mechanism; the annular guide rail and sliding block mechanism comprises an annular guide rail and a plurality of sliding blocks fixed inside the main machine body, the sliding blocks are distributed along the circumferential direction, two rows of rollers distributed in an arc shape are mounted on each sliding block respectively, and the annular guide rail is connected to the rear side of the first gear and located between the two rows of rollers.

21. The flexible endoscope delivery device capable of laterally taking out the endoscope body according to claim 1, wherein the actuator is connected with the rotating body in a clamping manner through a quick-connection mechanism.

22. The flexible endoscope delivery device capable of laterally taking out the endoscope body according to the claim 21, wherein the quick-connect mechanism comprises a quick-connect connector and a clamping assembly, the quick-connect connector is symmetrically arranged at the rear end of the actuating mechanism, and the head of the quick-connect connector is provided with a clamping hook; the clamping components are symmetrically arranged on the rotating body, each clamping component comprises a button and a spring, the buttons are arranged on the rotating body through button seats, one end of each spring abuts against the inner end of each button, and the other end of each spring abuts against a spring seat; the button is provided with a wedge-shaped clamping part, and the clamping hook of the quick connector is clamped with the wedge-shaped clamping part.

23. The flexible endoscope delivery device capable of laterally taking out the endoscope body according to the claim 1, characterized in that an isolation cleaning mechanism is provided; the isolation cleaning mechanism comprises an isolation sleeve and a cleaning component, the isolation sleeve coaxially penetrates through the soft endoscope through hole, one end of the isolation sleeve is fixed at the rear end of the soft endoscope through hole of the execution mechanism, and the other end of the isolation sleeve is fixed at the rear end of the soft endoscope through hole of the main body; the cleaning assembly comprises a cleaning end and a cleaning end fixing support; the cleaning end is arranged on the fixed support of the cleaning end, and the fixed support of the cleaning end is arranged at the front end of the actuating mechanism so that the soft endoscope can conveniently pass through the cleaning end.

24. The flexible endoscope delivery device capable of laterally withdrawing an endoscope body according to claim 23, further comprising a lubricating device; the lubricating device comprises a lubricating ring, a connecting pipe and a lubricating and filling module, wherein the lubricating ring is of a hollow structure, lubricating holes distributed along the circumferential direction are formed in the inner surface of the lubricating ring, the lubricating ring is installed at the front end of the cleaning component, the lubricating and filling module is installed on the first shell, and the lubricant output end of the lubricating ring is connected with the lubricating ring through the connecting pipe.

25. The flexible endoscope delivery device capable of laterally withdrawing an endoscope body according to claim 24, wherein said lubricant filling module comprises a lubricant syringe, a lead screw slider and a lubricant input motor, said lead screw slider is matched with said lead screw and connected to a plunger push rod of said lubricant syringe, and said lubricant input motor is in transmission connection with said lead screw through a gear.

26. The flexible endoscope delivery device capable of laterally taking out the endoscope body according to the claim 1, characterized in that, an instrument recognition circuit and a mechanical installation confirmation circuit are further provided;

the instrument identification circuit comprises an electronic tag and a reader-writer, the electronic tag is fixed on the shell of the actuating mechanism, and the reader-writer is fixed on the rotating body; the mechanical installation confirming circuit comprises an induction head and a sensor, wherein the induction head is installed on the execution mechanism, and the sensor is installed on the execution driving mechanism.

27. The flexible endoscope conveying device capable of laterally taking out the endoscope body according to the claim 15, characterized in that a pressure sensor, a six-dimensional force sensor and a conveying length sensing mechanism are further provided;

the pressure sensor is arranged on the third crawler mechanism or the roller mechanism to detect the clamping force applied to the soft endoscope by the pressure sensor;

the six-dimensional force sensor is arranged between the conveying device and the mechanical arm for placing the conveying device and is used for detecting the resistance force applied to the front end of the soft endoscope;

the conveying length sensing mechanism comprises a magnetic encoder, a magnetic ring and a magnetic encoder fixing support, the magnetic ring is fixed on a rotating shaft of the third crawler belt mechanism or the roller mechanism, the magnetic encoder is fixed on the magnetic encoder fixing support, the magnetic encoder fixing support is connected to the third crawler belt mechanism or the roller mechanism, when the third crawler belt mechanism or the roller mechanism runs, the magnetic ring is driven to rotate, and the output length is measured by the magnetic encoder according to the rotating speed.

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