CN115349809A

CN115349809A - But quick replacement's soft scope actuating mechanism and conveyor

Info

Publication number: CN115349809A
Application number: CN202210968075.3A
Authority: CN
Inventors: 江维; 陈发利; 卢天伟
Original assignee: Beijing Yunli Jingan Technology Co ltd
Current assignee: Beijing Yunli Jingan Technology Co ltd
Priority date: 2022-08-12
Filing date: 2022-08-12
Publication date: 2022-11-18

Abstract

The invention discloses a quick-replaceable soft endoscope actuating mechanism and a conveying device, wherein the actuating mechanism comprises a shell and a clamping conveying mechanism arranged in the shell, the clamping conveying mechanism comprises a plurality of rotary motion mechanisms which are distributed in an arrayed manner along the circumferential direction, and a conveying channel for a soft endoscope to pass through is formed between the rotary motion mechanisms; the rotary operation mechanism is provided with a clamping action mechanism, the clamping action mechanism is used for reducing the space of a conveying channel formed by the rotary motion mechanism by executing clamping action so as to clamp or loosen the soft endoscope, and the rotary operation mechanism drives the clamped soft endoscope to move back and forth during operation. This actuating mechanism can effectively prevent to skid, realizes continuous transport, moreover, compact structure, small, light in weight, installation and change convenient and fast can the multiple diameter size's of adaptation soft scope to can protect soft scope when using, prevent that soft scope from appearing damaging because of the clamp force is too big.

Description

But quick replacement's soft scope actuating mechanism and conveyor

Technical Field

The invention relates to the technical field of medical instruments, in particular to a quick-replaceable soft endoscope actuating mechanism. The invention also relates to a soft endoscope conveying device provided with the soft endoscope executing mechanism.

Background

Natural cavities such as digestive tracts, respiratory tracts and the like are common parts of human diseases, and because focus is positioned inside the natural cavities of human bodies, examination or operation treatment needs to be carried out through a soft endoscope.

In the traditional soft endoscope examination or operation, the operation process is completed by the actions of matching two hands of a person with an endoscope body, operating a knob, manually conveying the endoscope 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.

Disclosure of Invention

The invention aims to provide a flexible endoscope actuating mechanism capable of being quickly replaced so as to solve the technical problem.

The invention also aims to provide a conveying device provided with the soft endoscope actuating mechanism.

In order to achieve the above object, the present invention provides a quick replaceable soft endoscope actuating mechanism, which comprises a casing and a clamping and conveying mechanism arranged inside the casing, wherein the clamping and conveying mechanism comprises a plurality of rotary motion mechanisms arranged and distributed along a circumferential direction, a conveying channel for the soft endoscope to pass through is formed between the rotary motion mechanisms, and through holes corresponding to the conveying channel are arranged at two ends of the casing; the rotary operation mechanism is provided with a clamping action mechanism, the clamping action mechanism is used for reducing the space of a conveying channel formed by the rotary motion mechanism by executing clamping action, so that the rotary operation mechanism clamps or loosens the soft endoscope, and the rotary operation mechanism drives the clamped soft endoscope to move back and forth during operation.

Optionally, the plurality of rotary motion mechanisms are all track mechanisms, or the plurality of rotary motion mechanisms are all roller mechanisms, or one part of the plurality of rotary motion mechanisms is a track mechanism, and the other part is a roller mechanism.

Optionally, the plurality of rotary operating mechanisms include a driving rotary operating mechanism and a driven rotary operating mechanism, and the clamping actuating mechanism is disposed on the driven rotary operating mechanism to drive the driven rotary operating mechanism to approach or leave the driving rotary operating mechanism.

Optionally, the number of the active rotary operating mechanisms is two, the two active rotary operating mechanisms are located above the conveying channel and are arranged in a bilateral symmetry manner, and the two active rotary operating mechanisms are arranged in an inverted V shape on the section of the conveying channel.

Optionally, the driven rotary operation mechanism is located below the conveying channel and is mounted on a bearing member, the bearing member is provided with a guide rail, and the driven rotary operation mechanism can move up and down along the guide rail to approach or be far away from the driving rotary operation mechanism.

Optionally, the driving rotary running mechanism and the driven rotary running mechanism are both crawler mechanisms; or both the driving rotary operation mechanism and the driven rotary operation mechanism are roller mechanisms; or the driving rotary operation mechanism is a crawler mechanism, and the driven rotary operation mechanism is a roller mechanism; or the driving rotary operation mechanism is a roller mechanism, and the driven rotary operation mechanism is a crawler mechanism.

Optionally, the clamping action mechanism is a scissor mechanism; the scissor mechanism comprises a scissor connecting rod assembly, a pulley, a winding shaft and a steel wire rope, the scissor connecting rod assembly is arranged on a connecting rod fixing seat, one end of the scissor connecting rod assembly is connected with the driven rotary operation mechanism, the other end of the scissor connecting rod assembly is connected with the steel wire rope, and the connecting rod fixing seat is provided with a spring for driving the scissor connecting rod assembly to shorten; one end of the steel wire rope is connected to the scissor linkage assembly, the other end of the steel wire rope is wound on the winding shaft through the pulley, and the winding shaft is pulled by the steel wire rope to extend when rotating.

Optionally, the clamping action mechanism is a cam mechanism; the cam mechanism comprises a cam shaft, a cam shaft supporting seat and a driven roller; the camshaft is arranged on the camshaft supporting seat, the driven roller is arranged below the driven rotary operating mechanism, and a cam on the camshaft is in transmission fit with the driven roller.

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 connecting block; the connecting block is fixed on the driven rotary operation mechanism, the lead screw sliding block is connected with the connecting block through a concave-convex insertion 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.

Optionally, the clamping action mechanism is a screw slider mechanism; the lead screw sliding block mechanism comprises a lead screw shaft, a lead screw sliding block and a connecting block; the connecting block is fixed on the driven rotary operation mechanism, and a wedge-shaped guide groove is formed in the bottom of the connecting block; the top of lead screw slider is equipped with wedge slip table, lead screw slider installs in the lead screw, the lead screw is installed in the lead screw fixing base.

Optionally, the clamping action mechanism is a lead screw linkage mechanism; the screw rod connecting rod mechanism comprises a screw rod, a screw rod sliding block, a first connecting rod, a second connecting rod and a connecting block; the connecting block is fixed in driven rotatory running gear, the lead screw is installed in the lead screw fixing base, the lead screw slider is installed in the lead screw, and is two sets of first connecting rod and second connecting rod are located the connecting block both sides respectively, first connecting rod and second connecting rod intersect and become "X" shape and articulated each other, the one end of first connecting rod with the connecting block is connected, and the other end is connected in the lead screw fixing base, the one end of second connecting rod with the connecting block is connected, and the other end is connected in the lead screw slider.

Optionally, the clamping action mechanism is an airbag clamping mechanism; the air bag clamping mechanism comprises an air pump, annular air bags and air pipes, the annular air bags are sleeved on the tracks of the track mechanism and/or the rollers of the roller mechanism, and the air pump is connected with the annular air bags through the air pipes.

In order to achieve the other object, the present invention provides a soft endoscope conveying device, which includes a main body and an actuating mechanism disposed inside or at a front end of the main body, wherein the actuating mechanism is the soft endoscope actuating mechanism according to any one of the above items; the main machine body is provided with an execution driving mechanism, a rotating body and a rotation driving mechanism; the soft endoscope actuating mechanism is detachably arranged on the rotating body; the execution driving mechanism comprises a clamping driving mechanism and a conveying driving mechanism, and the clamping driving mechanism is in transmission connection with the clamping action mechanism so as to drive the driven rotating operation mechanism to approach or be far away from the driving rotating operation mechanism, so that the soft endoscope is clamped or loosened; the conveying driving mechanism is in transmission connection with the active rotary operating mechanism so as to convey the clamped soft endoscope forwards or backwards; the rotary driving mechanism is in transmission connection with the rotating body so as to drive the rotating body and the soft endoscope executing mechanism to rotate, and therefore the soft endoscope is driven to rotate.

In order to achieve another purpose, the invention provides another soft endoscope conveying device, which comprises a main machine body and an executing mechanism arranged in the main machine body or at the front end of the main machine body, wherein the executing mechanism is the last soft endoscope executing mechanism; the main machine body is provided with an execution driving mechanism, a rotating body and a rotation driving mechanism; the soft endoscope actuating mechanism is detachably arranged on the rotating body; the execution driving mechanism comprises a conveying driving mechanism, and the conveying driving mechanism is in transmission connection with the rotary operating mechanism so as to convey the clamped soft endoscope forwards or backwards; the rotary driving mechanism is in transmission connection with the rotating body to drive the rotating body and the soft endoscope executing mechanism to rotate, so that the soft endoscope is driven to rotate.

The quick-replaceable soft endoscope actuating mechanism provided by the invention has the functions of clamping and conveying the soft endoscope, and can obtain proper friction force during clamping, so that the soft endoscope is effectively prevented from slipping during conveying, continuous conveying is realized, the quick-replaceable soft endoscope actuating mechanism can be suitable for soft endoscopes with various sizes, damage to the soft endoscope caused by too large clamping force can be prevented, the structure is compact, the size is small, the weight is light, and the quick-replaceable soft endoscope actuating mechanism is convenient and quick to install and replace.

According to the soft endoscope conveying device provided by the invention, the function of clamping and conveying the soft endoscope can be realized through the execution mechanism, the function of rotating the soft endoscope can be realized through the rotating body and the rotation driving mechanism, and the soft endoscope can be conveyed and also can be rotated independently during operation and can be rotated simultaneously during conveying, so that the soft endoscope can be operated more flexibly and more refined actions can be executed.

And moreover, the actuating mechanism adopts a modular design, is detachably arranged on the rotating body through the quick-connection mechanism, can be independently installed and detached, can be quickly detached after the operation is finished, and can be used by being butted with a new actuating mechanism, so that the preparation time before the operation is greatly reduced, and the cross contamination can be effectively avoided.

Drawings

Fig. 1 is a schematic structural diagram of a quick-replaceable soft endoscope actuator according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of the scissors mechanism shown in FIG. 1;

FIG. 3 is a schematic structural view of the scissors linkage assembly shown in FIG. 2;

FIG. 4 is a schematic view of the structure of the clamping mechanism as a cam mechanism;

FIG. 5 is a schematic structural view of the clamping mechanism being a lead screw bevel gear mechanism;

FIG. 6 is a schematic structural view of the clamping mechanism being a lead screw slider mechanism;

FIG. 7 is a schematic view of a structure in which the clamping mechanism is a lead screw link mechanism;

FIG. 8 is an isometric view of the lead screw linkage of FIG. 7 from another perspective;

FIG. 9 is a schematic view of the first and second track mechanisms provided with the drive assembly;

FIG. 10 is a schematic structural view of the driving rotary operating mechanism and the driven rotary operating mechanism both being roller mechanisms;

FIG. 11 is a schematic structural view of the air bag clamping mechanism as the clamping mechanism;

fig. 12 is a schematic structural diagram of a flexible endoscope delivery device according to an embodiment of the present invention;

fig. 13 is a schematic view showing the internal structure of the flexible endoscope delivery device shown in fig. 12;

figure 14 is a top view of the flexible endoscope delivery device of figure 13.

In the figure:

10. shell body

110. First crawler 120, second crawler 130, third crawler 131, track 131

200. The scissor mechanism 210, the scissor link assembly 211, the pulley 212, the winding shaft 213, the wire rope 214, the first hinge shaft 215, the second hinge shaft 216, the link fixing seat 218 and the tension spring

300. Cam mechanism 310, camshaft 320, camshaft support 330, driven roller 340, roller mount 350, cam

400. Lead screw bevel gear mechanism 410, bevel gear shaft 420, first bevel gear 430, second bevel gear 440, lead screw 450, lead screw slider 460, connecting block

500. Screw slider mechanism 510, screw shaft 520, screw 530, screw slider 531, wedge-shaped sliding table 540, connecting block 541, wedge-shaped guide groove 550, screw fixing seat

600. Lead screw connecting rod mechanism 610, lead screw 620, lead screw sliding block 630, first connecting rod 640, second connecting rod 650, connecting block 660 and lead screw fixing seat

710. First bevel gear 720, second bevel gear 730, third bevel gear 740, fourth bevel gear

810. First roller mechanism 820, second roller mechanism 830, third roller mechanism

840. Air pump 850, annular air bag 860 and air pipe

910. Main frame 920, actuator 9311, clamping motor 9312, clamping transmission shaft 9321, conveying motor 9322, conveying transmission shaft 933, first transmission piece 934, second transmission piece 940, rotary table 950, rotary driving mechanism 951, rotary motor 952, first gear 953, second gear 953

100. Rotary supporting mechanism

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 document, 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 interpreted as absolute limitations on 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, and do not necessarily require or imply any actual relationship or order between such elements.

Referring to fig. 1 to 3, fig. 1 is a schematic structural view of a quick-replaceable soft endoscope actuator according to an embodiment of the present invention; FIG. 2 is a schematic structural view of the scissors mechanism shown in FIG. 1; FIG. 3 is a schematic structural view of the scissors linkage assembly shown in FIG. 2.

In a specific embodiment, the quick-replaceable soft endoscope actuating mechanism provided by the invention mainly comprises a shell 10 and three crawler mechanisms which are arranged and distributed along the circumferential direction, wherein a conveying channel for the soft endoscope to pass through is formed between crawler surfaces of the three crawler mechanisms.

Specifically, the three crawler mechanisms are a first crawler mechanism 110, a second crawler mechanism 120 and a third crawler machine 130, the first crawler mechanism 110 and the second crawler mechanism 120 are driving crawlers, the third crawler mechanism 130 is a driven crawler, the first crawler mechanism 110 and the second crawler mechanism 120 are located above the conveying channel and are arranged in a bilateral symmetry manner, the crawler surfaces of the first crawler mechanism and the second crawler mechanism are in an inverted V shape on the cross section of the conveying channel, and the third crawler mechanism 130 is located below the conveying channel.

The first and

second crawler mechanisms

110 and 120 are mounted by their crawler axles, and the third crawler mechanism 130 is mounted by its crawler axle to the crawler rail 131, and the third crawler mechanism 130 can move in the direction defined by the crawler rail 131 toward or away from the first and

second crawler mechanisms

110 and 120, so as to achieve the function of clamping or loosening the soft endoscope.

The third track mechanism 130 is provided with a clamping mechanism, in this embodiment, the clamping mechanism is a scissors mechanism 200, which includes a scissors link assembly 210, a pulley 211, a winding shaft 212, and a wire rope 213, the scissors link assembly 210 is mounted on a link fixing seat 216 through a first hinge 214, the upper end of the scissors link assembly is connected to the third track mechanism 130, the second hinge 215 at the lower end of the scissors link assembly is connected to the wire rope 213, the link fixing seat 216 is provided with a tension spring 218 for driving the scissors link assembly 210 to shorten, one end of the wire rope 213 is connected to a link of the scissors link assembly 210, and the other end of the wire rope is wound around the winding shaft via the pulley.

Specifically, the scissors linkage assembly 210 mainly includes a first linkage, a second linkage, a third linkage, and a fourth linkage, the first linkage and the second linkage are hinged by a first hinge 214 and are in a cross "X" shape, one end of the first linkage and one end of the second linkage are fixed on a cover plate of the third crawler 130, the other end of the first linkage and the other end of the second linkage are respectively hinged with the third linkage and the fourth linkage, the first hinge 214 is installed on a linkage fixing seat 216 through a shaft hole in a matching manner, the lower ends of the third linkage and the fourth linkage are hinged by a second hinge 215 and are in a "V" shape, the second hinge 215 is connected with the linkage fixing seat 216 by a tension spring 218, and one end of a steel wire rope 213 is tied on the second hinge 215.

When the winding shaft 212 rotates, the steel wire rope 213 is wound or loosened in the groove of the winding shaft, when the winding shaft 212 rotates forwards, the steel wire rope 213 starts to pull down the second hinge shaft 215 through the pulley 211, the upper ends of the first connecting rod and the second connecting rod start to move upwards, the third crawler 130 is driven to move upwards, at the moment, the tension spring 218 is in a stretching state, when the winding shaft 212 rotates backwards, the tension of the steel wire rope 213 is gradually reduced until the tension disappears, and at the moment, the third crawler 130 returns to the initial position by the resilience force of the tension spring 218.

Referring to fig. 4, fig. 4 is a schematic structural view of the clamping mechanism being a cam mechanism.

In another embodiment, the clamping mechanism is a cam mechanism 300, the cam mechanism 300 is mainly composed of a cam shaft 310, a cam shaft supporting seat 320, a driven roller 330 and a roller mounting seat 340, the cam shaft 310 is mounted on the cam shaft supporting seat 320, the driven roller 330 is mounted below the third track mechanism 130 through the roller mounting seat 340, a cam 350 on the cam shaft 310 is in transmission fit with the driven roller 330, and when the cam shaft 310 rotates, the cam 350 and the driven roller 330 can be matched to drive the third track mechanism 130 to reciprocate up and down, so that the soft endoscope can be clamped and loosened.

The same portions of this embodiment as those of the first embodiment are given the same reference numerals, and the same description thereof is omitted.

Referring to fig. 5, fig. 5 is a schematic structural diagram of the clamping mechanism being a lead screw bevel gear mechanism.

In another embodiment, the clamping mechanism is a lead screw bevel gear mechanism 400, and the lead screw bevel gear mechanism 400 is mainly composed of a bevel gear shaft 410, a first bevel gear 420, a second bevel gear 430, a lead screw 440, a lead screw slider 450 and a connecting block 460; the connecting block 460 is fixed to the third crawler 130, the lead screw slider 450 is connected with the connecting block 460 through a concave-convex inserting structure, the lead screw 440 is vertically installed on the lead screw fixing seat, the lead screw slider 450 is installed on the lead screw 440 and can rotate on the lead screw 440, the first bevel gear 420 is fixed to the lead screw 440, the second bevel gear 430 is installed on the bevel gear shaft 410, and the first bevel gear 420 and the second bevel gear 430 are meshed with each other.

During operation, the rotation of the bevel gear shaft 410 drives the rotation of the second bevel gear 430, so as to drive the rotation of the first bevel gear 420 and the lead screw 440, the lead screw 440 rotates, and the lead screw slider 450 is connected with the connecting block 460 in an inserting manner, so that the lead screw slider 450 can only move upwards to push the connecting block 460 to move upwards, the connecting block 460 is fixed on the third crawler mechanism 130, so as to drive the third crawler mechanism 130 to move upwards to realize the clamping of the soft endoscope, otherwise, the soft endoscope can be released.

The same parts of this embodiment as those of the above embodiment are given the same reference numerals, and the same description thereof is omitted.

Referring to fig. 6, fig. 6 is a schematic structural diagram of the clamping mechanism being a screw slider mechanism.

In another embodiment, the clamping mechanism is a screw slider mechanism 500, the screw slider mechanism 500 is mainly composed of a screw shaft 510, a screw 520, a screw slider 530 and a connecting block 540, the connecting block 540 is fixed to the third crawler mechanism 130, a wedge-shaped guide groove 541 is arranged at the bottom of the connecting block 540, a wedge-shaped sliding table 531 is arranged at the top of the screw slider 530, the screw slider 530 is mounted on the screw 520, and the screw 520 is mounted on the screw fixing seat 550.

During operation, the lead screw 520 rotates, the wedge-shaped sliding table 531 at the upper end of the lead screw slider 530 is arranged in the wedge-shaped guide 541 groove at the bottom end of the connecting block 540, at the moment, the lead screw slider 530 cannot rotate and can only move forwards, the connecting block 540 is pushed to move upwards through the wedge-shaped sliding table 531, so that the third crawler mechanism 130 moves upwards, the clamping of the soft endoscope is realized, and otherwise, the soft endoscope can be loosened.

The same portions of this embodiment as those of the above embodiment are given the same reference numerals, and the same description is omitted.

Referring to fig. 7 and 8, fig. 7 is a schematic structural view of the clamping mechanism being a screw rod linkage mechanism; referring to fig. 8, fig. 8 is an isometric view of the lead screw linkage shown in fig. 7 from another perspective.

In yet another embodiment, the clamping action mechanism is a lead screw linkage 600, and the lead screw linkage 600 is mainly composed of a lead screw 610, a lead screw slider 620, a first connecting rod 630, a second connecting rod 640 and a connecting block 650.

Connecting block 650 is fixed in third crawler 130, lead screw 610 is installed in lead screw fixing base 660, lead screw slider 620 is installed in lead screw 610, two sets of first connecting rod 630 and second connecting rod 640 are located connecting block 650 both sides respectively, first connecting rod 630 intersects with second connecting rod 640 and becomes "X" shape and articulated each other, the one end of first connecting rod 630 is connected with connecting block 650, the other end is connected in lead screw fixing base 660, the one end of second connecting rod 640 is connected with connecting block 650, the other end is connected in lead screw slider 620.

During operation, the rotation of the screw 610 drives the screw slider 620 to move forward, so that the connecting block 650 moves upward through the connecting rod, the connecting block 650 is fixed on the third crawler 130, and the third crawler 130 is driven to move upward, thereby clamping the soft endoscope is realized, otherwise, the soft endoscope can be loosened.

Referring to fig. 9, fig. 9 is a schematic view of the first and second track units having the transmission assembly.

The first and

second crawler mechanisms

110 and 120 can be driven by a motor through a transmission assembly, the conveying motor is connected with the transmission assembly, the transmission assembly is connected with the crawler mechanisms, the rotation of the output shaft of the conveying motor is changed into the rotation of the crawler mechanisms through the transmission assembly, and the transportation of the soft endoscope is realized through the rotation of the crawler mechanisms.

Specifically, the transmission assembly 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 rotating shaft of the first bevel gear 710 is arranged in the front-back direction, the second bevel gear 720 and the third bevel gear 730 are combined gears which are coaxially overlapped and are installed on the track shaft of the first track mechanism 110, and the fourth bevel gear 740 is installed on the track shaft of the second track mechanism 120; 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 as to drive the first crawler 110 and the second crawler 120 to operate, thereby conveying the soft endoscope.

Of course, the number of the crawler mechanisms can be three or more, the number is not limited, meanwhile, the shaft intersection angle of the bevel gear can be 90 degrees, 60 degrees or other degrees, and the number of the shaft intersection angles is not limited.

Referring to fig. 10, fig. 10 is a schematic structural view of the driving rotary operating mechanism and the driven rotary operating mechanism both being roller mechanisms.

In another embodiment, the first roller mechanism 810, the second roller mechanism 820 and the third roller mechanism 830 may be used instead of the first track mechanism 110, the second track mechanism 120 and the third track mechanism 130, that is, the driving rotary operating mechanism and the driven rotary operating mechanism may be both roller mechanisms, which are arranged in the same manner as the track mechanisms, please refer to the above.

During operation, the conveying motor is connected with the transmission assembly, the transmission assembly is connected with the roller mechanism, the rotation of the output shaft of the conveying motor is changed into the rotation of the roller mechanism through the transmission assembly, and the roller of the roller mechanism rotates to realize the conveying of the soft endoscope.

It is understood that in other embodiments, the track mechanism and the roller mechanism may be used in combination, for example, the driving rotary operating mechanism is a track mechanism, and the driven rotary operating mechanism is a roller mechanism; alternatively, the driving rotary operating mechanism is a roller mechanism, the driven rotary operating mechanism is a crawler mechanism, and the like.

Referring to fig. 11, fig. 11 is a schematic structural view of the air bag clamping mechanism as the clamping mechanism.

In another embodiment, the clamping mechanism is an air bag clamping mechanism, the air bag clamping mechanism mainly comprises an air pump 840, annular air bags 850 and air pipes 860, the annular air bags 850 are sleeved on the crawler belts of the crawler belt mechanism and can also be sleeved on the roller wheels of the roller wheel mechanism, a conveying channel is formed among the annular air bags 850, and the air pump 840 is connected with each annular air bag 850 through the air pipes 860.

When the flexible endoscope works, the flexible endoscope penetrates through the conveying channels formed by the annular air bags 850, the air pump 840 inflates the annular air bags 850 through the air pipe 860, the annular air bags 850 expand, the space of the conveying channels is reduced, and therefore the flexible endoscope is clamped, and otherwise the flexible endoscope can be loosened.

If the air bag clamping mechanism is used for clamping the soft endoscope, the crawler mechanism or the roller mechanism can be fixed, can also be movable, and can also be fixed and movable, and the limitation is not required here.

Referring to fig. 12, fig. 13, and fig. 14, fig. 12 is a schematic structural view of a flexible endoscope delivery device according to an embodiment of the present invention; fig. 13 is a schematic view showing the internal structure of the flexible endoscope delivery device shown in fig. 12; figure 14 is a top view of the flexible endoscope delivery device of figure 13.

The soft endoscope conveying device provided by the embodiment is suitable for operating a soft endoscope in an operation process to complete interventional examination and diagnosis of a natural cavity of a human body, and mainly comprises a main machine shell 910, an executing mechanism 920, an executing driving mechanism, a rotary disc 940, a rotary driving mechanism 950 and the like, wherein the rotary disc 940 is a rotary body, the executing driving mechanism 920 is installed on the rotary disc 940, the executing mechanism 920 is detachably installed on the front side of the rotary disc 940 through a quick-connection mechanism, the executing mechanism 920 is the soft endoscope executing mechanism described above, the executing driving mechanism on the rotary disc 940 is connected with a clamping conveying mechanism to drive the clamping conveying mechanism to clamp the soft endoscope and drive the soft endoscope to move after clamping, so that the soft endoscope is conveyed forwards or backwards, the rotary driving mechanism 950 is in transmission connection with the rotary disc 940 to drive the rotary disc 940 and the executing mechanism 920 on the rotary disc to rotate together, so that the soft endoscope is driven to rotate.

The actuating drive mechanism is divided into a clamping drive mechanism and a transport drive mechanism, both of which are mounted on the turntable 940.

The conveying driving mechanism mainly comprises a conveying motor 9321 and a conveying transmission shaft 9322, the conveying transmission shaft 9322 is rotatably mounted on the front side of the rotary table 940 through a bearing, the conveying motor 9321 is parallel to the conveying transmission shaft 9322 and extends along the axial direction, the rotating shaft of the conveying motor 9321 is in transmission connection with the conveying transmission shaft 9322 through a first transmission piece 933 located on the rear side of the rotary table 940, and the first transmission piece 933 can be a synchronous belt and a synchronous pulley.

Similarly, press from both sides tight actuating mechanism and mainly constitute by clamp motor 9311 and clamp transmission shaft 9312, clamp transmission shaft 9312 and rotationally install in the front side of carousel 940 through the bearing, clamp motor 9311 and clamp transmission shaft 9312 parallel, both extend along axial direction, the output shaft and the clamp transmission shaft 9312 of clamp motor 9311 are connected through the transmission of second driving medium 934 that is located carousel 940 rear side, second driving medium 934 can be hold-in range and synchronous pulley.

With this configuration, since the conveying motor 9321, the clamping motor 9311, the conveying transmission shaft 9322 and the clamping transmission shaft 9312 are located at the front side of the turntable 940, rather than at the rear side of the turntable 940, the axial length of the actuating drive mechanism 920 can be effectively reduced.

In addition, the conveying motor 9321 and the clamping motor 9311 are respectively located at the left lower side and the right lower side of the actuator 920, and the housing 10 of the actuator 920 is provided with symmetrical arc-shaped concave portions at the left lower side and the right lower side so as to be located at the conveying motor 9321 and the clamping motor 9311. The layout mode can enable the product structure to be more reasonable and compact, so that the product volume is smaller.

Of course, in other embodiments, gears and the like can be used between the conveying motor 9321 and the conveying transmission shaft 9322, and between the clamping motor 9311 and the clamping transmission shaft 9312.

The rotating motor 951 of the rotation driving mechanism 950 is installed inside the main machine housing 910 through a bracket, and the rotating motor 951 is in transmission connection with the turntable 940 through a rotation transmission mechanism.

Specifically, rotatory drive mechanism mainly comprises first gear 952 and second gear 953, and first gear 952 and the coaxial setting of carousel 940 and through axial connecting post and carousel 940 interconnect, the output shaft of rotating electrical machines 951 passes through second gear 953 and the meshing transmission of first gear 952, and the through-hole that supplies soft scope to pass is all seted up at the middle part of carousel 940 and first gear 952.

In order to ensure the stability of rotation, the rear side of the first gear 952 is further provided with a rotation support mechanism 100, and the rotation support mechanism 100 may be a circular guide rail slider mechanism or a bearing mechanism, which is not limited herein.

In the case of the clamp transport mechanism shown in fig. 11, the clamp actuation mechanism is an air bag clamp mechanism that can clamp the flexible endoscope even when the driven crawler mechanism or the driven roller mechanism does not move, and therefore, the clamp drive mechanism may be omitted.

In the above embodiment, a force sensing mechanism can be additionally arranged for the clamping and conveying mechanism, the force sensing mechanism can be composed of a force sensor and a force sensor fixing frame, the force sensor is fixed on the clamping and conveying mechanism through the force sensor fixing frame, the clamping force is detected through the force sensor, information can be provided for a doctor in real time, and the doctor can make judgment conveniently.

The flexible endoscope actuating mechanism and the flexible endoscope conveying device which can be quickly replaced provided by the invention are 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

1. A quick-replaceable soft endoscope actuating mechanism is characterized by comprising a shell and a clamping and conveying mechanism arranged in the shell, wherein the clamping and conveying mechanism comprises a plurality of rotary motion mechanisms which are distributed in a arrayed manner along the circumferential direction, a conveying channel for a soft endoscope to pass through is formed between the rotary motion mechanisms, and through holes corresponding to the conveying channel are formed in two ends of the shell; the rotary operation mechanism is provided with a clamping action mechanism, the clamping action mechanism is used for reducing the space of a conveying channel formed by the rotary motion mechanism by executing clamping action, so that the rotary operation mechanism clamps or loosens the soft endoscope, and the rotary operation mechanism can drive the clamped soft endoscope to move back and forth during operation.

2. The rapidly replaceable flexible endoscope actuator of claim 1, wherein a plurality of said rotational mechanisms are all track mechanisms, or a plurality of said rotational mechanisms are all roller mechanisms, or one part of said plurality of rotational mechanisms is track mechanism and another part is roller mechanism.

3. The rapidly replaceable flexible endoscope actuator of claim 2, wherein said plurality of rotary actuators comprises a driving rotary actuator and a driven rotary actuator, and said clamping actuator is disposed on said driven rotary actuator to move said driven rotary actuator toward or away from said driving rotary actuator.

4. The rapidly replaceable flexible endoscope actuating mechanism according to claim 3, characterized in that the number of said active rotation operating mechanisms is two, two of said active rotation operating mechanisms are disposed above the conveying channel and are arranged in bilateral symmetry, and both are arranged in an inverted "V" shape on the cross section of the conveying channel.

5. The rapidly replaceable flexible endoscope actuator of claim 4, wherein said driven rotary actuator is located below said transport path and mounted to a carrier, said carrier being provided with a guide rail along which said driven rotary actuator can move up and down to approach or move away from said driving rotary actuator.

6. The rapidly replaceable flexible endoscope actuator according to claim 5, wherein said clamping actuator is a scissor mechanism; the scissor mechanism comprises a scissor connecting rod assembly, a pulley, a winding shaft and a steel wire rope, the scissor connecting rod assembly is arranged on a connecting rod fixing seat, one end of the scissor connecting rod assembly is connected with the driven rotary operation mechanism, the other end of the scissor connecting rod assembly is connected with the steel wire rope, and the connecting rod fixing seat is provided with a spring for driving the scissor connecting rod assembly to shorten; one end of the steel wire rope is connected to the scissor linkage assembly, the other end of the steel wire rope is wound on the winding shaft through the winding pulley, and the winding shaft pulls the scissor linkage assembly to extend through the steel wire rope when rotating.

7. The quickly replaceable flexible endoscope actuator according to claim 5, wherein said clamping actuator is a cam mechanism; the cam mechanism comprises a cam shaft, a cam shaft supporting seat and a driven roller; the camshaft is arranged on the camshaft supporting seat, the driven roller is arranged below the driven rotary operating mechanism, and a cam on the camshaft is in transmission fit with the driven roller.

8. The rapidly replaceable flexible endoscope actuator of claim 5, wherein said clamping actuator 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 connecting block; the connecting block is fixed on the driven rotary operation mechanism, the screw sliding block is connected with the connecting block through a concave-convex insertion structure, the screw is vertically installed on the screw fixing seat, the screw sliding block is installed on the screw, the first bevel gear is fixed on the screw, the second bevel gear is installed on a bevel gear shaft, and the first bevel gear is meshed with the second bevel gear.

9. The rapidly replaceable flexible endoscope actuator of claim 5, wherein said clamping actuator is a lead screw slider mechanism; the lead screw sliding block mechanism comprises a lead screw shaft, a lead screw sliding block and a connecting block; the connecting block is fixed on the driven rotary operation mechanism, and a wedge-shaped guide groove is formed in the bottom of the connecting block; the top of lead screw slider is equipped with wedge slip table, lead screw slider installs in the lead screw, the lead screw is installed in the lead screw fixing base.

10. The rapidly replaceable flexible endoscope actuator of claim 5, wherein said clamping actuator is a lead screw linkage; the screw rod connecting rod mechanism comprises a screw rod, a screw rod sliding block, a first connecting rod, a second connecting rod and a connecting block; the connecting block is fixed in the driven rotary operation mechanism, the lead screw is installed in the lead screw fixing seat, the lead screw sliding block is installed in the lead screw, the first connecting rod and the second connecting rod are located on two sides of the connecting block respectively, the first connecting rod and the second connecting rod are crossed to form an X shape and are hinged to each other, one end of the first connecting rod is connected with the connecting block, the other end of the first connecting rod is connected with the lead screw fixing seat, one end of the second connecting rod is connected with the connecting block, and the other end of the second connecting rod is connected with the lead screw sliding block.

11. The rapidly replaceable flexible endoscope actuator of claim 2, wherein said clamping actuator is an air bag clamping mechanism; the air bag clamping mechanism comprises an air pump, annular air bags and air pipes, the annular air bags are sleeved on the tracks of the track mechanism and/or the rollers of the roller mechanism, and the air pump is connected with the annular air bags through the air pipes.

12. A soft endoscope conveying device, which is characterized by comprising a main machine body and an actuating mechanism arranged in the main machine body or at the front end of the main machine body, wherein the actuating mechanism is the quickly replaceable soft endoscope actuating mechanism of any one of the claims 3 to 10; the main machine body is provided with an execution driving mechanism, a rotating body and a rotation driving mechanism; the soft endoscope actuating mechanism is detachably arranged on the rotating body; the execution driving mechanism comprises a clamping driving mechanism and a conveying driving mechanism, and the clamping driving mechanism is in transmission connection with the clamping action mechanism so as to drive the driven rotating operation mechanism to approach or be far away from the driving rotating operation mechanism, so that the soft endoscope is clamped or loosened; the conveying driving mechanism is in transmission connection with the active rotary operating mechanism so as to convey the clamped soft endoscope forwards or backwards; the rotary driving mechanism is in transmission connection with the rotating body so as to drive the rotating body and the soft endoscope executing mechanism to rotate, and therefore the soft endoscope is driven to rotate.

13. A soft endoscope conveying device, which is characterized by comprising a main machine body and an actuating mechanism arranged in the main machine body or at the front end of the main machine body, wherein the actuating mechanism is the soft endoscope actuating mechanism capable of being rapidly replaced according to claim 11; the main machine body is provided with an execution driving mechanism, a rotating body and a rotation driving mechanism; the soft endoscope actuating mechanism is detachably arranged on the rotating body; the execution driving mechanism comprises a conveying driving mechanism, and the conveying driving mechanism is in transmission connection with the rotary operating mechanism so as to convey the clamped soft endoscope forwards or backwards; the rotary driving mechanism is in transmission connection with the rotating body so as to drive the rotating body and the soft endoscope executing mechanism to rotate, and therefore the soft endoscope is driven to rotate.