CN116919482A

CN116919482A - Endoscopic instrument control apparatus

Info

Publication number: CN116919482A
Application number: CN202210369819.XA
Authority: CN
Inventors: 杨春; 张继承; 刘炳义
Original assignee: Wuxi Qijiu Precision Medical Instrument Co ltd; Shanghai Aohua Endoscopy Co ltd
Current assignee: Wuxi Qijiu Precision Medical Instrument Co ltd; Shanghai Aohua Endoscopy Co ltd
Priority date: 2022-04-08
Filing date: 2022-04-08
Publication date: 2023-10-24

Abstract

The invention provides an endoscopic instrument control device, which comprises an endoscopic instrument switching device, an endoscopic instrument conveying device and an endoscopic instrument control device; the endoscopic instrument switching device comprises a plurality of instrument clamping units, an instrument switching mechanism and a plurality of pipeline clamping units, wherein the instrument switching mechanism comprises a supporting seat and a moving assembly arranged on the supporting seat, and the endoscopic instrument conveying device comprises a conveying mechanism and a driving mechanism; the instrument clamping unit is arranged on the supporting seat and is used for installing an operation part of an endoscope instrument; the pipeline clamping unit is used for clamping the pipeline of the endoscopic instrument and is arranged on the moving assembly; the pipeline clamping unit is used for clamping the endoscopic instrument, and the driving mechanism is used for driving the conveying mechanism to move; the endoscope instrument control device comprises a control platform and a controller, wherein the control platform is used for acquiring the operation actions of an operator and determining control instructions; the control platform, the instrument clamping unit, the moving assembly and the driving mechanism are respectively in communication connection with the controller.

Description

Endoscopic instrument control apparatus

Technical Field

The invention relates to the technical field of endoscopes, in particular to an endoscopic instrument control device.

Background

Along with the development of society, clinical medical technology is continuously improved, a plurality of novel endoscopic surgical instruments are appeared, in the process of endoscopic diagnosis and treatment, operators need to hold the endoscopic instruments to control the rotation, the advancing, the retracting, the opening and the closing and other operations of the instruments, and the endoscopic instruments used in the process of diagnosis and treatment can be various, and in the process of diagnosis and treatment, different types of instruments need to be continuously switched, so that a plurality of people are often required to perform the cooperation operation, and a great deal of effort is consumed by the operators.

Patent CN 113425342A proposes an endoscopic surgical instrument control system for laparoscopic surgery, a user can control a surgical instrument to perform autorotation, pitching or opening and closing movements by operating a control handle according to actual demands, so as to adjust the posture of the surgical instrument, achieve a better operation angle, and the control end can communicate with a host, so that the surgical instrument can be controlled to work in different working modes through the host. However, a plurality of instruments can be used in one operation, and the replacement of the instruments still depends on manual operation, which is time-consuming and labor-consuming.

The endoscope system and the medical instrument proposed in the patent CN101370435B include an elongated sheath inserted into the endoscope insertion section channel and having flexibility, and an advancing and retreating device that advances and retreats the medical instrument through the sheath in the endoscope insertion section channel by two rollers. It requires manual work to insert the instrument into the instrument channel and does not allow automatic instrument replacement.

Disclosure of Invention

The invention provides an endoscopic instrument control device which is used for solving the defect that in the prior art, the endoscopic instrument needs to be manually switched or the device has single function and cannot meet the operation requirement.

The present invention provides an endoscopic instrument control apparatus comprising: an endoscopic instrument switching device, an endoscopic instrument transport device, and an endoscopic instrument control device;

the endoscope instrument switching device comprises an instrument clamping mechanism, an instrument switching mechanism and a pipeline clamping mechanism, wherein the instrument clamping mechanism comprises a plurality of instrument clamping units, the instrument switching mechanism comprises a supporting seat and a moving assembly arranged on the supporting seat, the pipeline clamping mechanism comprises a plurality of pipeline clamping units, and the endoscope instrument conveying device comprises a conveying mechanism and a driving mechanism;

the instrument clamping units are arranged on the supporting seats, and each instrument clamping unit is provided with an operation part of an endoscope instrument; the pipeline clamping unit is used for clamping an insertion pipeline of the endoscopic instrument and is arranged on the moving assembly; under the action of the moving assembly, the endoscopic instrument clamped by the pipeline clamping unit is in butt joint with the conveying mechanism, and the driving mechanism is used for driving the conveying mechanism to move so as to drive an insertion pipeline of the endoscopic instrument to advance or retreat;

The endoscopic instrument control device comprises a control platform and a controller, wherein the control platform is used for acquiring the operation actions of an operator and generating control instructions; the controller is in communication connection with the control platform, and the instrument clamping unit, the moving assembly and the driving mechanism are respectively in communication connection with the controller.

According to the endoscope instrument control equipment provided by the invention, a plurality of instrument clamping units are provided with different endoscope instruments, and each instrument clamping unit can realize the automatic operation of the endoscope instrument under the control of the controller; the control platform receives the input of an operator to generate a control instruction, and the controller controls the movement of the moving assembly according to the control instruction so as to switch the endoscopic instrument and control the driving mechanism to operate so as to drive the endoscopic instrument to advance or retreat. Thus, the endoscope apparatus control device provided by the invention can realize the advancing and retreating of the endoscope apparatus and the switching of the endoscope apparatus according to the operation actions of an operator, and can also realize the operations of spinning, opening and closing, injection and the like of the endoscope apparatus.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of an endoscopic instrument control apparatus provided by the present invention;

FIG. 2 is a schematic view of an endoscopic instrument switching device provided by the present invention;

FIG. 3 is a schematic illustration of an endoscopic instrument switching device provided by the present invention;

FIG. 4 is a schematic structural view of the instrument clamping unit provided by the invention;

FIG. 5 is a second schematic structural view of the instrument clamping unit provided by the present invention;

FIG. 6 is a third schematic structural view of the instrument holder unit provided by the present invention;

FIG. 7 is a schematic diagram of a structure of the instrument clamping unit provided by the invention;

FIG. 8 is a schematic diagram of a structure of the instrument holder unit according to the present invention;

FIG. 9 is one of the internal structural schematic views of the instrument clamp unit shown in FIG. 8;

FIG. 10 is a schematic view of a pipe clamping mechanism according to the present invention;

FIG. 11 is a cross-sectional view of the line gripping unit provided by the present invention in a natural state;

fig. 12 is a cross-sectional view of the line gripping unit provided by the present invention in a delivery state;

FIG. 13 is a schematic diagram showing the cooperation of the pipe clamping unit and the moving assembly according to the present invention;

FIG. 14 is a second schematic diagram of the fitting of the pipe clamping unit and the moving assembly according to the present invention;

FIG. 15 is a second schematic view of the internal structure of the pipe clamping unit according to the present invention;

FIG. 16 is a schematic illustration of the fit of the instrument clamp mechanism, instrument switch mechanism and tube clamp mechanism provided by the present invention;

FIG. 17 is a second schematic illustration of the fit of the instrument clamp mechanism, instrument switch mechanism and pipeline clamp mechanism provided by the present invention;

FIG. 18 is a schematic view of a quick connect assembly according to the present invention;

FIG. 19 is an exploded view of an endoscopic instrument delivery device provided by the present invention;

FIG. 20 is a schematic view of an endoscopic instrument delivery device provided by the present invention with a cover removed;

FIG. 21 is a schematic illustration of the engagement of the roller assembly with an endoscopic instrument provided by the present invention;

FIG. 22 is a schematic view of a clutch assembly according to the present invention;

FIG. 23 is a schematic diagram showing the cooperation of the displacement compensation unit and the driven shaft according to the present invention;

FIG. 24 is a schematic view of the driving and reversing assembly according to the present invention mated with a capstan;

FIG. 25 is an installation side view of a detection assembly provided by the present invention;

FIG. 26 is a schematic perspective view of the installation of the detection assembly provided by the present invention;

fig. 27 is a schematic diagram of the cooperation of the locking assembly and the conveying mechanism according to the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

An endoscopic instrument control apparatus provided by an embodiment of the present invention includes an endoscopic instrument switching device, an endoscopic instrument transport device 2000, and an endoscopic instrument control device.

As shown in fig. 1, the endoscopic instrument control device includes a manipulation platform 9000 and a controller 9100, wherein the manipulation platform 9000 is configured to obtain an operation motion of an operator and generate a control command. The controller 9100 is communicatively coupled to the manipulation platform 9000 to receive operator control instructions. The instrument clamping unit 1102, the movement assembly 1240 and the drive mechanism 2200 are each communicatively coupled to the controller 9100 and perform corresponding actions in accordance with control commands received by the controller 9100.

As shown in fig. 2 and 3, the endoscopic instrument switching device includes an instrument clamp mechanism 1100, an instrument switching mechanism 1200, and a line clamp mechanism 1300. The instrument clamp mechanism 1100 includes a plurality of instrument clamp units 1102. The instrument switching mechanism 1200 includes a support base 1210 and a movement assembly 1240 disposed on the support base 1210. The line clamp mechanism 1300 includes a plurality of line clamp units 1330. As shown in fig. 19, endoscopic instrument delivery device 2000 includes a delivery mechanism 2100 and a drive mechanism 2200.

The instrument clamping unit 1102 is mounted on the support base 1210, and the operating portions of a plurality of endoscopic instruments are mounted on the instrument clamping unit 1102 in a one-to-one correspondence. A tubing clamping unit 1330 is mounted on the mobile assembly 1240 for clamping an insertion tube of an endoscopic instrument. The insertion tube held by the tube holding unit 1330 is docked with the transfer mechanism 2100 by the moving assembly 1240. The drive mechanism 2200 is used to drive the movement of the delivery mechanism 2100 to advance or retract the insertion tube of the endoscopic instrument.

Specifically, the instrument clamping unit 1102 clamps an operation portion of an endoscopic instrument, and can control the endoscopic instrument to perform corresponding operation actions such as spinning, opening and closing, injection, or the like according to an input of an operator. It will be appreciated that the operation of the endoscopic instrument under the control of the controller 9100 is consistent with the functionality of the endoscopic instrument itself. For example, if the injector is clamped on the instrument clamping unit 1102, the controller 9100 controls the instrument clamping unit 1102 to implement an injection function. The biopsy forceps are arranged on the instrument clamping unit 1102, and the controller 9100 controls the instrument clamping unit 1102 to realize the opening and closing functions. The moving assembly 1240 drives the plurality of line gripping units 1330 to move under the control of the controller 9100, so that the line gripping unit 1330 of the installation target instrument is docked with the transfer mechanism 2100. After docking, the drive mechanism 2200 under the control of the controller 9100 operates the delivery mechanism 2100 to advance or retract the endoscopic instrument.

The endoscopic instrument control device provided by the embodiment of the invention comprises an endoscopic instrument control device, an endoscopic instrument switching device and an endoscopic instrument conveying device 2000, wherein a plurality of instrument clamping units 1102 in the endoscopic instrument switching device are provided with different endoscopic instruments, and each instrument clamping unit 1102 can realize the automatic operation of the endoscopic instrument under the control of a controller 9100; the controller 9100 controls movement of the movement assembly 1240 according to the control instructions to switch the endoscopic instrument and control operation of the driving mechanism 2200 to drive the endoscopic instrument forward or backward by receiving an input of an operator through the manipulation platform 9000 to generate a control instruction. Thus, the endoscope apparatus control device provided by the invention can realize the advancing and retreating of the endoscope apparatus and the switching of the endoscope apparatus according to the operation actions of an operator, and can also realize the operations of spinning, opening and closing, injection and the like of the endoscope apparatus.

Specifically, as shown in fig. 2 and 3, the instrument clamping mechanism 1100 includes a mounting table 1101 and a plurality of instrument clamping units 1102 mounted to the mounting table 1101. The mounting table 1101 is either directly secured to the support base 1210 or is movably mounted to the support base 1210 by a movement assembly 1240.

In an alternative embodiment, mounting table 1101 is directly secured to support base 1210, and mounting bar 1310 is movably mounted to support base 1210 only by movement assembly 1240 such that, under the influence of movement assembly 1240, tube gripping unit 1330 can be moved closer to or farther from endoscopic instrument delivery device 2000 and tube gripping unit 1330 aligned with endoscopic instrument delivery device 2000 can also be laterally adjusted to switch an endoscopic instrument docked with endoscopic instrument delivery device 2000. In yet another alternative embodiment, both mounting table 1101 and mounting bar 1310 are mounted to a displacement assembly 1240, displacement assembly 1240 is mounted to support base 1210, and instrument clamping unit 1102 and line clamping unit 1330 are simultaneously moved by displacement assembly 1240, as well as switching of an endoscopic instrument interfacing with endoscopic instrument delivery device 2000.

Common endoscopic instruments such as injection needles, syringes, surgical knives, surgical forceps and the like are all of a handle push-pull structure, so that the instrument handle part of the endoscopic instrument is fixed by an instrument handle fixing and clamping assembly, and the other part of the endoscopic instrument is driven by sliding drive to drive the handle of the endoscopic instrument to move so as to simulate the push-pull action of hands. Different endoscopic instruments employ an instrument clamping unit 1102 adapted thereto. Specifically, instrument clamp unit 1102 includes one or more of first instrument clamp unit 1110, second instrument clamp unit 1120, and third instrument clamp unit 1130. The first instrument clamping unit 1110 is used for mounting a push-pull operated endoscopic instrument, and the second instrument clamping unit 1120 is used for clamping a push-pull and rotation operated endoscopic instrument. The third instrument clamping unit 1130 has a flexible mechanism to eliminate backlash generated during the movement of the instrument handle for clamping an endoscopic instrument that would otherwise generate backlash. Endoscopic instruments such as biopsy forceps, titanium clips and the like needing opening and closing actions are matched with instrument clamping units with opening and closing functions, instruments such as injection needles needing injection actions are matched with instrument clamping units with injection functions, and instruments such as electric knives needing spinning actions are matched with instrument clamping units with spinning functions.

In some specific embodiments, the first instrument clamping unit 1110 is used to clamp an electric knife 110 or an endoscopic instrument similar to the electric knife 110. Specifically, as shown in fig. 4 to 6, the first instrument clamp unit 1110 includes a first instrument clamp seat 1111, a first instrument handle fixed clamp assembly 1112, and a first instrument handle movable clamp assembly 1113. The first instrument holder 1111 is mounted to the mounting table by screws or other structural members. The first instrument handle fixed grip assembly 1112 is a limit structure that defines the degrees of freedom of movement of the endoscopic instrument. The first instrument handle movement clamping assembly 1113 includes a first slide slidably mounted in the first instrument holder 1111 and a first slide drive mounted in the first instrument holder 1111 and coupled to the first slide. The controller 9100 is communicatively coupled to the first slide drive, and the controller 9100 controls movement of the first slide drive in accordance with an operator's operation to cause the endoscopic instrument to execute corresponding operation instructions. Wherein, install the apparatus detection subassembly on the first slip drive, the apparatus detection subassembly is used for detecting the travel of first slide to feed back to controller 9100 and transmit to control platform 9000, make the operator acquire the operating condition of current endoscopic instrument, realize closed-loop control.

Specifically, as shown in fig. 4, in one embodiment, the first instrument handle fixing clamp assembly 1112 is a cylindrical protrusion protruding from the first instrument mount, and the fixing portion of the electric knife 110 is sleeved on the cylindrical protrusion to limit movement thereof. In another embodiment, as shown in fig. 5, the first device handle fixing and clamping assembly 1112 is a limiting groove, and a tubular structure such as the injection needle 120 is inserted into the limiting groove to fix. In yet another embodiment, as shown in fig. 6, the endoscopic instrument is a syringe 130, the first instrument handle fixing and clamping assembly 1112 is two clamping arms protruding from the first instrument mounting seat, a clamping groove is disposed between each clamping arm, and a supporting lug is protruding from the end of the barrel of the syringe 130 and is clamped in the clamping groove for limiting.

Optionally, the sliding drive is an electric push rod or a linear motion mechanism such as a gear rack or a screw nut connected with the rotary drive. As shown in fig. 4, in a specific embodiment, two columnar limiting blocks are convexly arranged on the first sliding seat as limiting mechanisms, and the moving part of the electric knife 110 is sleeved on the limiting blocks. In another embodiment, as shown in fig. 5, a limit groove is provided on the first carriage as a limit structure for an endoscopic instrument such as an injection needle 120. In yet another embodiment, as shown in fig. 6, a T-shaped slot is provided on the first carriage, and an end cap is provided at the end of the piston rod of an endoscopic instrument, such as syringe 130, and the end cap and a portion of the rod are inserted into the T-shaped slot, so that the piston rod moves along the barrel when the first carriage moves to simulate the injection action of syringe 130.

It should be noted that, according to different endoscopic apparatuses, the first sliding seat is disposed on the front side or the rear side of the first apparatus handle fixing and clamping assembly 1112, and the number of the limiting structures disposed on the first sliding seat may be one or more. Two limiting blocks are arranged on the first sliding seat, and the distance between the two limiting blocks is determined according to the specification of the endoscope instrument.

In some embodiments, as shown in fig. 7, the second instrument clamp unit 1120 includes a rotating assembly 1121, a second instrument clamp mount 1122, a second instrument handle fixed clamp assembly 1123, and a second instrument handle movable clamp assembly 1124. The rotating assembly 1121 is mounted on the mounting table 1101, an output end of the rotating assembly 1121 is connected to the second instrument holder 1122, the second instrument handle fixed clamping assembly 1123 is fixed to the second instrument holder 1122, and the second instrument handle movable clamping assembly 1124 is movably mounted on the second instrument holder 1122.

The rotating assembly 1121 comprises a rotating driving part and a rotating seat, the rotating seat is installed on the installation table through a screw or a quick-assembling mechanism, the rotating driving part is installed on the rotating seat, and the driving end of the rotating driving part is in transmission connection with the second instrument clamping seat 1122. Alternatively, the rotational drive is a rotary motor or other mechanical structure capable of effecting rotation. The specific structure and mating relationship of the second instrument holder 1122, the second instrument handle fixed clamping assembly 1123, and the second instrument handle movable clamping assembly 1124 are similar to those of the first instrument holder 1111, the first instrument handle fixed clamping assembly 1112, and the first instrument handle movable clamping assembly 1113, and will not be described again. Under the action of the rotation driving, the second instrument clamping seat 1122 rotates along with the rotation driving the second instrument handle fixing and clamping assembly 1123 and the second instrument handle moving and clamping assembly 1124 which are installed on the second instrument clamping seat 1122 to rotate, so that the endoscopic instrument is driven to rotate, and the rotation operation of the endoscopic instrument by a human hand is simulated. The second slide drive and the rotational drive are communicatively coupled to a controller 9100, respectively, and the controller 9100 controls movement of the second slide drive in accordance with an operator's operation to cause the endoscopic instrument to execute corresponding operation instructions. The controller 9100 controls the rotation driving operation to rotate the endoscopic instrument mounted on the instrument clamping unit, simulating the rotation operation of the human hand on the endoscopic instrument. In the second instrument clamping unit 1120, the instrument detecting assembly includes a displacement detecting unit for detecting movement of the second slide and an angle detecting unit for detecting a rotation angle of the rotating seat. The second instrument clamping unit 1120 is closed-loop controlled by a displacement detection unit and an angle detection unit.

As shown in fig. 8 and 9, the third instrument clamp unit 1130 includes a backlash compensation assembly 1150, a third instrument holder 1131, a third instrument handle fixed clamping assembly 1132, and a third instrument handle movable clamping assembly 1133. The third instrument holder 1131 is detachably mounted to the mounting table. The third apparatus handle fixing clamping assembly 1132 is fixed on the third apparatus clamping seat 1131, and the third apparatus handle moving clamping assembly 1133 is movably installed on the third apparatus clamping seat 1131 through the idle stroke compensation assembly 1150.

In one embodiment, as shown in FIG. 9, the third instrument handle fixed clamp assembly 1132 is similar to the first instrument handle fixed clamp assembly 1112. In one embodiment, as shown in fig. 9, the third instrument handle fixing clamping assembly 1132 is a stopper protruding from the third instrument holder 1131. The lost motion compensation assembly 1150 includes a compensation housing 1151 and a first spring 1152, and the third instrument handle movement clamping assembly 1133 includes a third slide 1134 and a third slide drive 1135. One end of the first elastic member 1152 is fixedly connected to the compensation frame 1151, and the other end is fixedly connected to the third slider 1134. The third slider 1134 and the compensating frame 1151 are slidably mounted on the third instrument holder 1131, and form a receiving cavity, where the first elastic member 1152 is received. The drive shaft of the third sliding drive 1135 is coupled to the compensation frame 1151.

The compensating frame 1151 moves left and right by the third sliding drive 1135, and the third slider 1134 moves synchronously with the compensating frame 1151 by the first elastic member 1152. If the backlash occurs, the first elastic member 1152 drives the third slider 1134 to move slightly to compensate the backlash. For example, the distal end of the endoscopic instrument extends out of the endoscopic channel, and in use, the distal end is retracted due to bending of the endoscope, and the third slider 1134 is moved to the left or right by the first elastic member 1152 to extend the distal end out of the endoscopic channel again. Thus, the first elastic member 1152 simulates a human hand, ensuring that forces are always exerted on the endoscopic instrument during operation to compensate for lost motion in real time.

Optionally, the first elastic member 1152 is a spring. As shown in fig. 9, the compensating frame 1151 is slidably mounted on the third apparatus holder 1131, two sides of the third apparatus holder are respectively provided with a mounting groove, and the third sliding seat 1134 is sleeved outside the compensating frame 1151 and forms a receiving cavity with the mounting groove. The third slider 1134 is balanced in force by the left and right first elastic members 1152, and moves more smoothly.

In this embodiment, the lost motion compensation assembly 1150 automatically compensates without control from the controller 9100.

Taking a syringe as an example, in use, an operator inputs an injection volume and confirms an injection operation through the operation platform 9000, the operation platform 9000 generates a control command according to the input of the operator, and the controller 9100 receives the control command to control a movement stroke of the slide drive so as to perform the injection operation.

According to the endoscope control device provided by the embodiment of the invention, the sliding drive is enabled to respond to the input instruction of an operator through the control platform 9000 and the controller 9100, so that the opening and closing or injection of the endoscope instrument are realized, the manual operation of the endoscope instrument by a user is not needed, and the operation burden is reduced.

In particular, endoscopic instrument delivery device 2000 also includes a detection assembly that includes a position sensor and a displacement sensor. The position sensor is used to generate a trigger signal when an endoscopic instrument is inserted into or withdrawn from the delivery mechanism 2100, and the displacement sensor is used to detect the length of advancement or retraction of the endoscopic instrument. The position sensor and the displacement sensor are both communicatively coupled to the controller 9100.

As shown in fig. 19, the conveying mechanism 2100 includes a roller assembly 2120 and a first housing 2140, the roller assembly 2120 includes a driving wheel 2121 and a driven wheel 2122, and both the driving wheel 2121 and the driven wheel 2122 are mounted inside the first housing 2140. The driving mechanism 2200 includes a second housing 2250, a forward and reverse driving assembly 2220 and a clutch assembly 2230, the forward and reverse driving assembly 2220 and the clutch assembly 2230 being mounted to the second housing 2250, the first housing 2140 and the second housing 2250 being detachably connected. The advance and retreat driving assembly 2220 is coupled to the drive pulley 2121 to drive the drive pulley 2121 for rotation, and the clutch assembly 2230 is configured to drive the driven pulley 2122 toward the drive pulley 2121 for delivery of the endoscopic instrument 100 or away from the drive pulley 2121 for separation of the roller assembly 2120 from the endoscopic instrument 100. The advance and retreat driving assembly 2220 and the clutch assembly 2230 are communicatively connected to the controller 9100, respectively.

As shown in fig. 19, the second housing 2250 includes a case 2251 and a cover 2252, the case 2251 and the cover 2252 being connected together to form a housing for mounting the advance and retreat driving assembly 2220 and the clutch assembly 2230. The first housing 2140 is mounted at one end to the second housing 2250 for easy removal. In one embodiment, one of the first and second housings 2140, 2250 is provided with a snap fit, and the other is provided with a snap fit hole into which the snap fit snaps to connect the first and second housings 2140, 2250 together. In yet another embodiment, the first housing 2140 and the second housing 2250 are coupled by a lock assembly 2260, and the first housing 2140 and the second housing 2250 are separated when the lock assembly 2260 is in the unlocked state to facilitate decontamination of the delivery mechanism 2100. With the lock assembly 2260 in the locked state, the first and second housings 2140, 2250 are secured together in place to effect connection of the drive mechanism 2200 to the roller assembly 2120. When the first housing 2140 is connected to the second housing 2250, the driving end of the driving assembly 2220 is connected to the driving wheel 2121 to drive the driving wheel 2121 to rotate, and the clutch assembly 2230 is connected to the driven wheel 2122 to drive the driven wheel 2122 to approach or separate from the driving wheel 2121.

Wherein the controller 9100 controls operation of the clutch assembly 2230 based on a trigger signal of the position sensor. The controller 9100 controls the operation of the advance and retreat driving assembly 2220 based on information collected by the displacement sensor. In addition, information collected by the displacement sensor and the position sensor is transmitted to the manipulation platform 9000 through the controller 9100 for viewing by an operator.

Specifically, in response to a switching instruction input by the operator, the controller 9100 controls the movement of the movement assembly 1240 to interface the line clamping unit 1330 where the target instrument is located with the insertion port on the first housing 2140. Under the influence of the movement assembly 1240, the insertion tube of the endoscopic instrument enters into first housing 2140 and is advanced a preset length. When an endoscopic instrument enters the delivery mechanism 2100, the position sensor generates a trigger signal that the controller 9100 receives and controls the operation of the clutch assembly 2230 to move the driven wheel 2122 away from the drive wheel 2121 to facilitate passage of the endoscopic instrument between the drive wheel 2121 and the driven wheel 2122. And controls the clutch assembly 2230 to be operated again when the endoscopic instrument is moved to the preset position, bringing the driven wheel 2122 closer to the driving wheel 2121 to clamp the endoscopic instrument. In one embodiment, the position sensor and the displacement sensor are disposed at the same position, so as to ensure that the displacement sensor synchronously obtains displacement information when the position sensor generates a trigger signal, and the controller 9100 controls and determines whether the endoscopic instrument moves to a preset position according to the displacement information collected by the position sensor. In another embodiment, controller 9100 determines the length of time required for the endoscopic instrument to move to a preset position based on the drive speed of movement assembly 1240 and controls clutch assembly 2230 to operate to clamp the endoscopic instrument at intervals after receiving a trigger signal. In yet another embodiment, as shown in FIG. 15, a sensing element 1350 is provided within the line clamp unit 1330, and the controller 9100 determines the delivery length of the endoscopic instrument based on the detection result of the sensing element 1350. Of course, both the detection element 1350 and the displacement sensor may be provided, and one of them may determine whether the endoscopic instrument has moved to a preset position, and the other may be used as a backup element to prevent failure in detecting the length of the endoscopic instrument to be delivered.

In an embodiment, as shown in fig. 25 and 26, the detection assembly further includes a driven unit 2130, and the driven unit 2130 includes a driving roller 2131 and a driven roller 2132. The driving roller 2131 is rotatably mounted in the first housing 2140, and the driven roller 2132 is received in the first housing 2140 and is movable within the first housing 2140.

Specifically, the position sensor is a tact switch 2212, and the displacement sensor includes a magnetic sensor 2211 and a magnetic member 2133. The magnetic element 2133 is mounted on the driving roller 2131, and the magnetic sensor 2211 is used for detecting the rotation number of the driving roller 2131, so as to calculate the advancing or retreating length of the endoscopic instrument. The tact switch 2212 is used to be triggered by the driven roller 2132 as the endoscopic instrument passes between the driving roller 2131 and the driven roller 2132.

As shown in fig. 26, the driving roller 2131 and the driven roller 2132 are arranged vertically up and down. The driven roller 2132 is mounted in the first housing 2140 and is movable within the first housing 2140, and when an endoscopic instrument passes between the driving roller 2131 and the driven roller 2132, the driving roller 2131 is driven while the driven roller 2132 is pushed upward to open a channel between the driving roller 2131 and the driven roller 2132, ensuring that the endoscopic instrument can pass therethrough. When the driven roller 2132 moves upwards, the tact switch 2212 is triggered, and the clutch assembly 2230 is controlled to drive the driven wheel 2122 to be far away from the driving wheel 2121 according to a control signal of the tact switch 2212 or confirm that the driven wheel 2122 and the driving wheel 2121 are in a far-away state so as to reduce the resistance of the endoscopic instrument entering. The driving roller 2131 has a magnetic element 2133 mounted thereon, and the magnetic sensor 2211 is mounted within the first housing 2140 for detecting a change in the magnetic field of the magnetic element 2133 and determining a travel distance of the endoscopic instrument based on the change in the magnetic field.

As shown in fig. 25, a mounting cavity 2135 is provided in the first housing 2140, and both the driving roller 2131 and the driven roller 2132 are positioned within the mounting cavity 2135. The width of the mounting cavity 2135 generally corresponds to the width of the driving roller 2131 and the driven roller 2132, ensuring that the driving roller 2131 and the driven roller 2132 can rotate within the mounting cavity 2135. Above the driven roller 2132 is provided a trigger 2134, the trigger 2134 being slidably mounted in the mounting cavity 2135. Optionally, the trigger 2134 is a T-shaped block, a cross plate of the T-shaped block is slidably inserted into the mounting cavity 2135, and a vertical plate of the T-shaped block extends from the mounting cavity 2135 to trigger the tact switch 2212. Upon insertion of an endoscopic instrument, the driven roller 2132 moves upward, pushing the trigger 2134 upward to trigger the tact switch 2212. After the endoscopic instrument is withdrawn, the driven roller 2132 moves downward and the trigger block moves away from the tact switch 2212 under the force of gravity.

Wherein, the passive unit 2130 is mounted in the first housing 2140, and the magnetic element 2133 and the triggering element 2134 are mounted in the first housing 2140. The tact switch 2212 and the magnetic sensor 2211 may be disposed within the first housing 2140 or may be disposed on the second housing 2250.

Preferably, both the tact switch 2212 and the magnetic sensor 2211 are disposed on the second housing 2250 such that the electroless devices within the first housing 2140 may be directly decontaminated, making decontamination more convenient. As shown in fig. 19, the first housing 2140 is provided with an extension hole 2136, and the trigger end of the trigger piece 2134 is disposed corresponding to the extension hole 2136. When the first housing 2140 is docked with the second housing 2250, the trigger 2134, after extending through the extension aperture 2136, may contact the tact switch 2212 on the second housing 2250.

It should be noted that the detection unit may also use other forms of position sensor and displacement sensor. For example, the position sensor adopts a photoelectric switch, the displacement sensor adopts a visual detection unit, the endoscopic instrument is correspondingly provided with a cursor, and the visual detection unit is used for detecting the cursor on the endoscopic instrument to judge the advancing and retreating speed and the inserting speed of the endoscopic instrument so as to realize the detection function.

It will be appreciated that the driving roller 2131 and the driven roller 2132 are provided with grooves, respectively, which are shaped to fit the shape of the endoscopic instrument, and that the two grooves are clamped on opposite sides of the endoscopic instrument after the driving roller 2131 and the driven roller 2132 are engaged to prevent the endoscopic instrument from being skewed.

Specifically, as shown in fig. 25 and 26, the detection assemblies are two sets, and the two sets of detection assemblies are disposed on both front and rear sides of the roller assembly 2120. Both detection assemblies are connected to the controller 9100.

The two groups of detection assemblies are a first detection assembly and a second detection assembly respectively, and the first detection assembly and the second detection assembly are identical in structure and comprise a manual unit, a displacement sensor and a position sensor. Wherein, the first detecting component is located at the front end of the roller component 2120, and the second detecting component is located at the rear end of the roller component 2120. When the endoscopic instrument is accessed, the roller assembly 2120 is controlled to open according to the trigger signal generated by the tact switch 2212 in the first detection assembly, so as to reduce the resistance of the instrument pipeline access. When the endoscopic instrument is withdrawn, the roller assembly 2120 is controlled to open in advance according to the trigger signal generated by the tact switch 2212 in the second detection assembly, so as to reduce the resistance of the withdrawal of the instrument pipeline.

In the case where only one detection assembly is provided, the speed of delivery of the endoscopic instrument is determined by means of information acquired by the magnetic sensor 2211 in the detection assembly, the controller 9100 can determine the time required for the endoscopic instrument to pass through the roller assembly 2120 based on the speed of delivery of the endoscopic instrument, or the time required for the endoscopic instrument to pass through a preset position, and the controller 9100 can control the roller assembly 2120 to retract by time to clamp the endoscopic instrument. In the case where two detection assemblies are provided, the controller 9100 determines the conveyance speed of the endoscopic instrument in accordance with the magnetic sensor 2211 in the first detection assembly and the magnetic sensor 2211 in the second detection assembly in common.

In the use process, the surface of the endoscopic instrument is often wetted by liquid or contaminated by impurities, so that the endoscopic instrument may cause intermittent slipping of the roller assembly 2120, a certain speed difference exists between the roller assembly 2120 and the detection assembly, and the rotation speeds of the driving roller 2131 detected by the magnetic sensor 2211 in the first detection assembly and the driving roller 2131 detected by the magnetic sensor 2211 in the second detection assembly are different, so that the slipping condition of the roller assembly 2120 can be judged through the speed difference of the driving roller 2131 and the driving roller 2131, and the endoscopic instrument can be accurately controlled.

In one embodiment, as shown in fig. 13 to 15, the line clamping unit 1330 includes a housing 1331, a fixed shaft roller 1341, a movable shaft roller 1345, a slider 1346, and an elastic adjuster 1349. Fixed shaft roller 1341 is rotatably mounted within housing 1331. The movable shaft roller 1345 is rotatably mounted on a slider 1346, and the slider 1346 is slidably mounted on the housing 1331. One end of the elastic regulating member 1349 abuts against the slider 1346, and the other end of the elastic regulating member 1349 abuts against the housing 1331.

The fixed shaft roller 1341 includes a fixed shaft 1342 and a first roller 1343 sleeved on the fixed shaft 1342. In one embodiment, the fixed shaft 1342 is fixed in the housing 1331, and the first roller 1343 is rotatably sleeved on the fixed shaft 1342. In yet another embodiment, the fixed shaft 1342 is rotatably mounted in the housing 1331, and the first roller 1343 is fixedly sleeved on the fixed shaft 1342. The movable shaft roller 1345 includes a movable shaft 1347 and a second roller 1348 sleeved on the movable shaft 1347. In one embodiment, the moving shaft 1347 is rotatably mounted on the slider 1346, and the second roller 1348 is fixedly sleeved on the moving shaft 1347. In another embodiment, the moving shaft 1347 is inserted and fixed on the sliding block 1346, and the second roller 1348 is rotatably sleeved on the moving shaft 1347. The first roller 1343 and the second roller 1348 are respectively provided with grooves adapted to the peripheral dimension of the endoscopic instrument, and the grooves are butted to form a channel for accommodating the endoscopic instrument after the first roller 1343 and the second roller 1348 are matched. The elastic regulating member 1349 is a spring or an elastic rubber pad, etc. One end of the elastic regulating member 1349 is connected to the inner wall of the housing 1331, and the other end of the elastic regulating member 1349 is connected to the slider 1346, thereby dynamically adjusting the interval between the second roller 1348 and the first roller 1343 to clamp the endoscopic instrument line.

A detection element 1350 is provided on the fixed shaft roller 1341 to detect the number of turns of the first roller 1343, and the controller 9100 determines the stroke of the endoscopic instrument according to the detection result of the detection element 1350. Specifically, the detection element 1350 includes a magnetic sensor mounted within the housing 1331 and a magnetic element fixedly mounted on the fixed shaft roller 1341, the number of rotations of the first roller 1343 being acquired by the magnetic sensor, and the transport length of the endoscopic instrument being determined in conjunction with the size of the first roller 1343. Of course, the sensing element 1350 may also be a speed sensing element or other sensing element, provided that the length of delivery of the endoscopic instrument can be determined.

In yet another embodiment, as shown in fig. 10-11, a line clamping unit 1330 includes a housing 1331, a collet 1333, and a resilient return 1336. The clamping head 1333 is movably inserted into the shell 1331, and the elastic reset piece 1336 is sleeved on the clamping head 1333. Elastic restoring piece 1336 has one end connected to chuck 1333 and the other end connected to housing 1331. Collet 1333 is provided with a central throughbore 1334, central throughbore 1334 being adapted for passage of an insertion tube of an endoscopic instrument. One end of the clamping head 1333 is provided with a butt joint, so that the butt joint can be conveniently matched with a corresponding insertion port on the endoscopic instrument conveying device 2000; the other end of the clamping head 1333 is provided with a clamping jaw 1335, and one end of the shell 1331 corresponding to the clamping jaw 1335 is provided with a conical opening with the caliber gradually shrinking into the shell 1331. In a natural state, the clamping jaw 1335 is clamped at the conical opening; in the delivery state, the abutment abuts against the abutment of the endoscopic instrument delivery device 2000, and the pawl 1335 moves to the large mouth end of the tapered mouth.

As shown in fig. 11 and 12, a sliding boss is provided in the middle of the collet 1333, the inner wall of the outer end surface housing 1331 of the sliding boss abuts against the inner wall of the housing 1331, a first mounting cavity 1337 is formed between the side surface of the sliding boss and the inner wall of the housing 1331, and an elastic restoring member 1336 is sleeved on the collet 1333 and accommodated in the first mounting cavity 1337. Optionally, the resilient return 1336 is a spring. The middle part of the outer wall of the shell 1331 is provided with a spherical protrusion 1332, the spherical protrusion 1332 is clamped in the second clamping groove, and universal follow-up can be realized within a certain range, so that the influence of the fit deviation is eliminated. The pawl 1335 has a wedge-shaped tail that moves with the collet 1333 within the tapered mouth. The end of the grip 1333 provided with the butt joint is spherical.

As shown in fig. 11, when the pipe clamping unit 1330 is in a natural state, the clamping head 1333 reaches the right dead point under the elastic force of the elastic restoring piece 1336, and at this time, the wedge-shaped tail fin of the clamping jaw 1335 is pressed down by the conical opening on the housing 1331 to be folded toward the axis, so that the instrument pipe in the central through hole 1334 is subjected to a larger clamping force and cannot generate axial displacement. As shown in fig. 12, when the tool line is in a delivery state, after the abutment of the collet 1333 is abutted with the endoscopic tool delivery device 2000, the collet 1333 is moved leftward by the pushing force, and the elastic restoring member 1336 is compressed by the force, the wedge-shaped tail fin of the jaw 1335 is separated from the tapered opening of the housing 1331, and at this time, the pressure of the jaw 1335 to the tool line in the central through hole 1334 is small, so that the tool line can move in the axial direction thereof in the central through hole 1334 and does not naturally slide.

The pipe clamping unit 1330 further includes an auxiliary elastic ring 1338, where the auxiliary elastic ring 1338 is sleeved on the periphery of the claw 1335.

The clamping jaw 1335 has certain flexibility, and as shown in fig. 11 and 12, an auxiliary elastic ring 1338 is sleeved on the periphery of the clamping jaw 1335, so that the clamping jaw 1335 can be folded towards the axis direction to clamp the instrument pipeline. By providing the auxiliary spring 1338, the endoscopic instrument is prevented from sliding when the line clamping unit 1330 is in a delivery state and the endoscopic instrument line is not subjected to other clamping forces.

As shown in fig. 10, the pipe clamping mechanism 1300 further includes a clamping unit mounting frame 1320, and the pipe clamping unit 1330 is detachably mounted to the mounting rod 1310 through the clamping unit mounting frame 1320.

Specifically, the clamping unit mounting frame 1320 is provided with a first clamping groove for clamping on the mounting rod 1310 and a second clamping groove for clamping the pipeline clamping unit 1330. The line clamping unit 1330 may be removably mounted on the mounting bar 1310 by means of the first and second clamping grooves for replacement or sterilization. Of course, the tube gripping unit 1330 may be disposable and discarded as medical waste after use. In one embodiment, the clamping unit mounting frame 1320 is integrally formed with the mounting rod 1310, and the second clamping groove is directly formed on the mounting rod 1310, and the pipe clamping unit 1330 is clamped on the mounting rod 1310 through the second clamping groove. Specifically, the second slot is a spherical slot, and the spherical protrusion 1332 on the housing 1331 is received in the spherical slot. Alternatively, the clamping unit mounting frame 1320 is fixedly mounted to the mounting rod 1310 by screws, and the pipe clamping unit 1330 is detachably mounted to the clamping unit mounting frame 1320.

As shown in fig. 19 and 20, a guide tube 2111 and a butt joint 2112 are provided in the first housing 2140. The guide tube 2111 is a hollow passage with one end communicating with the interior of the first housing 2140 and the other end provided with a concave surface for interfacing with the line gripping unit 1330, which fits into an abutment on the collet 1333. Docking joint 2112 is tapered, with the small diameter end of docking joint 2112 communicating with the interior of first housing 2140, and the large diameter end of docking joint 2112 for docking with the forceps cap of the endoscope.

As shown in fig. 11, when the pipe clamping unit 1330 is in a natural state, the clamping head 1333 reaches the right dead point under the elastic force of the elastic restoring piece 1336, and at this time, the wedge-shaped tail fin of the clamping jaw 1335 is pressed by the conical opening on the housing 1331 to be folded toward the axis, so that the instrument pipe in the central through hole 1334 can not generate axial displacement when receiving a larger clamping force. As shown in FIG. 12, with the tubing clamp unit 1330 moving assembly 1240, continued to approach endoscopic instrument delivery device 2000, collet 1333 is forced to move to the left while resilient return piece 1336 is forced to compress, the wedge-shaped tail of pawl 1335 is forced away from the tapered mouth of housing 1331, and the pressure of pawl 1335 against the instrument tubing within central bore 1334 is now less, so that the instrument tubing can move axially within central bore 1334 and does not slide naturally.

In response to a switching instruction input by a user, the controller 9100 controls the movement of the moving assembly 1240 to interface the line clamping unit 1330 where the target instrument is located with the guide tube 2111 and move the endoscopic instrument into the transmission mechanism 2100 to a preset position, and then controls the clutch assembly 2230 to clamp the endoscopic instrument with the driving wheel 2121 and the driven wheel 2122 and to stop the operation of the moving assembly 1240, thereby completing the switching operation of the endoscopic instrument and preparing for the transportation operation of the endoscopic instrument.

Specifically, the moving assembly 1240 is configured to carry the instrument clamping mechanism 1100 and the line clamping mechanism 1300 and move them in the horizontal plane in the lateral and longitudinal directions. Wherein, in response to an operator switching command, the controller 9100 controls the lateral movement of the moving assembly 1240 to align the line clamping unit 1330 where the target instrument is located with the interface of the endoscopic instrument delivery device 2000. Since the spacing between the line clamp unit 1330 where the target instrument is located and the line clamp unit 1330 currently aligned with the endoscopic instrument transport device 2000 is fixed and known, the controller 9100 can determine the lateral run time based on the lateral movement speed of the movement assembly 1240. Of course, the movement detecting element may also be used to detect the lateral movement distance of the moving assembly 1240 in real time, and the controller 9100 may control the stopping of the lateral movement of the moving assembly 1240 when the lateral movement distance reaches the target distance according to the detection information fed back by the movement detecting element. The controller 9100 controls the longitudinal operation of the movement assembly 1240 to bring the line clamp unit 1330 into abutment with the endoscopic instrument delivery device 2000 and to control the movement of the endoscopic instrument to a preset position in the delivery mechanism. It will be appreciated that the lateral movement and the longitudinal movement of the moving assembly 1240 may be performed simultaneously or may be performed first, and then, the lateral movement and the longitudinal movement may be performed, which is not particularly limited in this embodiment of the present invention.

Optionally, the moving assembly 1240 includes a lateral drive unit 1241, a lateral load-bearing structure 1242, a longitudinal drive unit 1244, and a longitudinal load-bearing structure 1245. The transverse driving unit 1241 is mounted on the support base 1210, and a driving end of the transverse driving unit 1241 is connected to the transverse bearing structure 1242 to drive the transverse bearing structure 1242 to move transversely. The longitudinal load-bearing structure 1245 is slidably mounted to the transverse load-bearing structure 1242 and is longitudinally movable by the longitudinal drive unit 1244.

In a specific embodiment, as shown in fig. 16, the movement assembly 1240 includes a lateral drive unit 1241, a lateral load-bearing structure 1242, rollers 1243, a longitudinal drive unit 1244, and a longitudinal load-bearing structure 1245. The transverse driving unit 1241 is mounted on the support base 1210, and a driving end of the transverse driving unit 1241 is connected to the transverse bearing structure 1242 to drive the transverse bearing structure 1242 to move transversely. The longitudinal load-bearing structure 1245, the longitudinal drive units 1244 and the rollers 1243 are mounted on the transverse load-bearing structure 1242 as longitudinal drive assemblies, which move transversely with the transverse load-bearing structure 1242 under the action of the transverse drive units 1241. The longitudinal load bearing structure 1245 is longitudinally moved along the sliding track formed by the rollers 1243 by the longitudinal drive units 1244. In this embodiment, the rollers 1243 act as sliding tracks for the longitudinal load-bearing structures 1245 to improve smoothness and smoothness of sliding. The device clamping mechanism 1100 and the pipeline clamping mechanism 1300 are fixed on the longitudinal bearing structure 1245 and move synchronously with the longitudinal bearing structure 1245, and the driving end of the longitudinal driving unit 1244 is connected with the longitudinal bearing structure 1245 to drive the longitudinal bearing structure 1245 to move longitudinally forwards and backwards, so that the device clamping mechanism 1100 and the pipeline clamping mechanism 1300 are driven to move forwards and backwards. The lateral drive unit 1241 and the longitudinal drive unit 1244 are communicatively connected to the controller 9100, respectively. Alternatively, the longitudinal drive unit 1244 and the transverse drive unit 1241 may be standard sliding tables, electric push rods, or lead screw nuts or gear racks connected to a rotary drive.

Wherein, in response to an operator's switching instruction, the controller 9100 controls the lateral drive unit 1241 to move so that the line clamping unit 1330 where the target instrument is located is aligned with the guide tube 2111. The controller 9100 determines the operation time of the lateral drive unit 1241 according to the driving speed of the lateral drive unit 1241 or controls the lateral drive unit 1241 to stop operating when the target instrument is aligned with the guide tube 2111 according to the lateral movement stroke detected by the movement detecting element in real time. After the lateral movement into place, the controller 9100 controls the longitudinal drive unit 1244 to operate so that the line clamping unit 1330 abuts the guide tube 2111 and controls the endoscopic instrument to move to a preset position, during which the controller 9100 also controls the operation of the clutch assembly 2230 according to a trigger signal fed back by the position sensor, ensuring that the endoscopic instrument is successfully clamped between the roller assemblies 2120.

In another specific embodiment, as shown in FIG. 17, the instrument clamp mechanism 1100 is fixedly mounted to a support base 1210. The line clamp mechanism 1300 is mounted to the support block 1210 and is capable of lateral and longitudinal movement relative to the support block 1210. The support base 1210 is provided with a transverse driving unit 1241, a transverse track 1246, a longitudinal driving unit 1244 and a longitudinal track 1247. Alternatively, the transverse driving unit 1241 includes a transverse rotating motor and a rack-and-pinion transmission assembly 1249, and the rack-and-pinion transmission assembly 1249 includes a transmission gear and a transmission rack. As shown in fig. 13, the transverse rotating motor is fixed to the transverse rail 1246, the transmission gear is connected to the output shaft of the transverse rotating motor, the transmission gear is meshed with the transmission rack, and the transmission rack is movably mounted on the transverse rail 1246. The drive rack is fixedly coupled to the mounting bar 1310. Under the action of the transverse rotating motor, the transmission gear rotates to drive the transmission rack to transversely move, so that the position of the pipeline clamping unit 1330 is adjusted, and the pipeline clamping unit 1330 corresponding to the target pipeline is butted with the endoscopic instrument conveying device 2000. The transverse rail 1246 is movably mounted to the longitudinal rail 1247. Specifically, as shown in fig. 13, the longitudinal rail 1247 is provided with a slide bar for guiding. Longitudinal drive unit 1244 is similar to transverse drive unit 1241, and longitudinal drive unit 1244 is configured to drive transverse track 1246 back and forth along longitudinal track 1247, thereby driving line clamp unit 1330 toward or away from endoscopic instrument delivery device 2000. Wherein, the transverse driving unit 1241 and the longitudinal driving unit 1244 are both installed in the supporting seat 1210 to be hidden.

In yet another embodiment, as shown in FIG. 17, the instrument clamp mechanism 1100 is fixedly mounted to a support base 1210. The line clamp mechanism 1300 is mounted to the support base 1210 by a movement assembly 1240 and is capable of moving laterally and longitudinally relative to the support base 1210. As shown in fig. 14, the shift assembly 1240 employs a timing belt drive assembly 1248 for lateral movement and a rack and pinion drive assembly 1249 for longitudinal movement. In particular, the movement assembly 1240 includes a transverse track 1246, a transverse drive unit 1241, a longitudinal track 1247, and a longitudinal drive unit 1244. The transverse driving unit 1241 includes a timing belt and a timing belt driving unit connected to the timing belt. The synchronous belt is fixedly provided with a sliding block, and the sliding block moves along with the synchronous belt. The plurality of line clamping units 1330 are disposed in parallel on the mounting rod 1310, and the mounting rod 1310 is fixed to the slider. In order to realize stable operation of the sliding block, a sliding rod is arranged in the transverse track 1246, and the sliding block is slidably sleeved on the sliding rod. The number of the sliding rods can be multiple, and the sliding rods are arranged in parallel. The synchronous belt driving unit is mounted on the transverse track 1246 and is used for driving the synchronous belt to rotate, so as to drive the pipeline clamping unit 1330 to move transversely. The longitudinal driving unit 1244 includes a longitudinal rotation motor and a rack and pinion transmission assembly 1249, and the rack and pinion transmission assembly 1249 includes a transmission gear and a transmission rack. The longitudinal rotary motor is fixedly arranged on the transverse track 1246, a motor shaft of the longitudinal rotary motor is connected with a transmission gear, and the transmission gear is meshed with the transmission rack. The longitudinal rail 1247 is fixedly mounted in the support block 1210 and the drive gear is rotatably mounted in the transverse rail 1246. A sliding rod is also arranged in the longitudinal track 1247, and the transverse track 1246 is sleeved on the sliding rod in a sliding way. Under the action of the longitudinal rotary motor, the drive gear rotates to drive the transverse track 1246 longitudinally back and forth, thereby moving the tube gripping unit 1330 closer to or farther from the endoscopic instrument delivery device 2000.

Of course, the moving assembly 1240 may also use a screw nut for transmission in a transverse direction and/or a longitudinal direction, which is not particularly limited in this embodiment of the present invention.

Alternatively, the driving wheel 2121 and the driven wheel 2122 are provided in pairs and with a plurality of pairs. As shown in fig. 21, the roller assembly 2120 includes two driving wheels 2121 and two driven wheels 2122. The preset position refers to a center position between the two driving wheels 2121, and when an endoscopic instrument is inserted into the endoscopic instrument transport device 2000 and moved to the preset position, the clutch assembly 2230 controls the driven wheel 2122 to approach the driving wheel 2121, so that the front pair of driving wheel 2121 and driven wheel 2122 clamp the endoscopic instrument. When delivery is desired, the endoscopic instrument is delivered forward and through the rear pair of drive and driven pulleys 2121, 2122 by means of the front pair of drive and driven pulleys 2121, 2122.

In an embodiment of the present invention, as shown in fig. 22, the clutch assembly 2230 includes a clutch power unit 2231, a clutch controller 2233, a clutch slider 2232 and a driven shaft 2234. The driven shaft 2234 is connected to the clutch slider 2232, and the driven shaft 2234 extends out of the second housing 2250 and is inserted into the driven wheel 2122. The clutch power unit 2231 is connected with the clutch controller 2233, and the output end of the clutch power unit 2231 is connected with the clutch slider 2232. The clutch controller 2233 is communicatively coupled to the controller 9100. It will be appreciated that the clutch controller 2233 may be integrated within the controller 9100 or may be provided separately and mounted within the second housing 2250.

As shown in fig. 22, the clutch power unit 2231 is connected to a clutch controller 2233. In response to the operation input by the operator, the controller 9100 communicates with the clutch controller 2233, and the clutch controller 2233 controls the clutch power unit 2231 to output power to drive the clutch slider 2232 to move, so as to drive the driven shaft 2234 connected with the clutch slider 2232 to move, and further drive the driven wheel 2122 to move, so that the driven wheel 2122 approaches or departs from the driving wheel 2121.

When the endoscopic instrument 100 is inserted into the roller assembly 2120, the clutch controller 2233 controls the driven wheel 2122 to approach the driving wheel 2121 based on the in-place information when it is inserted into the preset position, so as to clamp the endoscopic instrument 100 to drive the endoscopic instrument 100 to be conveyed forward under the action of the roller assembly 2120. Upon withdrawing the endoscopic instrument 100 outward, the clutch controller 2233 controls the driven wheel 2122 away from the driving wheel 2121 in accordance with the withdrawal signal to reduce the withdrawal resistance of the endoscopic instrument 100.

Specifically, the clutch power unit 2231 is an electric push rod or a rotating motor connected to the linear motion mechanism through a reduction gearbox. The clutch controller 2233 is a circuit board. The clutch slider 2232 is provided with a driven shaft 2234, and the driven shaft 2234 is inserted into the driven wheel 2122 so that the driven wheel 2122 moves back and forth along with the clutch slider 2232. A first travel switch 2235 and a second travel switch 2236 are provided on the clutch controller 2233. The clutch slider 2232 is fixedly connected with a travel switch trigger 2237. Under the action of the clutch power unit 2231, the travel switch trigger 2237 triggers the first travel switch 2235 or the second travel switch 2236, and the clutch controller 2233 controls the clutch power unit 2231 to stop driving according to the trigger signal, so as to limit the front-rear limit position of the movement of the clutch slider 2232.

In the use process, as shown in fig. 22, when the clutch power unit 2231 pushes the clutch slider 2232 to drive the driven wheel 2122 to move in the direction a, the first travel switch 2235 and the second travel switch 2236 are not triggered in the movement process until the travel switch trigger 2237 triggers the first travel switch 2235, the clutch power unit 2231 stops working under the control of the clutch controller 2233, and the clutch controller 2233 controls the clutch power unit 2231 to reversely connect the positive electrode and the negative electrode. When the clutch power unit 2231 drives the clutch slider 2232 to move, so as to drive the driven wheel 2122 to move in the opposite direction of the direction a, neither the first travel switch 2235 nor the second travel switch 2236 is triggered during the movement until the travel switch trigger 2237 triggers the second travel switch 2236, the clutch power unit 2231 stops working under the control of the clutch controller 2233, and the clutch power unit 2231 is controlled to be reversely connected with the anode and the cathode through the clutch controller 2233. In another alternative embodiment, the clutch power unit 2231 communicates directly with the first and second travel switches 2235 and 2236, and stops outputting power according to the trigger signals of the first and second travel switches 2235 and 2236.

It should be noted that the driven shaft 2234 may be directly fixed to the clutch slider 2232 to move back and forth between two extreme positions with the clutch slider 2232, or stay at a target position with the clutch slider 2232 under the control of the clutch power unit 2231. For example, the clutch power unit 2231 is provided with a force sensor on the driven shaft 2234, and the clutch power unit 2231 stops driving when the feedback force detected by the force sensor reaches a preset value. In addition, the driven shaft 2234 may also be coupled to the clutch slider 2232 via a displacement compensation unit 2240 to accommodate different sizes of endoscopic instruments 100. As shown in fig. 21 and 22, there are two driven wheels 2122, and two driven shafts 2234 are each mounted to the clutch slider 2232. The two driven wheels 2122 move synchronously under the influence of the clutch power unit 2231.

In an alternative embodiment, a force feedback unit is provided on the clutch slider 2232, the force feedback unit being in communication with the clutch controller 2233. Whether the endoscopic instrument 100 is entered into the delivery mechanism 2100 is determined by detecting the amount of force applied by the clutch slider 2232. The force feedback unit may be a strain gauge or a pressure sensor. Specifically, a plate body parallel to the end surface of the clutch slider 2232 is provided on the mounting seat of the clutch power unit 2231, when the endoscopic instrument 100 is inserted, a large force is generated between the plate body and the clutch slider 2232 by the reverse thrust of the endoscopic instrument 100 to the driven wheel 2122, and if the endoscopic instrument 100 is not inserted, no obvious force is generated between the clutch slider 2232 and the plate body.

It will be appreciated that upon withdrawal from the delivery mechanism 2100 after operation of the endoscopic instrument is complete, the controller controls the clutch power unit 2231 to operate such that the clutch assembly 2230 moves the driven wheel 2122 away from the drive wheel 2121, i.e., upon removal of the endoscopic instrument, the clutch assembly 2230 resets and moves the driven wheel 2122 away from the drive wheel 2121. Of course, the resetting operation may not be performed after the removal, and the clutch assembly 2230 may be activated to move the driven wheel 2122 away from the driving wheel 2121 at the next insertion of the endoscopic instrument.

According to the endoscopic instrument control device provided by the embodiment of the invention, the clutch power unit 2231 is controlled to drive the clutch slider 2232 to move back and forth, so that the driven wheel 2122 connected with the clutch slider 2232 is driven to be close to or far away from the driving wheel 2121, smooth conveying of an instrument pipeline is ensured, and meanwhile, the resistance of the instrument pipeline in insertion and withdrawal can be reduced by controlling the movement of the driven wheel 2122.

On the basis of the above embodiment, as shown in fig. 22 and 23, the clutch assembly 2230 further includes a displacement compensation unit 2240, and the displacement compensation unit 2240 includes a base plate 2241, a moving slider 2242, and a second elastic member 2243. The base 2241 is fixedly mounted to the clutch slide 2232, and the traveling slide 2242 is slidably mounted to the base 2241. One end of the second elastic member 2243 is connected to the base plate 2241, and the other end is connected to the moving slider 2242. The driven shaft 2234 is fixed to the traveling block 2242.

Specifically, the bottom plate 2241 is an L-shaped plate, one plate body of the L-shaped plate is fixed to the clutch slider 2232, and the other plate body serves as a baffle plate to mount the second elastic member 2243. Alternatively, as shown in fig. 23, the base 2241 includes a vertically connected cross plate on which the moving slider 2242 is provided and a riser for mounting the second elastic member 2243. The moving slider 2242 is provided with a chute, the bottom plate 2241 is provided with a guide 2244 protruding therefrom, and the chute is fitted to the guide 2244 so as to be slidable along the guide 2244. One end of the driven shaft 2234 is fixed to the moving slider 2242, and the other end is connected to the driving wheel 2121. The second resilient member 2243 is a spring or other resilient structure. One end of the second elastic member 2243 is connected to the moving slider 2242, and the other end is connected to the bottom plate 2241. The base 2241 and the clutch slider 2232 move back and forth together by the clutch driving unit, so that the driven wheel 2122 moves back and forth.

Specifically, the driven shaft 2234 has a hexagonal cross section, and the driving wheel 2121 is provided with hexagonal holes so as to mate with the driven shaft 2234. Of course, the section of the driven shaft 2234 may be non-circular, such as quadrangular or pentagonal, and the embodiment of the present invention is not particularly limited.

When the outer diameter of the endoscopic instrument 100 changes, the gap between the driven wheel 2122 and the drive wheel 2121 needs to be adjusted. The position of the driven wheel 2122 defined by the clutch drive unit under the action of the first and second travel switches 2235, 2236 is fixed and cannot accommodate changes in the outer diameter of the mechanical tubing. The stroke compensation unit provided in this embodiment adjusts the gap between the driven wheel 2122 and the driving wheel 2121 by means of the expansion and contraction of the second elastic member 2243, so as to meet the installation requirements of the instrument pipelines with different outer diameters and prevent the roller assembly 2120 from being excessively loosened or tightened.

As shown in fig. 24, the forward and reverse driving assembly 2220 includes a forward and reverse power unit 2221, a gear set 2222 and a driving shaft 2223, wherein the driving end of the forward and reverse power unit 2221 is connected to the input gear of the gear set 2222. The driving shaft 2223 is sleeved with a driving and reversing transmission gear 2224, and an output gear of the gear set 2222 is connected with the driving and reversing transmission gear 2224. The driving shaft 2223 is inserted into the driving wheel 2121 through the second housing 2250. Wherein, the extending direction of the driving shaft of the advance and retreat power unit 2221 is perpendicular to the axis of the advance and retreat transmission gear 2224. The controller 9100 is communicatively connected to the forward and reverse power unit 2221.

As shown in fig. 19 and 21, the roller assembly 2120 is located in the first housing 2140, and the driving shaft 2223 extends from the second housing 2250 into the first housing 2140 to cooperate with the driving pulley 2121. One end of the drive shaft 2223 located within the second housing 2250 is coupled to a gear set 2222 in the forward and reverse drive assembly 2220. The drive wheel 2121 is fixed in position relative to the first housing 2140. One end of the driven shaft 2234 in the second housing 2250 is coupled to the traveling block 2242 in the clutch assembly 2230, and the other end of the driven shaft 2234 extends from the second housing 2250 and is inserted into the first housing 2140 to mate with the driven wheel 2122. A transmission channel through which the endoscopic instrument passes is formed between the driving wheel 2121 and the driven wheel 2122, and a guide tube 2111 and a docking connector 2112 are provided on opposite sides of the first housing 2140, wherein the guide tube 2111 communicates with one end of the transmission channel and the docking connector 2112 communicates with the other end of the guide channel.

Specifically, the advance and retreat power unit 2221 includes a rotary electric machine and a bevel gear mounted on a motor shaft of the rotary electric machine. The gear set 2222 includes a drive rod, a first drive gear, and a second drive gear. The first transmission gear and the second transmission gear are respectively sleeved and fixed at the two opposite ends of the transmission rod. The extending direction of the transmission rod is perpendicular to the extending direction of the motor shaft. The second transmission gear meshes with the advance and retreat transmission gear 2224; the first transmission gear is meshed with the bevel gear. The first transmission gear drives the transmission rod to rotate under the driving of the rotating motor, so that the second transmission gear drives the driving and reversing transmission gear 2224 to rotate, and the driving wheel 2121 is driven to rotate.

As shown in fig. 21 and 24, the driving wheels 2121 are provided with two driving shafts 2223, two driving shafts 2223 are provided correspondingly, each driving shaft 2223 is provided with a driving and reversing transmission gear 2224, and each transmission gear is meshed with the second transmission gear of the gear set 2222. The two driving wheels 2121 are synchronously moved by the advance and retreat power unit 2221.

In the endoscopic instrument control device provided by the embodiment of the invention, in response to a conveying instruction input by an operator, the controller 9100 controls the driving and reversing power unit 2221 to operate, the driving wheel 2121 is connected through the gear set 2222, and the output force direction of the driving and reversing power unit 2221 is changed through the gear set 2222, so that the positions of the driving and reversing power unit 2221 and the gear set 2222 are conveniently distributed according to the requirement, the space utilization is more reasonable, and the structure is more compact.

Specifically, as shown in fig. 1, in the endoscope control device, the manipulation platform 9000 includes a man-machine interaction unit 9010 and a first processing unit 9020. The man-machine interaction unit 9010 is configured to acquire an operation action of an operator, and convert the operation action into an input electrical signal. The first processing unit 9020 includes a logic control and driving circuit in communication with the man-machine interaction unit 9010, and the logic control and driving circuit receives an input electrical signal and converts the input electrical signal into a control instruction through calculation and analysis.

The controller 9100 is communicatively coupled to the first processing unit 9020. It should be noted that the controller 9100 may be an integrated control device, such as an integrated control board, and is communicatively connected to both the endoscopic instrument conveying device 2000 and the endoscopic instrument switching device through the integrated control board. Of course, the controller 9100 may be a plurality of control devices that are provided for mutual communication. In a particular embodiment, the controller 9100 includes a first controller, a second controller, and a third controller. Wherein, the mounting table 1101 is provided with a first controller, and the first controller directly controls the movement of the moving assembly 1240. A second controller is provided on the instrument clamping mechanism 1100 for controlling the endoscopic instrument on the instrument clamping unit 1102 to perform a corresponding instrument operation. A third controller is mounted on the endoscopic instrument delivery device 2000 for controlling the operation of the drive mechanism 2200 to effect delivery of the endoscope. Optionally, the first controller, the second controller and the third controller are all processing circuits or other industrial control devices.

The control platform 9000 and the controller 9100 of the endoscopic apparatus control device provided by the embodiment of the invention can be connected in a wireless communication manner, and can also be connected in a wired manner by adopting one or more of RJ45, RS485/422, RS232 and optical fiber communication technologies. The operation platform 9000 realizes non-contact automatic replacement of the endoscopic instrument, automatic conveying of the endoscopic instrument and control of the endoscopic instrument to execute corresponding instrument operation, so that the operation burden of doctors is reduced.

The controller 9100 includes a drive control unit, a communication unit, and a logic operation unit, among others. The drive control unit is connected with the drive to control the operation of each moving part. The communication unit is used for communicating with the outside to receive various information fed back by the operation instruction and the detection element. The logic operation unit is used for analyzing and processing various information fed back by the detection element and determining the running state of each drive according to the operation instruction. It should be noted that any one or a combination of a current loop, a speed loop, and a position loop may be used when the controller 9100 controls each driving operation.

In one embodiment of the present invention, as shown in FIG. 27, the endoscopic instrument delivery device 2000 further includes a lock assembly 2260 mounted to the second housing 2250, the lock assembly 2260 including a pressing member 2261 and a locking member 2262. The second housing 2250 is provided with a receiving groove, and the first housing 2140 is inserted into the receiving groove. The pressing member 2261 and the locking member 2262 are slidably mounted to the second housing 2250, respectively. The first housing 2140 is provided with a locking groove, and when the pressing member 2261 is in the natural state, the locking member 2262 is inserted into the locking groove, and when the pressing member 2261 is in the pressed state, the locking member 2262 is housed in the second housing 2250.

In the endoscopic instrument delivery device 2000 provided in the embodiment of the present invention, the second housing 2250 is provided with a receiving groove, the first housing 2140 is inserted into the receiving groove, the circumferential direction of the first housing 2140 is defined by the groove wall of the receiving groove, the locking assembly 2260 is mounted on the second housing 2250, and the locking member 2262 in the locking assembly 2260 is inserted into the locking groove to define the relative movement of the first housing 2140 and the second housing 2250, so as to realize the relative fixation of the first housing 2140 and the second housing 2250. In use, endoscopic instrument is passed through first housing 2140, after use, push press member 2261 to retract locking member 2262, and first housing 2140 may be removed from second housing 2250 to decontaminate first housing 2140, improving decontamination efficiency over conventional delivery devices.

Specifically, the second housing 2250 is provided with a first groove and a second groove, and the pressing member 2261 is slidably mounted in the first groove, and the locking member 2262 is slidably mounted in the second groove. The third elastic member 2267 is mounted to the end of the pressing member 2261, and the fourth elastic member 2268 is mounted to the end of the locking member 2262. The pressing member 2261 is provided with a bar-shaped hole 2263 and an adjusting post 2265, the first groove body is provided with a limit post 2264, the locking member 2262 is provided with an adjusting hole 2266, the limit post 2264 is inserted into the bar-shaped hole 2263, and the limit post 2264 is inserted into the adjusting hole 2266.

As shown in fig. 27, the first groove body is perpendicular to the extending direction of the second groove body. The bottom of the first groove body is provided with a limit post 2264, the pressing piece 2261 is provided with a bar-shaped groove, and the movement range of the pressing piece 2261 relative to the second housing 2250 is limited by the cooperation of the limit post 2264 and the bar-shaped groove. The locking member 2262 is provided with a triangular adjusting hole 2266, and the pressing member 2261 is provided with an adjusting post 2265 protruding therefrom, and the adjusting post 2265 is inserted into the adjusting hole 2266. The end of the pressing member 2261 is provided with a third elastic member 2267, and the third elastic member 2267 is located in the first groove. The end of the locking member 2262 is provided with a fourth elastic member 2268, and the fourth elastic member 2268 is located in the second groove. Optionally, the third elastic member 2267 and the fourth elastic member 2268 are springs or other structural members having elasticity. Alternatively, the adjusting hole 2266 is a waist-shaped hole inclined to the moving direction of the locking member 2262, so long as the adjusting hole 2266 has a slope such that the adjusting post 2265 can push the locking member 2262 inward along the slope when the pressing member 2261 moves.

When the pressing member 2261 is pushed inward, the third elastic member 2267 is compressed, and the adjusting post 2265 on the pressing member 2261 moves along the inclined edge of the adjusting hole 2266, driving the locking member 2262 to move into the second groove, compressing the fourth elastic member 2268, and at this time, the end of the locking member 2262 is retracted into the second groove, so as to facilitate insertion of the first housing 2140 into the accommodating groove. When the first housing 2140 is placed in position, the pressing member 2261 is released, the third elastic member 2267 rebounds to push the pressing member 2261 outward out of the first groove, and the fourth elastic member 2268 rebounds to push the locking member 2262 to move outward and snap into the locking groove on the first housing 2140, thereby defining the relative position between the second housing 2250 and the first housing 2140.

In addition, as shown in fig. 19, the first housing 2140 is provided with a driving wheel jack and a driven wheel jack, the driving wheel jack is a circular hole, and the driven wheel jack is a bar-shaped through hole. Similarly, the second housing 2250 is provided with a circular hole corresponding to the driving shaft 2223 so that the driving shaft 2223 is penetrated out from the second housing 2250; the second housing 2250 is provided with a bar-shaped through hole corresponding to the driven shaft 2234 so that the driven shaft 2234 moves in a length direction of the bar-shaped through hole. The driving shaft 2223 and the driven shaft 2234 are each disposed in the second housing 2250 and pass out from the second housing 2250. When the first housing 2140 is docked with the second housing 2250, the driving shaft 2223 is inserted within the driving wheel 2121 and the driven shaft 2234 is inserted within the driven wheel 2122. To facilitate the power transmission, the end surfaces of the driving shaft 2223 and the driven shaft 2234 are non-circular.

In a specific embodiment, as shown in fig. 16 and 17, the endoscopic instrument switching device further includes a quick connect assembly 1222. As shown in fig. 18, the quick-connect assembly 1222 includes a base 1221, an unlocking lever 1231, a push rod 1232, a buckle 1233, and a tension spring 1234. The base 1221 is fixedly mounted to the support base 1210. The unlocking lever 1231 is rotatably mounted to the base 1221. One end of the ejector rod 1232 is rotatably connected with the unlocking rod 1231, and the other end of the ejector rod 1232 is rotatably connected with the buckle 1233. The buckle 1233 is rotatably mounted on the base 1221, and the tension spring 1234 is mounted in the base 1221 and has one end connected to the buckle 1233.

Specifically, the number of the fastening members 1233 is two, each fastening member 1233 includes a connecting portion and a fastening portion, and the connecting portion is connected to the fastening portion and forms an obtuse included angle. The buckle part is used for being matched with a clamping socket arranged on the trolley telescopic arm. The connection between the fastening part and the connecting part serves as a rotation point of the fastening 1233. The tension spring 1234 is connected to the connection of the catch 1233. As shown in fig. 18, the connection portion of each buckle 1233 is connected to the ejector rod 1232.

Pulling up the unlocking rod 1231, the unlocking rod 1231 pushes the ejector rod 1232 to move downwards, the buckling part of the buckle 1233 is contracted inwards under the thrust action of the ejector rod 1232, and when the plug of the base 1221 is inserted into the clamping socket on the telescopic arm of the trolley, the unlocking rod 1231 is loosened, and the tension action of the tension spring 1234 of the buckle 1233 is outwards stretched, so that the clamping hole on the clamping socket is correspondingly clamped.

In another embodiment, the quick-connect assembly 1222 includes a tension spring 1234 and a catch 1233, and the catch 1233 is retracted into the housing 1331 by a plug force without providing an unlocking lever 1231. Tension spring 1234 is mounted within base 1221, and one end of tension spring 1234 is connected to catch 1233. During clamping, the plug of the base 1221 is inserted into the clamping socket, the buckle 1233 is extruded to be retracted inwards, and after the plug is inserted into place, the buckle 1233 is outwards stretched under the action of the tension spring 1234 and clamped into the clamping hole on the clamping socket. The quick-connect assembly 1222 provided in this embodiment does not require the release lever 1231 to be provided, and can be directly inserted into the clamping socket during clamping to achieve quick-connection. Of course, other configurations of the quick-connect assembly 1222 may be used as long as the base 1221 is securely mounted to the telescoping arm of the trolley.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An endoscopic instrument control apparatus, comprising: an endoscopic instrument switching device, an endoscopic instrument transport device, and an endoscopic instrument control device;

2. The endoscopic instrument control device of claim 1, wherein the instrument clamp mechanism further comprises a mounting table fixedly or movably mounted to the support base by the moving assembly, the plurality of instrument clamp units comprising one or more of a first instrument clamp unit, a second instrument clamp unit, and a third instrument clamp unit;

the first instrument clamping unit comprises a first instrument clamping seat, a first instrument handle fixed clamping assembly and a first instrument handle movable clamping assembly, wherein the first instrument clamping seat is arranged on the mounting table, the first instrument handle fixed clamping assembly is fixed on the first instrument clamping seat, and the first instrument handle movable clamping assembly is movably arranged on the first instrument clamping seat; the controller is in communication with the first instrument handle movement clamping assembly; and/or the number of the groups of groups,

The second instrument clamping unit comprises a second instrument clamping seat, a rotating assembly, a second instrument handle fixed clamping assembly and a second instrument handle movable clamping assembly, the rotating assembly is installed on the installation table, the output end of the rotating assembly is connected with the second instrument clamping seat, the second instrument handle fixed clamping assembly is fixed on the second instrument clamping seat, the second instrument handle movable clamping assembly is movably installed on the second instrument clamping seat, and the rotating assembly and the second instrument handle movable assembly are respectively connected with the controller; and/or the number of the groups of groups,

the third instrument clamping unit comprises a third instrument clamping seat, a lost motion compensation assembly, a third instrument handle fixed clamping assembly and a third instrument handle movable clamping assembly, wherein the third instrument clamping seat is installed on the installation table, the third instrument handle fixed clamping assembly is fixed on the third instrument clamping seat, and the third instrument handle movable clamping assembly is movably installed on the third instrument clamping seat through the lost motion compensation assembly and is in communication connection with the controller.

3. The endoscopic instrument control device of claim 1, wherein the endoscopic instrument delivery apparatus further comprises a detection assembly comprising a position sensor and a displacement sensor; the position sensor is used for generating a trigger signal when the endoscopic instrument is inserted into or withdrawn from the transmission mechanism, and the displacement sensor is used for detecting the advancing or withdrawing length of the endoscopic instrument; the position sensor and the displacement sensor are both in communication connection with the controller.

4. The endoscopic instrument control apparatus of claim 3, wherein the transmission mechanism comprises a first housing and a roller assembly, the roller assembly comprising a drive wheel and a driven wheel, both disposed within the first housing;

the driving mechanism comprises a second shell, an advancing and retreating driving assembly and a clutch assembly, the advancing and retreating driving assembly and the clutch assembly are both arranged on the second shell, the first shell is detachably connected with the second shell, the advancing and retreating driving assembly is connected with the driving wheel to drive the driving wheel to rotate, the clutch assembly is used for driving the driven wheel to be close to the driving wheel so as to convey an endoscopic instrument or far away from the driving wheel so as to separate the roller assembly from the endoscopic instrument, and the controller controls the operation of the clutch assembly based on a trigger signal of the position sensor; the controller controls the operation of the driving component based on the information acquired by the displacement sensor.

5. The endoscopic instrument control device of claim 4, wherein the first housing is provided with a guide tube having a concave surface for interfacing with an endoscopic tube gripping unit, and wherein the first housing is further provided with an interface connector on opposite sides of the first housing from the guide tube.

6. The endoscopic instrument control apparatus according to claim 1, wherein said pipe clamping unit comprises a housing, a collet and an elastic restoring member, said collet is movably inserted into said housing, a central through hole for passing a pipe of an endoscopic instrument is provided in said collet, said elastic restoring member is sleeved in said collet and is located in said housing, one end of said collet is provided with a butt joint for butt joint with said endoscopic instrument conveying device, the other end of said collet is provided with a claw, said housing is provided with a tapered mouth with a caliber gradually decreasing from outside to inside, and said claw is clamped in said tapered mouth in a natural state; in the delivery state, the abutment is in abutment with the abutment of the endoscopic instrument delivery device, the jaws are moved to the large mouth end of the tapered mouth, or,

The pipeline clamping unit comprises a shell, a fixed shaft roller, a movable shaft roller, a sliding block and an elastic adjusting piece, wherein the fixed shaft roller is rotatably installed in the shell, the movable shaft roller is rotatably installed in the sliding block, the sliding block is slidably installed in the shell, one end of the elastic adjusting piece is abutted to the sliding block, and the other end of the elastic adjusting piece is abutted to the shell.

7. The endoscopic instrument control device of claim 1, wherein the movement assembly comprises a lateral drive unit mounted to the support base, a lateral load-bearing structure mounted slidably to the lateral load-bearing structure, a longitudinal drive unit for driving the longitudinal load-bearing mechanism to move longitudinally, and a longitudinal load-bearing structure for driving the longitudinal load-bearing structure to slide relative to the lateral load-bearing structure, the lateral drive unit and the longitudinal drive unit being communicatively coupled to the controller, respectively,

the movable assembly comprises a transverse driving unit, a transverse rail, a longitudinal rail and a longitudinal driving unit, wherein the pipeline clamping unit is slidably mounted on the transverse rail under the action of the transverse driving unit, the transverse rail is slidably mounted on the longitudinal rail, the longitudinal driving unit is connected with the transverse rail, the longitudinal rail is fixedly mounted in the supporting seat, and the transverse driving unit and the longitudinal driving unit are respectively in communication connection with the controller.

8. The endoscopic instrument control device of claim 4, wherein the clutch assembly comprises a clutch power unit, a clutch controller, a clutch slider and a driven shaft, the driven shaft extending out of the second housing and being inserted into the driven wheel, the driven shaft being connected to the clutch slider, the clutch power unit being connected to the clutch controller, an output of the clutch power unit being connected to the clutch slider, the controller being in communication with the clutch controller.

9. The endoscopic instrument control device of claim 8, wherein the clutch assembly further comprises a displacement compensation unit comprising a base plate fixedly mounted to the clutch slider, a movable slider slidably mounted to the base plate, a second elastic member having one end connected to the base plate and the other end connected to the movable slider, and a driven shaft fixed to the movable slider.

10. The endoscopic instrument control device according to claim 4, wherein the driving and reversing drive assembly comprises a driving and reversing power unit, a gear set and a driving shaft, wherein the driving end of the driving and reversing power unit is connected with an input gear of the gear set, the driving shaft is sleeved with a driving and reversing transmission gear, an output gear of the gear set is connected with the driving and reversing transmission gear, the driving shaft penetrates out of the second shell and is inserted into the driving wheel, and the driving and reversing power unit is in communication connection with the controller.