CN117617876A - Bending adjustment driving device and endoscope - Google Patents
Bending adjustment driving device and endoscope Download PDFInfo
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- CN117617876A CN117617876A CN202311866867.0A CN202311866867A CN117617876A CN 117617876 A CN117617876 A CN 117617876A CN 202311866867 A CN202311866867 A CN 202311866867A CN 117617876 A CN117617876 A CN 117617876A
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- 238000005452 bending Methods 0.000 title claims abstract description 169
- 241000270295 Serpentes Species 0.000 claims abstract description 96
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 96
- 238000009730 filament winding Methods 0.000 claims abstract description 30
- 239000000758 substrate Substances 0.000 claims abstract description 3
- 238000004804 winding Methods 0.000 claims description 84
- 238000003780 insertion Methods 0.000 claims description 18
- 230000037431 insertion Effects 0.000 claims description 18
- 238000009826 distribution Methods 0.000 claims description 13
- 239000002184 metal Substances 0.000 description 9
- 230000001965 increasing effect Effects 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000010618 wire wrap Methods 0.000 description 5
- 238000001746 injection moulding Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 229910052755 nonmetal Inorganic materials 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
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- 230000003247 decreasing effect Effects 0.000 description 2
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- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 238000001839 endoscopy Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
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- 238000003754 machining Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
- A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Abstract
The present invention relates to a bending drive device, and more particularly to bending control of an endoscope. The bending driving device comprises: a mounting substrate; the driving wheel is rotationally assembled on the mounting base body; the two traction wires are respectively arranged at different sides of the snake bone to drive the snake bone to deflect towards two opposite directions; the driving wheel is provided with at least two filament winding areas, the two filament winding areas comprise at least one first filament winding area and at least one second filament winding area, the first filament winding area and the second filament winding area are positioned on different radial sides of the driving wheel, and the filament winding radius of at least one first filament winding area is different from the filament winding radius of at least one second filament winding area. The invention mainly solves the technical problem of how to enable the bending adjustment driving device to meet the bending control requirement of the adjustable bending section.
Description
Technical Field
The present invention relates to a bending drive device, and more particularly to bending control of an endoscope.
Background
Endoscopes are detection instruments integrating traditional optics, ergonomics, precision machinery, modern electronics, mathematics, software and the like, and with the rapid development of science and technology and medical technology in recent years, minimally invasive or noninvasive medical examination or treatment using endoscopes has been widely popularized. The endoscope generally comprises a handle assembly and an insertion tube assembly, wherein the insertion tube assembly can be provided with a camera module, the camera module can be inserted into a target position and can image the target position, the proximal end of the insertion tube assembly is connected to the distal end of the handle assembly, and the handle assembly can drive the insertion tube assembly to move and/or rotate.
In particular, a medical flexible endoscope, the distal end of which is inserted into a tube assembly includes a bendable adjustable bending section (i.e., snake bone), and those skilled in the art know that the adjustable bending section generally includes a plurality of bending adjustment sections arranged in sequence, and a hinge structure is disposed between two adjacent bending adjustment sections and can relatively deviate depending on a hinge axis formed by the hinge structure between the two bending adjustment sections, thereby realizing bending of the adjustable bending section. In the examination or treatment, a doctor can utilize the characteristic that the front end of the soft endoscope can be bent, and the bending adjusting driving device at the operating handle drives the bending adjusting section to bend, so that the soft endoscope enters the body through a natural duct of a human body, almost no damage is caused to a patient, and the omnibearing examination of pathological tissues is realized.
The bending of the adjustable bending section can be controlled by traction wires which are generally arranged in pairs, wherein the two traction wires in pairs are parallel to the axis of the insertion tube assembly and are respectively positioned at the two vertical sides of the hinging axis of the adjustable bending section. The bending driving device on the handle assembly loosens the traction wire on one side when the traction wire on the other side is tensioned, and the adjustable bending section bends towards the tensioned side of the traction wire.
However, the bend control requirements may be different for different insertion tube assemblies and different bend control requirements may be met for the bend adjustment drive on the handle assembly.
Disclosure of Invention
The invention mainly solves the technical problem of how to enable the bending adjustment driving device to meet the bending control requirement of the adjustable bending section.
In a first aspect, the present invention provides a bending drive apparatus.
A bending drive apparatus comprising:
a mounting substrate;
the driving wheel is rotationally assembled on the mounting base body;
the two traction wires are respectively arranged at different sides of the snake bone to drive the snake bone to deflect towards two opposite directions;
the driving wheel is provided with at least two filament winding areas, the two filament winding areas comprise at least one first filament winding area and at least one second filament winding area, the first filament winding area and the second filament winding area are positioned on different radial sides of the driving wheel, and the filament winding radius of at least one first filament winding area is different from the filament winding radius of at least one second filament winding area.
In one embodiment, at least two winding areas are arranged in layers along the axis of rotation of the drive wheel.
In one technical scheme, a clamping groove is formed in the radial outer side of the driving wheel, and the wire winding area is formed by the clamping groove.
In one technical scheme, the driving wheel comprises an anti-falling protrusion, the anti-falling protrusion is arranged on the side wall of the clamping groove and positioned at the notch of the clamping groove, and the anti-falling protrusion is used for preventing the traction wire from falling out of the clamping groove along the radial direction of the driving wheel.
In one technical scheme, the anti-drop protrusion is arranged on one side groove side wall of the clamping groove, an avoidance opening is formed in the other side groove side wall of the clamping groove, at least one part of the anti-drop protrusion extends into the avoidance opening, and an interval is formed between the anti-drop protrusion and the inner side wall of the avoidance opening.
In one technical scheme, the bottom wall of the clamping groove and the inner side wall of the avoidance port are positioned on the same plane.
In one technical scheme, the driving wheel comprises an arc part and a notch part, the wire winding area is arranged on the arc part, at least one part of the end face of the tail end of the arc part is exposed in the notch part, and the traction wire of the bending driving device is wound on the arc part through the notch part.
In one technical scheme, the driving wheel only comprises one circular arc part and one notch part, the circular arc part is a major arc, and the notch part is positioned between two ends of the major arc.
In one technical scheme, the driving wheel is circular, the notch part forms a thinning area on the driving wheel, the thinning area is provided with a slope part, the thickness of the slope part gradually decreases from one side close to the rotation axis of the driving wheel to the radial outer side of the driving wheel, and the slope part forms a smooth curved surface for supporting the traction wire.
In one technical scheme, be equipped with the fixed slot on the terminal surface of drive wheel, the end of traction wire is fixed with and pulls the piece, it embeds to pull the piece in the fixed slot, be equipped with on the cell wall of fixed slot and supply the passageway that traction wire draws.
In a second aspect, the present invention provides an endoscope.
An endoscope, comprising:
the insertion tube assembly comprises adjustable bending sections, wherein each adjustable bending section comprises bending adjusting sections which are sequentially hinged, a hinge part is arranged between every two adjacent bending adjusting sections, the hinge parts form a swinging shaft for enabling the two adjacent bending adjusting sections to swing relatively, and the hinge parts between the two adjacent bending adjusting sections are located on two radial opposite sides of the adjustable bending sections;
the handle assembly is connected to the proximal end of the insertion tube assembly, a bending driving device is arranged in the handle assembly, and the bending driving device is any one of the bending driving devices.
In one technical scheme, the axis extending direction of the bending adjustment section is a first direction, the extending direction of the deflection shaft is a second direction, the bending adjustment section is provided with a third direction which is perpendicular to the first direction and the second direction at the same time, the traction wire channel comprises a first traction wire channel and a second traction wire channel which are respectively positioned at two sides of the deflection shaft in the third direction, and at least one of the first traction wire channel and the second traction wire channel is deviated on the bending adjustment section along the second direction.
In one technical scheme, the perpendicular line from the first traction wire channel to the deflection shaft passes through the axis of the bending adjustment section, the second traction wire channel has an offset relative to the symmetrical position of the first traction wire channel at least in the second direction, and the symmetrical position of the first traction wire channel is a mirror image position of the first traction wire channel taking the plane where the axis of the bending adjustment section and the deflection shaft are located together as a symmetrical plane.
In one technical scheme, the bending section is provided with a working channel, the working channel forms a channel distribution area, or the bending section is provided with at least two working channels, and a part of the bending section between the working channels and the working channels form a channel distribution area together; the first traction wire channel is located outside the channel distribution area in the third direction, and the second traction wire channel is located outside the channel distribution area in the second direction.
The invention has the beneficial effects that:
different winding radiuses can be formed by arranging different winding areas on the driving wheel, the paired two traction wires can be respectively wound on the corresponding winding areas to have different winding radiuses, and when the driving wheel rotates, the different traction wires can realize different length changes by means of the different winding radiuses, so that the corresponding bending control requirements of the adjustable bending section are met, a bending adjusting driving device is not required to be respectively arranged for the paired traction wires, the structure is simple, the operation is convenient, and the cost is saved.
Further, when the wire winding areas on the driving wheels are more, one bending adjusting driving device can meet the control requirements of different bending angles of different adjustable bending sections, different endoscope products can share the same driving device, and the device is convenient to assemble, easy to implement, and can effectively reduce material types and product cost.
Drawings
FIG. 1 is an exploded view of a handle assembly in one embodiment of an endoscope;
FIG. 2 is a front view of the bending actuator of FIG. 1;
FIG. 3 is a cross-sectional view of the mounting structure of the drive wheel of FIG. 1;
FIG. 4 is a schematic perspective view of the drive wheel of FIG. 1;
FIG. 5 is a second perspective view of the drive wheel of FIG. 1;
FIG. 6 is a schematic view of the traction wire of FIG. 3;
FIG. 7 is a front view of the drive wheel of FIG. 1;
FIG. 8 is a cross-sectional view A-A of the drive wheel of FIG. 1;
FIG. 9 is a B-B cross-sectional view of the drive wheel of FIG. 1;
FIG. 10 is a schematic perspective view of a snake bone in an embodiment of an endoscope;
FIG. 11 is an enlarged view of a portion of FIG. 10;
FIG. 12 is a front cross-sectional view of FIG. 10;
FIG. 13 is a right side view of FIG. 12;
FIG. 14 is an enlarged view of a portion of FIG. 12;
FIG. 15 is a schematic perspective view of another embodiment of a snake bone according to the invention;
fig. 16 is a schematic view of the placement of the pull wire channels on the bending section of fig. 15.
List of feature names corresponding to reference numerals in the figure:
110. a lower housing; 120. an upper housing;
200. a driving wheel; 210. a convex column; 211. square holes; 221. a fixing groove; 222. a channel; 231. a first wire wrapping region; 232. a second wire wrapping region; 233. an anti-falling protrusion; 234. an avoidance port; 241. a circular arc portion; 242. a notched portion; 250. zero position positioning notch;
300. a power input member; 310. a drive column; 311. square end; 312. an operation lever; 313. a screw;
410. a distal connection;
420. a proximal connection;
430. a bending adjustment section; 431. a working channel; 432. a first pull wire channel; 433. a second pull wire channel; 434. a connecting wire channel; 435. a slot;
440. A hinge part; 441. a yaw axis;
450. a connecting wire;
460. traction wire; 461 a protective sleeve; 462. and (5) a traction block.
Detailed Description
The invention will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, some operations associated with the present application have not been shown or described in the specification to avoid obscuring the core portions of the present application, and may not be necessary for a person skilled in the art to describe in detail the relevant operations based on the description herein and the general knowledge of one skilled in the art.
Furthermore, the described features, operations, or characteristics of the description may be combined in any suitable manner in various embodiments. Also, various steps or acts in the method descriptions may be interchanged or modified in a manner apparent to those of ordinary skill in the art. Thus, the various orders in the description and drawings are for clarity of description of only certain embodiments, and are not meant to be required orders unless otherwise indicated.
The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The terms "coupled" and "connected," as used herein, are intended to encompass both direct and indirect coupling (coupling), unless otherwise indicated.
"proximal" and "distal" as used herein are conventional designations in the medical arts, and refer to the end of an instrument to be manipulated that is proximal to the operator of the instrument, and the end that is distal to the operator of the instrument; in fig. 1, the proximal and distal ends are identified by arrows.
In the invention, the driving wheel 200 of the bending driving device is provided with winding areas with different winding radii, two paired traction wires for respectively driving the snake bones to deflect towards two opposite directions can select different winding areas to be wound on the driving wheel 200, so that the winding areas have different winding radii, and when the driving wheel 200 rotates by the same angle, different traction wires can realize different length changes, thereby meeting different bending adjusting requirements.
An embodiment of a bending driving device in the invention is as follows:
referring to fig. 1, in one embodiment, a bending drive device is provided on a handle assembly of an endoscope, the handle assembly including a lower housing 110, an upper housing 120, a drive wheel 200, a power input 300, and a traction wire 460.
Wherein, the lower housing 110 and the upper housing 120 can be fixed together, and both enclose a mounting cavity for mounting corresponding components. The lower housing 110 and the upper housing 120 may be secured by ultrasonic welding, snap-fit connection, fastener connection, adhesive, etc. Meanwhile, the lower housing 110 constitutes a mounting base of the bending drive device, and is capable of mounting the driving wheel 200, the power input 300, and the traction wire 460.
The driving wheel 200 is rotatably mounted on the mounting base for rotation by the manual operation member, and the driving wheel 200 is rotated to wind and release the traction wire 460, thereby changing the length of the traction wire 460 between the snake bone of the endoscope and the driving wheel 200 to achieve bending adjustment of the endoscope. Specifically, the traction wires 460 may be arranged in pairs, and two traction wires 460 arranged in pairs are respectively arranged on different sides of the snake bone; when one of the pair of traction wires 460 is wound and tensioned, the other is released and relaxed, driving the snake bone to deflect in opposite directions.
In one embodiment, one axial side of the drive wheel 200 is provided with a transmission structure for connection with the power input 300 to effect forward and reverse rotation of the drive wheel 200. In a specific embodiment, referring to fig. 3, 5 and 7, a boss 210 is disposed on a side of the driving wheel 200 near the lower housing 110, a square hole 211 is disposed on the boss 210, and the power input member 300 is a driving lever, the driving lever includes an operation lever 312 and a driving post 310 connected to one end of the operation lever 312, the driving post 310 has a square end 311, and the square end 311 can be inserted into the square hole 211 to transmit driving force. In addition, as shown in fig. 3, the lower housing 110 is provided with a mounting hole, and a driving post 310 of the driving lever is passed through the mounting hole and fixed to the driving wheel 200 inside the lower housing 110 by a screw 313, is co-located with the driving wheel 200 on the lower housing 110, and is rotatable on the lower housing 110.
In other embodiments, the transmission structure may be replaced by any other form capable of achieving power transmission, for example, a square end is provided on the driving wheel 200 and a square hole is provided on the power input member 300, for example, the square hole 211 and the square end 311 are replaced by hexagons, triangles, etc., and for example, a cylinder with a plane peripheral surface is used. In addition, in the above-described embodiment, the driving wheel 200 is manually driven by the operator, and in some cases, the driving wheel 200 may also be driven by an electric means. Furthermore, the driving wheel 200 and the shift lever may be connected by other manners, such as interference fit, clamping, bonding, etc.
The proximal end of the traction wire 460 is fixed on the driving wheel 200, in one embodiment, a fixing groove 221 is formed on the end surface of the driving wheel 200, a traction block 462 is fixed at the tail end of the traction wire 460, the traction block 462 is embedded in the fixing groove 221, and a channel 222 for leading out the traction wire 460 is formed on the groove wall of the fixing groove 221, so that the proximal end of the traction wire 460 is fixed with the driving wheel 200. To prevent the traction block 462 from coming out of the fixing groove 221, in one embodiment, glue may be injected into the fixing groove 221, and the glue is cured to adhere the traction block 462 to the driving wheel 200. Of course, in other embodiments, the traction wire 460 may be fixedly coupled to the drive wheel 200 in other ways, such as by screw crimping. By adjusting the mounting position of the traction block 462 on the traction wire 460, it is possible to ensure that the traction wire 460 is tensioned over the wire winding area of the drive wheel 200 after the traction block 462 is mounted on the drive wheel 200. The traction wire 460 and the traction block 462 are not limited in the manner of fixing, and may be fixed by interference fit, press fit, adhesion, set screw connection, or the like. In addition, in other embodiments, the fixing slots 221 corresponding to the two traction wires 460 may be adjusted, for example, to be disposed at the notch portion, and each fixing slot 221 may be combined into a larger slot structure capable of simultaneously mounting two traction blocks 462.
To ensure smooth movement of the traction wire 460, in one embodiment, the traction wire 460 passes through the protective sleeve 461 after being wound around the driving wheel 200, the traction wire 460 may slide within the protective sleeve 461, and the lower housing 110 is provided with a positioning structure, such as a clamping groove, for fixing the protective sleeve 461.
An operator dials the power input part 300 on the snake bone bending driving device, the power input part 300 rotates the driving wheel 200 in the belt, and when the driving wheel 200 rotates, the traction wire 460 arranged on the driving wheel can be driven to generate length change so as to drive the snake bone to bend. In order to facilitate the operation by the medical staff and reduce the operating force of the shift lever, the rotatable angle of the power input member 300 in the snake bone bending driving device is generally selected to be the maximum operable angle which accords with the ergonomics, and the rotatable angles of the shift levers of the endoscope products with different maximum bending angles are also basically equal. Under the premise that the rotatable angle of the deflector rod is fixed, the maximum bending angle of the snake bone can be determined by the winding radius of the driving wheel 200, namely the radial dimension of the position on the outer peripheral surface of the driving wheel 200, which is used for winding the traction wire 460, and different maximum bending angles of the snake bone can be realized by different winding radii. By designing a plurality of winding radii on the driving wheel 200, different maximum bending angles of the snake bone can be realized by selecting different winding radii.
One consideration in designing multiple wire wrap radii on the drive wheel 200 is: snake bone is used as a key part of an endoscope product, and the reliability and cost of the performance of the snake bone are of great concern. Existing snake bones can be largely divided into two categories: metal snake bones and non-metal snake bones. The bending-adjusting section of the metal snake bone is usually processed through the procedures of blanking, cutting, grooving and the like, the precision requirement of the whole processing process is high, the production efficiency is low, and the cost of a single bending-adjusting section is high; the nonmetal snake bone is mainly plastic snake bone, the plastic snake bone is integrally formed in an injection molding mode, the production efficiency is high, the cost is low, but the production and the processing of the plastic snake bone need to be opened, and the production and the processing of the plastic snake bone need to be faced with high mold opening cost and long processing period. However, the bending angles required for different endoscope products are different, and if the corresponding snake bones are specially made in order to achieve the different bending angles, high cost is required for both the metal snake bones and the nonmetal snake bones. By designing the structure of the bending driving device, the invention can enable the same snake bone to realize different bending angle demands by virtue of a plurality of winding radiuses on the driving wheel 200.
Specifically, at least two winding regions of the first winding region 231 and the second winding region 232 are disposed on the driving wheel 200, the first winding region 231 and the second winding region 232 are located on different radial sides of the driving wheel 200, and the first winding region 231 and the second winding region 232 have different winding radii. In one embodiment, to prevent the pull wire 460 from coming off the drive wheel 200 and to improve operational reliability, the radially outer side of the drive wheel 200 is provided with a clamping groove, and the wire winding area is formed by the clamping groove.
In one embodiment, to accommodate more turndown requirements, at least two wire wrap regions are layered along the rotational axis of the drive wheel 200, forming a stepped configuration. In one embodiment, referring to fig. 4 and 7 to 9, the driving wheel 200 is provided with three first winding regions 231 and three second winding regions 232, wherein the three first winding regions 231 are located at the lower side of the driving wheel 200 in fig. 7, and the three second winding regions 232 are located at the upper side of the driving wheel 200 in fig. 7. From the side of the drive wheel 200 where the fixing groove 221 is provided, to the opposite side of the side, the wire winding radii of the three first wire winding regions 231 are sequentially increased, and the wire winding radii of the three second wire winding regions 232 are sequentially increased. Moreover, each first wire winding region 231 is respectively abutted with a corresponding second wire winding region 232 along the circumferential direction of the driving wheel 200 to form a complete arc, and the structure can facilitate the processing of the driving wheel 200, and can still ensure the winding of the traction wire 460 when the driving wheel 200 rotates by a larger angle, so that a larger traction stroke can be realized. Indeed, the first wire winding region 231 and the second wire winding region 232, which are butted in the circumferential direction of the drive wheel 200, may also be considered to have overlapping sections, which the first wire winding region 231 and the second wire winding region 232 can share.
It should be noted that in some other embodiments, the number of the first winding regions 231 and the second winding regions 232 may be increased or decreased, and the number of the first winding regions 231 may be different from the number of the second winding regions 232; in addition, the first winding region 231 and the three second winding regions 232, which are located at the same position in the axial direction of the driving wheel 200, may be separated from each other in the circumferential direction of the driving wheel 200.
Referring to fig. 4, 5 and 7, in one embodiment, the driving wheel 200 is circular, the first wire winding area 231 and the second wire winding area 232 abutted along the circumferential direction of the driving wheel 200 form a circular arc portion 241 and a notch portion 242, the wire winding areas are disposed on the circular arc portion 241, at least a part of the end face of the circular arc portion 241 is exposed in the notch portion 242, and the traction wire 460 of the bending driving device is wound on the circular arc portion 241 through the notch portion 242. The fixing groove 221 and the notch portion 242 on the end face of the driving wheel 200 are located on opposite sides of the driving wheel 200, and the channel 222 provided on the groove wall of one side of the fixing groove 221 near the notch portion 242 is capable of extending the traction wire 460 to the notch portion 242, and then entering the wire winding area through the notch portion 242, so that the traction wire 460 can be assembled on the driving wheel 200 conveniently. The initial state of the traction wire 460 when assembled to the drive wheel 200 may be as shown in fig. 2 and 6.
Depending on the rotation angle of the driving wheel 200, the circular arc portion 241 is a major arc in the illustrated embodiment, and the notch portion 242 is located between both ends of the major arc. However, in some other embodiments, the arc portion 241 may be a minor arc, and a notch portion 242 may be provided between both corresponding ends of the first wire winding region 231 and the second wire winding region 232, depending on the different rotational angle designs of the drive wheel 200.
In one embodiment, the notched portion 242 forms a thinned region on the drive wheel 200 having a ramp portion with a thickness that tapers from a side near the rotational axis of the drive wheel 200 to a radially outer side of the drive wheel 200, the ramp portion forming a smooth curved surface for supporting the traction wire 460. The smooth curved surface can protect the traction wire 460 and avoid the traction wire 460 from being worn or even broken due to sharp edges and corners formed on the driving wheel 200.
In some other embodiments, the notched portion 242 may also extend through the drive wheel 200 in the axial direction of the drive wheel 200, creating a completely empty opening. In addition, the axially distributed wire winding areas of the drive wheel 200 may extend circumferentially around the drive wheel 200. When the winding regions of the respective layers axially distributed on the driving wheel 200 extend one round in the circumferential direction of the driving wheel 200, in order to allow the traction wire 460, whose end is fixed to the end face of the driving wheel 200, to enter the catching groove as the winding region, the passage 222 through which the traction wire 460 passes may be extended from the fixing groove 221 to the corresponding winding region.
In order to ensure that the traction wire 460 is kept in engagement with the driving wheel 200, the driving wheel 200 includes an anti-disengagement protrusion 233, the anti-disengagement protrusion 233 is disposed on a groove sidewall of the clamping groove and is located at a notch of the clamping groove, and the anti-disengagement protrusion 233 is used for preventing the traction wire 460 from being disengaged from the clamping groove along a radial direction of the driving wheel 200. In some embodiments, the anti-falling protrusion 233 may be disposed on one side wall of the slot, and the other side wall of the slot is provided with an avoiding opening 234, and at least a portion of the anti-falling protrusion 233 extends into the avoiding opening 234, and a space is provided between the anti-falling protrusion 233 and the inner side wall of the avoiding opening 234. When assembled, the traction wire 460 can be threaded into the clamping groove along the circumferential direction of the driving wheel 200. Further, the bottom wall of the clamping groove and the inner side wall of the avoiding opening 234 are located on the same arc surface, which can facilitate the forming of the driving wheel 200, and also facilitate the observation of the assembling state of the traction wire 460 in the clamping groove.
In order to accurately determine the initial position of the driving wheel 200, the driving wheel 200 is further provided with a zero positioning notch 250, and the zero positioning notch 250 may be located at the symmetrical axis of the first winding region 231 and the second winding region 232. In one embodiment, the zero position notch 250 can be provided on the slot sidewall of the card slot furthest from the retaining slot 221.
In the illustrated embodiment, the number of the anti-loosening protrusions 233 on each winding region is one, and the anti-loosening protrusions are disposed on both sides of the symmetrical distribution direction of the first winding region 231 and the second winding region 232. In some other embodiments, the anti-slip out protrusions 233 may also have a greater number. In addition, the anti-falling protrusions 233 may be provided on both side walls of the slot.
The bending adjustment driving device can realize different maximum bending angles of the same snake bone, meets bending adjustment requirements of different endoscopes, realizes that a plurality of endoscope products share one snake bone bending driving device, and avoids high cost caused by manufacturing the snake bone again.
When the snake bone is assembled or matched with other parts, the problem that the traction wire 460 is interfered with the other parts often occurs. To solve the interference problem, the size of the snake bone is usually made larger. In the field of endoscopy, the size parameter of the part entering the human body is a key parameter index, and the numerical value of the size parameter directly influences the application range of the product, the experience of a patient in the process of examination or treatment and the market competitiveness of the product. Therefore, unlike the structure that the snake bone in the prior art adopts to symmetrically distribute the traction wire channels on two sides of the deflection shaft, the first traction wire channel and the second traction wire channel of the snake bone can be asymmetrically distributed relative to the deflection shaft of the bending adjustment section, so that the space of the corresponding part can be yielded, the problem that the traction wire 460 and other parts interfere with each other when the bending adjustment section is assembled with other parts in a combined way is favorably reduced or avoided, the situation that the radial dimension is required to be increased in order to avoid the traction wire 460 is avoided, and the radial external dimension of the snake bone is favorably controlled.
Another consideration in designing multiple wire wrap radii on the drive wheel 200 is: for the above-described snake bone in which the traction wires 460 are asymmetrically arranged, the displacement amounts of the traction wires 460 are different when the snake bone is bent in both directions: for the traction wire 460 on one side close to the snake bone deflection axis, the displacement of the traction wire 460 is relatively small and the traction force is relatively large when the snake bone is bent; for the traction wire 460 on the side far from the snake bone deflection axis, the displacement of the traction wire 460 is relatively large and the traction force is relatively small when the snake bone is bent. If the conventional driving wheel 200 is used to drive the asymmetric snake bone to deflect, the problem of inconsistent driving force of the bi-directional bending or seizing (for example, the wire winding radius of the driving wheel 200 is arranged according to the traction wire 460 with relatively small displacement, and the traction wire 460 with relatively large displacement cannot realize enough displacement to seize) occurs in the bi-directional bending of the snake bone. In the present invention, the first winding area 231 and the second winding area 232 with different winding radii are provided, the displacement and traction difference of the traction wire 460 when the snake bone is bent in two directions due to the asymmetric arrangement of the traction wire 460 can be balanced by designing the winding areas with corresponding winding radii at both sides of the driving wheel 200, a smaller driving size is used for the traction wire 460 near one side of the snake bone deflection axis, a larger driving size is used for the traction wire 460 far from one side of the snake bone deflection axis, and the sizes of the winding radii at both sides of the driving wheel 200 are directly related to the distance from the traction wire 460 to the deflection axis at both sides of the snake bone, so that the same operation hand feeling and smooth bending can be maintained when the snake bone is bent in two directions can be realized by designing the proper winding radii.
It should be noted that, for the snake bone with the asymmetric traction wire 460, only one first winding area 231 and one second winding area 232 may be disposed on the driving wheel 200, and the first winding area 231 and the second winding area 232 may be located at the same position along the axial direction of the driving wheel 200, or may be located at different positions along the axial direction of the driving wheel 200. Of course, for the drive wheel 200 provided with more than two first winding regions 231 and second winding regions 232, two traction wires 460 may be selected, wherein two winding regions are used to drive the asymmetric snake bone, respectively, in cases where the bending requirements of the asymmetric snake bone are met.
An embodiment of an endoscope of the present invention:
an endoscope comprising an insertion tube assembly and a handle assembly; the insertion tube assembly comprises adjustable bending sections, the adjustable bending sections comprise bending sections which are sequentially hinged, a hinge part is arranged between every two adjacent bending sections, the hinge part forms a swinging shaft for the two adjacent bending sections to swing relatively, and the hinge parts between the two adjacent bending sections are positioned at two opposite sides of the snake bone in the radial direction; the handle assembly is connected to the proximal end of the insertion tube assembly, and a bending driving device is arranged in the handle assembly and is any one of the bending driving devices.
The structure of the asymmetric snake bone will be mainly described below.
In one embodiment, the snake bone is included as an integral part of an insertion tube assembly of an endoscope, referring to fig. 10 and 13, comprising a distal connection portion 410, a proximal connection portion 420, a bending section 430 disposed between the proximal connection portion 420 and the distal connection portion 410, a hinge portion 440, and a connecting wire 450 threaded within the bending section 430 and the hinge portion 440.
Referring to fig. 10 to 13, the snake bone is integrally formed by injection molding, and the material may be plastic or other material for injection molding, and the connecting wire 450 may be directly formed in the snake bone as a pre-embedded insert during injection molding, and may penetrate through each bending-adjusting section 430 and the hinge portion 440. The connecting wire 450 can be made of metal wires or nonmetal wires, has certain strength and toughness, can play a role in enhancing reliability, and avoids failure of two adjacent bending adjustment sections 430 of the snake bone in the repeated deflection bending process. Of course, the connection wire 450 may be of an unnecessary structure. The connecting wire 450 is positioned on the symmetrical central line of the outer contour of the snake bone body, so that each bending adjustment section 430 forms a stable deflection shaft 441. In some other embodiments, the connection wire 450 may also be assembled into the bending section 430 and the hinge 440 after the bending section 430 and the hinge 440 are formed.
The number of bending adjustment sections 430 can be increased or decreased as desired, with each bending adjustment section 430 being aligned along the axis of the snake bone. The axis of the snake bone changes curvature along with the deflection of the bending section 430 when the endoscope is used, and in the initial state, the snake bone is in a generally straight state, the axis is a straight line, and in the bending process of the snake bone, the axis is correspondingly in a bending state.
The bending deflection of each bending section 430 is achieved by a hinge 440, the hinge 440 is connected between two adjacent bending sections 430, the hinge 440 is located at two opposite sides of the snake bone in the radial direction, referring to fig. 13, the hinge 440 forms a deflection shaft 441 for deflecting the two adjacent bending sections relatively, and the deflection shaft 441 can be considered as a connection line of two hinge 440 located at two opposite sides of the snake bone in the radial direction. Note that, the deflection shaft 441 may be a virtual shaft or a solid shaft, for example, in the embodiment, the deflection shaft 441 of each bending adjustment section is a virtual shaft for the snake bone integrally injection molded; for the assembled snake bone, the hinge 440 of each bending section forms a solid structure of the swing shaft 441. As an example, one axial end of the bending section 430 may be provided with an ear plate protruding from the end surface, a rotation shaft perpendicular to the axis of the bending section 430 is provided on the ear plate, and the other axial end of the bending section 430 may be provided with a rotation mating hole, in which the rotation shaft is rotatably embedded to achieve hinging.
To achieve passage and/or routing of the instruments, the bending section 430 is provided with a working channel 431, which working channel 431 extends along the axis of the snake bone and is located in the middle region of the cross section of the bending section 430. It should be noted that the number of working channels 431 may be configured as one or more than two, and any one working channel 431 may pass through only one instrument/line or may pass through two or more different instruments/lines at the same time. In addition, the shape of the working channel 431 may be set as needed, and is not limited in the present invention. When only one working channel is provided on the bending section 430, the one working channel can form a channel distribution area corresponding to the edge profile of the working channel. In some other embodiments, at least two working channels may be provided on the bending adjustment section 430, and a portion of the bending adjustment section 420 between the working channels and the working channels together form a channel distribution area.
In order to achieve bending control of the snake bone, the bending section 430 is provided with a traction wire channel, which is located at the periphery of the working channel 431 and also extends along the axis of the snake bone. The traction wire channels comprise a first traction wire channel 432 and a second traction wire channel 433, the first traction wire channel 432 and the second traction wire channel 433 are respectively arranged on different sides of the bending adjusting section 430 along the direction perpendicular to the axis of the snake bone, one traction wire 460 can be respectively arranged in each traction wire channel, one traction wire 460 is tensioned, and then the snake bone can bend towards the tensioned side of the traction wire 460. It will be appreciated by those skilled in the art that the pull wire channel can be configured to allow movement of the pull wire 460, and the distal end of the pull wire 460 can be secured to the distal end of the snake bone.
For the sake of more clear description of the embodiments and technical solutions of the present invention, please refer to fig. 11 and 13, wherein the extending direction of the axis of the bending section 430 is the first direction, the extending direction of the deflection shaft 441 is the second direction, and the direction perpendicular to the first direction and the second direction on the bending section 430 is the third direction. Of course, this orientation limitation is made in the embodiment only for the purpose of more clearly explaining the positional relationship between the respective components, and does not limit the actual spatial position of the present invention.
In one embodiment, the cross-sectional outline of the snake bone is circular, and the outer dimension in the second direction is equal to the outer dimension in the third direction, however, in other embodiments, the cross-sectional outline of the snake bone may be other shapes, such as oval, so that the outer dimension in the second direction of the snake bone is not equal to the outer dimension in the third direction.
Since the pull wire 460 is prone to interference when the snake bone is assembled with other components, if this problem is solved by increasing the radial dimension of the snake bone, the scope of the endoscope will be affected and patient comfort during examination and treatment will be reduced. In the present invention, at least one of the first traction wire channel 432 located at one side of the yaw axis 441 in the third direction and the second traction wire channel 433 located at the other side of the yaw axis 441 in the third direction is offset on the bending section 430 in the second direction, so that it is possible to avoid forming the avoiding position by increasing the radial dimension of the snake bone, thereby realizing the radial dimension control of the snake bone. It should be noted that, as will be understood by those skilled in the art, the offset refers to the deviation from the middle of the bending section 430 in the corresponding direction, and the bending section 430 is located on the straight line having the largest external dimension of the snake bone along the third direction.
In one embodiment, only the second traction wire 460 may be in an offset form. Referring to fig. 13, in one embodiment, the perpendicular line from the first traction wire channel 432 to the yaw axis 441 passes through the axis of the bending section 430, and the second traction wire channel 433 has an offset relative to the symmetrical position of the first traction wire channel 432 at least in the extending direction of the yaw axis 441, where the symmetrical position of the first traction wire channel 432 is a mirror image position of the first traction wire channel 432 with the plane where the axis of the bending section 430 and the yaw axis 441 are located together.
In one embodiment, the first traction wire channel 432 is spaced a greater distance from the yaw axis 441 than the second traction wire channel 433 is spaced from the yaw axis 441, thus enabling a larger relief space to be formed at the symmetrical position of the first traction wire channel 432.
In one embodiment, as shown in fig. 13, the working channel 431 has different dimensions in the second direction on both sides in the third direction, with the side distal from the first traction wire channel 432 being smaller in size. Correspondingly, the first traction wire channels 432 and the working channels 431 are arranged in a third direction, i.e. the first traction wire channels 432 are located outside the channel distribution area in said third direction, and the second traction wire channels 433 and the working channels 431 are arranged in a second direction, i.e. the second traction wire channels 433 are located outside the channel distribution area in the second direction. In some other embodiments, the second traction wire channel 433 may be considered to be aligned with the working channel 431 in a third direction if the second traction wire channel 433 is offset from the symmetrical position of the first traction wire channel 432 by a small distance, a portion of which extends beyond the working channel 431 in the third direction.
In one embodiment, referring to fig. 13, in the third direction, the side of the bending section 430 provided with the first traction wire channel 432 is a first side, the side provided with the second traction wire channel 433 is a second side, and the thickness of the first side of the sidewall of the working channel 431 is greater than the thickness of the second side, so that the arrangement of the second traction wire channel 433 can be satisfied under the condition of competing for a working space with a larger cross section, and the increase of the size of the snake bone is avoided.
In order to strive for a larger working channel 431, in one embodiment, the cross-sectional profile of the side of the working channel 431 remote from the first traction wire channel 432 is circular-arc-shaped, enabling greater space utilization. Of course, in one embodiment, the cross-sectional profile of the side of working channel 431 remote from first traction wire channel 432 may also be rectilinear. In addition, in some other embodiments, the working channels 431 may also be symmetrically arranged along the yaw axis 441.
In the above embodiment, the cross-sectional outer contour of the snake bone is circular; in some other embodiments, the cross-sectional outer profile of the snake bone may also be other shapes, such as oval, with the major axis of the oval being disposed along the third direction, which may allow for smaller circumferential dimensions.
In the above embodiment, the bending adjustment section 430 and the hinge 440 are integrally injection molded, and in some other embodiments, please refer to fig. 15 and 16, the snake bone adopts a metal snake bone, specifically, the bending adjustment section 430 of the metal snake bone is in a ring structure, and the groove 435 is formed by locally stamping and deforming the ring body, and the groove 435 protrudes toward the inner cavity of the ring body, so as to form the traction wire channel. In order to achieve the hinge swing of the adjacent two bending adjustment sections 430 in the metal snake bone, the solid swing shaft 441 may be formed by machining corresponding grooves and hinge pieces at both ends of the metal ring, respectively, or the solid swing shaft 441 may be formed between the bending adjustment sections 430 using a rivet structure. The bending section 430 of the metal snake bone can be formed by the prior art, and only the setting positions of the first traction wire channel 432 and the second traction wire channel 433 need to be changed.
When the insertion tube assembly of the endoscope is assembled, the proximal end and the distal end of the snake bone are required to be connected with corresponding parts, the outer diameter of the parts and the wall thickness of the internal channel are limited, and at least one part is deviated on the bending section 430 along the second direction by arranging the first traction wire channel 432 and the second traction wire channel 433 to be of an asymmetric structure, so that the corresponding parts can be more flexibly avoided, the insertion tube is not required to be assembled in a mode of increasing the radial size of the insertion tube to reduce or avoid interference, and the radial size of the insertion tube is smaller.
In the above embodiment, the hinge portions are all arranged along the extending axis of the adjustable bending section, each of the adjustable bending sections forms a same-direction bending section with the same deflection direction, the deflection axes of each of the adjustable bending sections are parallel to each other, and the adjustable bending section can only reciprocate in two opposite directions. In some other embodiments, for the adjustable bending section needing to be bent in four directions, the bending adjusting sections on two axial sides of the middle bending adjusting section in the adjacent three bending adjusting sections can have 90-degree position difference in the circumferential direction, two groups of hinges which are arranged on two axial sides of the bending adjusting sections at 90 degrees in the circumferential direction of the adjustable bending section are used for respectively realizing the swinging motion that the swinging axes are crossed, at the moment, two pairs of traction wires are arranged, and two driving wheels can be arranged on the bending adjusting driving device for respectively driving one pair of traction wires.
The foregoing description of the invention has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the invention pertains, based on the idea of the invention.
Claims (10)
1. A bending drive apparatus comprising:
A mounting substrate;
the driving wheel is rotationally assembled on the mounting base body;
the two traction wires are respectively arranged at different sides of the snake bone to drive the snake bone to deflect towards two opposite directions;
the driving wheel is provided with at least two filament winding areas, the two filament winding areas comprise at least one first filament winding area and at least one second filament winding area, the first filament winding area and the second filament winding area are positioned on different radial sides of the driving wheel, and the filament winding radius of at least one first filament winding area is different from the filament winding radius of at least one second filament winding area.
2. The bend-adjusting drive of claim 1, wherein at least two wire winding regions are layered along the rotational axis of the drive wheel, radially outward of the drive wheel being provided with a clamping groove, the wire winding regions being formed by the clamping groove.
3. The bend-adjusting driving device according to claim 2, wherein the driving wheel comprises an anti-falling protrusion, the anti-falling protrusion is arranged on a groove side wall of the clamping groove and is positioned at a notch of the clamping groove, and the anti-falling protrusion is used for preventing the traction wire from falling out of the clamping groove along the radial direction of the driving wheel.
4. The bending driving device according to claim 3, wherein the anti-falling protrusion is disposed on one side wall of the slot, an avoidance opening is disposed on the other side wall of the slot, at least a part of the anti-falling protrusion extends into the avoidance opening, and a space is provided between the anti-falling protrusion and the inner wall of the avoidance opening.
5. The bending drive device according to any one of claims 1 to 4, wherein the drive wheel includes a circular arc portion and a notched portion, a wire winding region is provided on the circular arc portion, at least a part of a distal end face of the circular arc portion is exposed in the notched portion, and a traction wire of the bending drive device is wound on the circular arc portion through the notched portion.
6. The bending driving device according to any one of claims 1 to 4, wherein a fixing groove is formed in an end face of the driving wheel, a traction block is fixed to the tail end of the traction wire, the traction block is embedded into the fixing groove, and a channel for the traction wire to be led out is formed in a groove wall of the fixing groove.
7. An endoscope, comprising:
the insertion tube assembly comprises adjustable bending sections, wherein each adjustable bending section comprises bending adjusting sections which are sequentially hinged, a hinge part is arranged between every two adjacent bending adjusting sections, the hinge parts form a swinging shaft for enabling the two adjacent bending adjusting sections to swing relatively, and the hinge parts between the two adjacent bending adjusting sections are located on two radial opposite sides of the adjustable bending sections;
A handle assembly connected to the proximal end of the insertion tube assembly, wherein a bending drive device is provided in the handle assembly, and the bending drive device is as defined in any one of claims 1 to 6.
8. The endoscope of claim 7, wherein the bending section has an axis extending direction in a first direction and the deflection shaft has an extending direction in a second direction, the bending section has a third direction perpendicular to the first and second directions, the guide wire channel includes first and second guide wire channels on opposite sides of the deflection shaft in the third direction, respectively, at least one of the first and second guide wire channels being offset on the bending section along the second direction.
9. The endoscope of claim 8, wherein a perpendicular of the first pull wire channel to the yaw axis passes through the axis of the bending section, the second pull wire channel has an offset in at least the second direction relative to a symmetrical position of the first pull wire channel, the symmetrical position of the first pull wire channel being a mirror image of the first pull wire channel about a plane in which the axis of the bending section and the yaw axis are co-located.
10. The endoscope of claim 8, wherein a working channel is provided on the bending section, the working channel forms a channel distribution area, or at least two working channels are provided on the bending section, and a portion of the bending section between the working channels and the working channels together form a channel distribution area; the first traction wire channel is located outside the channel distribution area in the third direction, and the second traction wire channel is located outside the channel distribution area in the second direction.
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| CN202311866867.0A CN117617876A (en) | 2023-12-29 | 2023-12-29 | Bending adjustment driving device and endoscope |
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| CN202311866867.0A CN117617876A (en) | 2023-12-29 | 2023-12-29 | Bending adjustment driving device and endoscope |
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