CN218099780U - Endoscope and endoscope body adjusting structure thereof - Google Patents

Abstract

The embodiment of the specification provides an endoscope and a body adjusting structure thereof. The endoscope body adjusting structure comprises a driven wheel, wherein the driven wheel is used for being connected with an endoscope body; wherein the driven wheel is a ball gear; at least one driving wheel meshed with the driven wheel; wherein the driving wheel is a ball gear; at least one actuating mechanism, actuating mechanism respectively with the action wheel one-to-one links to each other for the drive the action wheel rotates, the rotation of action wheel can drive from the driving wheel rotation, thereby adjusts the mirror body direction through regard ball gear as the action wheel and from the driving wheel, can mesh the transmission in all directions, thereby makes the mirror body have the all-round motion gesture, improves mirror body rotation flexibility, enlarges the turned angle of front end camera lens, thereby enlarges the observation field of vision of endoscope, improves endoscope diagnostic technique's comprehensive and accuracy.

Description

Endoscope and endoscope body adjusting structure thereof

Technical Field

The specification relates to the field of medical instruments, in particular to an endoscope and an endoscope body adjusting structure thereof.

Background

The endoscope is a medical electronic optical instrument which can be inserted into the body cavity and internal organ cavity to make direct observation, diagnosis and treatment by integrating high-precision techniques of light collection, machine and electricity. The endoscope mainly comprises a body, a handle, an optical imaging catheter, a host and the like. In the operation, the lens at the front end of the lens body is controlled by the handle to rotate so as to adjust the visual field direction of the lens. However, the existing endoscope body has poor rotation flexibility and limited rotation angle of the front-end lens, so that the observation visual field of the endoscope is small, and the comprehensiveness and accuracy of the endoscope diagnosis technology are seriously affected. Accordingly, it is desirable to provide an endoscope with greater flexibility and a wider field of view.

SUMMERY OF THE UTILITY MODEL

One of the embodiments of the present specification provides an endoscope body adjusting structure, which includes a driven wheel, wherein the driven wheel is used for being connected with an endoscope body; wherein the driven wheel is a ball gear; at least one driving wheel meshed with the driven wheel; wherein the driving wheel is a ball gear; and the driving mechanisms are respectively connected with the driving wheels in a one-to-one correspondence manner and are used for driving the driving wheels to rotate, and the rotation of the driving wheels can drive the driven wheels to rotate, so that the direction of the mirror body is adjusted.

In some embodiments, each of the drive mechanisms includes a first drive motor for driving the drive wheel in rotation about a first axis of rotation and a second drive motor for driving the drive wheel in rotation about a second axis of rotation; wherein the first axis of rotation is not oriented in the same direction as the second axis of rotation.

In some embodiments, each of the driving mechanisms includes a rotating bracket, the rotating bracket is connected with the output end of the first driving motor, the driving wheel and the second driving motor are both arranged on the rotating bracket, and the driving wheel is connected with the output end of the second driving motor; the first driving motor is used for driving the rotating bracket to rotate around the first rotating axis, and the second driving motor is used for driving the driving wheel to rotate around the second rotating axis.

In some embodiments, the first axis of rotation passes through the center of the driven wheel; the angle range of the second rotation axis and the first rotation axis is 85-90 degrees.

In some embodiments, the number of the driving wheels is two, and the centers of the two driving wheels are respectively arranged at an angle with a connecting line of the centers of the driven wheels.

In some embodiments, the centers of the two driving wheels respectively form an included angle with a connecting line of the centers of the driven wheels in a range of 85-95 degrees.

In some embodiments, the first axis of rotation passes through a center of the driven wheel; two meshing points of the two driving wheels and the two driven wheels are symmetrically arranged relative to a central axis of the lens body at the initial position respectively.

One of the embodiments of the present specification provides an endoscope, which includes a body, and an endoscope body adjusting structure as described in any one of the embodiments above.

In some embodiments, the endoscope further comprises a handle, the scope body adjusting structure is arranged on the handle, and one end of the scope body is connected with the endoscope scope body adjusting structure.

In some embodiments, the handle is provided with a rotation control button and a controller, the rotation control button is used for sending a rotation control signal to the controller, and the controller is used for controlling at least one driving mechanism to drive the corresponding driving wheel to rotate, so as to drive the driven wheel to rotate, so as to adjust the direction of the mirror body.

In some embodiments, a light guide bundle and an image guide bundle are arranged in the mirror body, and the light guide bundle and the image guide bundle penetrate through a driven wheel to be connected with the handle.

In some embodiments, the body is a rigid body.

According to the endoscope body adjusting structure, the ball gear is used as the driving wheel and the driven wheel, meshing transmission can be carried out in all directions, so that the endoscope body has an all-directional movement posture, the rotation flexibility of the endoscope body is improved, the rotation angle of the front-end lens is enlarged, the observation visual field of the endoscope is enlarged, and the comprehensiveness and the accuracy of the endoscope diagnosis technology are improved.

Drawings

The present description will be further explained by way of exemplary embodiments, which will be described in detail by way of the accompanying drawings. These embodiments are not intended to be limiting, and in these embodiments like numerals are used to indicate like structures, wherein:

FIG. 1 is a schematic structural view of an endoscope body adjustment mechanism according to some embodiments herein;

FIG. 2 is a schematic structural view of a drive mechanism according to some embodiments herein;

FIG. 3 is a schematic structural view of an endoscope according to some embodiments of the present description;

FIG. 4 is a schematic diagram of the internal structure of the handle of an endoscope, according to some embodiments of the present disclosure.

Wherein the reference numbers are: 100. an endoscope body adjusting structure; 110. a driven wheel; 111. a driven wheel bearing; 120. a driving wheel; 130. a drive mechanism; 131. a first drive motor; 132. a second drive motor; 133. rotating the bracket; 1331. side walls; 1332. an opening; 200. a lens body; 300. a handle; 310. rotating the control button; 400. guiding a light beam; 500. an image guide bundle; a1, a first rotation axis; a2, second axis of rotation.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only examples or embodiments of the present description, and that for a person skilled in the art, the present description can also be applied to other similar scenarios on the basis of these drawings without inventive effort. Unless otherwise apparent from the context, or otherwise indicated, like reference numbers in the figures refer to the same structure or operation.

As used in this specification and the appended claims, the terms "a," "an," "the," and/or "the" are not to be taken in a singular sense, but rather are to be construed to include a plural sense unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" are intended to cover only the explicitly identified steps or elements as not constituting an exclusive list and that the method or apparatus may comprise further steps or elements.

The endoscope in some embodiments of the present specification is an important tool for observing and treating organs of a human body in clinical applications, and the endoscope is implanted into the human body to collect images of organs and tissues so as to diagnose or treat a lesion. In some embodiments, the endoscope includes, but is not limited to, a hard-tube endoscope, a fiber optic endoscope, an electronic endoscope, and the like. In some embodiments, the endoscope may be applied to the tissue organs of the digestive tract, respiratory system, peritoneal cavity, biliary tract, urinary system, uterine cavity, joints, and the like.

FIG. 1 is a schematic structural view of an endoscope body adjustment structure according to some embodiments of the present disclosure.

As shown in fig. 1, some embodiments of the present disclosure provide an endoscope body adjusting structure 100, and the endoscope body adjusting structure 100 can be applied to a lens body 200 for controlling the rotation of a lens at the front end of the lens body 200. In some embodiments, the endoscope body adjustment mechanism 100 includes a driven wheel 110, at least one drive wheel 120, and at least one drive mechanism 130. The driven wheel 110 is used for connecting with the mirror body 200; the driven wheel 110 is a ball gear. The driving wheel 120 is meshed with the driven wheel 110; wherein the driving wheel 120 is a ball gear. The driving mechanisms 130 are respectively connected with the driving wheels 120 in a one-to-one correspondence manner, and are used for driving the driving wheels 120 to rotate, and the driven wheels 110 can be driven to rotate by the rotation of the driving wheels 120, so that the direction of the mirror body 200 can be adjusted. It should be noted that, the driving mechanisms 130 are respectively connected to the driving wheels 120 in a one-to-one correspondence manner, which means that the driving mechanisms 130 and the driving wheels 120 are equal in number, and one driving mechanism 130 is correspondingly connected to one driving wheel 120. The ball gear has at least two degrees of freedom, and the driven wheel 110 and the driving wheel 120 are both ball gears and can be used for transmitting spatial motion.

According to the above-mentioned endoscope body adjusting structure 100, the ball gears are used as the driving wheel 120 and the driven wheel 110, and the mesh transmission can be performed in all directions, so that the endoscope body 200 has an all-directional movement posture, the rotation flexibility of the endoscope body 200 is improved, the rotation angle of the front end lens is enlarged, the observation field of the endoscope is enlarged, and the comprehensiveness and accuracy of the endoscope diagnosis technology are improved.

In some embodiments, the driven wheel 110 may be a cross ball gear, which is spherical and has teeth formed on its surface, wherein the teeth refer to each raised structure on the ball gear for engagement, and the teeth are arranged in a cross-like array. In some embodiments, the teeth of the crossed ball gears may be aligned based on two secondary axes that are perpendicular to each other and pass through the center of the sphere. Illustratively, the profile circles of the teeth of the crossed ball gear arranged in the spherical surface in the first direction are both perpendicular to the first auxiliary axis, while the profile circles of the teeth arranged in the spherical surface in the second direction are both perpendicular to the second auxiliary axis, wherein the first auxiliary line and the second auxiliary line are perpendicular to each other, and both the first auxiliary line and the second auxiliary line pass through the spherical center of the crossed ball gear.

In some embodiments, the drive wheel 120 may be a ball gear, and the drive wheel 120 is configured as a drum including two parallel planes and an arc-shaped surface connecting the two planes. The arc-shaped surface of the driving wheel 120 is formed with a plurality of arc-shaped teeth and/or circular teeth, and the contour circle of the arc-shaped teeth and/or circular teeth is parallel to the rotation axis of the driving wheel 120 perpendicular to the two planes. In some embodiments, the driving wheel 120 is formed with a shaft hole or a shaft passing through two side planes, and the driving wheel 120 can be engaged with the driving device through the shaft hole or the shaft.

In some embodiments, the teeth of the driven wheel 110 and the teeth of the driving wheel 120 satisfy equal pressure angles and equal modulus to make the engagement of the driven wheel 110 and the driving wheel 120 more stable.

In some embodiments, there may be two drive wheels 120. In some embodiments, the centers of the two drive wheels 120 are each disposed at an angle to a line connecting the centers of the driven wheels 110. Wherein, the center of the driving wheel 120 may include, but is not limited to, the geometric center, the center of gravity, etc. of the driving wheel 120, and the center of the driven wheel 110 includes, but is not limited to, the geometric center, the center of gravity, etc. of the driven wheel 110. For example, one driving wheel 120 may be engaged at any point on the surface of the driven wheel 110, the first line connecting the center of the driving wheel 120 and the driven wheel 110 may be oriented in any direction, the other driving wheel 120 may be engaged at any point on the surface of the driven wheel 110, the second line connecting the center of the driving wheel 120 and the driven wheel 110 may be oriented in any direction, and the angle between the first line and the second line is arranged at an angle. An angled arrangement is understood to mean, inter alia, that the first connection and the second connection have an angle therebetween which is not equal to 0 °.

In some embodiments, the included angle θ between the centers of the two driving wheels 120 and the line connecting the centers of the driven wheels 110 is 60 ° to 180 °, so as to increase the rotation range of the mirror body 200. In some embodiments, the angle θ between the centers of the two driving wheels 120 and the line connecting the centers of the driven wheels 110 may be 85 ° to 95 °. In some embodiments, the included angle θ between the centers of the two driving wheels 120 and the line connecting the centers of the driven wheels 110 may be 85 °, 86 °, 87 °, 88 °, 89 °, 90 °, 91 °, 92 °, 93 °, 94 °, 95 °, and so on. In some embodiments, due to the installation space limitation of the endoscope body adjusting structure 100, the angle θ between the centers of the two driving wheels 120 and the line connecting the centers of the driven wheels 110 can be arranged to be 90 °, so that the driven wheels 110 drive the endoscope body 200 to have the largest steering range, and the driven wheels 110 can also avoid the movement interference with other components, and the endoscope body adjusting structure 100 can be accommodated in the limited installation space.

In some embodiments, the first rotational axis A1 of the drive pulley 120 passes through the center of the driven pulley 110. Thus, when the driving wheel 120 drives the driven wheel 110, the driven wheel 110 can rotate in all directions around its center.

In some embodiments, two engagement points of the driving wheel 120 and the driven wheel 110 are symmetrically arranged with respect to the central axis of the mirror body 200 in the initial position. The initial position of the scope 200 is a position where the scope 200 is not deflected with respect to the endoscope.

In some embodiments, the endoscope body adjustment structure 100 further comprises a driven wheel bearing 111, the driven wheel bearing 111 is used for supporting the driven wheel 110, and the driven wheel bearing 111 allows the driven wheel 110 to rotate in each direction and maintains the central position unchanged.

Fig. 2 is a schematic diagram of a drive mechanism according to some embodiments herein.

As shown in fig. 2, each of the driving mechanisms 130 includes a first driving motor 131 and a second driving motor 132. The first drive motor 131 is used for driving the capstan 120 to rotate about a first rotation axis A1, and the second drive motor 132 is used for driving the capstan 120 to rotate about a second rotation axis A2, wherein the first rotation axis A1 is different from the second rotation axis A2. At least two degrees of freedom of the driving wheel 120 can be achieved by driving the driving wheel 120 around different rotation axes by the first driving motor 131 and the second driving motor 132, respectively, so as to drive the driven wheel 110 to rotate around each direction.

In some embodiments, the first rotational axis A1 may be a rotational axis parallel to both side planes of the driver 120, and the second rotational axis A2 may be a rotational axis perpendicular to both side planes of the driver 120. In some embodiments, the first axis of rotation A1 passes through the center of the drive wheel 120. In some embodiments, the first rotation axis A1 and the second rotation axis A2 may be perpendicular or substantially perpendicular to each other, wherein substantially perpendicular may be an included angle between the first rotation axis A1 and the second rotation axis A2 ranging between 85 ° and 90 °, for example, an included angle between the first rotation axis A1 and the second rotation axis A2 is 86 °, 87 °, 88 °, 89 °, 90 °, and so on. The first rotation axis A1 is substantially perpendicular to the second rotation axis A2, which may allow for assembly errors of the driving wheel 120, and within this angular range, the driving wheel 120 and the driven wheel 110 may still be in meshing transmission.

In some embodiments, each drive mechanism 130 includes a rotating bracket 133. In some embodiments, the rotating bracket 133 is connected to an output of the first driving motor 131, and the first driving motor 131 is used for driving the rotating bracket 133 to rotate around the first rotation axis A1. The rotating bracket 133 and the output end of the first driving motor 131 may be directly connected (e.g., welded, clamped, etc.) or indirectly connected (e.g., connected through a coupling, etc.). In some embodiments, the driving wheel 120 and the second driving motor 132 are both disposed on the rotating bracket 133, and the driving wheel 120 and the second driving motor 132 can rotate together around the first rotation axis A1 along with the rotating bracket 133. In some embodiments, the drive wheel 120 is coupled to an output of a second drive motor 132, the second drive motor 132 for driving the drive wheel 120 in rotation about a second axis of rotation A2. In some embodiments, the driving wheel 120 is directly connected to the output end of the second driving motor 132, for example, the driving wheel 120 can be sleeved and fixed on the output shaft of the second driving motor 132. In some embodiments, the driving wheel 120 is indirectly connected to the output end of the second driving motor 132, for example, the output shaft of the second driving motor 132 is connected to other gear mechanisms, and the other gear mechanisms are meshed with the driving wheel 120.

In some embodiments, swivel support 133 may be configured as a frame support that includes a bent-formed siderail 1331. In some embodiments, the first driving motor 131 may be disposed at the outer side of the side wall 1331, and the second driving motor 132 and the driving wheel 120 may be disposed at the inner side of the side wall 1331. In some embodiments, the side wall 1331 has an opening 1332 formed therein to allow the driving wheel 120 to be exposed from the side, and at least a part of the teeth of the driving wheel 120 can be exposed from the opening 1332 and engaged with the driven wheel 110. In other embodiments, the rotating bracket 133 may be configured in other forms, and the embodiments of the present disclosure are not limited thereto.

In some embodiments, the drive wheel 120 has two degrees of freedom, including a rotational degree of freedom about a first rotational axis A1 and a rotational degree of freedom about a second rotational axis A2, and the drive wheel 120 is capable of driving the driven wheel 110 to rotate in various directions. For example, when the driving wheel 120 rotates around the first rotation axis A1, the driving wheel 120 may drive the driven wheel 110 to rotate around a first axis, wherein the first axis passes through the center of the sphere of the driven wheel 110 and is parallel to the first rotation axis A1; for example, when the driving wheel 120 rotates around the second rotation axis A2, the driving wheel 120 can drive the driven wheel 110 to rotate around the second axis, wherein the second axis passes through the spherical center of the driven wheel 110 and is parallel to the second rotation axis A2; illustratively, the driving wheel 120 may drive the driven wheel 110 to rotate around a third axis when the driving wheel 120 rotates around the first rotation axis A1 by any angle between 0 ° and 180 ° and then rotates around the second rotation axis A2, wherein the third axis passes through the center of sphere of the driven wheel 110 and is perpendicular to the first axis and the second axis; for example, if the driver 120 rotates around the first rotation axis A1 and the second rotation axis A2 at the same time, the driver 120 can rotate towards any direction, i.e. the third axis is a dynamic axis that constantly changes direction in space. It can be seen that the driven wheel 110 can drive the driving wheel 120 to rotate around the first axis, the second axis and the third axis respectively under different driving modes of the first driving motor 131 and the second driving motor 132, so as to realize that the driving wheel 120 rotates in all directions in space.

In some embodiments, there are two drive wheels 120, and the two drive wheels 120 can have multiple drive modes. For example, the two drive wheels 120 may be driven to rotate synchronously about respective first rotational axes A1, and then the two drive wheels 120 may be driven to rotate synchronously about respective second rotational axes A2. The rotation precision and the rotation efficiency of the driven wheel 110 can be improved by the cooperative rotation of the two driving wheels 120. For example, it is also possible to drive one of the drive wheels 120 to rotate about the first rotation axis A1, and then drive this drive wheel 120 to rotate about the second rotation axis A2, while the other drive wheel 120 is passively rotated synchronously.

In some embodiments, there is one drive wheel 120, and one drive wheel 120 rotates in each direction by driving the driven wheel 110 about the first rotational axis A1 and/or the second rotational axis A2. By providing a driving wheel 120, the occupied space of the endoscope body adjusting structure 100 can be reduced.

According to the driving mechanism 130, the first driving motor 131 drives the driving wheel 120 to rotate around the first rotation axis A1, and the second driving motor 132 drives the driving wheel 120 to rotate around the second rotation axis A2, so that the driving wheel 120 can rotate with two degrees of freedom, and the driven wheel 110 can rotate in various directions, so as to drive the mirror body 200 to rotate in all directions, thereby improving the flexibility of the rotation of the mirror body 200.

In some embodiments, as shown in fig. 1, the two driving mechanisms 130 are provided, and the steering of the driven wheel 110 can be controlled more flexibly and accurately by the two driving mechanisms 130, so as to improve the accuracy of controlling the rotation of the mirror body 200.

Fig. 3 is a schematic structural view of an endoscope according to some embodiments herein. Fig. 4 is a schematic diagram of the internal structure of a handle of an endoscope, according to some embodiments herein.

As shown in fig. 3 and 4, an endoscope including a scope body 200 and the endoscope body adjusting structure 100 according to any one of the above embodiments is also provided in the embodiments of the present specification. In some embodiments, the scope body 200 may be an insertion tube portion of an endoscope, the front end of which has a lens for acquiring an in vivo image. In some embodiments, an endoscope body adjustment mechanism 100 is coupled to the body 200 for adjusting the orientation of the body 200.

In some embodiments, the endoscope further includes a handle 300, and the handle 300 may be a component for manipulation by a user. In some embodiments, the endoscope body adjustment structure 100 is disposed on the handle 300, and one end of the endoscope body 200 is connected to the endoscope body adjustment structure 100. The endoscope body adjusting structure 100 can be operated more conveniently through the handle 300, so as to control the rotation direction of the endoscope body 200.

In some embodiments, the endoscope body adjusting structure 100 can be disposed inside the handle 300, one end of the endoscope body 200 extends into the handle 300 to be connected with the endoscope body adjusting structure 100, and the other end of the endoscope body 200 located outside the handle 300 is provided with a lens for capturing images.

In some embodiments, a rotary control knob 310 and controls are provided on the handle 300. The rotary control button 310 may be provided on a surface of the handle 300, and the controller may be provided inside the handle 300.

In some embodiments, the rotation control button 310 and the two driving mechanisms 130 are respectively connected to a controller, the rotation control button 310 is used for sending a rotation control signal to the controller, and the controller is used for controlling at least one driving mechanism 130 to drive the corresponding driving wheel 120 to rotate, so as to drive the driven wheel 110 to rotate, so as to adjust the direction of the mirror body 200.

In some embodiments, the controller may control the two drive mechanisms 130 separately. For example, the controller may individually control one of the drive mechanisms 130 to drive one of the drive wheels 120 about the first rotational axis A1 and individually control the other drive mechanism 130 to drive the other drive wheel 120 about the second rotational axis A2.

In some embodiments, the controller may control both drive mechanisms 130 simultaneously. For example, the controller may simultaneously control the two driving mechanisms 130 to synchronously drive the capstan 120 to rotate about the first rotation axis A1 or the second rotation axis A2.

In some embodiments, the controller may also separately control the first drive motor 131 and the second drive motor 132 in each drive mechanism 130. For example, the controller may control the first driving motor 131 to drive the driving wheel 120 to rotate about the first rotation axis A1, or the controller may control the second driving motor 132 to drive the driving wheel 120 to rotate about the second rotation axis A2.

In some embodiments, the rotary control button 310 may be plural. In some embodiments, the rotational control buttons 310 may be arranged based on a control orientation, for example, the rotational control buttons 310 include, but are not limited to, up, down, left, right, counterclockwise, clockwise, and the like keys. In some embodiments, the rotation control button 310 may be based on a drive motor setting, for example, the rotation control button 310 includes, but is not limited to, a start/stop key of the first drive motor 131, a start/stop key of the second drive motor 132.

In some embodiments, the body 200 is a rigid body. The rigid mirror body is of a long tube type structure, one end of the rigid mirror body is connected with the handle 300, and the other end of the rigid mirror body is provided with the lens. The rigid lens body can transmit the rotation torque of the driven wheel 110 to the lens, so that the lens can rotate in all directions, and the visual field range of the lens is enlarged.

As shown in FIG. 4, in some embodiments, a light guide bundle 400 and an image guide bundle 500 are disposed inside the mirror body 200, and the light guide bundle 400 and the image guide bundle 500 are connected to the handle 300 through the driven wheel 110. In some embodiments, the light guide bundle 400 and the image guide bundle 500 may be disposed in a hose. In some embodiments, the light guide bundle 400 has one end connected to the handle 300 and the other end extending to the lens at the front end of the lens body 200, and the light guide bundle 400 can guide the light source in the handle 300 to the front end of the lens body 200 to illuminate the object at the front end of the lens body 200 and provide illumination for the lens. In some embodiments, the image guide bundle 500 is connected to the handle 300 at one end and connected to the lens at the other end, and the image captured by the lens can be transmitted through the image guide bundle 500. Illustratively, an image guide bundle 500 at one end of the handle 300 may be coupled to a controller to facilitate processing or transmission of the image. Alternatively, the image bundle 500 at one end of the handle 300 may be connected through the handle 300 to an external display for direct viewing by the user.

The beneficial effects that the embodiment of the application may bring include but are not limited to: (1) According to the endoscope body adjusting structure, the ball gear is used as the driving wheel and the driven wheel, and can be meshed and driven in all directions, so that the endoscope body has an all-directional movement posture, the rotation flexibility of the endoscope body is improved, the rotation angle of the front-end lens is enlarged, the observation visual field of the endoscope is enlarged, and the comprehensiveness and the accuracy of the endoscope diagnosis technology are improved; (2) When the included angle theta between the centers of the two driving wheels and the connecting line of the centers of the driven wheels is 90 degrees, the driven wheels drive the mirror body to have the maximum steering range; (3) The first driving motor drives the driving wheel to rotate around the first rotation axis, the second driving motor drives the driving wheel to rotate around the second rotation axis, and the driving wheel can rotate with two degrees of freedom, so that the driven wheel can rotate in all directions, the mirror body is driven to rotate in all directions, and the flexibility of the mirror body rotation is improved; (4) The mirror body adjusting structure can be controlled more conveniently through the handle and the rotary control button, so that the mirror body is controlled to rotate. It is to be noted that different embodiments may produce different advantages, and in different embodiments, the advantages that may be produced may be any one or combination of the above, or any other advantages that may be obtained.

Having thus described the basic concept, it will be apparent to those skilled in the art that the foregoing detailed disclosure is to be regarded as illustrative only and not as limiting the present specification. Various modifications, improvements and adaptations to the present description may occur to those skilled in the art, although not explicitly described herein. Such modifications, improvements and adaptations are proposed in the present specification and thus fall within the spirit and scope of the exemplary embodiments of the present specification.

Also, the description uses specific words to describe embodiments of the specification. Reference throughout this specification to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic described in connection with at least one embodiment of the specification is included. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, some features, structures, or characteristics of one or more embodiments of the specification may be combined as appropriate.

Finally, it should be understood that the embodiments described herein are merely illustrative of the principles of the embodiments of the present disclosure. Other variations are also possible within the scope of the present description. Thus, by way of example, and not limitation, alternative configurations of the embodiments of the present specification can be seen as consistent with the teachings of the present specification. Accordingly, the embodiments of the present description are not limited to only those explicitly described and depicted herein.

Claims (12)

1. An endoscope body adjusting structure, comprising:

the driven wheel (110), the driven wheel (110) is used for connecting with the mirror body (200); wherein the driven wheel (110) is a ball gear;

at least one drive wheel (120) in engagement with the driven wheel (110); wherein the driving wheel (120) is a ball gear;

the driving mechanisms (130) are respectively connected with the driving wheels (120) in a one-to-one correspondence mode and used for driving the driving wheels (120) to rotate, and the driven wheels (110) can be driven to rotate by the rotation of the driving wheels (120), so that the direction of the mirror body (200) can be adjusted.

2. The endoscopic scope adjustment structure according to claim 1, wherein each of said drive mechanisms (130) comprises a first drive motor (131) and a second drive motor (132); -the first drive motor (131) is adapted to drive the drive wheel (120) in rotation about a first axis of rotation (A1), and-the second drive motor (132) is adapted to drive the drive wheel (120) in rotation about a second axis of rotation (A2); wherein the first axis of rotation (A1) is oriented in a different direction than the second axis of rotation (A2).

3. An endoscope scope adjustment arrangement according to claim 2, characterized in that each of said drive mechanisms (130) comprises a rotary support (133), said rotary support (133) being connected to an output of said first drive motor (131), said drive wheel (120) and said second drive motor (132) being provided on said rotary support (133), said drive wheel (120) being connected to an output of said second drive motor (132); the first drive motor (131) is used for driving the rotating bracket (133) to rotate around the first rotating axis (A1), and the second drive motor (132) is used for driving the driving wheel (120) to rotate around the second rotating axis (A2).

4. An endoscopic scope adjustment structure according to claim 2, wherein said first rotation axis (A1) passes through the center of said driven wheel (110); the angle between the second rotation axis (A2) and the first rotation axis (A1) is in the range of 85 DEG to 90 deg.

5. An endoscope body adjusting structure according to claim 2, characterized in that the number of the driving wheels (120) is two, and the centers of the two driving wheels (120) are respectively arranged at an angle with the line connecting the centers of the driven wheels (110).

6. The endoscope body adjusting structure of claim 5, wherein the included angle between the connecting lines of the centers of the two driving wheels (120) and the centers of the driven wheels (110) is in the range of 85-95 degrees.

7. The endoscopic scope adjustment structure according to claim 5 or 6, wherein the first rotation axis (A1) passes through the center of the driven wheel (110); two meshing points of the two driving wheels (120) and the driven wheel (110) are respectively and symmetrically arranged relative to a central axis of the mirror body (200) in an initial position.

8. An endoscope, characterized in that the endoscope comprises a scope (200) and an endoscopic scope adjustment structure (100) according to any one of claims 1-5.

9. The endoscope as defined in claim 8, further comprising a handle (300), the body (200) adjustment structure being disposed on the handle (300), one end of the body (200) being connected to the endoscope body adjustment structure (100).

10. The endoscope as recited in claim 9, wherein the handle (300) is provided with a rotation control button (310) and a controller, the rotation control button (310) is used for sending a rotation control signal to the controller, and the controller is used for controlling at least one driving mechanism (130) to drive a corresponding driving wheel (120) to rotate, so as to drive a driven wheel (110) to rotate, and thus the direction of the endoscope body (200) is adjusted.

11. The endoscope as recited in claim 9, characterized in that a light guide bundle (400) and an image guide bundle (500) are disposed in the endoscope body (200), and the light guide bundle (400) and the image guide bundle (500) are connected with the handle (300) through a driven wheel (110).

12. The endoscope of claim 8, wherein the scope body (200) is a rigid scope body.

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