WO2018176682A1 - 一种柔性内窥镜的电子伸缩结构 - Google Patents

一种柔性内窥镜的电子伸缩结构 Download PDF

Info

Publication number
WO2018176682A1
WO2018176682A1 PCT/CN2017/092572 CN2017092572W WO2018176682A1 WO 2018176682 A1 WO2018176682 A1 WO 2018176682A1 CN 2017092572 W CN2017092572 W CN 2017092572W WO 2018176682 A1 WO2018176682 A1 WO 2018176682A1
Authority
WO
WIPO (PCT)
Prior art keywords
operating handle
gear
hard working
working sheath
telescopic structure
Prior art date
Application number
PCT/CN2017/092572
Other languages
English (en)
French (fr)
Inventor
李莹
黄英武
龙刚
余虓
王少刚
毛业云
吴耀辉
胡学成
Original Assignee
武汉佑康科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 武汉佑康科技有限公司 filed Critical 武汉佑康科技有限公司
Publication of WO2018176682A1 publication Critical patent/WO2018176682A1/zh

Links

Images

Classifications

    • 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
    • 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
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00066—Proximal part of endoscope body, 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

Definitions

  • the present invention relates to the field of endoscope technology, and in particular to an electronic telescopic structure of a flexible endoscope.
  • Endoscopes are widely used in medical fields, industrial fields, and the like.
  • the endoscope includes an elongated insertion portion and an operating handle for gripping and controlling the insertion portion.
  • endoscopic treatment is currently the most commonly used minimally invasive diagnosis and treatment method, which has less damage to patients.
  • medical endoscope has been widely used in the clinical observation and diagnosis of various internal channels of the human body, and is an important means of disease detection.
  • the insertion part of the endoscope is completed by a hard sheath. At present, the insertion length of the corresponding hard sheath is manually controlled, the operation is inconvenient, and the telescopic length of the hard sheath cannot be accurately controlled, which is easy to cause secondary damage to the patient.
  • the object of the present invention is to solve the above-mentioned deficiencies of the prior art, and to provide an electronic telescopic structure of a flexible endoscope which is easy to operate and accurately controls the length of the hard sheath.
  • the electronic telescopic structure of the flexible endoscope designed by the present invention comprises an operating handle, the end of the operating handle is provided with a hole that is clearance-fitted with the hard working sheath, and the operating handle is provided with a slave a hard working sheath that can be stretched back and forth in the handle, the soft working sheath is provided with a soft sheath movable relative thereto, and a gear driving mechanism is fixed in the operating handle, and the gear driving mechanism is A gear is coupled to the output end, and an outer surface of the hard working sheath is provided with a rack that meshes with the gear along its axial direction.
  • the driving mechanism includes a micro motor, and the motor shaft of the micro motor is connected to a gear, and the micro motor is fixed on the motor bracket, and the motor bracket is provided with a switch for controlling the reverse rotation of the micro motor.
  • the motor bracket includes a support fixed to the micro motor and a connecting rod fixed to the support, and the switch is disposed at an end of the connecting rod.
  • the side wall of the operating handle is provided with a through hole corresponding to the switch, and the switch is disposed through the through hole on the surface of the operating handle.
  • a middle portion of the support is provided with a groove corresponding to the micro motor, and the micro motor is fixed in the groove, and the link is perpendicular to the axis of the micro motor.
  • the outer surface of the hard working sheath is provided with a length scale along its axial direction.
  • the invention has the beneficial effects that the micro-motor drives the rotation of the gear, and the hard sheath is driven by the gear to expand and contract.
  • the manual rotation of the motor can be controlled only by the switch to control the expansion and contraction of the hard sheath, and the length scale on the hard sheath can be read. Precisely control the telescopic length of the hard sheath, the structure is simple, the operation is convenient, and has good practicability and market application value.
  • FIG. 1 is a schematic structural view of a flexible endoscope having an electronic telescopic structure according to the present invention
  • FIG. 2 is a schematic view of an electronic telescopic structure designed according to the present invention.
  • the electronic telescopic structure of the flexible endoscope shown in FIG. 1 - 2 includes an operating handle 8 , and the operating handle 8 is provided with a hard working sheath 1 having an end extending through the operating handle 8 and extending relative to the handle 8 .
  • the hard working sheath 1 is provided with a soft sheath 9 movable relative thereto, and a gear driving mechanism is fixed in the operating handle 8.
  • the gear driving mechanism includes a micro motor 4, and the motor shaft of the micro motor 4 is connected with the gear 2, and the micro motor 4 is fixed.
  • the motor bracket 5 includes a support 5.1 fixed to the micro motor 4 and a connecting rod 5.2 fixed to the support 5.1.
  • the middle of the support 5.1 is provided with a groove corresponding to the micro motor 4, and the micro motor 4 is fixed.
  • the link 5.2 is perpendicular to the axis of the micromotor 4.
  • the switch 6 is disposed at the end of the link 5.2.
  • the outer surface of the hard working sheath 1 is provided with a rack 3 meshing with the gear 2 along its axial direction. To facilitate manual reading of the telescopic length of the hard working sheath 1, the outer surface of the hard working sheath 1 is along its axial direction. The direction has a length scale.
  • a through hole corresponding to the switch 6 is opened on the side wall of the operating handle 8 , and the switch 6 is disposed through the through hole The surface of the handle 8 is operated.
  • the working process of the present invention is: when the hard working sheath 1 needs to adjust its position into the body, the switch 6 is manually operated, the micro motor 4 is controlled to be reversed, and the gear 2 is driven by the micro motor 4 to rotate the hard working sheath 1
  • the upper rack 3 drives the hard working sheath 1 to perform a linear motion, and by grasping the length scale on the hard working sheath 1, grasping the distance of elongation or contraction of the hard working sheath 1, thereby precisely controlling the hard working sheath
  • the expansion and contraction of 1 is simple, and the manual adjustment of the telescopic distance of the hard working sheath 1 is precise and practical.

Abstract

一种柔性内窥镜的电子伸缩结构，包括操作手柄（8），操作手柄（8）的端部开有与硬质工作鞘（1）间隙配合的孔，操作手柄（8）内设有从孔穿出、可在操作手柄（8）内前后伸缩的硬质工作鞘（1），硬质工作鞘（1）内设有可与其相对运动的软鞘（7,9），操作手柄（8）内固定有齿轮驱动机构，齿轮驱动机构的输出端连接有齿轮（2），硬质工作鞘（1）的外表面沿其轴向设有与齿轮（2）啮合的齿条（3）。通过微型电机（4）驱动齿轮（2）转动，由齿轮（2）驱动硬质工作鞘（1）伸缩，人工只需通过开关（6）控制微型电机（4）正反转，即可控制硬质工作鞘（1）的伸缩，通过读取硬质工作鞘（1）上的长度刻度可精确控制硬质工作鞘（1）的伸缩长度，结构简单，操作方便，具有很好的实用性和市场应用价值。

Description

一种柔性内窥镜的电子伸缩结构 技术领域
本发明涉及内窥镜技术领域，具体地指一种柔性内窥镜的电子伸缩结构。
背景技术
内窥镜被广泛运用于医疗领域、工业领域等。内窥镜包括细长的插入部和用于握持和控制插入部的操作手柄。临床医学上，采用内窥镜进行治疗是目前最常用的微创诊疗方式，该方式对患者损伤较小。医用内窥镜作为一种医疗器械，已广泛应用于插入人体内部各种腔道的临床观察及诊断当中，是一种疾病检查的重要手段。内窥镜的插入部分由硬鞘完成，目前对应硬鞘的插入长度由手动控制，操作不方便，且无法精确控制硬鞘的伸缩长度，易对患者造成二次损伤。
发明内容
本发明的目的就是要解决上述背景技术的不足，提供一种操作方便，精确控制硬鞘伸缩长度的柔性内窥镜的电子伸缩结构。
为实现此目的，本发明所设计的柔性内窥镜的电子伸缩结构，包括操作手柄，所述操作手柄的端部开有与硬质工作鞘间隙配合的孔，所述操作手柄内设有从该孔穿出、可在手柄内前后伸缩的硬质工作鞘，所述硬质工作鞘内设有可与其相对运动的软鞘，所述操作手柄内固定有齿轮驱动机构，所述齿轮驱动机构的输出端连接有齿轮，所述硬质工作鞘的外表面沿其轴向设有与所述齿轮啮合的齿条。
具体的，所述驱动机构包括微型电机，所述微型电机的电机轴与齿轮连接，所述微型电机固定于电机支架上，所述电机支架上设有控制微型电机正反转的开关。
具体的，所述电机支架包括与微型电机固定的支座和固定于支座上的连杆，所述开关设置于连杆的端部。
进一步的，所述操作手柄的侧壁上开有与开关对应的过孔，所述开关穿过该过孔设置于操作手柄的表面。
优选的，所述支座中部设有与微型电机对应的凹槽，所述微型电机固定于凹槽内，所述连杆与微型电机的轴线垂直。
进一步的，所述硬质工作鞘的外表面沿其轴向方向设有长度刻度。
本发明的有益效果是：通过微型电机驱动齿轮转动，由齿轮驱动硬鞘伸缩，人工只需通过开关控制电机正反转，即可控制硬鞘的伸缩，通过读取硬鞘上的长度刻度可精确控制硬鞘的伸缩长度，结构简单，操作方便，具有很好的实用性和市场应用价值。
附图说明
图1为本发明中具有电子伸缩结构的柔性内窥镜的结构示意图；
图2为本发明所设计的电子伸缩结构的示意图；
其中，1—硬质工作鞘，2—齿轮，3—齿条，4—微型电机，5—电机支架(5.1—支座，5.2—连杆)，6—开关，7—软鞘，8—操作手柄，9—软鞘。
具体实施方式
下面结合附图和具体实施例对本发明作进一步的详细说明。
如图1—2所示的柔性内窥镜的电子伸缩结构，包括操作手柄8，所述操作手柄8内设有端部穿出操作手柄8，与手柄8相对伸缩的硬质工作鞘1，硬质工作鞘1内设有可与其相对运动的软鞘9，操作手柄8内固定有齿轮驱动机构，齿轮驱动机构包括微型电机4，微型电机4的电机轴与齿轮2连接，微型电机4固定于电机支架5上，电机支架5包括与微型电机4固定的支座5.1和固定于支座5.1上的连杆5.2，支座5.1中部设有与微型电机4对应的凹槽，微型电机4固定于凹槽内，连杆5.2与微型电机4的轴线垂直。开关6设置于连杆5.2的端部。硬质工作鞘1的外表面沿其轴向设有与齿轮2啮合的齿条3，为方便人工读取硬质工作鞘1的伸缩长度，在硬质工作鞘1的外表面沿其轴向方向设有长度刻度。
如图1所示，为方便人工操作齿轮驱动装置来控制硬质工作鞘1的伸缩，在操作手柄8的侧壁上开有与开关6对应的过孔，开关6穿过该过孔设置于操作手柄8的表面。
本发明的工作过程是：当硬质工作鞘1伸入体内需要调节其位置时，人工操作开关6，控制微型电机4正反转，由微型电机4驱动齿轮2转动，硬质工作鞘1 上的齿条3则带动硬质工作鞘1做直线运动，通过读取硬质工作鞘1上的长度刻度，掌握硬质工作鞘1的伸长或收缩的距离，从而精确控制硬质工作鞘1的伸缩，其操作简单，人工对硬质工作鞘1的伸缩距离掌控精准，实用性强。
以上所述，仅是本发明的较佳实施例而已，并非对本发明的结构做任何形式上的限制。凡是依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明的技术方案的范围内。

Claims (6)

  1. 一种柔性内窥镜的电子伸缩结构，包括操作手柄(8)，所述操作手柄(8)的端部开有与硬质工作鞘(1)间隙配合的孔，所述操作手柄(8)内设有从该孔穿出、可在手柄(8)内前后伸缩的硬质工作鞘(1)，所述硬质工作鞘(1)内设有可与其相对运动的软鞘(9)，其特征在于：所述操作手柄(8)内固定有齿轮驱动机构，所述齿轮驱动机构的输出端连接有齿轮(2)，所述硬质工作鞘(1)的外表面沿其轴向设有与所述齿轮(2)啮合的齿条(3)。
  2. 如权利要求1所述的柔性内窥镜的电子伸缩结构，其特征在于：所述齿轮驱动机构包括微型电机(4)，所述微型电机(4)的电机轴与齿轮(2)连接，所述微型电机(4)固定于电机支架(5)上，所述电机支架(5)上设有控制微型电机(4)正反转的开关(6)。
  3. 如权利要求2所述的柔性内窥镜的电子伸缩结构，其特征在于：所述操作手柄(8)的侧壁上开有与开关(6)对应的过孔，所述开关(6)穿过该过孔设置于操作手柄(8)的表面。
  4. 如权利要求2所述的柔性内窥镜的电子伸缩结构，其特征在于：所述电机支架(5)包括与微型电机(4)固定的支座(5.1)和固定于支座(5.1)上的连杆(5.2)，所述开关(6)设置于连杆(5.2)的端部。
  5. 如权利要求4所述的柔性内窥镜的电子伸缩结构，其特征在于：所述支座(5.1)中部设有与微型电机(4)对应的凹槽，所述微型电机(4)固定于凹槽内，所述连杆(5.2)与微型电机(4)的轴线垂直。
  6. 如权利要求1所述的柔性内窥镜的电子伸缩结构，其特征在于：所述硬质工作鞘(1)的外表面沿其轴向方向设有长度刻度。
PCT/CN2017/092572 2017-03-28 2017-07-12 一种柔性内窥镜的电子伸缩结构 WO2018176682A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710192993.0A CN106974609A (zh) 2017-03-28 2017-03-28 一种柔性内窥镜的电子伸缩结构
CN201710192993.0 2017-03-28

Publications (1)

Publication Number Publication Date
WO2018176682A1 true WO2018176682A1 (zh) 2018-10-04

Family

ID=59339123

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/092572 WO2018176682A1 (zh) 2017-03-28 2017-07-12 一种柔性内窥镜的电子伸缩结构

Country Status (2)

Country Link
CN (1) CN106974609A (zh)
WO (1) WO2018176682A1 (zh)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108175367B (zh) * 2017-12-27 2021-01-19 深圳开立生物医疗科技股份有限公司 一种内窥镜位置确定方法和内窥镜
CN109091100B (zh) * 2018-06-20 2021-02-12 连云港市第一人民医院 一种便携式耳鼻喉窥探镜
CA3143361A1 (en) * 2019-06-14 2020-12-17 Mae Ann Michele YUEN Sampling device and sampling system
CN110367909B (zh) * 2019-08-23 2021-07-06 哈尔滨工业大学 一种新型的消化内镜送进装置
CN112022058B (zh) * 2020-08-31 2022-09-27 武汉佑康科技有限公司 一种具有无级自锁手柄的电子镜导管

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103315781A (zh) * 2013-07-10 2013-09-25 上海交通大学 内窥镜无创手术系统
CN103393395A (zh) * 2012-12-05 2013-11-20 中国人民解放军第二军医大学 伸缩型外鞘的末端可弯曲型输尿管镜
US20140296633A1 (en) * 2008-02-07 2014-10-02 The Trustees Of Columbia University In The City Of New York Remote endoscope handle manipulation
CN204581402U (zh) * 2015-04-14 2015-08-26 杨富强 骨科刮刀
CN205458931U (zh) * 2016-01-29 2016-08-17 赵洪波 一种泌尿外科手术刀装置
CN205814279U (zh) * 2016-05-19 2016-12-21 圻逸科技股份有限公司 内视镜导管尾端弯折控制结构

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3091199B2 (ja) * 1990-03-19 2000-09-25 オリンパス光学工業株式会社 内視鏡装置
CN1107485C (zh) * 1998-11-20 2003-05-07 中国科学院西安光学精密机械研究所 一种能够测量被观察物尺寸的自聚焦内窥镜及其测量方法
JP2008000231A (ja) * 2006-06-20 2008-01-10 Toshiba Corp 洗濯乾燥機
JP5128979B2 (ja) * 2008-02-15 2013-01-23 オリンパスメディカルシステムズ株式会社 回転自走式内視鏡

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140296633A1 (en) * 2008-02-07 2014-10-02 The Trustees Of Columbia University In The City Of New York Remote endoscope handle manipulation
CN103393395A (zh) * 2012-12-05 2013-11-20 中国人民解放军第二军医大学 伸缩型外鞘的末端可弯曲型输尿管镜
CN103315781A (zh) * 2013-07-10 2013-09-25 上海交通大学 内窥镜无创手术系统
CN204581402U (zh) * 2015-04-14 2015-08-26 杨富强 骨科刮刀
CN205458931U (zh) * 2016-01-29 2016-08-17 赵洪波 一种泌尿外科手术刀装置
CN205814279U (zh) * 2016-05-19 2016-12-21 圻逸科技股份有限公司 内视镜导管尾端弯折控制结构

Also Published As

Publication number Publication date
CN106974609A (zh) 2017-07-25

Similar Documents

Publication Publication Date Title
WO2018176682A1 (zh) 一种柔性内窥镜的电子伸缩结构
CN111437036B (zh) 一种应用于微创手术的蛇形手术机器人
WO2022042177A1 (zh) 手术器械、及手术器械平台
WO2022088535A1 (zh) 一种介入造影和治疗手术通用机器人
CN104352264B (zh) 一种多自由度腹腔镜手术器械
US20200253676A1 (en) Robotically-operated uterine manipulators
CN210228219U (zh) 一种用于普外科手术的固定支架
CN212213773U (zh) 用于咽喉采样的机器人
EP2789300A3 (en) Apparatus for endoscopic procedures
CN105943095A (zh) 一种具有柔性腕部的微创手术器械
CN111685882A (zh) 狭窄腔道医疗操作用机器人及狭窄腔道医疗操作系统
CN208725873U (zh) 操控导管-导丝的血管介入手术机器人从手
Wang et al. Squirm robot with full bellow skin for colonoscopy
CN109247958A (zh) 一种一次性经皮穿刺肺活检钳
CN113598949A (zh) 面向人体自然腔道的柔性手术机器人
CN113384303A (zh) 一种用于咽喉采样的机器人
Guo et al. Performance evaluation of the novel grasper for a robotic catheter navigation system
CN211213470U (zh) 一种用于微创腔镜手术的电钩
CN207627291U (zh) 一种柔性内窥镜的电子伸缩结构
CN205548593U (zh) 一种手握式自锁复位活检钳
CN105748109B (zh) 一种手握式自锁复位活检钳
CN113332086A (zh) 一种结肠镜结合肌电装置
CN109419557A (zh) 一种用于体内治疗的微型机器人
CN208510976U (zh) 一种具有机械臂的消化内镜结构与消化内镜平台
CN115399726B (zh) 一种用于辅助结肠镜检查的系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17903563

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17903563

Country of ref document: EP

Kind code of ref document: A1