WO2023000589A1

WO2023000589A1 - Lasso-drive-based two-degree-of-freedom flexible buffering endoscope

Info

Publication number: WO2023000589A1
Application number: PCT/CN2021/137817
Authority: WO
Inventors: 尚万峰; 吴新宇; 尹猛
Original assignee: 中国科学院深圳先进技术研究院
Priority date: 2021-07-20
Filing date: 2021-12-14
Publication date: 2023-01-26
Also published as: CN113520274A; CN113520274B

Abstract

A lasso-drive-based, two-degree-of-freedom flexible buffering endoscope comprises an endoscope head (1), a flexible connecting tube (2) and an integrated drive box (3). The endoscope head (1) is connected to the integrated drive box (3) by means of the flexible connecting tube (2). The endoscope head (1) comprises an endoscope head front member (11), an endoscope head cross shaft (12), and an endoscope head rear member (13). An endoscope driven wheel I (18) is fixed on the endoscope head cross shaft (12), and an endoscope driven wheel II (19) is fixed to the endoscope head front member (11). The integrated drive box (3) separately drives the endoscope driven wheel I (18) and the endoscope driven wheel II (19) to rotate. Defects of conventional endoscopes such as lacking force sensing capability and having insufficient flexible buffering capability, as well as a heavy dependence on experience when in use, are overcome.

Description

Two degrees of freedom compliant buffer endoscope based on lasso drive

technical field

The invention belongs to the technical field of medical instruments, and relates to a lasso-driven two-degree-of-freedom flexible buffer endoscope.

Background technique

Endoscope is a detection equipment integrating optics, ergonomics, precision machinery and other technologies. It can be used to observe some lesions of internal tissues. Examination and treatment of various diseases in Department of Otolaryngology, Otorhinolaryngology, Orthopedics and Urology. Endoscopes can be divided into rigid scopes and flexible flexible scopes according to whether the mirror body can change direction. Commonly used endoscopes such as colonoscopes, laryngoscopes and gastroscopes are generally flexible flexible scopes. The biggest feature is that the lens part can be adjusted by the user. Manipulate to change the direction, and the field of view is more flexible.

After analyzing the existing elastic soft mirror, it can be found that the existing design can realize the active adjustment of the front, rear, left, and right bending of the endoscope head, but there is no contact force monitoring function, and the contact between the endoscope head and the intestinal tract or stomach is mainly It is judged by the user's experience; the elasticity of the soft mirror can achieve a certain passive cushioning, but the endoscope head does not have an active soft cushioning function, and the ability to reduce the chance of poking in the intestinal tract and the patient's discomfort is limited. Some intestinal lumen walls in the human intestine are very thin, and strong force will cause damage to the intestinal lumen wall and lead to internal bleeding.

Contents of the invention

In order to make up for the deficiencies of the existing technology, the present invention proposes a two-degree-of-freedom compliant buffer endoscope driven by a lasso, which realizes the active adjustment of the complete decoupling of the two degrees of freedom of the endoscope head's pitch and yaw, and facilitates flexible observation. Intestinal conditions.

The technical solution of the present invention to solve the above problems is: a two-degree-of-freedom flexible buffer endoscope driven by a lasso, which is special in that,

It includes an endoscope head, a flexible connecting pipe and a drive integration box; the endoscope head is connected to the drive integration box through a flexible connection pipe;

The head of the endoscope includes the front member of the head of the endoscope, the cross shaft of the head of the endoscope, the rear member of the head of the endoscope,

The front member of the endoscope head is connected with the transverse axis of the cross axis of the endoscope head, and the rear member of the endoscope head is connected with the longitudinal axis of the front member of the endoscope head;

An endoscope driven wheel I is fixed on the longitudinal axis of the cross shaft of the endoscope head, and an endoscope driven wheel II is fixed on the front member of the endoscope head,

The drive integration box includes a first drive system and a second drive system with the same structure;

The first drive system includes the drive wheel of the integrated box, the drive mechanism, two endoscope flexible cables, and the endoscope casing baffle; the drive mechanism drives the drive wheel of the integrated box to rotate, and one end of the two endoscope flexible cables passes through the inner The endoscope casing baffle is respectively wound clockwise and counterclockwise and fixed on the driving wheel of the integrated box; the other ends of the two endoscope flexible cables of the first drive system pass through the endoscope casing baffle After I, they are wound respectively counterclockwise and clockwise and fixed on the driven wheel I of the endoscope; Wrap it counterclockwise and clockwise and fix it on the endoscope driven wheel II;

The endoscopic cannula is threaded through the flexible connecting tube.

The front member of the endoscope head can rotate relative to the cross shaft of the endoscope head, and the cross shaft of the endoscope head can rotate relative to the rear member of the endoscope head. .

Further, the above drive integration box also includes a spring sleeve;

The spring sleeve is connected with the endoscope sleeve baffle, and the spring sleeve is installed with the spring and the endoscope sleeve pressure head, and the endoscope flexible cable enters the endoscope sleeve after passing through the spring and the endoscope sleeve pressure head Tube.

When the driving wheel of the integrated box does not move, and the contact force suddenly increases after the bionic collision of the endoscope head to make the endoscope driven wheel move, the endoscope sleeve will compress the spring and move to the right, thereby realizing the passive movement of the endoscope head buffer.

Further, endoscopic potentiometer I and endoscopic potentiometer II are also included;

The endoscope potentiometer I is installed on the other side of the endoscope head cross shaft relative to the driven wheel I; the endoscope potentiometer II is installed on the other side of the endoscope head cross shaft relative to the endoscope driven wheel II .

The position signal of the driven wheel I can be collected and fed back by the endoscope potentiometer I, and the position signal of the driven wheel II of the endoscope can be collected and fed back by the endoscope potentiometer II. On the one hand, by controlling the rotation of the drive wheel of the integrated box, the angle of view of the endoscope head can be changed, and the scene ahead can be flexibly observed. During the process, the motor rotation signal and the signal collected by the endoscope potentiometer are changing at the same time, and the two signals show certain rules. . On the other hand, after the endoscope head collides, the contact force suddenly increases, and the endoscope sleeve will compress the spring and move to the right to move the endoscope driven wheel. At this time, the motor rotation signal does not change or the two signals When the movement law between the vehicles changes, the system can recognize the collision at this time, and control the rotation of the drive wheel of the integrated box to slow down the collision and realize active cushioning and compliance control.

Further, the front part of the head of the endoscope is built with an electronic camera with LED and a sleeve with reserved functions; through the electronic camera, the scene in front of the head of the endoscope can be observed, and the sleeve with reserved functions is used for tools such as medical clamps to enter the endoscope. In front of the head of the lens.

Integrated wiring harnesses such as lasso, camera cable, and reserved functional casing are built into the flexible connecting tube.

Further, the above-mentioned drive mechanism is an integrated box drive motor.

Further, the above-mentioned endoscope cable can be made of steel wire rope or nylon rope or other materials.

Furthermore, the above-mentioned endoscope sleeve is a kind of force-bearing hose, which can be made of rectangular steel wire or other materials.

Further, the above-mentioned endoscope driven wheel 1 is designed as one with the endoscope head cross shaft.

Further, the above-mentioned driven wheel II of the endoscope is integrated with the front member of the endoscope head.

Further, the above-mentioned endoscope sleeve baffle plate I and the endoscope head cross shaft are designed as one.

Further, the above-mentioned endoscope sleeve baffle plate II is designed as one body with the rear member of the endoscope head.

Advantages of the present invention:

1) Apply the lasso drive to the endoscope to realize the two-degree-of-freedom decoupling movement of the head of the endoscope;

2) The present invention installs a spring at the driving end of the lasso, which can realize passive buffering when the head of the endoscope lens collides;

3) The invention installs a potentiometer on the driven wheel of the endoscopic lens, which can monitor the position signals of the motor and the driven wheel in real time;

4) When there is no collision, the position signal of the motor and the position signal of the driven wheel have a certain law, and the estimation of the contact force can be realized through the parameter identification of the law between the two signals;

5) When the system can recognize the change of the law, it can control the rotation of the drive wheel of the integrated box to slow down the collision and realize the active cushioning and compliance control.

Description of drawings

Fig. 1 is a schematic structural diagram of an endoscope system;

Fig. 2 is a schematic diagram of lasso driving principle;

Figure 3 is the internal structure diagram of the drive integration box;

Figure 4 is a passive buffer structure diagram of the drive integration box;

Fig. 5 is a diagram of the internal structure of the endoscope after the elastic soft cover is removed;

Fig. 6 is a schematic diagram of the movement principle of the head of the endoscope;

Fig. 7 is a structural diagram of the internal components of the endoscope.

Among them: 1. Endoscope head; 2. Flexible connecting pipe; 3. Drive integration box; 4. Driving wheel; 5. Flexible cable I; 6. Casing baffle I; 7. Casing I; 8. Casing II; 9. Casing baffle II; 10. Flexible cable II; 11. Driven wheel; 31. Integrated box drive wheel; 32. Driving mechanism; 33. Endoscope flexible cable; 34. Endoscope casing baffle ; 35, spring sleeve; 36, endoscope sleeve; 37, endoscope sleeve pressure head; 38, spring; 11, front member of endoscope head; 12, endoscope head cross shaft; 13, internal 14. Electronic camera with led; 15. Reserved function casing; 16. Internal integrated wiring harness; 17. Endoscope potentiometer I; 18. Endoscope driven wheel I; 19. Endoscope Driven wheel II; 110, endoscope potentiometer II; 111, endoscope casing baffle plate I; 112, endoscope casing baffle plate II.

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is some embodiments of the present invention, but not all of them. Based on the implementation manners in the present invention, all other implementation manners obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention.

Aiming at the problems of lack of force perception ability, insufficient flexibility and cushioning ability of traditional endoscopes, and relying mainly on experience in use, the endoscope part is easy to puncture the large intestine or stomach during the inspection process, and it is easy to make patients feel uncomfortable. A two-degree-of-freedom compliant buffer endoscope based on lasso drive and position signal feedback is provided.

Referring to Figure 1, a lasso-driven two-degree-of-freedom compliant buffer endoscope includes an endoscope head 1, a flexible connecting tube 2 and a drive integration box 3; the endoscope head is connected to the drive integration box through a flexible connection tube .

Among them, there are connecting lines such as lasso, camera connecting line and reserved functional sleeve between the endoscope head 1 and the drive integration box 3, and these connecting lines are bundled and built into the flexible connecting tube 2; the endoscope head 1 Wrapped with an elastic soft cover, it can adapt to the movement of the head under the premise of ensuring airtight and waterproof.

5, 6, 7, the endoscope head includes an endoscope head front member 11, an endoscope head cross shaft 12, and an endoscope head rear member 13. The endoscope head front member 11 is connected to the horizontal axis of the endoscope head cross shaft 12 , and the endoscope head rear member 13 is connected to the longitudinal axis of the endoscope head front member 11 . An endoscope driven wheel I18 is fixed on the longitudinal axis of the cross shaft 12 of the endoscope head, and an endoscope driven wheel II19 is fixed on the front member 11 of the endoscope head.

The front member 11 of the endoscope head can rotate relative to the cross shaft 12 of the endoscope head, and the cross shaft 12 of the endoscope head can rotate relative to the rear member 13 of the endoscope head. Rotation of the ball joint.

The drive integration box includes a first drive system and a second drive system with the same structure; the first drive system includes an integration box drive wheel 31, a drive mechanism 32, two endoscope cables 33, and an endoscope sleeve baffle 34; the drive mechanism 32 drives the integrated box drive wheel 31 to rotate, and one end of the two endoscope cables 33 passes through the endoscope casing baffle plate 34, respectively winds clockwise and counterclockwise and fixes them on the integrated box drive On the wheel 31; the other ends of the two endoscope flexible cables 33 of the first driving system pass through the endoscope sleeve baffle plate I111 and then wind respectively clockwise and counterclockwise and fix them on the endoscope driven wheel I18 Above; the other ends of the two endoscope flexible cables 33 of the second drive system pass through the endoscope sleeve baffle plate II112 and then wind respectively clockwise and counterclockwise and fix them on the endoscope driven wheel II19; The endoscopic sleeve 36 passes through the flexible connecting tube. Preferably, the driving mechanism 32 is a driving motor.

As a preferred embodiment of the present invention, referring to Fig. 4, the above-mentioned drive integration box also includes a spring sleeve 35; The endoscope casing pressure head 37 and the endoscope flexible cable 33 enter the endoscope casing pipe 36 after passing through the spring 38 and the endoscope casing pressure head 37 .

When the drive wheel 31 of the integrated box does not move, and the contact force suddenly increases after the bionic collision of the head of the endoscope to make the driven wheel of the endoscope move, the endoscope sleeve 36 will compress the spring 38 and move to the right, thereby realizing the endoscope lens. Partial passive buffering.

The lasso driving principle schematic diagram of the present invention is as shown in Figure 2, mainly comprises driving wheel 4, soft cable I5, casing baffle plate I6, casing pipe I7, casing II8, casing baffle plate II9, flexible cable II10, driven wheel 11. The driving wheel 4 is respectively wound and fixed with the flexible cable I5 and the flexible cable II10 in the clockwise and counterclockwise directions. Plate II9 is fixed on the driven wheel 11 behind. The driving wheel 4 is installed at the output end of the motor. When the driving wheel 4 rotates, the driven wheel 11 will follow the movement. This transmission mode is applied to the endoscope in the present invention.

The working principle of the lasso transmission is: when the motor rotates counterclockwise and the reducer drives the drive wheel to rotate counterclockwise, the flexible rope I5 in the casing I7 follows to move to the left, thereby driving the driven wheel to rotate counterclockwise, and at the same time the casing II8 When the driving wheel turns clockwise, the flexible cable II10 in the sleeve pipe II8 moves to the left, driving the driven wheel to rotate clockwise, while the flexible cable I5 in the sleeve pipe I7 moves to the right. When the system is at rest, the tension of the flexible cable I5 in the casing I7 can offset the clockwise torque received by the driven wheel, and the tension of the flexible cable II10 in the casing II8 can offset the counterclockwise torque received by the driven wheel.

As a preferred embodiment of the present invention, referring to Fig. 6, endoscope head is provided with endoscope potentiometer I17, endoscope potentiometer II110; The other side of the driven wheel I18; the endoscope potentiometer II110 is installed on the other side of the endoscope head cross shaft 12 relative to the endoscope driven wheel II19.

The rotation of the integrated box driving wheel 31 can respectively drive the endoscope driven wheel I18 and the endoscope driven wheel II19 to rotate through the lasso, and meanwhile, the position signal of the driven wheel I18 can be collected and fed back by the endoscope potentiometer I17, and the endoscope is driven The position signal of the driving wheel II19 can be collected and fed back by the endoscope potentiometer II110. On the one hand, by controlling the rotation of the drive wheel 31 of the integrated box, the viewing angle of the head of the endoscope can be changed, and the scene ahead can be observed flexibly. law. On the other hand, after the endoscope head collides, the contact force suddenly increases, and the endoscope sleeve 36 will compress the spring 38 and move to the right to make the endoscope driven wheel move. At this time, the motor rotation signal does not change or both When the movement law between the two signals changes, the system can recognize the collision at this time, and control the rotation of the drive wheel 31 of the integrated box to slow down the collision and realize the active buffer compliance control.

As a preferred embodiment of the present invention, referring to Fig. 5, the above-mentioned endoscope head front component 11 is built-in with led electronic camera 14 and reserved function sleeve 15; the scene in front of the endoscope head can be observed through the electronic camera 14, The reserved function sleeve 15 is used for tools such as medical clamps to enter the front of the endoscope head. The integrated wiring harness 16 such as the lasso, the camera connection line and the reserved functional sleeve is built into the flexible connecting pipe.

Preferably, the above-mentioned endoscope cable 33 can be made of steel wire rope or nylon rope or other materials. The above-mentioned endoscope sleeve 36 is a load-bearing flexible tube, which can be made of rectangular steel wire or other materials.

Preferably, referring to FIG. 7 , the above-mentioned endoscope driven wheel I18 is integrally designed with the cross shaft 12 of the endoscope head. The endoscope driven wheel II19 is designed as one with the front part 11 of the endoscope head. The endoscope casing baffle plate I111 and the endoscope head cross shaft 12 are designed as one. The endoscope sleeve baffle plate II112 is designed integrally with the endoscope head rear member 13 .

The lasso-driven two-degree-of-freedom compliant buffer endoscope proposed by the present invention realizes the active adjustment of the complete decoupling of the two degrees of freedom of the head of the endoscope, pitch and yaw, and facilitates flexible observation of intestinal conditions. At the same time, the contact force monitoring of the head of the endoscope based on the position signal feedback is convenient for the user to judge the contact between the head of the endoscope and the intestinal tract; in addition, based on the passive buffering of the spring and the active control of the motor, the active and passive compliant buffering of the head of the endoscope is realized. , reduce the chance of stab wounds in the intestine and the patient's discomfort.

Example

The endoscope is a two-degree-of-freedom flexible cushioning endoscope driven by a lasso, as shown in Figure 1, which is mainly composed of an endoscope head 1, a flexible connecting tube 2 and a drive integration box 3. Among them, there are connecting lines such as lasso, camera connecting line and reserved functional sleeve between the endoscope head 1 and the drive integration box 3, and these connecting lines are bundled and built into the flexible connecting tube 2; the endoscope head 1 Wrapped with an elastic soft cover, it can adapt to the movement of the head under the premise of ensuring airtight and waterproof.

As shown in Figure 3, the driving integrated box is mainly composed of an integrated box driving wheel 31, an integrated box driving motor 32, an endoscope cable 33, an endoscope casing baffle plate 34, and a spring sleeve 35. Two integrated box drive motors 32 , four endoscope flexible cables 33 and four spring sleeves 35 are integrated inside the drive integrated box. The drive wheel 31 of the integrated box is installed on the output shaft of the drive motor 32 of the integrated box. 33 enters the endoscope sleeve 36 after passing through the endoscope sleeve baffle plate 34. When the integrated box driving motor 32 rotates, it drives the flexible cable 33 of the endoscope to move.

As shown in Figure 4, the passive buffer structure of the drive integration box mainly includes an endoscope casing 36, an endoscope casing pressure head 37, a spring 38, an endoscope cable 33, a spring casing 35, and an endoscope casing Baffle 34. The spring sleeve 35 is installed on the endoscope sleeve baffle plate 34, and the spring sleeve 35 is equipped with a spring 38 and an endoscope sleeve pressure head 37, and the endoscope cable 33 is pressed by the spring 38 and the endoscope sleeve. The head 37 enters the endoscopic cannula 36 behind. When the drive wheel 31 of the integrated box does not move, and the contact force suddenly increases after the bionic collision of the head of the endoscope to make the driven wheel of the endoscope move, the endoscope sleeve 36 will compress the spring 38 and move to the right, thereby realizing the endoscope lens. Partial passive buffering. Based on the application of the lasso transmission, the present invention installs a spring at the drive end of the lasso, which can realize passive buffering when the head of the endoscope lens collides.

Referring to Fig. 5, the endoscope head is mainly composed of the endoscope head front member 11, the endoscope head cross shaft 12, the endoscope head rear member 13, the electronic camera head with LED 14, the reserved function sleeve 15 and the internal integrated wiring harness 16 compositions. The endoscope head cross shaft 12 is attached to the endoscope head rear member 13 , and the endoscope head front member 11 is attached to the endoscope head cross shaft 12 . The front member 11 of the endoscope head is designed with a mounting hole, and the endoscope head is built with an electronic camera head 14 with LED and a sleeve tube 15 with reserved functions. The scene in front of the head of the endoscope can be observed through the electronic camera 14, and the functional sleeve 15 is reserved for tools such as medical clamps to enter the front of the head of the endoscope. The integrated wiring harness 16 such as the lasso, the camera connection line and the reserved functional sleeve is built into the flexible connecting pipe.

As shown in Figure 6, the head of the endoscope mainly includes endoscope potentiometer I17, endoscope driven wheel I18, endoscope driven wheel II19, endoscope potentiometer II110, endoscope casing baffle I111, inner Speculum casing baffle plate II112, endoscope cable 33. The endoscope potentiometer II110 is installed on the other side of the cross shaft 12 of the endoscope head relative to the endoscope driven wheel II19. The front member 11 of the endoscope head can rotate relative to the cross shaft 12 of the endoscope head, and the cross shaft 12 of the endoscope head can rotate relative to the rear member 13 of the endoscope head. Rotation of the ball joint.

Referring to FIG. 7 , the endoscope head mainly includes an endoscope head front member, an endoscope head cross shaft and an endoscope head rear member. The endoscope driven wheel I18 is designed as one with the endoscope head cross shaft 12, and the endoscope driven wheel II19 is designed as one with the endoscope head front member 11. The endoscope sleeve baffle plate I111 is integrated with the cross shaft 12 of the endoscope head, and the endoscope sleeve baffle II112 is designed with the rear member 13 of the endoscope head.

In summary, the present invention applies the lasso transmission to the design of the endoscope. The endoscope system is mainly composed of the endoscope head, the flexible connecting pipe and the drive integration box, and realizes the two-degree-of-freedom decoupling of the endoscope head. Movement, the passive buffering of the head of the endoscope is realized by installing a spring at the driving end, and the active soft buffering control of the head of the endoscope is realized by installing a potentiometer on the driven wheel to feedback the position signal.

The driven wheel of the endoscope is designed as one with the head cross shaft of the endoscope, the driven wheel of the endoscope is designed as one with the front member of the head of the endoscope, and the driving wheel of the integrated box can drive the driven wheel of the endoscope to rotate through the lasso. The front member of the endoscope head can rotate relative to the cross shaft of the endoscope head, and the cross shaft of the endoscope head can rotate relative to the rear member of the endoscope head. , to facilitate flexible observation of the front scene. In the drive integration box, a spring is installed at the driving end of each lasso. When the contact force suddenly increases after the head of the endoscope collides and the driven wheel of the endoscope moves, the endoscope sleeve will compress the spring and move to the right. , so as to realize the passive cushioning of the head of the endoscope. When there is no collision, the driving wheel of the integrated box drives the driven wheel to rotate, and the position signal of the motor and the position signal of the driven wheel have a certain law, and the law will change when a collision occurs. When the system recognizes that the law changes, it can control the rotation of the drive wheel of the integrated box to slow down the collision and realize active cushioning and compliance control.

The above description is only an embodiment of the present invention, and is not intended to limit the protection scope of the present invention. Any equivalent structure or equivalent process conversion made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related The system field is equally included in the scope of protection of the present invention.

Claims

An endoscope based on a lasso-driven two-degree-of-freedom compliant buffer endoscope, characterized in that:

Including endoscope head (1), flexible connecting pipe (2) and drive integration box (3); the endoscope head (1) is connected with drive integration box (3) through flexible connection pipe (2);

The endoscope head (1) includes an endoscope head front member (11), an endoscope head cross shaft (12), and an endoscope head rear member (13);

The front member (11) of the endoscope head is connected to the transverse axis of the cross axis (12) of the endoscope head, and the rear member (13) of the endoscope head is connected to the longitudinal axis of the front member (11) of the endoscope head;

An endoscope driven wheel I (18) is fixed on the longitudinal axis of the cross shaft (12) of the endoscope head, and an endoscope driven wheel II (19) is fixed on the front member (11) of the endoscope head;

The drive integration box (3) includes a first drive system and a second drive system with the same structure;

The first driving system includes an integrated box driving wheel (31), a driving mechanism (32), two endoscope flexible cables (33), and an endoscope casing baffle (34); the driving mechanism (32) drives the integrated box to drive The wheel (31) rotates, and one end of the two endoscope flexible cables (33) passes through the endoscope sleeve baffle (34) and winds them clockwise and counterclockwise respectively and fixes them on the integrated box drive wheel (31 ); the other ends of the two endoscope flexible cables (33) of the first driving system pass through the endoscope sleeve baffle plate I (111), and then wind respectively in the counterclockwise and clockwise directions and fix them on the endoscope on the mirror driven wheel I (18); the other ends of the two endoscope flexible cables (33) of the second driving system pass through the endoscope casing baffle plate II (112) respectively in the counterclockwise and clockwise directions. Wrapped and fixed on the endoscope driven wheel II (19); the endoscope sleeve (36) passes through the flexible connecting tube (2).
The lasso-driven two-degree-of-freedom compliant buffer endoscope according to claim 1, characterized in that:

The drive integration box also includes a spring sleeve (35);

The spring sleeve (35) is connected with the endoscope sleeve baffle plate (34), the spring (38) and the endoscope sleeve pressure head (37) are installed in the spring sleeve (35), and the endoscope flexible cable ( 33) Enter the endoscope sleeve (36) after passing through the spring (38) and the endoscope sleeve pressure head (37).
The lasso-driven two-degree-of-freedom compliant buffer endoscope according to claim 2, characterized in that:

Also includes endoscopic potentiometer I (17), endoscopic potentiometer II (110);

The endoscope potentiometer I (17) is installed on the other side of the endoscope head cross shaft (12) relative to the driven wheel I (18); the endoscope potentiometer II (110) is installed on the endoscope head cross shaft (12) opposite to the endoscope driven wheel II (19).

The endoscope potentiometer I (17) collects and feeds back the position signal of the driven wheel I (18), and the endoscope potentiometer II (110) collects and feeds back the position signal of the endoscope driven wheel II (19).
The lasso-driven two-degree-of-freedom compliant buffer endoscope according to any one of claims (13), characterized in that:

The front part of the endoscope head (11) is built with an electronic camera with LED (14) and a sleeve (15) with reserved functions.
The lasso-driven two-degree-of-freedom compliant buffer endoscope according to claim 4, characterized in that:

The endoscope cable (33) is a steel wire rope or a nylon rope.
The lasso-driven two-degree-of-freedom compliant buffer endoscope according to claim 5, characterized in that:

The endoscope sleeve (36) is a load-bearing hose.
The lasso-driven two-degree-of-freedom compliant buffer endoscope according to claim 6, characterized in that:

The endoscope driven wheel I (18) is designed as one with the endoscope head cross shaft (12).
The lasso-driven two-degree-of-freedom compliant buffer endoscope according to claim 7, characterized in that:

The endoscope driven wheel II (19) is integrated with the endoscope head front member (11).
The lasso-driven two-degree-of-freedom compliant buffer endoscope according to claim 8, characterized in that:

The endoscope sleeve baffle plate I (111) is designed as one body with the endoscope head cross shaft (12).
The lasso-driven two-degree-of-freedom compliant buffer endoscope according to claim 9, characterized in that:

The endoscope sleeve baffle plate II (112) is designed as one body with the rear member (13) of the endoscope head.