CN115024677A

CN115024677A - Novel flexible endoscope conveying device

Info

Publication number: CN115024677A
Application number: CN202210964784.4A
Authority: CN
Inventors: 江维; 陈发利; 卢天伟
Original assignee: Beijing Yunli Jingan Technology Co ltd
Current assignee: Beijing Yunli Jingan Technology Co ltd
Priority date: 2022-08-12
Filing date: 2022-08-12
Publication date: 2022-09-09
Anticipated expiration: 2042-08-12
Also published as: CN115024677B

Abstract

The invention discloses a novel soft endoscope conveying device which comprises an outer shell, an actuating mechanism, an actuating driving mechanism, a rotating body and a rotating driving mechanism, wherein the actuating mechanism is arranged on the outer shell; the actuating drive mechanism is arranged on the rotating body, and the actuating drive mechanism is detachably arranged on the rotating body; the actuating mechanism comprises an inner shell and a clamping and conveying mechanism, and the actuating driving mechanism is connected with the clamping and conveying mechanism so as to drive the clamping and conveying mechanism to clamp the soft endoscope and drive the soft endoscope to move back and forth after clamping; the rotary driving mechanism is in transmission connection with the rotating body so as to drive the rotating body and the executing mechanism to rotate, and therefore the soft endoscope is driven to rotate. This conveyor can operate the soft scope more in a flexible way, effectively prevents to skid, realizes carrying in succession, reduces the preparation time before the art, avoids cross contamination, moreover, compact structure, small, light in weight, installation and change convenient and fast, can the multiple diameter size's of adaptation soft scope.

Description

Novel flexible endoscope conveying device

Technical Field

The invention relates to the technical field of medical instruments, in particular to a conveying device for a soft endoscope.

Background

Natural cavities such as digestive tracts, respiratory tracts and the like are common parts with good diseases of human beings, and the focus is positioned inside the natural cavity of the human body, so that examination or surgical treatment needs to be carried out through a soft endoscope.

In the traditional soft endoscope examination or operation, the operation process is completed by the actions of matching two hands of a person with an endoscope body, operating a knob, manually conveying the endoscope body and the like; some examinations or operations need to be conducted under the guidance of radioactive ray images, medical staff need to wear heavy lead protective clothing and the like to manually operate the soft endoscope for a long time, diagnosis and treatment operation quality, physical strength and health of the medical staff are greatly affected, and especially, the soft endoscope has larger restriction on the old with abundant experience or female medical staff, and is even forced to give up endoscope work.

With the development of the robot auxiliary technology, a doctor can adjust the conveying length and the posture of the soft endoscope by adjusting a handle switch and a button, so that the physical strength and the manual operation fatigue of the doctor can be greatly reduced, the operation requirement of an operation is reduced, the radiation to medical staff is reduced, and meanwhile, the interaction between the medical staff and an image can be improved.

However, the existing soft endoscope conveying device has the problems of inflexible rotation, easy slipping, incapability of continuous conveying and the like during operation, and has the disadvantages of complex structure, large volume, inconvenient installation and replacement and no pollution problem.

Disclosure of Invention

The invention aims to provide a novel flexible endoscope conveying device to solve the technical problem.

In order to achieve the purpose, the invention provides a novel soft endoscope conveying device, which comprises an outer shell, and an actuating mechanism, an actuating driving mechanism, a rotating body and a rotating driving mechanism which are arranged in the outer shell; the actuating driving mechanism is arranged on the rotating body, and the actuating mechanism is detachably arranged on the rotating body; the actuating mechanism comprises an inner shell and a clamping and conveying mechanism arranged in the inner shell, and the actuating driving mechanism is connected with the clamping and conveying mechanism so as to drive the clamping and conveying mechanism to clamp the soft endoscope and drive the soft endoscope to move back and forth after clamping; the rotation driving mechanism is in transmission connection with the rotating body to drive the rotating body and the executing mechanism to rotate, so that the soft endoscope is driven to rotate.

Optionally, the execution driving mechanism includes a clamping driving mechanism and a conveying driving mechanism, and both the clamping driving mechanism and the conveying driving mechanism are arranged on the rotating body; the clamping and conveying mechanism is provided with a clamping action mechanism, and the clamping driving mechanism is in transmission connection with the clamping action mechanism so as to enable the clamping and conveying mechanism to clamp the soft endoscope through the clamping action mechanism; the conveying driving mechanism is in transmission connection with the clamping conveying mechanism so as to drive the clamping conveying mechanism to drive the flexible endoscope to move back and forth.

Optionally, the clamping and conveying mechanism comprises a plurality of crawler mechanisms which are distributed in a circumferential direction in an arrayed manner; the crawler mechanism comprises a driving crawler mechanism and a driven crawler mechanism, a conveying channel for the soft endoscope to pass through is formed between crawler surfaces of the driving crawler mechanism and the driven crawler mechanism, and through holes for the soft endoscope to pass through are formed in the front end and the rear end of the inner shell.

Optionally, the crawler comprises a first crawler, a second crawler, and a third crawler; the first crawler mechanism and the second crawler mechanism are positioned above the conveying channel and are arranged in a bilateral symmetry manner, and crawler surfaces of the first crawler mechanism and the second crawler mechanism are in an inverted V shape on the section of the conveying channel; the third crawler mechanism is located below the conveying channel.

Optionally, the conveying driving mechanism is in transmission connection with the first crawler mechanism and the second crawler mechanism so as to drive the first crawler mechanism and the second crawler mechanism to operate; the tracks of the first crawler mechanism and the second crawler mechanism are driving tracks, and the track of the third crawler mechanism is a driven track.

Optionally, the clamping driving mechanism is connected with the third crawler mechanism through the clamping actuating mechanism to drive the third crawler mechanism to move towards or away from the first crawler mechanism and the second crawler mechanism.

Optionally, the first and second track mechanisms are mounted in the inner housing by track shafts, and the third track mechanism is mounted on track rails in the inner housing by track rail shafts, the third track mechanism being movable along the track rails in a direction towards or away from the first and second track mechanisms.

Optionally, the clamping action mechanism comprises a camshaft, a camshaft support seat, a driven roller and a roller mounting frame; the camshaft passes through the camshaft supporting seat is installed in interior casing, driven gyro wheel pass through the gyro wheel mounting bracket install in the below of third crawler, cam on the camshaft with driven gyro wheel transmission cooperation is in order to drive third crawler reciprocates.

Optionally, each of the track mechanisms comprises a pair of synchronous pulleys, a synchronous belt, and a track cover; the synchronous belt wheels are arranged on the track shafts, the synchronous belts are arranged on the two synchronous belt wheels, the track cover plates are arranged on two sides of the synchronous belt wheels through bearings, and the track cover plates on two sides of the synchronous belt wheels are connected through connecting pieces.

Optionally, the conveying driving mechanism includes a conveying motor and a conveying transmission shaft, the conveying motor is fixed to the front side of the rotating body along the axial direction, the conveying transmission shaft is rotatably mounted to the front side of the rotating body along the axial direction, and a rotating shaft of the conveying motor is in transmission connection with the conveying transmission shaft through a transmission member located at the rear side of the rotating body;

the clamping driving mechanism comprises a clamping motor and a clamping transmission shaft, the clamping motor is fixed on the front side of the rotating body along the axial direction, the clamping transmission shaft is rotatably installed on the front side of the rotating body along the axial direction, and an output shaft of the clamping motor is in transmission connection with the clamping transmission shaft through a transmission part located on the rear side of the rotating body.

Optionally, the conveying motor is mounted on a motor fixing block, the motor fixing block is fixed on a sliding groove of the rotating body, and the conveying transmission shaft is mounted on the rotating body through a bearing;

the clamping motor is installed on the motor fixing block, the motor fixing block is fixed on the sliding groove of the rotating body, and the clamping transmission shaft is installed on the rotating body through a bearing.

Optionally, the driving medium includes hold-in range and synchronous pulley, synchronous pulley installs the output shaft of conveying motor and clamp motor and carry the transmission shaft and press from both sides tight on the transmission shaft, the hold-in range is installed on synchronous pulley, the output shaft of conveying motor and clamp motor drives through hold-in range and synchronous pulley respectively carry the transmission shaft and press from both sides tight transmission shaft and rotate.

Optionally, conveying motor and clamp motor are located respectively actuating mechanism's left downside and right downside, actuating mechanism's interior casing is equipped with the arc indent position of symmetry at left downside and right downside to give way to be located conveying motor and clamp motor.

Optionally, the conveying transmission shaft is in transmission connection with the first crawler mechanism and the second crawler mechanism through a transmission assembly; the transmission assembly comprises a first bevel gear, a second bevel gear, a third bevel gear and a fourth bevel gear, the first bevel gear is installed on the inner side of the rear end of the inner shell, the second bevel gear and the third bevel gear are coaxially overlapped and are combined gears which are installed on a track shaft of the first track mechanism, and the fourth bevel gear is installed on a track shaft of the second track mechanism; the first bevel gear is in meshed transmission with the second bevel gear, and the third bevel gear is in meshed transmission with the fourth bevel gear.

Optionally, the rotating body comprises a turntable, and the rotation driving mechanism comprises a rotating motor; the rotating motor is installed inside the outer shell through a support, and the rotating motor is in transmission connection with the rotary table through a rotating transmission mechanism.

Optionally, the rotation transmission mechanism includes a first gear that is coaxial with the rotation body and is connected to the rotation body, an output shaft of the rotation motor is in meshing transmission with the first gear through a second gear, and through holes for the flexible endoscope to pass through are formed in the middle of the turntable and the first gear.

Optionally, a rotary supporting mechanism is connected to the rear side of the first gear.

Optionally, the rotary support mechanism is an annular guide rail slider mechanism; the annular guide rail and sliding block mechanism comprises an annular guide rail and a plurality of sliding blocks fixed inside the outer shell, the sliding blocks are distributed along the circumferential direction, two rows of rollers distributed in an arc shape are respectively installed on each sliding block, and the annular guide rail is connected to the rear side of the first gear and located between the two rows of rollers.

Optionally, the rotating electrical machine is located below the actuating mechanism, the outer casing has a main cavity and an auxiliary cavity located below the main cavity, the turntable and the actuating mechanism are located in the main cavity, and the rotating electrical machine is located in the auxiliary cavity.

Optionally, the front end cover of the outer housing is matched with the body of the outer housing through a circumferential guide rail sliding groove, the front end cover is provided with an execution mechanism insertion hole, the inner contour of the insertion hole is consistent with the outer contour of the inner housing, and the inner housing can drive the front end cover to rotate together when the execution mechanism rotates.

Optionally, the actuating mechanism is connected with the rotating body in a clamping manner through a quick connection mechanism, and the clamping and conveying mechanism inside the actuating mechanism is axially butted with the actuating driving mechanism.

Optionally, the quick-connection mechanism includes a quick-connection joint and a clamping rebounding assembly, the quick-connection joint is symmetrically installed at the rear end of the actuating mechanism, and the head of the quick-connection joint is provided with a clamping hook; the clamping rebounding assemblies are symmetrically arranged on the rotating body, each clamping rebounding assembly comprises a button and a spring, the buttons are arranged on the rotating body through button seats, one end of each spring abuts against the inner end of each button, and the other end of each spring abuts against a spring seat; the button is provided with a wedge-shaped clamping part, and the clamping hook of the quick connector is clamped with the wedge-shaped clamping part.

Optionally, the quick-coupling mechanism includes a quick-coupling joint and a clamping rebounding assembly, the quick-coupling joint is symmetrically installed at the rear end of the actuating mechanism, and the head of the quick-coupling joint is provided with symmetrical clamping hooks; the clamping components are symmetrically arranged on the rotating body, and each clamping component comprises a clamping shell, a clamping seat and a clamping shaft; the clamping seat is nested in the clamping shell and can move in the front-back direction relative to the clamping shell, and a clamping jaw is arranged on the clamping seat; the clamping shaft is in a semicircular shape with a first plane and a second plane, penetrates through a semicircular slot hole in the clamping seat and extends into the clamping seat, the pressure spring is positioned between the clamping shell and the clamping seat, one end of the pressure spring is abutted against the clamping seat shell, and the other end of the pressure spring is abutted against the clamping shaft; the outer end of the clamping shaft is provided with a swing arm, a clamping column is arranged on the swing arm, a clamping groove corresponding to the clamping column is arranged on the clamping shell, and the clamping groove is provided with a near end and a far end; when the quick connector presses towards the clamping jaw, the clamping hook is held tightly by the clamping jaw, meanwhile, the clamping shaft rotates, and the clamping column moves and is clamped at the far end of the clamping groove; when the quick connector presses the clamping jaw again, the clamping shaft rotates again, the clamping column moves and is clamped at the near end of the clamping groove, the clamping seat moves outwards, and the clamping jaw releases the quick connector.

Optionally, an isolation cleaning mechanism is provided; the isolation cleaning mechanism comprises an isolation sleeve and a cleaning component, the isolation sleeve coaxially penetrates through the soft endoscope passing hole, one end of the isolation sleeve is fixed at the rear end of the inner shell, and the other end of the isolation sleeve is fixed on the outer shell; the cleaning assembly comprises a cleaning end and a cleaning end fixing support; the cleaning end is arranged on the cleaning end fixing support, and the cleaning end fixing support is arranged at the front end of the inner shell so that the soft endoscope can penetrate through the cleaning end.

Optionally, an instrument recognition circuit and a mechanical installation confirmation circuit are further provided;

the apparatus identification circuit comprises an electronic tag and a reader-writer, the electronic tag is fixed on the inner shell, and the reader-writer is fixed on the rotating body; the mechanical installation confirming circuit comprises an induction head and a sensor, wherein the induction head is installed on the execution mechanism, and the sensor is installed on the execution driving mechanism.

Optionally, a pressure sensor, a six-dimensional force sensor and a conveying length sensing mechanism are further arranged;

the pressure sensor is arranged on a driven crawler mechanism of the clamping and conveying mechanism so as to detect the clamping force applied to the soft endoscope by the pressure sensor;

the six-dimensional force sensor is arranged between the conveying device and the mechanical arm for placing the conveying device and is used for detecting the resistance force applied to the front end of the soft endoscope;

the magnetic ring is fixed on a rotating shaft of the driving crawler belt or the driven crawler belt, the magnetic encoder is fixed on the magnetic encoder fixing support, the magnetic encoder fixing support is connected to the driving crawler belt or the driven crawler belt, when the driving crawler belt or the driven crawler belt runs, the magnetic ring is driven to rotate, and the output length is measured by the magnetic encoder according to the rotating speed.

The novel soft endoscope conveying device provided by the invention at least has the following beneficial effects:

1) can realize pressing from both sides tight then the function of carrying through actuating mechanism soft scope, can realize making soft scope carry out the function of rotation through rotator and rotary driving mechanism, when operating, soft scope can carry alone, also can rotate alone, can also rotate when carrying to can operate soft scope more in a flexible way, carry more refined action.

2) Because the clamping and conveying mechanism in the actuating mechanism has the function of clamping the soft endoscope, the friction force can be increased, thereby effectively preventing the soft endoscope from slipping during conveying and realizing continuous conveying.

3) Adopt the modularized design, actuating mechanism detachably installs in the rotator, can independently install and dismantle, can demolish fast after the operation, and the actuating mechanism butt joint of renewing is used again, greatly reduced the preparation time before the operation, can effectively avoid cross contamination.

4) The inner and outer double-shell structure has compact structure, small volume, light weight, convenient and fast installation and replacement, and can be adapted to the soft endoscopes with various diameter sizes.

Drawings

Fig. 1 is a schematic overall structural diagram of a novel flexible endoscope conveying device according to an embodiment of the present invention;

fig. 2 is an isometric view of the flexible endoscope delivery device of fig. 1 after a portion of the outer housing has been removed;

FIG. 3 is a top view of FIG. 2;

FIG. 4 is a front view of the flexible endoscope delivery device of FIG. 2 after further removal of the outer housing and the inner housing front end cap;

FIG. 5 is a schematic view of the actuator being inserted inwardly from the forward end of the outer housing along with the isolation sleeve;

FIG. 6 is an exploded view (rear side view) of the outer and inner housings shown in FIG. 1;

FIG. 7 is a schematic structural view of an actuator driving mechanism, a rotary body and a rotary driving mechanism;

FIG. 8 is an isometric view of the actuator drive mechanism;

FIG. 9 is a rear end schematic view of the actuator drive mechanism of FIG. 8;

FIG. 10 is an isometric view of the rotary body and rotary drive mechanism;

FIG. 11 is a schematic structural view of a circular guide slider mechanism;

FIG. 12 is a schematic view of the internal structure of the actuator;

FIG. 13 is an isometric view of the clamp delivery mechanism and drive assembly;

FIG. 14 is a schematic view showing the structure of a clamp actuator;

FIG. 15 is an exploded view of the track mechanism;

FIG. 16 is a schematic structural view of the rear end of the actuator being coupled to the turntable by the quick-connect mechanism;

FIG. 17 is a schematic view of a quick connect coupling disposed at the rear end of the actuator;

FIG. 18 is a schematic structural view of a quick-connect mechanism;

FIG. 19 is a schematic view of the actuator with an isolation cleaning mechanism;

FIG. 20 is a schematic view of the construction of the cleaning end and the cleaning end fixing bracket;

FIG. 21 is a schematic view of the installation of the pressure sensor;

FIG. 22 is a schematic view of the installation of the transport length sensing mechanism;

FIG. 23 is a schematic structural view of another quick connect mechanism;

FIG. 24 is an exploded view of the quick-connect mechanism of FIG. 23;

FIG. 25 is a schematic view of the assembly of the snap seat with the snap shaft and the compression spring;

FIG. 26 is a schematic view of the bottom of the engaging seat having a guide block;

FIG. 27 is a schematic view of the clamping housing having a slot, a compression spring post and a guide slot;

FIG. 28 is a schematic view of the latch shaft having a swing arm and a latch post.

In the figure:

100. outer shell 110, front end cap 120, rear end cap 130, upper arc shell 140, lower arc shell

200. Actuator 210, inner housing 211, upper barrel 212, lower barrel 213, front end cap upper half 214, front end cap lower half 215, rear end cap upper half 216, rear end cap lower half 220, quick connect 230, quick connect 231, hook 240, snap-on rebound assembly 241, button 242, spring 243, button seat 244, spring seat 245, wedge-shaped snap connection

250. Quick connector 260, clamping rebounding assembly 261, clamping shell 2611, clamping groove 2612, guide groove 2613, pressure spring column 262, clamping seat 2621, semicircular groove hole 2622, guide block 263, clamping shaft 2631, first plane 2632, second plane 264, clamping jaw 265, pressure spring 266, swing arm 267 and clamping column

300. Actuating drive mechanism 311, conveying motor 312, conveying transmission shaft 313, clamping motor 314, clamping transmission shaft 315, synchronous belt 316 and synchronous pulley

400. Rotary disc

500. Rotating driving mechanism 510, rotating motor 520, first gear 530, second gear 540, connecting column

610. Isolation sleeve 620, cleaning assembly 621, cleaning end 622, cleaning end fixed support

700. Circular guide rail sliding block mechanism 710, circular guide rail 720, sliding block 730 and roller

800. Clamping conveying mechanism 810, first crawler mechanism 811, synchronous pulley 812, synchronous belt 813, crawler cover 814, crawler shaft 820, second crawler mechanism 830, third crawler machine 831, guide rail shaft 832, crawler guide 840, clamping action mechanism 841, camshaft 842, camshaft support seat 843, driven roller 844, roller mounting frame 845, cam

900. Transmission assembly 910, first bevel gear 920, second bevel gear 930, third bevel gear 940 and fourth bevel gear

1001. Pressure sensor 1002. transport length sensing mechanism.

Detailed Description

In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

In this specification, terms such as "upper, lower, inner, and outer" are established based on positional relationships shown in the drawings, and the corresponding positional relationships may vary depending on the drawings, and therefore, the terms are not to be construed as absolutely limiting the scope of protection; moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element from another element having the same name, and do not necessarily require or imply any actual relationship or order between such elements.

Referring to fig. 1 to fig. 3, fig. 1 is a schematic view of an overall structure of a novel flexible endoscope delivery device according to an embodiment of the present invention; fig. 2 is an isometric view of the flexible endoscope delivery device of fig. 1 after a portion of the outer housing has been removed; fig. 3 is a top view of fig. 2.

In a specific embodiment, the novel flexible endoscope conveying device provided by the invention is suitable for operating a flexible endoscope in an operation process to complete interventional examination and diagnosis of a natural orifice of a human body, and mainly comprises an outer shell 100, an execution mechanism 200, an execution driving mechanism 300, a turntable 400, a rotation driving mechanism 500 and the like, wherein the turntable 400 is a rotating body, the execution driving mechanism 300 is installed on the turntable 400, the execution mechanism 200 is detachably installed on the front side of the turntable 400, the execution mechanism 200 is provided with an inner shell 210, a clamping conveying mechanism 800 is arranged in the inner shell 210, the execution driving mechanism 300 on the turntable 400 is connected with the clamping conveying mechanism 800 in the inner shell 210 to drive the clamping conveying mechanism 800 to clamp the flexible endoscope and drive the flexible endoscope to move after clamping, so as to convey the flexible endoscope forwards or backwards, the rotation driving mechanism 500 is in transmission connection with the turntable 400 to drive the turntable 400 and the actuating mechanism 200 on the turntable to rotate together, so as to drive the flexible endoscope to rotate.

Referring to fig. 4, 5 and 6, fig. 4 is a front view of the flexible endoscope delivery device of fig. 2 after further removing the outer housing and the front end cap of the inner housing; FIG. 5 is a schematic view of the actuator being inserted inwardly from the forward end of the outer housing along with the isolation sleeve; fig. 6 is an exploded view (rear side view) of the outer and inner housings shown in fig. 1.

The outer shell 100 mainly comprises a front end cover 110, a rear end cover 120, an upper arc shell 130 and a lower arc shell 140, wherein the upper arc shell 130 and the lower arc shell 140 are fixedly connected to the rear cover plate 120 through screws, the front end cover 110 is matched with the upper arc shell 130 and the lower arc shell 140 through circumferential guide rail sliding grooves, an actuator jack is formed in the front end cover 110, the inner contour of the jack is consistent with the outer contour of the inner shell 210, an isolation sleeve 610 is connected to the rear end of the actuator 200, the actuator 200 and the isolation sleeve 610 can be inserted into the outer shell 100 from the actuator jack at the front end of the outer shell 100 and then are in butt joint with the rotary table 400, and after the insertion, the front end face of the inner shell 210 and the front end face of the outer shell 100 are located on the same plane. Since the outer contour of the actuator 200 is designed to be non-circular in cross section, when the actuator 200 rotates, the front end cap 110 of the outer housing 100 can be driven by the inner housing 210 to rotate together.

The inner housing 210 is in a cylindrical shape and is composed of an upper cylinder 211, a lower cylinder 212, an upper half part 213 of a front end cover, a lower half part 214 of a front end cover, an upper half part 215 of a rear end cover, and a lower half part 216 of the rear end cover, wherein the upper cylinder 211 and the lower cylinder 212 are fixedly connected together by copper-embedded nuts, and the upper half part 213 of the front end cover, the lower half part 214 of the front end cover, the upper half part 215 of the rear end cover, and the lower half part 216 of the rear end cover are butted with the upper cylinder 211 and the lower cylinder 213 through axial grooves and are fixed together with the upper cylinder 211 and the lower cylinder 212.

Referring to fig. 7, 8 and 9, fig. 7 is a schematic structural diagram of the actuating driving mechanism, the rotating body and the rotation driving mechanism; FIG. 8 is an isometric view of the actuator drive mechanism; FIG. 9 is a rear end schematic view of the actuator drive mechanism of FIG. 8.

The actuating drive mechanism 300 is divided into a clamping drive mechanism and a conveying drive mechanism, both of which are mounted on the turntable 400.

Wherein, carry actuating mechanism mainly comprises conveying motor 311 and transport transmission shaft 312, conveying motor 311 installs on the motor fixed block, the motor fixed block passes through the sliding tray of bolt fastening in carousel 400, after the bolt is unscrewed, the motor fixed block can move in the sliding tray of carousel 400, thereby adjust the tensioning degree of following hold-in range, conveying transmission shaft 312 rotationally installs in the front side of carousel 400 through the bearing, conveying motor 311 and transport transmission shaft 312 parallel, both extend along axial direction, conveying motor 311's pivot and conveying transmission shaft 312 are connected through the driving medium transmission that is located the carousel 400 rear side.

Similarly, the clamping driving mechanism mainly comprises a clamping motor 313 and a clamping transmission shaft 314, the clamping motor 313 is mounted on a motor fixing block, the motor fixing block is fixed on a sliding groove of the turntable 400, the clamping transmission shaft 314 is rotatably mounted on the front side of the turntable 400 through a bearing, the clamping motor 313 and the clamping transmission shaft 314 are parallel and extend along the axial direction, and an output shaft of the clamping motor 313 is in transmission connection with the clamping transmission shaft 314 through a transmission part located on the rear side of the turntable 400.

The transmission element comprises a synchronous belt 315 and a synchronous pulley 316, the synchronous pulley 316 is arranged on the output shafts of the conveying motor 311 and the clamping motor 313 and on the conveying transmission shaft 312 and the clamping transmission shaft 314, the synchronous belt 315 is arranged on the synchronous pulley 316, the output shaft of the conveying motor 311 drives the conveying transmission shaft 312 to rotate through a group of synchronous belt 315 and the synchronous pulley 316, and the output shaft of the clamping motor 313 drives the clamping transmission shaft 314 to rotate through another group of synchronous belt 315 and the synchronous pulley 316.

With this structure, since the feed motor 311, the clamp motor 313, the feed drive shaft 312, and the clamp drive shaft 314 are all located at the front side of the turntable 400, rather than at both sides of the turntable 400, respectively, the axial length of the actuator 300 can be effectively reduced.

In addition, the conveying motor 311 and the clamping motor 313 are respectively located at the left lower side and the right lower side of the actuator 200, and the inner housing 210 of the actuator 200 is provided with symmetrical arc-shaped concave portions (see fig. 4) at the left lower side and the right lower side to allow the conveying motor 311 and the clamping motor 313 to be located. The layout mode can enable the product structure to be more reasonable and compact, so that the product volume is smaller.

Of course, in other embodiments, gears or the like may be used for transmission between the conveying motor 311 and the conveying transmission shaft 312, and between the clamping motor 313 and the clamping transmission shaft 314.

Referring to fig. 10 and 11, fig. 10 is an isometric view of the rotating body and the rotation driving mechanism; fig. 11 is a schematic structural diagram of the endless guide rail slider mechanism.

The rotating motor 510 of the rotating driving mechanism 500 is mounted inside the outer casing 100 through a bracket, and the rotating motor 510 is in transmission connection with the turntable 400 through a rotating transmission mechanism.

Specifically, the rotary transmission mechanism mainly comprises a first gear 520 and a second gear 530, the first gear 520 and the rotary table 400 are coaxially arranged and are connected with each other through an axial connecting column 540, an output shaft of the rotary motor 510 is in meshing transmission with the first gear 520 through the second gear 530, and through holes for the soft endoscope to pass through are formed in the middle parts of the rotary table 400 and the first gear 520.

In order to ensure the stability of the rotation, a rotation support mechanism is further provided at the rear side of the first gear 520.

The rotary support mechanism in this embodiment is an annular guide rail and slider mechanism 700, which mainly comprises an annular guide rail 710 and three sliders 720 fixed inside the outer housing, the sliders 720 are distributed along the circumferential direction, each slider 720 is respectively provided with four U-shaped rollers 730, the four rollers 730 are distributed on the sliders 720 in two rows in an arc shape, and the annular guide rail 710 is connected to the rear side of the first gear 520 and is located between the two rows of rollers 730.

When the output shaft of the rotating motor 510 rotates, the second gear 530 fixed on the output shaft of the motor is driven to rotate, so as to drive the first gear 520 to rotate, and the first gear 520 drives the annular guide rail 710 to roll between the two rows of U-shaped rollers 730 while driving the turntable 400 to rotate together.

The roller 730 can be a U-shaped roller, a V-shaped roller, or other shapes, and the shape of the roller is not limited herein.

The rotary motor 510 is located below the actuator 200, the outer housing 100 has a main cavity and a sub-cavity located below the main cavity, the turntable 400 and the actuator 200 are located in the main cavity, and the rotary motor 510 is located in the sub-cavity.

Of course, the rotation support mechanism may be a circular guide rail slider mechanism 700 or a bearing mechanism, which is not limited herein.

Referring to fig. 12 to 15, fig. 12 is a schematic diagram of an internal structure of an actuator; FIG. 13 is an isometric view of the clamp delivery mechanism and drive assembly; FIG. 14 is a schematic view of a structure of a clamp actuating mechanism; figure 15 is an exploded view of the track mechanism.

The clamping and conveying mechanism 800 is mainly composed of three crawler mechanisms which are arranged and distributed along the circumferential direction, a conveying channel for the soft endoscope to pass through is formed between the crawler surfaces of the three crawler mechanisms, and through holes corresponding to the conveying channel are arranged at the front end and the rear end of the inner shell 210 so as to pass through the soft endoscope.

Specifically, the three crawler mechanisms are a first crawler mechanism 810, a second crawler mechanism 820 and a third crawler mechanism 830, respectively, the first crawler mechanism 810 and the second crawler mechanism 820 are located above the conveying channel and are arranged in bilateral symmetry, the crawler surfaces of the first crawler mechanism 810 and the second crawler mechanism 820 are in an inverted "V" shape on the cross section of the conveying channel, and the third crawler mechanism 830 is located below the conveying channel.

The conveying driving mechanism is in transmission connection with the first crawler 810 and the second crawler 820 through the transmission assembly 900 so as to drive the first crawler 810 and the second crawler 820 to run, the tracks of the first crawler 810 and the second crawler 820 are driving tracks, and the track of the third crawler 830 is driven track.

The transmission assembly 900 mainly comprises a first bevel gear 910, a second bevel gear 920, a third bevel gear 930 and a fourth bevel gear 940, wherein the first bevel gear 910 is mounted on the inner side of the rear end of the inner housing 210 through a bearing, the second bevel gear 920 and the third bevel gear 930 are coaxially overlapped and are connected gears which are mounted on a track shaft of the first track mechanism 810, and the fourth bevel gear 940 is mounted on a track shaft of the second track mechanism 820; the first bevel gear 910 is in mesh transmission with the second bevel gear 920, the third bevel gear 930 is in mesh transmission with the fourth bevel gear 940, and one end of the first bevel gear 910 is provided with a D-shaped concave hole which is in axial butt joint with the conveying transmission shaft 312 in a plug-in manner.

When the first bevel gear 910 rotates, the third bevel gear 930 and the fourth bevel gear 940 can be driven to rotate at the same time, so as to drive the first crawler 810 and the second crawler 820 to operate, and the conveying of the soft endoscope is realized.

Of course, the track mechanism can be three or more, the number is not limited, meanwhile, the shaft angle of the bevel gear can be 90 degrees, 60 degrees or other degrees, and the number of the shaft angle is not limited.

Each crawler mechanism includes a pair of timing pulleys 811, a timing belt 812, and a crawler cover 813, the timing pulleys 811 are mounted on the crawler shaft 814, the timing belts 812 are mounted on the two timing pulleys 811, the crawler cover 813 is mounted on both sides of the timing pulleys 811 through bearings, and the crawler covers 813 on both sides of the timing pulleys 811 are connected and fixed by bolts.

The first and

second crawler mechanisms

810 and 820 are mounted in the inner housing 210 by their crawler shafts, the third crawler mechanism 830 is mounted on the crawler guide 832 in the inner housing 210 by the crawler guide shaft 831, and the third crawler mechanism 830 can move along the direction defined by the crawler guide 832 toward or away from the first and

second crawler mechanisms

810 and 820, thereby achieving the function of clamping or loosening the soft endoscope.

Clamping action mechanism 840 mainly comprises camshaft 841, camshaft supporting seat 842, driven roller 843 and roller mounting rack 844, camshaft 841 passes through camshaft supporting seat 842 and installs in interior casing 210, its rear end is equipped with D type shrinkage pool, carry out the axial butt joint with the mode of pegging graft through D type shrinkage pool and clamping drive shaft 314, driven roller 843 passes through roller mounting rack 844 and installs in the below of third track mechanism 830, cam 845 and driven roller 843 transmission fit on camshaft 841, when camshaft 841 rotates, can pass through cam 845 and driven roller 843's cooperation, drive third track mechanism 830 up-and-down reciprocating motion, thereby realize the clamp of soft scope, relax.

When the soft endoscope is clamped, the caterpillar of the caterpillar mechanism is tightly attached to the surface of the soft endoscope through extrusion, the conveying transmission shaft 312 is driven to rotate through the rotation of the output shaft of the conveying motor 311, and then the caterpillar is driven to rotate through the bevel gear assembly, so that the conveying action of the soft endoscope is realized.

Referring to fig. 16 to 18, fig. 16 is a schematic structural view illustrating the rear end of the actuator is butted against the turntable by the quick-connect mechanism; FIG. 17 is a schematic structural view of a quick connect coupling disposed at the rear end of the actuator; fig. 18 is a schematic structural view of a clamping rebounding assembly arranged on the turntable.

The actuating mechanism 200 is connected with the turntable 400 in a clamping manner through a quick connection mechanism 220, the quick connection mechanism 220 consists of a quick connection joint 230 and a clamping rebounding assembly 240, the quick connection joint 230 is symmetrically arranged at the rear end of the actuating mechanism 200, and the head of the quick connection joint is provided with a clamping hook 231; the clamping and rebounding assemblies 240 are symmetrically arranged on the turntable 400, each clamping and rebounding assembly 240 comprises a button 241 and a spring 242, the button 241 is arranged on the turntable 400 through a button seat 243, one end of the spring 242 abuts against the inner end of the button 241, and the other end abuts against a spring seat 244; the inner end of the button 241 is provided with a wedge-shaped clamping part 245, and the outer end of the button 241 is a pressing operation end.

After the actuator 200 is inserted inward, the hook 231 of the quick connector 230 presses the button 241 through the wedge-shaped clamping portion 245, so that the button 241 moves outward against the spring force, and after the hook 231 passes over the wedge-shaped clamping portion 245, the button 241 returns rapidly under the action of the spring force, so that the hook 231 and the wedge-shaped clamping portion 245 are clamped with each other, and the actuator 200 is fixed on the front side of the turntable 400.

When the actuator needs to be removed, the locking can be released only by pushing the button 241 from the outer end thereof, so that the hook 231 of the quick connector 230 and the wedge-shaped clamping portion 245 are separated from each other, and then the actuator 200 can be removed.

Of course, the quick-connect mechanism 200 may be of other forms, such as being lockable to the dial 400 when the actuator 200 is inserted inwardly, the actuator 200 being outwardly sprung when the actuator 200 is pressed inwardly again, and so forth.

Referring to fig. 19 and 20, fig. 19 is a schematic structural view of an actuator with an isolation cleaning mechanism; FIG. 20 is a schematic view of the structure of the cleaning end and the cleaning end fixing bracket.

Considering that the soft endoscope can be contaminated by body fluid or human tissues in the using process, in order to keep equipment clean and avoid cross infection, an isolation cleaning mechanism is further arranged.

The isolation cleaning mechanism mainly comprises an isolation sleeve 610 and a cleaning assembly 620, wherein the isolation sleeve 610 coaxially penetrates through the flexible endoscope passage hole, one end of the isolation sleeve 610 is fixed at the rear end of the inner shell 210, the other end of the isolation sleeve is fixed at the rear end of the outer shell 100, the isolation sleeve can be detached and installed together with the actuator 200, the isolation sleeve 610 can be an isolation bellows or an isolation plastic film, and the isolation bellows or the isolation plastic film is not limited herein.

Clean subassembly 620 mainly comprises clean end 621 and the fixed support 622 of clean end, and clean end 621 specifically can be cotton ball, cleaning brush or clean bag etc. locates clean end fixed support 622, and clean end fixed support 622 is installed at the front end of interior casing 210 to the soft scope passes between from clean end, thereby reaches clear purpose.

Thus, in the using process, the soft endoscope contaminated by body fluid or human tissue only contacts with the actuating mechanism 200 and does not contact with other components except the actuating mechanism 200, and the actuating mechanism 200 can be detached and replaced after being used, so that the pollution can be well avoided.

In this embodiment, the delivery device is further provided with an instrument recognition circuit, a mechanical installation confirmation circuit, a pressure sensor 1001, a six-dimensional force sensor and a delivery length sensing mechanism 1002, so as to provide various information for a doctor and facilitate the operation of the doctor.

The instrument identification circuit comprises an electronic tag and a reader-writer, the electronic tag is fixed on the inner shell, and the reader-writer is fixed on the turntable; the mechanical installation confirming circuit comprises an induction head and a sensor, wherein the induction head is installed on the actuating mechanism, and the sensor is installed on the driving mechanism.

As shown in fig. 21, the pressure sensor 1001 is fixed between the cover plate of the third crawler 830 and the driven roller mounting bracket 844, and the pressure sensor 1001 may measure a clamping force of the soft endoscope when the third crawler 830 moves upward to clamp the soft endoscope.

The six-dimensional force sensor is arranged between the conveying device and the mechanical arm for placing the conveying device and used for detecting the resistance force applied to the front end of the soft endoscope.

As shown in fig. 22, the conveying length sensing mechanism 1002 includes a magnetic encoder, a magnetic ring, and a magnetic encoder fixing bracket, the magnetic ring is fixed at one end of the guide rail shaft 831, the magnetic encoder is fixed on the magnetic encoder fixing bracket, the magnetic encoder fixing bracket is fixed on the cover plate of the third crawler 830, when the soft endoscope outputs, the crawler of the third crawler 830 will rotate along with it, driving the crawler wheels to rotate together, the crawler wheels are fixed on the guide rail shaft 831, the guide rail shaft 831 will rotate together, thereby driving the magnetic ring fixed at one end of the guide rail shaft 831 to rotate, and when rotating, the magnetic encoder will measure the output length according to the rotation speed.

After the actuating mechanism 200 is mounted on the turntable 400 through axial butt joint, the instrument identification circuit starts to identify, the mechanical identification circuit ensures that the actuating mechanism is mounted in place, then, medical personnel place the soft endoscope in the conveying device through a soft endoscope channel, the clamping motor 313 is started, the rotation of the output shaft of the clamping motor 313 drives the third crawler 830 to move upwards, when the soft endoscope starts to be clamped, the pressure sensor 1001 can transmit a pressure value in real time, when a certain value is reached, the soft endoscope is judged to be clamped, the clamping motor 313 stops working and stops at the current position, at the moment, the conveying motor 311 is started, the conveying motor 311 drives the crawler of the first crawler 810 and the second crawler 820 to rotate, at the moment, the soft endoscope which is in close contact with the crawler starts to move forwards under the action of friction force, and when the soft endoscope moves forwards, the driven crawler is also driven to rotate, thereby driving the guide rail shaft 831 to rotate, at this moment, the encoder magnetic ring installed at one end of the guide rail shaft 831 also rotates along with it, and through the speed and time of rotation, the encoder outputs the real-time soft endoscope conveying length.

When soft scope is at human natural chamber way motion, the resistance that soft scope front end received can transmit conveyor on through soft scope, conveyor and the six position force sensor in the middle of installation conveyor's the robotic arm can be in real time with soft scope front end resistance real-time output, when soft scope is at human natural chamber way inspection, more comprehensive for the observation, rotating electrical machines 510 starts, it is rotatory with actuating mechanism 200 to drive carousel 400 by rotating electrical machines 510, thereby it is rotatory to drive soft scope, after the inspection, conveying electrical machines 311 reverses, it returns to drive soft scope.

The quick connection mechanism between the actuating mechanism and the turntable is not limited to the above structure, and can be in other forms.

As shown in fig. 23 to 28, the quick-connect mechanism includes a quick-connect connector 250 and a clip rebounding assembly 260, the quick-connect connector 250 is symmetrically installed at the rear end of the inner housing 210, and the head portion thereof is substantially "T" shaped with symmetrical hooks; the clamping components 260 are symmetrically installed on the front side of the turntable 400, and each clamping component 260 is composed of a clamping shell 261, a clamping seat 262, a clamping shaft 263 and the like.

Specifically, the clamping seat 262 is nested inside the clamping housing 261 and can move in the front-back direction relative to the clamping housing 261, and a claw 264 is arranged on the clamping seat; the clamping shaft 263 is a semi-circular shaft having a first plane 2631 and a second plane 2632, and passes through a semi-circular slot 2621 of the clamping seat 262 to extend into the clamping seat, the compression spring 265 is located between the clamping housing 261 and the clamping seat 262, one end of the compression spring abuts against the housing of the clamping seat 262, and the other end abuts against the clamping shaft 263; the outer end of the clamping shaft 263 is provided with a swing arm 266, the swing arm 266 is provided with a clamping column 267, the clamping housing 261 is provided with a clamping groove 2611 corresponding to the clamping column 267, and the clamping groove 2611 is generally Z-shaped and is provided with a near end and a far end for clamping the clamping column 267.

When the actuating mechanism 200 is pressed, the quick connector 250 presses the claws 264, the clamping seats 262 retract into the clamping shell 261, the claws 264 are tightened by the openings of the clamping shell 261, the hooks of the quick connector 250 are tightly held by the claws 264, meanwhile, the clamping shafts 263 rotate, the first planes 2631 of the clamping seats are attached to the planes of the semicircular slotted holes 2621, the clamping columns 267 move and are clamped at the far ends of the clamping grooves 2611, and at this time, the clamping is completed.

When the actuating mechanism 200 is pressed again, the quick connector 250 is pressed to the claw 264 again, the clamping shaft 263 rotates again, the second plane 2632 of the clamping shaft is attached to the plane of the semicircular groove hole 2621, the clamping column 267 moves and is clamped at the near end of the clamping groove 2611, the clamping seat 262 moves outwards, the claw 264 releases the quick connector 250, and quick release is completed.

In order to ensure the stability of the pressing operation, the clamping seat 262 is provided with a guide block 2622 at the bottom, the housing wall of the clamping housing 261 is provided with a corresponding guide groove 2612, and the clamping housing 261 is internally provided with a pressure spring upright 2613. The flexible endoscope conveying device provided by the invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the core concepts of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, it is possible to make various improvements and modifications to the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims

1. A novel soft endoscope conveying device is characterized by comprising an outer shell, and an actuating mechanism, an actuating driving mechanism, a rotating body and a rotating driving mechanism which are arranged in the outer shell; the actuating drive mechanism is arranged on the rotating body, and the actuating drive mechanism is detachably arranged on the rotating body; the actuating mechanism comprises an inner shell and a clamping and conveying mechanism arranged in the inner shell, and the actuating driving mechanism is connected with the clamping and conveying mechanism so as to drive the clamping and conveying mechanism to clamp the soft endoscope and drive the soft endoscope to move back and forth after clamping; the rotation driving mechanism is in transmission connection with the rotating body to drive the rotating body and the executing mechanism to rotate, so that the soft endoscope is driven to rotate.

2. The novel soft endoscope conveying device according to claim 1, characterized in that the actuating driving mechanism comprises a clamping driving mechanism and a conveying driving mechanism, and the clamping driving mechanism and the conveying driving mechanism are both arranged on the rotating body; the clamping and conveying mechanism is provided with a clamping action mechanism, and the clamping driving mechanism is in transmission connection with the clamping action mechanism so as to enable the clamping and conveying mechanism to clamp the soft endoscope through the clamping action mechanism; the conveying driving mechanism is connected with the clamping conveying mechanism in a transmission mode so as to drive the clamping conveying mechanism to drive the flexible endoscope to move back and forth.

3. The novel flexible endoscope conveying device according to claim 2, characterized in that the clamping and conveying mechanism comprises a plurality of crawler mechanisms which are distributed in a circumferential direction; the crawler mechanism comprises a driving crawler mechanism and a driven crawler mechanism, a conveying channel for the soft endoscope to pass through is formed between crawler surfaces of the driving crawler mechanism and the driven crawler mechanism, and through holes for the soft endoscope to pass through are formed in the front end and the rear end of the inner shell.

4. The flexible endoscope delivery device of claim 3, wherein the crawler comprises a first crawler, a second crawler, and a third crawler; the first crawler mechanism and the second crawler mechanism are positioned above the conveying channel and are arranged in a bilateral symmetry mode, and crawler surfaces of the first crawler mechanism and the second crawler mechanism are in an inverted V shape on the section of the conveying channel; the third crawler is located below the conveying channel.

5. The novel soft endoscope conveying device according to claim 4, wherein the conveying driving mechanism is in transmission connection with the first crawler mechanism and the second crawler mechanism to drive the first crawler mechanism and the second crawler mechanism to operate; the tracks of the first crawler mechanism and the second crawler mechanism are driving tracks, and the track of the third crawler mechanism is a driven track.

6. The novel flexible endoscope conveying device according to claim 5, characterized in that the clamping driving mechanism is connected with the third crawler mechanism through the clamping actuating mechanism so as to drive the third crawler mechanism to move towards or away from the first crawler mechanism and the second crawler mechanism.

7. The novel flexible endoscope delivery device according to claim 6, characterized in that the first and second crawler mechanisms are mounted in the inner housing by crawler shafts, and the third crawler mechanism is mounted in a crawler guide rail in the inner housing by crawler guide shafts, and the third crawler mechanism can move along the crawler guide rail in a direction approaching to or away from the first and second crawler mechanisms.

8. The novel flexible endoscope conveying device according to claim 6, characterized in that the clamping action mechanism comprises a camshaft, a camshaft supporting seat, a driven roller and a roller mounting rack; the camshaft passes through the camshaft supporting seat is installed in interior casing, driven gyro wheel pass through the gyro wheel mounting bracket install in the below of third crawler, cam on the camshaft with driven gyro wheel transmission cooperation is in order to drive third crawler reciprocates.

9. The novel flexible endoscope conveying device according to claim 3, characterized in that each of said track mechanisms comprises a pair of synchronous pulleys, a synchronous belt and a track cover plate; the synchronous belt wheels are arranged on the track shafts, the synchronous belts are arranged on the two synchronous belt wheels, the track cover plates are arranged on two sides of the synchronous belt wheels through bearings, and the track cover plates on two sides of the synchronous belt wheels are connected through connecting pieces.

10. The novel soft endoscope conveying device according to any one of claims 4 to 9, characterized in that the conveying driving mechanism comprises a conveying motor and a conveying transmission shaft, the conveying motor is fixed on the front side of the rotating body along the axial direction, the conveying transmission shaft is rotatably mounted on the front side of the rotating body along the axial direction, and a rotating shaft of the conveying motor is in transmission connection with the conveying transmission shaft through a transmission piece located on the rear side of the rotating body;

11. The novel soft endoscope conveying device according to claim 10, wherein the conveying motor is mounted on a motor fixing block, the motor fixing block is fixed on a sliding groove of the rotating body, and the conveying transmission shaft is mounted on the rotating body through a bearing;

12. The conveying device for the flexible endoscope of claim 11, wherein the transmission member comprises a synchronous belt and a synchronous pulley, the synchronous pulley is installed on the output shafts of the conveying motor and the clamping motor and the conveying transmission shaft and the clamping transmission shaft, the synchronous belt is installed on the synchronous pulley, and the output shafts of the conveying motor and the clamping motor drive the conveying transmission shaft and the clamping transmission shaft to rotate through the synchronous belt and the synchronous pulley, respectively.

13. The conveying device for the flexible endoscope of claim 10, wherein the conveying motor and the clamping motor are respectively located at the left lower side and the right lower side of the actuating mechanism, and the inner shell of the actuating mechanism is provided with symmetrical arc-shaped concave parts at the left lower side and the right lower side so as to be located at the conveying motor and the clamping motor.

14. The novel soft endoscope conveying device according to claim 10, characterized in that the conveying transmission shaft is in transmission connection with the first crawler mechanism and the second crawler mechanism through a transmission assembly; the transmission assembly comprises a first bevel gear, a second bevel gear, a third bevel gear and a fourth bevel gear, the first bevel gear is installed on the inner side of the rear end of the inner shell, the second bevel gear and the third bevel gear are coaxially overlapped and are combined gears which are installed on a track shaft of the first track mechanism, and the fourth bevel gear is installed on a track shaft of the second track mechanism; the first bevel gear is in meshing transmission with the second bevel gear, and the third bevel gear is in meshing transmission with the fourth bevel gear.

15. The novel soft endoscope conveying device according to claim 1, characterized in that the rotating body comprises a turntable, and the rotation driving mechanism comprises a rotating motor; the rotating motor is installed inside the outer shell through a support, and the rotating motor is in transmission connection with the rotary table through a rotating transmission mechanism.

16. The conveying device for the soft endoscope of claim 15, wherein the rotation transmission mechanism comprises a first gear coaxially disposed with the rotation body and connected to each other, an output shaft of the rotation motor is in meshing transmission with the first gear through a second gear, and through holes for the soft endoscope to pass through are formed in the middle of the rotary table and the first gear.

17. The novel flexible endoscope delivery device according to claim 16, characterized in that a rotary supporting mechanism is connected to the rear side of the first gear.

18. The novel soft endoscope conveying device according to claim 17, characterized in that the rotary supporting mechanism is a ring-shaped guide rail slider mechanism; the annular guide rail and sliding block mechanism comprises an annular guide rail and a plurality of sliding blocks fixed inside the outer shell, the sliding blocks are distributed along the circumferential direction, two rows of rollers distributed in an arc shape are mounted on each sliding block respectively, and the annular guide rail is connected to the rear side of the first gear and located between the two rows of rollers.

19. The novel soft endoscope conveying device according to claim 15, characterized in that the rotating motor is located below the actuator, the outer housing has a main cavity and a sub-cavity located below the main cavity, the turntable and the actuator are located in the main cavity, and the rotating motor is located in the sub-cavity.

20. The conveying device for the soft endoscope of claim 1, wherein the front end cap of the outer housing is matched with the body of the outer housing through a circumferential guide rail sliding groove, the front end cap is provided with an actuator insertion hole, the inner contour of the insertion hole is consistent with the outer contour of the inner housing, and the inner housing can drive the front end cap to rotate together when the actuator rotates.

21. The novel soft endoscope conveying device according to claim 1, characterized in that the actuating mechanism is connected with the rotating body in a clamping manner through a quick connection mechanism, and a clamping conveying mechanism inside the actuating mechanism is in axial butt joint with the actuating driving mechanism.

22. The novel flexible endoscope conveying device according to claim 21, characterized in that the quick-connect mechanism comprises a quick-connect connector and a clamping assembly, the quick-connect connector is symmetrically installed at the rear end of the actuating mechanism, and the head of the quick-connect connector is provided with a clamping hook; the clamping components are symmetrically arranged on the rotating body, each clamping component comprises a button and a spring, the buttons are arranged on the rotating body through button seats, one end of each spring abuts against the inner end of each button, and the other end of each spring abuts against a spring seat; the button is provided with a wedge-shaped clamping part, and the clamping hook of the quick connector is clamped with the wedge-shaped clamping part.

23. The novel soft endoscope conveying device according to claim 1, characterized in that an isolation cleaning mechanism is provided; the isolation cleaning mechanism comprises an isolation sleeve and a cleaning component, the isolation sleeve coaxially penetrates through the soft endoscope passing hole, one end of the isolation sleeve is fixed at the rear end of the inner shell, and the other end of the isolation sleeve is fixed on the outer shell; the cleaning assembly comprises a cleaning end and a cleaning end fixing support; the cleaning end is arranged on the cleaning end fixing support, and the cleaning end fixing support is arranged at the front end of the inner shell so that the soft endoscope can penetrate through the cleaning end.

24. The novel soft endoscope conveying device according to claim 3, characterized by further comprising an instrument recognition circuit and a mechanical installation confirmation circuit;

25. The novel soft endoscope conveying device according to claim 3, characterized by further comprising a pressure sensor, a six-dimensional force sensor and a conveying length sensing mechanism;