WO2023000589A1 - Lasso-drive-based two-degree-of-freedom flexible buffering endoscope - Google Patents
Lasso-drive-based two-degree-of-freedom flexible buffering endoscope Download PDFInfo
- Publication number
- WO2023000589A1 WO2023000589A1 PCT/CN2021/137817 CN2021137817W WO2023000589A1 WO 2023000589 A1 WO2023000589 A1 WO 2023000589A1 CN 2021137817 W CN2021137817 W CN 2021137817W WO 2023000589 A1 WO2023000589 A1 WO 2023000589A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- endoscope
- head
- sleeve
- driven wheel
- lasso
- Prior art date
Links
- 230000003139 buffering effect Effects 0.000 title abstract description 11
- 230000010354 integration Effects 0.000 claims description 22
- 230000006870 function Effects 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 239000004677 Nylon Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 230000000968 intestinal effect Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 206010052428 Wound Diseases 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 210000001035 gastrointestinal tract Anatomy 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 210000000936 intestine Anatomy 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 210000002784 stomach Anatomy 0.000 description 2
- 206010041899 Stab wound Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 210000002429 large intestine Anatomy 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
- A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/31—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0801—Prevention of accidental cutting or pricking
- A61B2090/08021—Prevention of accidental cutting or pricking of the patient or his organs
Definitions
- the invention belongs to the technical field of medical instruments, and relates to a lasso-driven two-degree-of-freedom flexible buffer endoscope.
- 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.
- 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.
- 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.
- 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.
- the endoscope sleeve 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.
- 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.
- the angle of view of the endoscope head can be changed, and the scene ahead can be flexibly observed.
- 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.
- the motor rotation signal does not change or the two signals
- 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.
- 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.
- the above-mentioned drive mechanism is an integrated box drive motor.
- the above-mentioned endoscope cable can be made of steel wire rope or nylon rope or other materials.
- the above-mentioned endoscope sleeve is a kind of force-bearing hose, which can be made of rectangular steel wire or other materials.
- the above-mentioned endoscope driven wheel 1 is designed as one with the endoscope head cross shaft.
- the above-mentioned driven wheel II of the endoscope is integrated with the front member of the endoscope head.
- endoscope sleeve baffle plate I and the endoscope head cross shaft are designed as one.
- the above-mentioned endoscope sleeve baffle plate II is designed as one body with the rear member of the endoscope head.
- 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;
- 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;
- 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.
- Endoscope head 1. 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.
- 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.
- 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 .
- 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.
- 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
- 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
- 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
- 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 .
- 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
- 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.
- the tension of the flexible cable I5 in the casing I7 can offset the clockwise torque received by the driven wheel
- the tension of the flexible cable II10 in the casing II8 can offset the counterclockwise torque received by the driven wheel.
- 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.
- the viewing angle of the head of the endoscope can be changed, and the scene ahead can be observed flexibly. law.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- the integrated box driving motor 32 rotates, it drives the flexible cable 33 of the endoscope to move.
- 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.
- the endoscope sleeve 36 will compress the spring 38 and move to the right, thereby realizing the endoscope lens. Partial passive buffering.
- 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.
- 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
- 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.
- 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.
- 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.
- the viewing angle of the head of the endoscope can be changed, and the scene ahead can be observed flexibly. law.
- 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
- 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
- the endoscope sleeve baffle II112 is designed with the rear member 13 of the endoscope head.
- 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
- 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
- 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.
- a spring is installed at the driving end of each lasso.
- the endoscope sleeve 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.
- 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.
- 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.
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Molecular Biology (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- Pathology (AREA)
- Public Health (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Optics & Photonics (AREA)
- Radiology & Medical Imaging (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Gastroenterology & Hepatology (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Endoscopes (AREA)
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
本发明属于医疗器械技术领域,涉及一种基于套索驱动的两自由度柔顺缓冲内窥镜。The invention belongs to the technical field of medical instruments, and relates to a lasso-driven two-degree-of-freedom flexible buffer endoscope.
内窥镜是一种集成光学、人体工程学、精密机械等技术的检测设备,可应用于观察体内组织的一些病变,作为不可或缺的医用诊断与手术设备,被广泛应用于消化内科、呼吸科、耳鼻喉科、骨科、泌尿外科中多种疾病的检查与治疗。内窥镜根据镜身能否改变方向可分为硬质镜与弹性软镜,常用的肠镜、喉镜与胃镜等内窥镜一般都属于弹性软镜,其最大特点是镜头部分可由使用者操纵改变方向,视野更加灵活。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.
对现有弹性软镜进行分析后可以发现,已有设计可以实现内窥镜头部前后左右弯曲的主动调节,但没有接触力监测功能,内窥镜头部与肠道或胃内的触碰情况主要由使用者靠经验判断;软镜存在的弹性可以实现一定的被动缓冲,但内窥镜头部没有主动柔顺缓冲功能,降低肠道内戳伤几率与患者不适感的能力有限。人体肠道中有些肠腔壁很薄,力度大的话会导致肠腔壁的损伤,导致内出血。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.
发明内容Contents of the invention
为了弥补现有技术的不足,本发明提出一种基于套索驱动的两自由度柔顺缓冲内窥镜,实现内窥镜头部俯仰与偏航两个自由度完全解耦的主动调节,便于灵活观察肠道内情况。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.
本发明解决上述问题的技术方案是:一种基于套索驱动的两自由度柔顺缓冲内窥镜,其特殊之处在于,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,
包括内窥镜头部、柔性连接管与驱动集成箱;内窥镜头部通过柔性连接管与驱动集成箱相连;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;
内窥镜头部包括内窥镜头部前构件、内窥镜头部十字轴、内窥镜头部后构件,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,
所述内窥镜头部前构件与内窥镜头部十字轴的横轴连接,内窥镜头部后构件与内窥镜头部前构件的纵轴连接;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;
内窥镜头部十字轴的纵轴上固定有内窥镜从动轮I,内窥镜头部前构件固定有内窥镜从动轮II,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,
所述驱动集成箱包括结构相同的第一驱动***和第二驱动***;The drive integration box includes a first drive system and a second drive system with the same structure;
第一驱动***包括集成箱驱动轮、驱动机构、两根内窥镜柔索、内窥镜套管挡板;驱动机构驱动集成箱驱动轮转动,两根内窥镜柔索的一端穿过内窥镜套管挡板后分别按顺时针与逆时针方向分别缠绕并固定于集成箱驱动轮上;第一驱动***的两根内窥镜柔索的另一端穿过内窥镜套管挡板I后分别按逆时针与顺时针方向分别缠绕并固定于内窥镜从动轮I上;第二驱动***的两根内窥镜柔索的另一端穿过内窥镜套管挡板II后分别按逆时针与顺时针方向分别缠绕并固定于内窥镜从动轮II上;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;
内窥镜套管穿过柔性连接管。The endoscopic cannula is threaded through the flexible connecting tube.
内窥镜头部前构件可以相对于内窥镜头部十字轴转动,内窥镜头部十字轴可以相对于内窥镜头部后构件转动,两转动的转动轴相交与一点,实现类似于球关节的转动。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. .
进一步地,上述驱动集成箱还包括弹簧套管;Further, the above drive integration box also includes a spring sleeve;
弹簧套管与内窥镜套管挡板连接,弹簧套管内安装有弹簧与内窥镜套管压头,内窥镜柔索穿过弹簧与内窥镜套管压头后进入内窥镜套管。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.
当集成箱驱动轮不运动,内窥镜头部仿生碰撞后接触力突然增大而使内窥镜从动轮运动时,内窥镜套管会压缩弹簧向右移动,从而实现内窥镜头部的被动缓冲。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.
进一步地,还包括内窥镜电位器I、内窥镜电位器II;Further, endoscopic potentiometer I and endoscopic potentiometer II are also included;
内窥镜电位器I安装于内窥镜头部十字轴相对于从动轮I的另一侧;内窥镜电位器II安装于内窥镜头部十字轴相对于内窥镜从动轮II的另一侧。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 .
从动轮I的位置信号可由内窥镜电位器I采集反馈,内窥镜从动轮II的位置信号可由内窥镜电位器II采集反馈。一方面,通过控制集成箱驱动轮的转动可以改变内窥镜头部的视角,灵活观察前方场景,过程中电机转动信号与内窥镜电位器采集的信号同时在变化且两个信号呈现一定的规律。另一方面,内窥镜头部发生碰撞后接触力突然增大,内窥镜套管会压缩弹簧向右移动而使内窥镜从动轮运动,而此时电机转动信号没有发生改变或两个信号间的运动规律发生改变,此时***可识别出碰撞,并控制集成箱驱动轮的转动来减缓碰撞,实现主动缓冲柔顺控制。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.
进一步地,上述内窥镜头部前构件内置有带led电子摄像头与预留功能套管;通过电子摄像头可观察内窥镜头部前方的场景,预留功能套管用于医用夹钳等工具进入内窥镜头部前方。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.
套索、摄像头连接线与预留功能套管等集成线束后内置于柔性连接管内。Integrated wiring harnesses such as lasso, camera cable, and reserved functional casing are built into the flexible connecting tube.
进一步地,上述驱动机构为集成箱驱动电机。Further, the above-mentioned drive mechanism is an integrated box drive motor.
进一步地,上述内窥镜柔索可以是钢丝绳也可以是尼龙绳等其它材质。Further, the above-mentioned endoscope cable can be made of steel wire rope or nylon rope or other materials.
进一步地,上述内窥镜套管为一种承力软管,可以由矩形钢丝绕制而成,也可以由其它材质制造。Furthermore, the above-mentioned endoscope sleeve is a kind of force-bearing hose, which can be made of rectangular steel wire or other materials.
进一步地,上述内窥镜从动轮I与内窥镜头部十字轴设计为一体。Further, the above-mentioned endoscope driven wheel 1 is designed as one with the endoscope head cross shaft.
进一步地,上述内窥镜从动轮II与内窥镜头部前构件设计为一体。Further, the above-mentioned driven wheel II of the endoscope is integrated with the front member of the endoscope head.
进一步地,上述内窥镜套管挡板I与内窥镜头部十字轴设计为一体。Further, the above-mentioned endoscope sleeve baffle plate I and the endoscope head cross shaft are designed as one.
进一步地,上述内窥镜套管挡板II与内窥镜头部后构件设计为一体。Further, the above-mentioned endoscope sleeve baffle plate II is designed as one body with the rear member of the endoscope head.
本发明的优点:Advantages of the present invention:
1)将套索传动应用于内窥镜,实现了内窥镜头部的两自由度解耦运动;1) Apply the lasso drive to the endoscope to realize the two-degree-of-freedom decoupling movement of the head of the endoscope;
2)本发明在套索驱动端安装了弹簧,在内窥镜头部发生碰撞时可实现被动缓冲;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)本发明在内窥镜头部从动轮安装了电位器,可以实时监测电机与从动轮的位置信号;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)在没有碰撞时,电机位置信号与从动轮位置信号具有一定的规律,通过两信号间规律的参数辨识可实现接触力的估计;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)当***可识别出规律改变时,可以控制集成箱驱动轮的转动来减缓碰撞,实现主动缓冲柔顺控制。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.
图1是内窥镜***结构示意图;Fig. 1 is a schematic structural diagram of an endoscope system;
图2是套索驱动原理示意图;Fig. 2 is a schematic diagram of lasso driving principle;
图3是驱动集成箱内部结构图;Figure 3 is the internal structure diagram of the drive integration box;
图4是驱动集成箱被动缓冲结构图;Figure 4 is a passive buffer structure diagram of the drive integration box;
图5是去除弹性软套后的内窥镜头部结构图;Fig. 5 is a diagram of the internal structure of the endoscope after the elastic soft cover is removed;
图6是内窥镜头部运动原理示意图;Fig. 6 is a schematic diagram of the movement principle of the head of the endoscope;
图7为内窥镜头部构件结构图。Fig. 7 is a structural diagram of the internal components of the endoscope.
其中:1、内窥镜头部;2、柔性连接管;3、驱动集成箱;4、主动轮;5、柔索I;6、套管挡板I;7、套管I;8、套管II;9、套管挡板II;10、柔索II;11、从动轮;31、集成箱驱动轮;32、驱动机构;33、内窥镜柔索;34、内窥镜套管挡板;35、弹簧套管;36、内窥镜套管;37、内窥镜套管压头;38、弹簧;11、内窥镜头部前构件;12、内窥镜头部十字轴;13、内窥镜头部后构件;14、带led电子摄像头;15、预留功能套管;16、内部集成线束;17、内窥镜电位器I;18、内窥镜从动轮I;19、内窥镜从动轮II;110、内窥镜电位器II;111、内窥镜套管挡板I;112、内窥镜套管挡板II。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.
具体实施方式detailed description
为使本发明实施方式的目的、技术方案和优点更加清楚,下面将结合本发明实施方式中的附图,对本发明实施方式中的技术方案进行清楚、完整地描述,显然,所描述的实施方式是本发明一部分实施方式,而不是全部的实施方式。基于本发明中的实施方式,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施方式,都属于本发明保护的范围。因此,以下对在附图中提供的本发明的实施方式的详细描述并非旨在限制要求保护的本发明的范围,而是仅仅表示本发明的选定实施方式。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.
针对传统内窥镜存在的力感知能力缺失、柔顺缓冲能力不足、使用主要依靠经验导致检查过程中内窥镜头部容易在大肠或胃内产生戳伤、容易使患者有不适感的问题,本发明提供一种基于套索驱动与位置信号反馈的两自由度柔顺缓冲内窥镜。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.
参见图1,一种基于套索驱动的两自由度柔顺缓冲内窥镜,包括内窥镜头部1、柔性连接管2与驱动集成箱3;内窥镜头部通过柔性连接管与驱动集成箱相连。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 .
其中,内窥镜头部1与驱动集成箱3之间存在套索、摄像头连接线与预留功能套管等连接线,这些连接线被集束后内置于柔性连接管2内;内窥镜头部1包裹有弹性软套,在保证密闭防水的前提下可适应头部运动。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.
参见图5、6、7,内窥镜头部包括内窥镜头部前构件11、内窥镜头部十字轴12、内窥镜头部后构件13。所述内窥镜头部前构件11与内窥镜头部十字轴12的横轴连接,内窥镜头部后构件13与内窥镜头部前构件11的纵轴连接。内窥镜头部十字轴12的纵轴上固定有内窥镜从动轮I18,内窥镜头部前构件11固定有内窥镜从动轮II19。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.
内窥镜头部前构件11可以相对于内窥镜头部十字轴12转动,内窥镜头部十字轴12可以相对于内窥镜头部后构件13转动,两转动的转动轴相交与一点,实现类似于球关节的转动。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.
所述驱动集成箱包括结构相同的第一驱动***和第二驱动***;第一驱动***包括集成箱驱动轮31、驱动机构32、两根内窥镜柔索33、内窥镜套管挡板34;驱动机构32驱动集成箱驱动轮31转动,两根内窥镜柔索33的一端穿过内窥镜套管挡板34后分别按顺时针与逆时针方向分别缠绕并固定于集成箱驱动轮31上;第一驱动***的两根内窥镜柔索33的另一端穿过内窥镜套管挡板I111后分别按顺时针与逆时针方向分别缠绕并固定于内窥镜从动轮I18上;第二驱动***的两根内窥镜柔索33的另一端穿过内窥镜套管挡板II112后分别按顺时针与逆时针方向分别缠绕并固定于内窥镜从动轮II19上;内窥镜套管36穿过柔性连接管。优选地,驱动机构32为驱动电机。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.
作为本发明的一个优选实施例,参见图4,上述驱动集成箱还包括弹簧套管35;弹簧套管35与内窥镜套管挡板34连接,弹簧套管35内安装有弹簧38与内窥镜套管压头37,内窥镜柔索33穿过弹簧38与内窥镜套管压头37后进入内窥镜套管36。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 .
当集成箱驱动轮31不运动,内窥镜头部仿生碰撞后接触力突然增大而使内窥镜从动轮运动时,内窥镜套管36会压缩弹簧38向右移动,从而实现内窥镜头部的被动缓冲。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.
本发明的套索驱动原理示意图如图2所示,主要包括主动轮4、柔索I5、套管挡板I6、套管I7、套管II8、套管挡板II9、柔索II10、从动轮11。主动轮4上按顺时针与逆时针方向分别缠绕并固定有柔索Ⅰ5和柔索II10,两根柔索经过套管挡板I6后分别经过套管I7和套管II8,然后经过套管挡板II9后固定于从动轮11上。主动轮4安装于电机输出端,当主动轮4转动时,从动轮11会跟随运动,这种传动方式被应用于本发明中的内窥镜。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.
套索传动的工作原理为:当电机逆时针旋转经减速器带动驱动轮逆时针转动时,套管I7中的柔索I5跟随向左运动,从而带动从动轮逆时针旋转,同时套管II8中的柔索II10跟随向右运动;当驱动轮顺时针转动时,套管II8中的柔索II10向左运动,带动从动轮顺时针转动,同时套管I7中的柔索I5跟随向右运动。当***处于静止时,套管I7中柔索I5的拉力能够抵消从动轮受到的顺时针力矩,套管II8中柔索II10的拉力能够抵消从动轮受到的逆时针力矩。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.
作为本发明的一个优选实施例,参见图6,内窥镜头部设置有内窥镜电位器I17、内窥镜电位器II110;内窥镜电位器I17安装于内窥镜头部十字轴12相对于从动轮I18的另一侧;内窥镜电位器II110安装于内窥镜头部十字轴12相对于内窥镜从动轮II19的另一侧。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.
集成箱驱动轮31的转动可以通过套索分别带动内窥镜从动轮I18与内窥镜从动轮II19转动,同时,从动轮I18的位置信号可由内窥镜电位器I17采集反馈,内窥镜从动轮II19的位置信号可由内窥镜电位器II110采集反馈。一方面,通过控制集成箱驱动轮31的转动可以改变内窥镜头部的视角,灵活观察前方场景,过程中电机转动信号与内窥镜电位器采集的信号同时在变化且两个信号呈现一定的规律。另一方面,内窥镜头部发生碰撞后接触力突然增大,内窥镜套管36会压缩弹簧38向右移动而使内窥镜从动轮运动,而此时电机转动信号没有发生改变或两个信号间的运动规律发生改变,此时***可识别出碰撞,并控制集成箱驱动轮31的转动来减缓碰撞,实现主动缓冲柔顺控制。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.
作为本发明的一个优选实施例,参见图5,上述内窥镜头部前构件11内置有带led电子摄像头14与预留功能套管15;通过电子摄像头14可观察内窥镜头部前方的场景,预留功能套管15用于医用夹钳等工具进入内窥镜头部前方。套索、摄像头连接线与预留功能套管等集成线束16后内置于柔性连接管内。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.
优选地,上述内窥镜柔索33可以是钢丝绳也可以是尼龙绳等其它材质。上述内窥镜套管36为一种承力软管,可以由矩形钢丝绕制而成,也可以由其它材质制造。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.
优选地,参见图7,上述内窥镜从动轮I18与内窥镜头部十字轴12设计为一体。内窥镜从动轮II19与内窥镜头部前构件11设计为一体。内窥镜套管挡板I111与内窥镜头部十字轴12设计为一体。内窥镜套管挡板II112与内窥镜头部后构件13设计为一体。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 .
本发明提出的基于套索驱动的两自由度柔顺缓冲内窥镜,实现内窥镜头部俯仰与偏航两个自由度完全解耦的主动调节,便于灵活观察肠道内情况。同时,基于位置信号反馈的内窥镜头部接触力监测,便于使用者判断内窥镜头部与肠道的触碰情况;此外,基于弹簧被动缓冲与电机主动控制实现内窥镜头部主被动柔顺缓冲,降低肠道内戳伤几率与患者不适感。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.
实施例Example
内窥镜基于套索驱动的两自由度柔顺缓冲内窥镜,如图1所示,主要由内窥镜头部1、柔性连接管2与驱动集成箱3组成。其中,内窥镜头部1与驱动集成箱3之间存在套索、摄像头连接线与预留功能套管等连接线,这些连接线被集束后内置于柔性连接管2内;内窥镜头部1包裹有弹性软套,在保证密闭防水的前提下可适应头部运动。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.
如图3所示,驱动集成箱主要由集成箱驱动轮31、集成箱驱动电机32、内窥镜柔索33、内窥镜套管挡板34、弹簧套管35组成。驱动集成箱内部集成有两个集成箱驱动电机32、四根内窥镜柔索33与四个弹簧套管35。集成箱驱动轮31安装于集成箱驱动电机32输出轴上,内窥镜柔索33有两根分别按顺时针与逆时针方向分别缠绕并固定于集成箱驱动轮31上,内窥镜柔索33经内窥镜套管挡板34后进入内窥镜套管36。当集成箱驱动电机32转动时,带动内窥镜柔索33运动。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.
如图4所示,驱动集成箱被动缓冲结构主要包括内窥镜套管36、内窥镜套管压头37、弹簧38、内窥镜柔索33、弹簧套管35、内窥镜套管挡板34。弹簧套管35安装于内窥镜套管挡板34,弹簧套管35内安装有弹簧38与内窥镜套管压头37,内窥镜柔索33经弹簧38与内窥镜套管压头37后进入内窥镜套管36。当集成箱驱动轮31不运动,内窥镜头部仿生碰撞后接触力突然增大而使内窥镜从动轮运动时,内窥镜套管36会压缩弹簧38向右移动,从而实现内窥镜头部的被动缓冲。基于套索传动的应用,本发明在套索驱动端安装了弹簧,在内窥镜头部发生碰撞时可实现被动缓冲。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.
参见图5,内窥镜头部主要由内窥镜头部前构件11、内窥镜头部十字轴12、内窥镜头部后构件13、带led电子摄像头14、预留功能套管15与内部集成线束16组成。内窥镜头部十字轴12安装于内窥镜头部后构件13,内窥镜头部前构件11安装于内窥镜头部十字轴12。内窥镜头部前构件11设计有安装孔,内窥镜头部内置有带led电子摄像头14与预留功能套管15。通过电子摄像头14可观察内窥镜头部前方的场景,预留功能套管15用于医用夹钳等工具进入内窥镜头部前方。套索、摄像头连接线与预留功能套管等集成线束16后内置于柔性连接管内。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.
如图6所示,内窥镜头部主要包括内窥镜电位器I17、内窥镜从动轮I18、内窥镜从动轮II19、内窥镜电位器II110、内窥镜套管挡板I111、内窥镜套管挡板II112、内窥镜柔索33。内窥镜电位器II110安装于内窥镜头部十字轴12相对于内窥镜从动轮II19的另一侧。内窥镜头部前构件11可以相对于内窥镜头部十字轴12转动,内窥镜头部十字轴12可以相对于内窥镜头部后构件13转动,两转动的转动轴相交与一点,实现类似于球关节的转动。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.
集成箱驱动轮31的转动可以通过套索分别带动内窥镜从动轮I18与内窥镜从动轮II19转动,同时,从动轮I18的位置信号可由内窥镜电位器I17采集反馈,内窥镜从动轮II19的位置信号可由内窥镜电位器II110采集反馈。一方面,通过控制集成箱驱动轮31的转动可以改变内窥镜头部的视角,灵活观察前方场景,过程中电机转动信号与内窥镜电位器采集的信号同时在变化且两个信号呈现一定的规律。另一方面,内窥镜头部发生碰撞后接触力突然增大,内窥镜套管36会压缩弹簧38向右移动而使内窥镜从动轮运动,而此时电机转动信号没有发生改变或两个信号间的运动规律发生改变,此时***可识别出碰撞,并控制集成箱驱动轮31的转动来减缓碰撞,实现主动缓冲柔顺控制。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.
参见图7,内窥镜头部主要包括内窥镜头部前构件、内窥镜头部十字轴与内窥镜头部后构件。内窥镜从动轮I18与内窥镜头部十字轴12设计为一体,内窥镜从动轮II19与内窥镜头部前构件11设计为一体。内窥镜套管挡板I111与内窥镜头部十字轴12设计为一体,内窥镜套管挡板II112与内窥镜头部后构件13设计为一体。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.
综上所述,本发明将套索传动应用于内窥镜设计,内窥镜***主要由内窥镜头部、柔性连接管与驱动集成箱组成,实现了内窥镜头部的两自由度解耦运动,通过在驱动端安装弹簧实现了内窥镜头部的被动缓冲,通过在从动轮安装电位器反馈位置信号实现了内窥镜头部的主动柔顺缓冲控制。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.
内窥镜从动轮与内窥镜头部十字轴设计为一体,内窥镜从动轮与内窥镜头部前构件设计为一体,集成箱驱动轮可以通过套索带动内窥镜从动轮转动。内窥镜头部前构件可以相对于内窥镜头部十字轴转动,内窥镜头部十字轴可以相对于内窥镜头部后构件转动,两转动的转动轴相交与一点,实现类似于球关节的转动,便于灵活观察前方场景。驱动集成箱内,在每根套索的驱动端安装有弹簧,内窥镜头部发生碰撞后接触力突然增大而使内窥镜从动轮运动时,内窥镜套管会压缩弹簧向右移动,从而实现内窥镜头部的被动缓冲。在没有碰撞时,集成箱驱动轮带动从动轮转动,电机位置信号与从动轮位置信号具有一定的规律,当碰撞发生时规律会发生变化。当***识别出规律改变时,可以控制集成箱驱动轮的转动来减缓碰撞,实现主动缓冲柔顺控制。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.
以上所述仅为本发明的实施例,并非以此限制本发明的保护范围,凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换,或直接或间接运用在其他相关的***领域,均同理包括在本发明的保护范围内。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 (10)
- 一种内窥镜基于套索驱动的两自由度柔顺缓冲内窥镜,其特征在于:An endoscope based on a lasso-driven two-degree-of-freedom compliant buffer endoscope, characterized in that:包括内窥镜头部(1)、柔性连接管(2)与驱动集成箱(3);内窥镜头部(1)通过柔性连接管(2)与驱动集成箱(3)相连;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);内窥镜头部(1)包括内窥镜头部前构件(11)、内窥镜头部十字轴(12)、内窥镜头部后构件(13);The endoscope head (1) includes an endoscope head front member (11), an endoscope head cross shaft (12), and an endoscope head rear member (13);所述内窥镜头部前构件(11)与内窥镜头部十字轴(12)的横轴连接,内窥镜头部后构件(13)与内窥镜头部前构件(11)的纵轴连接;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;内窥镜头部十字轴(12)的纵轴上固定有内窥镜从动轮I(18),内窥镜头部前构件(11)固定有内窥镜从动轮II(19);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;所述驱动集成箱(3)包括结构相同的第一驱动***和第二驱动***;The drive integration box (3) includes a first drive system and a second drive system with the same structure;第一驱动***包括集成箱驱动轮(31)、驱动机构(32)、两根内窥镜柔索(33)、内窥镜套管挡板(34);驱动机构(32)驱动集成箱驱动轮(31)转动,两根内窥镜柔索(33)的一端穿过内窥镜套管挡板(34)后分别按顺时针与逆时针方向分别缠绕并固定于集成箱驱动轮(31)上;第一驱动***的两根内窥镜柔索(33)的另一端穿过内窥镜套管挡板I(111)后分别按逆时针与顺时针方向分别缠绕并固定于内窥镜从动轮I(18)上;第二驱动***的两根内窥镜柔索(33)的另一端穿过内窥镜套管挡板II(112)后分别按逆时针与顺时针方向分别缠绕并固定于内窥镜从动轮II(19)上;内窥镜套管(36)穿过柔性连接管(2)。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).
- 根据权利要求1所述的基于套索驱动的两自由度柔顺缓冲内窥镜,其特征在于:The lasso-driven two-degree-of-freedom compliant buffer endoscope according to claim 1, characterized in that:所述驱动集成箱还包括弹簧套管(35);The drive integration box also includes a spring sleeve (35);弹簧套管(35)与内窥镜套管挡板(34)连接,弹簧套管(35)内安装有弹簧(38)与内窥镜套管压头(37),内窥镜柔索(33)穿过弹簧(38)与内窥镜套管压头(37)后进入内窥镜套管(36)。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).
- 根据权利要求2所述的基于套索驱动的两自由度柔顺缓冲内窥镜,其特征在于:The lasso-driven two-degree-of-freedom compliant buffer endoscope according to claim 2, characterized in that:还包括内窥镜电位器I(17)、内窥镜电位器II(110);Also includes endoscopic potentiometer I (17), endoscopic potentiometer II (110);内窥镜电位器I(17)安装于内窥镜头部十字轴(12)相对于从动轮I(18)的另一侧;内窥镜电位器II(110)安装于内窥镜头部十字轴(12)相对于内窥镜从动轮II(19)的另一侧。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).内窥镜电位器I(17)采集反馈从动轮I(18)的位置信号,内窥镜电位器II(110)采集反馈内窥镜从动轮II(19)的位置信号。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).
- 根据权利要求(13)任一所述的基于套索驱动的两自由度柔顺缓冲内窥镜,其特征在于:The lasso-driven two-degree-of-freedom compliant buffer endoscope according to any one of claims (13), characterized in that:所述内窥镜头部前构件(11)内置有带led电子摄像头(14)与预留功能套管(15)。The front part of the endoscope head (11) is built with an electronic camera with LED (14) and a sleeve (15) with reserved functions.
- 根据权利要求4所述的基于套索驱动的两自由度柔顺缓冲内窥镜,其特征在于:The lasso-driven two-degree-of-freedom compliant buffer endoscope according to claim 4, characterized in that:所述内窥镜柔索(33)为钢丝绳或者尼龙绳。The endoscope cable (33) is a steel wire rope or a nylon rope.
- 根据权利要求5所述的基于套索驱动的两自由度柔顺缓冲内窥镜,其特征在于:The lasso-driven two-degree-of-freedom compliant buffer endoscope according to claim 5, characterized in that:所述内窥镜套管(36)为承力软管。The endoscope sleeve (36) is a load-bearing hose.
- 根据权利要求6所述的基于套索驱动的两自由度柔顺缓冲内窥镜,其特征在于:The lasso-driven two-degree-of-freedom compliant buffer endoscope according to claim 6, characterized in that:所述内窥镜从动轮I(18)与内窥镜头部十字轴(12)设计为一体。The endoscope driven wheel I (18) is designed as one with the endoscope head cross shaft (12).
- 根据权利要求7所述的基于套索驱动的两自由度柔顺缓冲内窥镜,其特征在于:The lasso-driven two-degree-of-freedom compliant buffer endoscope according to claim 7, characterized in that:所述内窥镜从动轮II(19)与内窥镜头部前构件(11)设计为一体。The endoscope driven wheel II (19) is integrated with the endoscope head front member (11).
- 根据权利要求8所述的基于套索驱动的两自由度柔顺缓冲内窥镜,其特征在于:The lasso-driven two-degree-of-freedom compliant buffer endoscope according to claim 8, characterized in that:所述内窥镜套管挡板I(111)与内窥镜头部十字轴(12)设计为一体。The endoscope sleeve baffle plate I (111) is designed as one body with the endoscope head cross shaft (12).
- 根据权利要求9所述的基于套索驱动的两自由度柔顺缓冲内窥镜,其特征在于:The lasso-driven two-degree-of-freedom compliant buffer endoscope according to claim 9, characterized in that:所述内窥镜套管挡板II(112)与内窥镜头部后构件(13)设计为一体。The endoscope sleeve baffle plate II (112) is designed as one body with the rear member (13) of the endoscope head.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110819319.7 | 2021-07-20 | ||
CN202110819319.7A CN113520274B (en) | 2021-07-20 | 2021-07-20 | Two-degree-of-freedom compliant buffer endoscope based on lasso driving |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2023000589A1 true WO2023000589A1 (en) | 2023-01-26 |
Family
ID=78128954
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2021/137817 WO2023000589A1 (en) | 2021-07-20 | 2021-12-14 | Lasso-drive-based two-degree-of-freedom flexible buffering endoscope |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN113520274B (en) |
WO (1) | WO2023000589A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113520274B (en) * | 2021-07-20 | 2023-06-06 | 中国科学院深圳先进技术研究院 | Two-degree-of-freedom compliant buffer endoscope based on lasso driving |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102802551A (en) * | 2009-05-29 | 2012-11-28 | 南洋理工大学 | Robotic system for flexible endoscopy |
CN103006165A (en) * | 2012-12-14 | 2013-04-03 | 上海交通大学 | Flexible endoscope robot with variable rigidity |
CN106419818A (en) * | 2016-08-29 | 2017-02-22 | 康福特仪器(杭州)有限公司 | Angle-adjustable endoscope |
CN109496135A (en) * | 2016-06-01 | 2019-03-19 | 恩达马斯特有限公司 | Endoscopy system component |
WO2019234990A1 (en) * | 2018-06-06 | 2019-12-12 | オリンパス株式会社 | External mechanism for endoscope |
CN110594375A (en) * | 2019-10-21 | 2019-12-20 | 苏州中科先进技术研究院有限公司 | Endoscope rotation control mechanism |
CN112932398A (en) * | 2021-01-29 | 2021-06-11 | 武汉大学 | Multi freedom cervical imaging device |
CN213606231U (en) * | 2020-05-21 | 2021-07-06 | 江苏唯德康医疗科技有限公司 | Be applied to transmission structure and endoscope handle of endoscope |
CN113520274A (en) * | 2021-07-20 | 2021-10-22 | 中国科学院深圳先进技术研究院 | Two-degree-of-freedom flexible buffering endoscope based on lasso driving |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5161681B2 (en) * | 2008-07-22 | 2013-03-13 | 和也 赤星 | Endoscopic treatment tool |
US20190246878A1 (en) * | 2015-11-13 | 2019-08-15 | Daryl BODNER | Endoscope |
CN209360631U (en) * | 2018-11-07 | 2019-09-10 | 深圳市沃普德科技有限公司 | It is a kind of can multi-angle regulation endoscope camera head device |
CN210990142U (en) * | 2019-08-07 | 2020-07-14 | 武汉佑康科技有限公司 | Flexible endoscope catheter structure with visual direction capable of being adjusted in multiple directions |
CN112006647B (en) * | 2020-09-04 | 2022-06-03 | 天津大学 | Spiral propulsion type intestinal endoscope device with contact force sensing capability |
-
2021
- 2021-07-20 CN CN202110819319.7A patent/CN113520274B/en active Active
- 2021-12-14 WO PCT/CN2021/137817 patent/WO2023000589A1/en active Application Filing
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102802551A (en) * | 2009-05-29 | 2012-11-28 | 南洋理工大学 | Robotic system for flexible endoscopy |
CN103006165A (en) * | 2012-12-14 | 2013-04-03 | 上海交通大学 | Flexible endoscope robot with variable rigidity |
CN109496135A (en) * | 2016-06-01 | 2019-03-19 | 恩达马斯特有限公司 | Endoscopy system component |
CN106419818A (en) * | 2016-08-29 | 2017-02-22 | 康福特仪器(杭州)有限公司 | Angle-adjustable endoscope |
WO2019234990A1 (en) * | 2018-06-06 | 2019-12-12 | オリンパス株式会社 | External mechanism for endoscope |
CN110594375A (en) * | 2019-10-21 | 2019-12-20 | 苏州中科先进技术研究院有限公司 | Endoscope rotation control mechanism |
CN213606231U (en) * | 2020-05-21 | 2021-07-06 | 江苏唯德康医疗科技有限公司 | Be applied to transmission structure and endoscope handle of endoscope |
CN112932398A (en) * | 2021-01-29 | 2021-06-11 | 武汉大学 | Multi freedom cervical imaging device |
CN113520274A (en) * | 2021-07-20 | 2021-10-22 | 中国科学院深圳先进技术研究院 | Two-degree-of-freedom flexible buffering endoscope based on lasso driving |
Also Published As
Publication number | Publication date |
---|---|
CN113520274A (en) | 2021-10-22 |
CN113520274B (en) | 2023-06-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US7344494B2 (en) | Endoscope with variable direction of view module | |
US20180092512A1 (en) | Endoscope | |
JP4398184B2 (en) | Endoscope | |
CN102525595B (en) | Bendable and visible surgical clamp | |
EP3626154B1 (en) | Modular endoscope | |
EP3025673A1 (en) | Medical system and medical treatment tool control method | |
JP2002078675A (en) | Motor operated angle type electronic endoscope system | |
WO2005089628A1 (en) | Insertion device | |
WO2005055817A1 (en) | Endoscope system, and endoscope | |
WO2023000589A1 (en) | Lasso-drive-based two-degree-of-freedom flexible buffering endoscope | |
US10548464B2 (en) | Endoscope | |
CN112450996A (en) | Flexible endoscope operation executor and operation robot system | |
JPH0642644Y2 (en) | Endoscopic bending device | |
CN214549342U (en) | Soft endoscope operation executor | |
US20110288371A1 (en) | Endoscope device | |
US20100016660A1 (en) | Bending neck for transesophageal echocardiography (tee) probe | |
JPH0663005A (en) | Endoscope | |
JP6169309B1 (en) | Endoscope system | |
CN102018535A (en) | Integrated color doppler ultrasound electronic laryngoscope system | |
CN218099780U (en) | Endoscope and endoscope body adjusting structure thereof | |
CN219461099U (en) | Disposable bronchoscope | |
JP3462597B2 (en) | Ultrasound endoscope tip | |
CN208988805U (en) | A kind of self-adjusting bronchoscope | |
CN217792988U (en) | Digestive endoscopy support with adjustable angle | |
JP3931273B2 (en) | Endoscope cover |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21950827 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 21950827 Country of ref document: EP Kind code of ref document: A1 |