CN119655695B - Cable assembly applied to endoscope and endoscope - Google Patents
Cable assembly applied to endoscope and endoscope Download PDFInfo
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- CN119655695B CN119655695B CN202510199875.7A CN202510199875A CN119655695B CN 119655695 B CN119655695 B CN 119655695B CN 202510199875 A CN202510199875 A CN 202510199875A CN 119655695 B CN119655695 B CN 119655695B
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Abstract
The invention discloses a guy cable assembly applied to an endoscope and the endoscope, and belongs to the technical field of endoscopes, wherein the guy cable assembly comprises a guy cable, a flexible pipe sleeved on the guy cable, and a pre-tightening module, wherein the pre-tightening module comprises a module seat, an internal threaded hole is formed in the module seat, a sliding seat is in sliding fit in the internal threaded hole, the sliding seat is elastically supported on the bottom of the internal threaded hole through an elastic supporting piece, and the pre-tightening module further comprises an adjusting nut, and the sliding seat is clamped between the adjusting nut and the elastic supporting piece; the endoscope comprises an adjusting nut, a sliding seat, an elastic support piece, a flexible pipe, a stay cable, an endoscope and a stay cable assembly, wherein the adjusting nut, the sliding seat and the elastic support piece are all provided with through holes, one end of the flexible pipe is fixedly connected with the sliding seat, the flexible pipe is used as an outer sleeve of the stay cable, the stay cable is in sliding fit in the flexible pipe, and the endoscope comprises the stay cable assembly. The scheme not only can realize the tension adjustment of the inhaul cable, but also can enable the moment required by the inhaul cable pulling process to be more stable, and is beneficial to guaranteeing the working stability and reliability of the endoscope.
Description
Technical Field
The invention relates to the technical field of endoscopes, in particular to a guy cable assembly applied to an endoscope and the endoscope.
Background
Endoscopes generally comprise a tubular body with a lens disposed at one end of the body, particularly for use in accessing the body through a natural passageway or incision canal to view internal features of the body. Clinically, the common endoscope is classified according to a hard mirror and a soft mirror, and compared with the hard mirror, the soft mirror has the characteristics that the mirror body can be bent, so that the lens part can be controlled to change the direction and be inserted into an observation position which cannot be reached by the hard mirror, and the like.
In the prior art, the electronic endoscope is more referred to as an endoscope using CCD technology, while the flexible endoscope (soft scope) emphasizes its flexibility and operability, and although they are not completely equivalent concepts, the electronic endoscope can be regarded as one of the flexible endoscopes from the viewpoint of the electronic endoscope having the structural characteristics of the flexible scope tube. The electronic endoscope is widely applied to the medical field, when the electronic endoscope is specifically used, the rotation torque of an operating handle of the electronic endoscope is increased along with the increase of the bending of a corner/endoscope body tube, when a doctor frequently operates the handle for a long time, the operation fatigue feeling is aggravated by larger fluctuation and continuous resistance, the operation accuracy and efficiency of the endoscope operation are affected, and aiming at the problem, the technical scheme provided by patent documents such as CN201910320154.1, CN202411176671.3, CN202310752955.1 and the like of the electric power assisting endoscope is presented in the prior art.
The general mode of the endoscope upper hand wheel and the electric power assisting structure acting on the endoscope body tube is that the bending degree of the endoscope body tube is adjusted by pulling the steel wire of the endoscope body tube, meanwhile, the steel wire of the endoscope body tube needs to be configured to have a proper tightness state, and the technical scheme is provided by the patent document with the patent application number of CN202311258404.6, and regarding the tightness state adjustment, the technical scheme is provided by the patent document with the patent application number of CN201420702809.4, wherein the technical scheme is provided by adopting the form change of a threaded tube to restrain the steel wire, so that the tensioning degree adjustment of the steel wire is achieved.
The endoscope is a medical instrument widely applied to the medical field, and further optimization of the endoscope can certainly promote the development of medical industry.
Disclosure of Invention
In order to solve the problem of further optimizing the endoscope, the invention provides a guy cable assembly applied to the endoscope and the endoscope. The cable assembly applied to the endoscope can not only realize tension adjustment of the cable, but also enable torque required by pulling the cable to be more stable in the process, and is beneficial to guaranteeing working stability and reliability of the endoscope.
The stay cable assembly for the endoscope comprises a stay cable, a flexible pipe sleeved on the stay cable, and a pre-tightening module for adjusting the shape of the flexible pipe, wherein the pre-tightening module comprises a module seat, an internal threaded hole is formed in the module seat, a sliding seat is slidably matched in the internal threaded hole, the sliding seat is elastically supported on the hole bottom of the internal threaded hole through an elastic supporting piece, and the pre-tightening module further comprises an adjusting nut which is connected in the internal threaded hole in a threaded manner and is positioned on the orifice side of the sliding seat, and the sliding seat is clamped between the adjusting nut and the elastic supporting piece;
the adjusting nut, the sliding seat and the elastic support piece are all provided with through holes, and the inhaul cable passes through the internal threaded holes through the through holes;
One end of the flexible pipe is fixedly connected with the sliding seat, the flexible pipe is used as an outer sleeve of a inhaul cable, and the inhaul cable is in sliding fit in the flexible pipe.
This scheme is when the application, the cable can be used for directly pulling the endoscope mirror body in order to adjust the crooked degree of mirror body pipe, if adopts the electric traction mechanism of connection in cable one end to pull the cable, the other end of cable is fixed in the front end of mirror body pipe, has formed the curved electric drive formula of mirror body pipe based on this cable subassembly like this, also can regard as the component part of drive module in the endoscope electric helping hand structure, through acting on the crooked steel wire of tractive mirror body pipe after coupling with the hand wheel force, obtain the curved power scheme of mirror body pipe including hand wheel power unit and electric power unit.
In the two applications, the pre-tightening module is used for adjusting the initial tension of the tensioned inhaul cable, the specific principle is that one end of the flexible pipe is fixed on a fixed structure of an endoscope, according to the specific application, the fixed structure comprises, but not limited to, a mirror body pipe, an operating handle, a shell part of the pre-tightening module and the like, when the position of a sliding block on the axis of an internally threaded hole is adjusted through rotating an adjusting nut, one end of the flexible pipe is changed along with the movement of a sliding seat, at the moment, one end of the flexible pipe moves, the other end of the flexible pipe is fixed, after the movement of the flexible pipe is carried out, the flexible pipe is subjected to bending deformation or deformation degree, at the moment, the inner wall of the flexible pipe changes the form of the inhaul cable in the flexible pipe for tensioning the inhaul cable, so that the inhaul cable is tensioned, or the inhaul cable is loosened, on the one hand, compared with the mode that the end of a direct traction inhaul cable, the tension is controlled, on the other hand, the tension adjustable precision of the inhaul cable is higher, the scheme can be used for realizing the accurate adjustment of the inhaul cable tension, when the driving motor is switched in the forward and reverse directions, when the traction motor is provided for the inhaul cable, the traction motor is provided with the body pipe or the coupling force, the inhaul cable moves, the tension is reduced, the tension of the side of the inhaul cable is carried out on the side, and the side of the flexible pipe is further, and the supporting piece is moved towards the side, and the supporting part is in the opposite direction, the axial direction of the rotating hole, and the tension is reduced, and the tension of the inhaul cable is further, and the tension is adjusted, and the tension of the inhaul cable is stressed, and the inhaul cable is adjusted, and the tension can The torque fluctuation in the working process of the driving motor is reduced, and the working stability and the reliability of related structures on the endoscope are guaranteed.
As a further technical scheme of the inhaul cable component:
the cable is characterized by also comprising a fixed seat, wherein one end of the cable is fixed on the fixed seat through a ball joint;
Still including the drive module that is used for pulling the cable, drive module includes driving motor, be connected with the gear on driving motor's the rotor, tooth meshing has the pinion rack on the gear, and the fixing base passes through bar hole and pinion rack and forms bolted connection relation, the length direction in bar hole satisfies: when the fixing seat slides along the strip-shaped hole, the positions of the fixing seat in the toothed plate and the length direction are changed.
The technical scheme is that the tension adjustment is achieved by directly pulling the end part of the inhaul cable through the fixing base, specifically, the end part of the inhaul cable is fixed on the fixing base through the ball joint, torsion of the inhaul cable in the using process can be reduced, the purposes of optimizing stress of related structures and guaranteeing stability of components are achieved, after the bolts matched with the fixing base in the strip-shaped holes are loosened, the inhaul cable is further tensioned or released through the fixing base, and after the inhaul cable is coarse-adjusted to a proper tension, the bolts are locked, so that coarse adjustment on the tension of the inhaul cable is achieved. Preferably, the strip-shaped hole is arranged on an extension structure at the end part of the rack, the length direction of the strip-shaped hole is parallel to the length direction of the rack, meanwhile, the rack, the extension structure and the module seat are sequentially arranged in the length direction of the rack, and the axis of the adjusting nut passes through the center line of the strip-shaped hole.
The flexible cable is characterized in that toothed plates meshed with gear teeth are arranged on each of a pair of opposite sides of the gear, the number of the two cables is two, each cable is provided with a flexible pipe and a pre-tightening module, one end of one cable is fixedly connected with one toothed plate, one end of the other cable is fixedly connected with the other toothed plate, the flexible pipe is further provided with rollers, independent cable grooves are formed in the rollers, and the other ends of the cables are wound in the corresponding cable grooves.
The technical scheme is suitable for the scheme of adopting electric power to realize bending of the endoscope body tube, and the force coupling mode of the electric power can be that the driving wheel is used for directly pulling the steel wire of the endoscope body tube, and the driving wheel and the roller are relatively fixed and coaxial. When the driving motor drives the gear to rotate, the two toothed plates move in opposite directions or in opposite directions according to the rotation direction of the gear, so that the two toothed plates synchronously pull different ends of the two inhaul cables; for the concrete connected mode of cable and gyro wheel, aim at providing a simple structure, can avoid appearing the cable and skid, simultaneously the cable can drive the technical scheme of the great angle of gyro wheel rotation, specifically, above two cables form a set of traction cable that is used for the special direction of mirror body to bend, according to the motion form of two pinion racks, when one of them cable was pulled out by the rope groove under the effect of pinion rack, this cable drive gyro wheel rotates, the gyro wheel is rotated and another pinion rack's effect down, another cable is further wound in the rope groove of gyro wheel, the pivoted in-process of gyro wheel drives the drive wheel and rotates, thereby reach the purpose of pulling mirror body pipe steel wire with specific mode, for avoid the cable to skid on the gyro wheel, only need ensure to have multiturn cable or the tip of cable to fix on the gyro wheel in the rope groove, compared with the interlude of cable, above structure does not have the gyro wheel and can not further pull the condition of rotation after rotating to certain angle, so structural style can make the gyro wheel rotate multiturn, simultaneously, this simple structure still has the characteristics. Preferably, for guarantee pinion rack motion accuracy, set up to pinion rack and base and pass through slide rail assembly and link to each other, above slide rail assembly is used for leading pinion rack motion, further, all sets up limit switch at each end of pinion rack, limit switch is as contact switch, when limit switch and pinion rack tip contact, provides the stop rotation signal for driving motor promptly, slide rail assembly is including fixing the bar rail on the base and fixing the sliding block on the pinion rack, sliding block passes through spout sliding fit with the bar rail.
The device also comprises a driving wheel which is coaxial with the roller and fixedly connected with the roller, and a hand wheel for driving the driving wheel to rotate.
The technical scheme provides a cable is used as a component part of a driving module in an endoscope electric power assisting structure, a steel wire which is used for pulling a mirror body tube to bend is acted after being coupled with moment force provided by a hand wheel, the mirror body tube bending power scheme comprising a hand wheel power unit and an electric power unit is obtained, the roller and a driving wheel are used for forming a coupling module for realizing force coupling, particularly, the driving wheel can be used for changing the bending angle of the endoscope body through any mode in the prior art, such as a tooth transmission mode, a chain transmission mode, a belt transmission mode and the like, the steel wire of the pulling mirror body tube is used for changing the bending angle of the endoscope body, and when the endoscope electric power assisting structure is particularly used, a signal for the hand wheel can be used as a control signal for triggering the cable to pull the roller to rotate, so that the cable and the roller are utilized for driving wheel rotation to provide electric power assistance according to the intention of an operator.
The force sensor is arranged on a transmission chain between the hand wheel and the driving wheel and is used for detecting the magnitude and the direction of the moment provided by the hand wheel for the driving wheel.
In the scheme, when a user rotates the hand wheel according to control requirements, the operation action of the user on the hand wheel is obtained through the force sensor, specifically, the user can force the driving wheel to rotate by rotating the hand wheel according to the operation habit of an endoscope, at the moment, the force sensor obtains the magnitude and the direction of the moment provided by the hand wheel for the driving wheel, then the power assisting mechanism comprising a inhaul cable controls the driving motor to rotate by obtaining the magnitude and the direction of the moment, so that the driving motor drives the idler wheel to rotate through the inhaul cable, and at the moment, the hand wheel and the power assisting mechanism simultaneously provide driving force for the driving wheel, namely force coupling is realized, manual work and the driving motor jointly act on the driving wheel, and the electric power assisting function when the bending angle of the endoscope body is operated is realized.
Still include the jackshaft, the outside of jackshaft is provided with the rotatable cover of winding the jackshaft, and gyro wheel and drive wheel all coaxial arrangement are sheathe in rotating, the outside of rotating the cover be provided with rotate cover clearance fit's bottom plate, be fixed with the dog that is just to the relation on the bottom plate, force sensor includes lug and measuring element, the lug is fixed in on the side of rotating the cover and is located the clearance between the dog, all is provided with measuring element in the clearance between lug and the arbitrary dog, measuring element is used for measuring the size of positive pressure between lug and the dog, and the hand wheel is fixed in on the bottom plate.
In the specific application, the hand wheel drives the driving wheel to rotate through the rotating sleeve, specifically, when the hand wheel is rotated, the hand wheel drives the bottom plate to rotate around the rotating sleeve, at the moment, the stop block acts on the convex block to drive the rotating sleeve to rotate, the stop block provides thrust for the specific side face of the convex block according to the rotating direction of the hand wheel, the force sensor obtains the rotating direction and specific thrust magnitude of the hand wheel according to the thrust measurement results of the measuring elements on different sides of the convex block, and the magnitude of the moment provided for the driving wheel can be obtained according to the thrust. The idler wheel and the driving wheel on the intermediate shaft can be arranged as an installation cavity surrounded by the upper housing and the lower housing on the operating handle, the coupling module comprising the idler wheel and the driving wheel is installed in the installation cavity, the intermediate shaft, the idler wheel and the driving wheel are coaxial, and a guy cable of the driving module is led into the installation cavity from the side surface of the idler wheel and is wound in a cable groove of the idler wheel. More specifically, if the driving wheel is a sprocket, one sprocket is used as a first sprocket for controlling left and right bending of the mirror body, the other sprocket is used as a second sprocket for controlling up and down bending of the mirror body, the rollers are configured to comprise a first roller and a second roller, the first roller and the second roller are respectively fixed with the first sprocket and the second sprocket, and the sprockets are respectively meshed with a chain for pulling a steel wire for bending the mirror body tube.
The anti-loosening structure is used for preventing loosening of the adjusting nut in the internal threaded hole.
The scheme is particularly applied to solving the problems that in the process of further pulling the inhaul cable, when the sliding seat is separated from contact with the adjusting nut, the friction force between the threads becomes small, the adjusting nut is easy to swing and vibrate to rotate, the reliability and performance stability of the pretension module structure are affected, the anti-loosening structure is used for loosening the adjusting nut in an inner threaded hole, and the anti-loosening structure can be an anti-loosening pin, an anti-loosening nut, thread glue, an elastic pad which generates compression deformation in the axis direction of the adjusting nut and the like in consideration of the position adjustment requirement of the sliding seat.
In specific application, whether the stay cable directly pulls the lens body tube or the stay cable is used as a power assisting unit of the coupling module, the better implementation mode is that the stay cable comprises a plurality of stay cables, each stay cable only has actions of being preliminarily tensioned, being further pulled and being released, the stay cable is provided with a flexible tube, the flexible tube is used for adjusting the tension degree of a single stay cable, the inner hole diameter of the flexible tube is slightly larger than the outer diameter of the stay cable in the aspect of necessity under the condition of considering the structural size of the endoscope and the size of the flexible tube, and in order to avoid the situation that the tension degree adjustment precision of the stay cable is influenced due to local wrinkles of the flexible tube in the further bending process, the preferable implementation mode is that the flexible tube is a spiral spring-shaped spring tube, and in specific application, the stay cable passes through a center hole of the spring tube.
The utility model also relates to an endoscope, including mirror body pipe, the tractive steel wire of setting in the mirror body intraductal, be used for the tractive electric drive mechanism of tractive steel wire still includes as above the cable subassembly, the cable is as tractive steel wire, the one end of cable and the head end fixed connection of mirror body pipe, the other end of cable with electric drive mechanism fixed connection.
The technical scheme is that the cable assembly is specifically applied to an endoscope, the cable is used as a pulling steel wire for pulling the bending of the endoscope body tube, the endoscope adopts the cable assembly as a bending driving scheme of the endoscope body tube, the cable is specifically used as a component part of a transmission chain between an electric driving mechanism and the tube head end of the endoscope body, the electric driving mechanism and the pre-tightening module are both arranged in an operating handle, the flexible tube is arranged for the cable positioned in the operating handle, one end of the flexible tube is fixed at the tail end of the endoscope body tube (one end connected with the operating handle) and the other end is fixed on the sliding seat, the control mode of the electric driving mechanism can be button driving, or can be driving according to a hand wheel, the hand wheel driving is not limited by a hand wheel, and the bending degree of the endoscope body tube is changed in a force coupling mode with the electric driving mechanism.
The technical scheme also relates to an endoscope, which comprises an endoscope body tube, a traction steel wire arranged in the endoscope body tube and a driving mechanism for traction of the traction steel wire, wherein the driving mechanism comprises a hand wheel driving mechanism and an electric power assisting driving mechanism, and further comprises a coupling module for realizing force coupling of the hand wheel driving mechanism and the electric power assisting driving mechanism, and the endoscope further comprises a guy cable assembly as described above, wherein the guy cable is used as a component part of a transmission chain between the electric power assisting driving mechanism and the coupling module, and transmits torque output by the electric power assisting driving mechanism to the coupling module through tension.
The technical scheme is that the cable assembly is specifically applied to an endoscope, the cable is used as a traction steel wire on a transmission chain between an electric power driving mechanism and a coupling module, the endoscope adopts the coupling module as a bending driving scheme of a endoscope body pipe, the cable is specifically used as a component part of the transmission chain between the electric power driving mechanism and the coupling module, the other transmission chain is a hand wheel driving mechanism, the two transmission chains provide moment for the coupling module, and the coupling module is used for traction of the steel wire for bending the endoscope body pipe, so that the purpose that the two transmission chains act on the head end of the endoscope body pipe together is achieved.
The invention has the following beneficial effects:
regarding the cable assembly, on the one hand, compared with a mode of directly pulling the end part of the cable to control the tensioning state of the cable, the cable tensioning force adjustable precision is higher, and the cable tensioning force adjustable precision can be used for realizing accurate adjustment of the cable tensioning force.
On the other hand, when the driving motor for pulling the inhaul cable is in forward and reverse rotation conversion, when pulling force is provided for the inhaul cable to pull the mirror body tube or the coupling module, the force applied to the flexible tube by the inhaul cable is transmitted to the sliding seat, the sliding seat moves towards the hole bottom side of the internal threaded hole and further compresses the elastic supporting piece, when the driving motor reversely rotates to release the inhaul cable, the elastic supporting piece releases energy and pushes the sliding seat to move towards the side where the adjusting nut is located, the process can enable the friction resistance caused by the flexible tube to move towards the inhaul cable to be reduced, and therefore the purposes of reducing torque when the driving motor reversely rotates, reducing torque fluctuation in the working process of the driving motor and guaranteeing the working stability and reliability of related structures on the endoscope are achieved.
Drawings
FIG. 1 is a schematic structural diagram of a cable assembly according to an embodiment of the present disclosure, where the cable assembly is used in a driving module to provide an electric power function for adjusting a bending angle of a lens tube;
FIG. 2 is a schematic view of a partial structure of a specific application embodiment of the cable assembly according to the present disclosure, specifically a three-dimensional schematic view of an internal structure of a driving module;
FIG. 3 is a schematic view of a partial structure of an embodiment of the cable assembly according to the present disclosure, and is a two-dimensional schematic view of an internal structure of the driving module;
Fig. 4 is a schematic partial structure of a first measurement module according to a specific application embodiment of the cable assembly according to the present disclosure, wherein an arrow indicates a movement direction in which the first lasso is pulled or a state change process of the second lasso, a state of the return spring shown by a dotted line is an original state thereof, and a state of the second lasso shown by a dotted line is a state after the state change thereof;
FIG. 5 is a schematic three-dimensional structure of a first measurement module according to one embodiment of the cable assembly of the present disclosure;
FIG. 6 is a cross-sectional view of one embodiment of a cable assembly of the present disclosure;
FIG. 7 is a schematic view of a cable assembly according to an embodiment of the present disclosure, showing the structure of an operating handle;
FIG. 8 is a cross-sectional view of a cable assembly embodying the structure of an operating handle in one specific application embodiment of the present disclosure;
fig. 9 is a schematic structural diagram showing a transmission relationship between a hand wheel and a driving wheel on an operating handle structure in a specific application embodiment of the cable assembly according to the present disclosure.
Reference numerals in the drawings are respectively: the device comprises a driving module, 101, a base, 102, a driving motor, 103, a pre-tightening module, 10301, a flexible tube, 10302, an adjusting nut, 10303, a sliding seat, 10304, an elastic supporting piece, 10305, an internally threaded hole, 10306, a module seat, 10307, a fixed seat, 104, a first measuring module, 10401, a displacement sensor, 10402, a pulley, 10403, a first lasso, 10404, a mounting seat, 10405, a second lasso, 105, a guide sleeve, 106, a guy cable, 107, a cable joint, 108, a tension sensor, 109, a sliding rail assembly, 110, a gear, 111, a toothed plate, 112, a limit switch, 2, a hose, 3, an operating handle, 301, a base plate, 302, a first guide frame, 303, a coupling module, 30301, a first hand wheel, 30302, a first force sensor, 30303, a first base plate, 30304, a second hand wheel, 30306, a second force sensor, 30307, a second base plate, 30308, a second base plate, 30309, a first magnetic ring, 30310, a first chain wheel, 30311, a second chain wheel, 30313, 30316, a magnetic ring, a second chain, 30317, a middle chain, a 13, a second chain, a 13, a middle chain, a 13, a roller, a 13, a chain, a 13, a middle chain, a 13, a roller.
Detailed Description
The present invention will be described in further detail with reference to the following examples, but the present invention is not limited to the following examples:
example 1:
as shown in fig. 1 to 9, a cable assembly applied to an endoscope comprises a cable 106, a flexible tube 10301 sleeved on the cable 106, and a pre-tightening module 103 for adjusting the shape of the flexible tube 10301, wherein the pre-tightening module 103 comprises a module seat 10306, an internal threaded hole 10305 is arranged on the module seat 10306, a sliding seat 10303 is slidingly matched in the internal threaded hole 10305, the sliding seat 10303 is elastically supported on the hole bottom of the internal threaded hole 10305 through an elastic supporting piece 10304, and the cable assembly further comprises an adjusting nut 10302 which is in threaded connection with the internal threaded hole 10305 and is positioned on the hole side of the sliding seat 10303, and the sliding seat 10303 is clamped between the adjusting nut 10302 and the elastic supporting piece 10304;
The adjusting nut 10302, the sliding seat 10303 and the elastic supporting piece 10304 are all provided with through holes, and the inhaul cable 106 passes through the internal threaded holes 10305 through the through holes;
One end of the flexible tube 10301 is fixedly connected with the sliding seat 10303, the flexible tube 10301 serves as an outer sleeve of the inhaul cable 106, and the inhaul cable 106 is in sliding fit with the flexible tube 10301.
When the technical scheme is applied, the inhaul cable 106 can be used for directly pulling the endoscope body to adjust the bending degree of the endoscope body tube, if the inhaul cable 106 is pulled by adopting an electric traction mechanism connected at one end of the inhaul cable 106, the other end of the inhaul cable 106 is fixed at the front end of the endoscope body tube, so that the endoscope body tube bending electric driving scheme based on the inhaul cable assembly is formed, and the inhaul cable can also be used as a component part of the driving module 1 in the endoscope electric power assisting structure, and the endoscope body tube bending power scheme comprising a hand wheel power unit and an electric power unit is obtained by acting on steel wires for pulling the bending of the endoscope body tube after being coupled with hand wheel force.
In the above two applications, the pre-tightening module 103 is used for adjusting the initial tension of the tensioned cable 106, and the specific principle is as follows: one end of the flexible tube 10301 is fixed on a fixed structure of the endoscope, and according to specific applications, the fixed structure comprises, but is not limited to, a lens tube, an operation handle 3, a shell part of the pre-tightening module 103 and the like, when the position of the sliding block on the axis of the internal thread hole 10305 is adjusted by rotating the adjusting nut 10302, the position of one end of the flexible tube 10301 changes along with the movement of the sliding seat 10303, at this time, the one end of the flexible tube 10301 moves, the position of the other end of the flexible tube 10301 is fixed, after the movement of the flexible tube 10301 occurs, the bending deformation or deformation degree of the flexible tube 10301 changes, at this time, the lateral force provided by the inner wall of the flexible tube 10301 for the stay cable 106 changes the form of the stay cable 106 in the flexible tube 10301, so as to achieve the purposes of tensioning the stay cable 106 or loosening the stay cable 106, on one hand, compared with the mode of directly pulling the end of the pull cable 106 to control the tensioning state of the pull cable 106, the tension adjustment precision of the pull cable 106 is higher, and the tension adjustment device can be used for realizing the tension accurate adjustment of the pull cable 106, on the other hand, when the drive motor 102 pulling the pull cable 106 is switched in forward and reverse directions, when the pull cable 106 is provided with a pulling force to pull the lens body tube or the coupling module 303, the force of the pull cable 106 acting on the flexible tube 10301 is transmitted to the sliding seat 10303, the sliding seat 10303 moves towards the hole bottom side of the internally threaded hole 10305 and further compresses the elastic support 10304, the compression amount of the elastic support 10304 is proportional to the pulling amount of the pull cable 106 and linearly increases in the pulling process, when the drive motor 102 reversely rotates to release the pull cable 106, the elastic support 10304 releases energy and pushes the sliding seat 10303 to move towards the side of the adjusting nut 10302, the process can reduce the friction resistance of the flexible pipe 10301 to the guy cable 106, thereby achieving the purposes of reducing the torque when the driving motor 102 rotates reversely, reducing the torque fluctuation in the working process of the driving motor 102, and guaranteeing the working stability and reliability of related structures on the endoscope.
Example 2:
This example was further refined on the basis of example 1:
The cable fixing device also comprises a fixing seat 10307, wherein one end of the cable 106 is fixed on the fixing seat 10307 through a ball joint;
The driving module 1 is used for pulling the inhaul cable 106, the driving module 1 comprises a driving motor 102, a gear 110 is connected to a rotor of the driving motor 102, a toothed plate 111 is meshed with the gear 110 in a tooth mode, a fixing base 10307 is in a bolt connection relation with the toothed plate 111 through a strip-shaped hole, and the length direction of the strip-shaped hole is met in such a way that when the fixing base 10307 slides along the strip-shaped hole, the position of the fixing base 10307 in the toothed plate 111 and the length direction are changed.
The technical scheme is that the end part of the stay rope 106 is directly pulled by the fixing seat 10307 to realize tension adjustment, and particularly, the end part of the stay rope 106 is fixed on the fixing seat 10307 through a ball joint to reduce torsion of the stay rope 106 in the using process, so that the purposes of optimizing stress of related structures and guaranteeing stability of components are achieved, when bolts matched in strip-shaped holes of the fixing seat 10307 are loosened, the stay rope 106 is further tensioned or released through sliding of the fixing seat 10307 along the strip-shaped holes, and after the tension is adjusted to be proper, the bolts are locked, so that coarse adjustment of the tension of the stay rope 106 is completed. Preferably, the strip-shaped hole is arranged on the extending structure at the end part of the rack, the length direction of the strip-shaped hole is parallel to the length direction of the rack, meanwhile, the rack, the extending structure and the module seat 10306 are sequentially arranged in the length direction of the rack, and the axis of the adjusting nut 10302 passes through the center line of the strip-shaped hole.
Example 3:
this example was further refined on the basis of example 2:
The gear 110 is provided with toothed plates 111 meshed with the gear 110 on each of a pair of opposite sides, the number of the inhaul cables 106 is two, each inhaul cable 106 is provided with a flexible pipe 10301 and a pre-tightening module 103, one end of one inhaul cable 106 is fixedly connected with one toothed plate 111, one end of the other inhaul cable 106 is fixedly connected with the other toothed plate 111, the gear further comprises rollers, each inhaul cable 106 is provided with independent cable grooves on the rollers, and the other end of each inhaul cable 106 is wound in the corresponding cable groove.
The technical scheme is suitable for the scheme of adopting electric power to realize bending of the endoscope body tube, and the force coupling mode of the electric power can be that the driving wheel is used for directly pulling the steel wire of the endoscope body tube, and the driving wheel and the roller are relatively fixed and coaxial. For the concrete connection mode of the two pull ropes 106 and the roller, the technical scheme aims to provide a simple structure, can avoid the sliding of the pull ropes 106, and simultaneously the pull ropes 106 can drive the roller to rotate by a larger angle, and particularly, the two pull ropes 106 form a group of pull ropes for bending in a specific direction of the mirror body, according to the movement form of the two pull ropes 111, when one pull rope 106 is further pulled out from a rope groove under the action of the pull plates 111, the pull ropes 106 drive the roller to rotate, the roller further winds in the rope groove of the roller under the action of the rotation and the other pull plates 111, and the driving wheel is driven to rotate in the process of the rotation of the roller, so that the purpose of pulling the mirror body tube steel wire in a specific mode is achieved, and the structural mode only needs to ensure that the pull ropes 106 have multiple rings in the rope groove or the end parts of the pull ropes 106 are fixed on the roller 106 in the rope groove, and the roller can not rotate by the rotation of the roller 106 in the specific direction, and the structure can be further fixed on the roller 106 in the middle of the roller, and the structure can be further rotated by the simple structure. Preferably, in order to ensure the motion precision of the toothed plate 111, the toothed plate 111 is connected with the base 101 through a sliding rail assembly 109, the sliding rail assembly 109 is used for guiding the motion of the toothed plate 111, further, limit switches 112 are arranged at each end of the toothed plate 111, the limit switches 112 are used as contact switches, when the limit switches 112 are in contact with the end parts of the toothed plate 111, a rotation stopping signal is provided for the driving motor 102, and the sliding rail assembly 109 comprises a strip-shaped rail fixed on the base 101 and a sliding block fixed on the toothed plate 111, and the sliding block is in sliding fit with the strip-shaped rail through a sliding groove.
Example 4:
This example was further refined on the basis of example 3:
the device also comprises a driving wheel which is coaxial with the roller and fixedly connected with the roller, and a hand wheel for driving the driving wheel to rotate.
The present solution provides a component part of a driving module 1 in an endoscope electric power assisting structure, the component part is used as a component part of the driving module 1 in the endoscope electric power assisting structure, the component part is used for pulling a steel wire for bending a lens tube after being coupled with moment force provided by a hand wheel, the bending power scheme of the lens tube including a hand wheel power unit and an electric power unit is obtained, the roller and a driving wheel are used for forming a coupling module 303 for realizing force coupling, specifically, the driving wheel is used for changing the bending angle of the endoscope lens body through any mode in the prior art, such as a tooth transmission mode, a chain transmission mode, a belt transmission mode and the like, when the endoscope electric power assisting structure is specifically used, the signal to the hand wheel can be used as a control signal for triggering the pulling cable 106 to pull the roller to rotate, so that the driving wheel is utilized for providing electric power assistance for the rotation of the driving wheel according to the intention of an operator.
Example 5:
this example was further refined on the basis of example 4:
the force sensor is arranged on a transmission chain between the hand wheel and the driving wheel and is used for detecting the magnitude and the direction of the moment provided by the hand wheel for the driving wheel.
In the scheme, when a user rotates the hand wheel according to control requirements, the operation action of the user on the hand wheel is obtained through the force sensor, specifically, the user can force the driving wheel to rotate by rotating the hand wheel according to the operation habit of an endoscope, at the moment, the force sensor obtains the magnitude and the direction of the moment provided by the hand wheel for the driving wheel, and then the power assisting mechanism comprising the inhaul cable 106 controls the driving motor 102 to rotate by obtaining the magnitude and the direction of the moment, so that the driving motor 102 drives the idler wheel to rotate through the inhaul cable 106.
Example 6:
This example was further refined on the basis of example 5:
Still include jackshaft 30317, the outside of jackshaft 30317 is provided with the rotation cover that can rotate around jackshaft 30317, and gyro wheel and drive wheel all coaxial arrangement are sheathe in rotating, the outside of rotating the cover be provided with the bottom plate of rotation cover clearance fit, be fixed with the dog 30319 that is just to the relation on the bottom plate, force sensor includes lug and measuring element, the lug is fixed in on the side of rotating the cover and is arranged in the clearance between dog 30319, all is provided with measuring element in the clearance between lug and arbitrary dog 30319, measuring element is used for measuring the size of positive pressure between lug and the dog 30319, and the hand wheel is fixed in on the bottom plate.
In the specific application, the hand wheel drives the driving wheel to rotate through the rotating sleeve, specifically, when the hand wheel is rotated, the hand wheel drives the bottom plate to rotate around the rotating sleeve, at the moment, the stop 30319 acts on the convex block to drive the rotating sleeve to rotate, the stop 30319 provides thrust for a specific side face of the convex block according to the rotating direction of the hand wheel, the force sensor obtains the rotating direction and specific thrust magnitude of the hand wheel according to the thrust measurement results of measuring elements on different sides of the convex block, and the magnitude of moment provided for the driving wheel can be obtained according to the thrust. As for the roller and the driving wheel on the intermediate shaft 30317, it may be provided that the operating handle 3 has a mounting cavity surrounded by the upper housing 30311 and the lower housing 30316, in which the coupling module 303 including the roller and the driving wheel is mounted, the intermediate shaft 30317, the roller and the driving wheel being coaxial, and the cable 106 of the driving module 1 is introduced into the mounting cavity from the side of the roller and wound in the cable groove of the roller. More specifically, if the driving wheel is a sprocket, one sprocket is a first sprocket 30312 for controlling left and right bending of the mirror body, the other sprocket is a second sprocket 30313 for controlling up and down bending of the mirror body, the rollers are configured to include a first roller 30310 and a second roller 30314, the first roller 30310 and the second roller 30314 are respectively fixed with the first sprocket 30312 and the second sprocket 30313, and a chain 30318 for pulling a steel wire for bending the mirror body tube is engaged with each sprocket.
Example 7:
This example was further refined on the basis of example 1:
And also includes a locking structure for locking the adjusting nut 10302 in the internal threaded hole 10305.
The scheme is particularly applied to solving the problems that in the process of further pulling the inhaul cable 106, when the sliding seat 10303 is separated from contact with the adjusting nut 10302, the friction force between threads becomes small, the adjusting nut 10302 is easy to swing and vibrate to rotate, the structural reliability and performance stability of the pre-tightening module 103 are affected, the anti-loosening structure is used for realizing anti-loosening of the adjusting nut 10302 in the internal threaded hole 10305, and the anti-loosening structure can be an anti-loosening pin, an anti-loosening nut, a thread adhesive, an elastic pad which generates compression deformation in the axial direction of the adjusting nut 10302 and the like in consideration of the position adjustment requirement of the sliding seat 10303.
Example 8:
This example was further refined on the basis of example 1:
In a specific application, whether the pull cable 106 directly pulls the lens body tube or the pull cable 106 is used as the power assisting unit of the coupling module 303, a preferred implementation manner is that the power assisting unit comprises a plurality of pull cables 106, each pull cable 106 only has actions of being primarily tensioned, being further pulled and being released, the pull cables 106 are all provided with flexible tubes 10301, the flexible tubes 10301 are used for tensioning degree adjustment of single pull cables 106, under the condition of considering the structural size of an endoscope and the size of the flexible tubes 10301, the diameter of the inner holes of the flexible tubes 10301 is slightly larger than the outer diameter of the pull cables 106 from necessity, and in order to avoid influencing tensioning degree adjustment precision of the pull cables 106 due to local occurrence of wrinkles in the further bending process of the flexible tubes 10301, the flexible tubes 10301 are preferably spring tubes in a spiral spring shape, and in the specific application, the pull cables 106 pass through the central holes of the spring tubes.
Example 9:
The embodiment provides an endoscope based on embodiment 1, including mirror body pipe, the tractive steel wire of setting in the mirror body pipe, be used for pulling the electric drive mechanism of tractive steel wire, still include embodiment 1 the cable subassembly, cable 106 is as tractive steel wire, the one end of cable 106 and the head end fixed connection of mirror body pipe, the other end of cable 106 with electric drive mechanism fixed connection.
The above scheme is a specific application of the cable assembly, specifically, the cable assembly is applied to an endoscope, the cable 106 is used as a pulling steel wire for pulling the bending of the lens tube, and an endoscope is provided, the endoscope adopts the cable assembly as a bending driving scheme of the lens tube, specifically, the cable 106 is used as a component part of a transmission chain between an electric driving mechanism and the tube head end of the lens tube, specifically, the electric driving mechanism and the pretensioning module 103 are both arranged in the operating handle 3, the flexible tube 10301 is arranged for the cable 106 positioned in the operating handle 3, one end of the flexible tube 10301 is fixed at the tail end of the lens tube (one end connected with the operating handle 3) and the other end is fixed on the sliding seat 10303, the control mode of the electric driving mechanism can be button driving, or hand wheel driving is not limited to be through a hand wheel, and the bending degree of the lens tube is changed in a force coupling mode with the electric driving mechanism.
Example 10:
The embodiment provides an endoscope based on embodiment 1, which comprises a lens body tube, a traction steel wire arranged in the lens body tube, and a driving mechanism for traction of the traction steel wire, wherein the driving mechanism comprises a hand wheel driving mechanism and an electric power assisting driving mechanism, and further comprises a coupling module 303 for realizing force coupling of the hand wheel driving mechanism and the electric power assisting driving mechanism, and further comprises a guy cable assembly as described above, wherein the guy cable 106 is used as a component part of a transmission chain between the electric power assisting driving mechanism and the coupling module 303, and the guy cable 106 transmits torque output by the electric power assisting driving mechanism to the coupling module 303 through tension.
The above scheme is a specific application of the cable assembly, specifically, the cable assembly is applied to an endoscope, the cable 106 is used as a traction steel wire on a transmission chain between an electric power driving mechanism and the coupling module 303, and an endoscope is provided, the endoscope adopts the coupling module 303 as a bending driving scheme of a endoscope body tube, specifically, the cable 106 is used as a component part of the transmission chain between the electric power driving mechanism and the coupling module 303, and the other transmission chain is a hand wheel driving mechanism, and acts on the front end of the endoscope body tube in a force coupling manner through two transmission chains.
Example 11:
In this embodiment, based on embodiment 10, in order to reduce the weight and the volume of the endoscope operating handle 3 and reduce the influence of the electric power driving mechanism on the volume and the weight of the operating handle 3, the electric power driving mechanism is provided with an operating handle 3 on which a hand wheel and a mirror tube steel wire pulling mechanism are arranged, the mirror tube steel wire pulling mechanism comprises an intermediate shaft 30317 and a driving wheel installed on the intermediate shaft 30317, the hand wheel is used for driving the driving wheel to rotate, the driving wheel pulls the mirror tube steel wire through rotation, a force sensor is arranged on a transmission chain between the hand wheel and the driving wheel, and the force sensor is used for detecting the magnitude and the direction of a moment provided by the hand wheel for the driving wheel;
the electric power-assisted driving mechanism comprises a driving module 1 on which a driving motor 102 is arranged, the driving module 1 is arranged outside an operation handle 3 and is connected with the operation handle 3 through a hose 2, the driving motor 102 is in transmission connection with the roller through a guy cable 106 which is a steel wire rope, and the hose 2 serves as an outer sleeve of the guy cable 106;
Also included is a first measurement module 104 for detecting the degree of bending of the hose 2;
the device also comprises a second measuring module for detecting the rotation angle of the driving wheel.
When the traction mirror body tube steel wire is required to be rotationally pulled through the driving wheel, a user forces the driving wheel to rotate through rotating the hand wheel according to the normal operation habit of using the endoscope, at the moment, the force sensor is used for obtaining the magnitude and the direction of the moment provided by the hand wheel for the driving wheel, then the electric power assisting driving mechanism is used for controlling the driving motor 102 to rotate through obtaining the magnitude and the direction of the moment, so that the driving motor 102 drives the roller to rotate through the inhaul cable 106, and at the moment, the hand wheel and the electric power assisting driving mechanism simultaneously provide driving force for the driving wheel, namely force coupling is realized, manual work and the driving motor 102 jointly act on the driving wheel, and the electric power assisting function when the bending angle of the endoscope body is operated is realized.
The driving module 1 which is arranged integrally with the operating handle 3 is arranged to be external relative to the operating handle 3, on one hand, for operators, the weight of the driving module 1 can not be directly loaded on the operating handle 3 by the flexible connection mode, and as the hand feeling weight of the operating handle 3 is lightened, the requirements on hand strength and endurance of the users when the users hold the operating handle can be effectively reduced, the flexibility and fatigue resistance of implementing endoscope operation by the users are favorable, and the coupling module 303 does not use a planetary gear 110 mechanism with a larger volume than that of the rollers, so that the scheme is favorable for controlling the volume design of the operating handle 3, thereby achieving the purpose of holding the operating handle 3 by the users conveniently.
The present solution is further configured to include a first measurement module 104 and a second measurement module, which aims to achieve the following objectives: in order to reduce the disturbance of the drive module 1 by pulling the operating handle 3 through the pull rope 106 and the hose 2, and preferably the hose 2 and the pull rope 106 are both softer, under the concept that, as the hose 2 is used as the outer sleeve of the pull rope 106, for example, the position of the drive module 1 in space is fixed, when the operating handle 3 is moved, the hose 2 may have different bending degrees, and at different bending degrees of the hose 2, the hose 2 has different pulling resistance to the pulled pull rope 106, and for the moment of pulling the roller by the pull rope 106, the resistance will cause the drive motor 102 to have different output moment losses, when the bending degree of the lower hose 2 is obtained in real time through the first measuring module 104, the obtaining result of the first measuring module 104 can be based on the obtaining result of the lower hose 2, in order to perform feedback compensation on the torque output by the driving motor 102 working in the state of the lower hose 2, for example, when the bending angle of the lower hose 2 is increased, the friction force of the hose 2 to the pull rope 106 is increased, and at this time, according to the obtained result, the torque of the pull rope 106 pulled by the driving motor 102 is increased so that the torque acting on the roller by the pull rope 106 is stable, whereas when the bending angle of the hose 2 is reduced, the torque of the pull rope 106 pulled by the driving motor 102 is reduced, and for mirror angle adjustment, the operation part structure can perform equal proportion compensation on the torque required by the rotation of the driving wheel in a hand wheel constant torque mode (the torque required by the rotation speed is maintained unchanged under any mirror angle) or in a hand wheel equal proportion torque mode (the torque required by the rotation of the driving wheel by the electric boosting driving mechanism), the moment finally acted on the roller by the driving motor 102 is more stable, and the hand wheel operation feeling and the hand wheel control precision are optimized, so that the purpose of improving the mirror body bending angle control precision is achieved.
The second measuring module is used for carrying out feedback control on the moment output by the driving motor 102, and carrying out feedback compensation on the moment output by the driving motor 102 working in the current mirror state, for example, after the bending angle of the mirror body is increased, the friction force of the mirror body to the steel wire is increased, and at the moment of the driving motor 102 pulling the cable 106 is increased according to the acquisition result of the second measuring module, so that the moment acting on the roller wheel by the cable 106 is increased, under the condition that the tension force acting on the steel wire by the driving wheel is used for counteracting the consumption of the mirror body bending to the mirror body head end due to the steel wire pulling, otherwise, when the mirror body bending angle is small, the moment of the driving motor 102 pulling the cable 106 is also reduced, for example, when the bending angle of the mirror body is increased, the friction force of the cable 106 is increased, and the moment is increased according to the acquisition result of the second measuring module, so that the moment of the cable 106 is pulled by the driving motor is increased, so that the moment of the cable 106 is increased, and the moment is prevented from affecting the end of the mirror body pulling the steel wire pulling the mirror body due to the steel wire pulling the mirror head end due to the fact that the moment is reduced, and the precision of the mirror body pulling the mirror head end is constant, and the precision is improved.
Example 12:
In this embodiment, based on embodiment 11, in more detail, the driving module 1 includes a housing, a base 101 is fixed on the housing, a driving motor 102 and a first measuring module 104 are both installed on the base 101, a guide sleeve 105 for docking with the hose 2 is provided on the base 101, a guy cable 106 extends to the hose 2 through the guide sleeve 105, and a second measuring module is built in the operating handle 3; the first measurement module 104 comprises a mounting seat 10404 fixed on the driving module 1, a displacement sensor 10401 and a pulley 10402 are fixed on the mounting seat 10404, the first measurement module further comprises a lasso, the displacement sensor 10401 comprises a sliding block supported on the driving module 1 through a return spring, one end of the lasso is fixed on the operating handle 3, the other end of the lasso bypasses the pulley 10402 and is fixedly connected with the sliding block, the hose 2 is used as an outer sleeve of the lasso, and the displacement sensor 10401 is used for measuring the position of the sliding block on a sliding track; the lasso comprises a second lasso 10405 and a first lasso 10403, the second lasso 10405 is connected in series with the first lasso 10403, the deformation resistance of the second lasso 10405 is larger than that of the first lasso 10403, so that the lasso embedded in the hose 2 is the second lasso 10405, the lasso bypassing the pulley 10402 is the first lasso 10403, thus ensuring the sensitivity of the end position of the second lasso 10405 affected by the bending degree of the hose 2 by using the relatively larger deformation resistance of the second lasso 10405, reducing the influence of the lasso on the bending of the hose 2 by using the better flexibility of the first lasso 10403, the displacement sensor 10401 is fixed on the base 101 of the driving module 1 by a mounting seat 10404, one end of the first lasso 10403 is fixedly connected with a slide block on a slide rod, one end of the second lasso 10405 is fixedly connected with one end of the second lasso 10405 after bypassing the pulley 10402, a flexible sleeve is sleeved outside the second lasso 10405, and extends through the pipe hole of the hose 2, the other end of the second lasso 10405 is fixed on the shell of the operating handle 3, the first lasso 10403 and the second lasso 10405 are both installed in a tensioning state, the hand wheel comprises a first hand wheel 30301 and a second hand wheel 30305, the force sensor comprises a first force sensor 30302 and a second force sensor 30306, the bottom plate comprises a first bottom plate 30303 and a second bottom plate 30307, the baffle comprises a first baffle 30304 and a second baffle 30308, the first hand wheel 30301, the first bottom plate 30302 and the first baffle 30304 form a transmission chain of one hand wheel and one group of steel wires, the second hand wheel 30305, the second force sensor 30306, the second bottom plate 30307 and the second baffle 30308 form a transmission chain of the other hand wheel and the other group of steel wires, and each transmission chain is provided with an independent rotating sleeve.
Example 13:
The embodiment is based on embodiment 11, and the second measurement module is a magnetic ring encoder fixed on a driving wheel or a roller, more specifically, the magnetic ring encoder includes a magnetic ring portion and a sensor portion, the magnetic ring is coaxially fixed on the driving wheel or the roller, the sensor portion is fixed on the operating handle 3, and the sensor portion monitors a corresponding rotation angle by measuring a change of a magnetic field.
Example 14:
The embodiment provides an output instruction of the driving motor 102 and a control feedback scheme for the driving motor 102 as a result of detecting the magnitude of the pulling force on the pulling cable 106 based on embodiment 11, and further includes a pulling force sensor 108 for measuring the pulling force provided by the driving motor 102 for the pulling cable 106. In a specific implementation, in order to optimize the weight and volume of the operating handle 3, the tension sensor 108 is arranged on the driving module 1, and further, in order to simplify the connection structure formed by the guy cable 106 and the rack, the tension sensor 108 is used as an intermediate connection piece between the extension structure and the rack, that is, the extension structure is used as a part independent from the rack, and is used as a cable joint 107 at the end of the guy cable 106.
Example 15:
In this embodiment, based on embodiment 11, regarding the structural design of the operation handle 3, the operation handle 3 is provided with a base plate 301, a first guide frame 302 for restricting the position of the steel wire for pulling the lens on the operation handle 3 is provided on the base plate 301, and a second guide frame 304 for restricting the position of the cable 106 on the operation handle 3 is provided on the base plate 301.
The foregoing is a further detailed description of the invention in connection with specific preferred embodiments, and it is not intended that the invention be limited to these descriptions. Other embodiments of the invention, which are apparent to those skilled in the art to which the invention pertains without departing from its technical scope, shall be covered by the protection scope of the invention.
Claims (10)
1. The cable assembly applied to the endoscope comprises a cable (106) and a flexible pipe (10301) sleeved on the cable (106), and further comprises a pre-tightening module (103) for adjusting the shape of the flexible pipe (10301), and is characterized in that the pre-tightening module (103) comprises a module seat (10306), an inner threaded hole (10305) is formed in the module seat (10306), a sliding seat (10303) is slidably matched in the inner threaded hole (10305), the sliding seat (10303) is elastically supported on the hole bottom of the inner threaded hole (10305) through an elastic supporting piece (10304), and the cable assembly further comprises an adjusting nut (10302) which is connected in the inner threaded hole (10305) in a threaded mode and is located on the hole side of the sliding seat (10303), and the sliding seat (10303) is clamped between the adjusting nut (10302) and the elastic supporting piece (04);
the adjusting nut (10302), the sliding seat (10303) and the elastic supporting piece (10304) are all provided with through holes, and the inhaul cable (106) passes through the internal threaded holes (10305) through the through holes;
one end of the flexible pipe (10301) is fixedly connected with the sliding seat (10303), the flexible pipe (10301) is used as an outer sleeve of a guy cable (106), and the guy cable (106) is in sliding fit in the flexible pipe (10301);
The other end of the flexible tube (10301) is fixed on a fixed structure of the endoscope, and the fixed structure comprises a lens body tube, an operating handle (3) and a shell part of the pre-tightening module (103).
2. The stay cable assembly for an endoscope according to claim 1, further comprising a fixing base (10307), wherein one end of the stay cable (106) is fixed to the fixing base (10307) through a ball joint;
The novel traction device is characterized by further comprising a driving module (1) used for pulling the stay rope (106), the driving module (1) comprises a driving motor (102), a gear (110) is connected to a rotor of the driving motor (102), a toothed plate (111) is meshed with teeth on the gear (110), a fixing seat (10307) is in a bolt connection relationship with the toothed plate (111) through a strip-shaped hole, and the length direction of the strip-shaped hole is satisfied in such a way that when the fixing seat (10307) slides along the strip-shaped hole, the position of the fixing seat (10307) on the toothed plate (111) and the length direction is changed.
3. The cable assembly for an endoscope according to claim 2, wherein toothed plates (111) meshed with teeth of the gear (110) are provided on each of a pair of opposite sides of the gear (110), the number of the cables (106) is two, each cable (106) is configured with a flexible tube (10301) and a pre-tightening module (103), one end of one cable (106) is fixedly connected with one of the toothed plates (111), one end of the other cable (106) is fixedly connected with the other toothed plate (111), the cable assembly further comprises rollers, each cable (106) is configured with independent cable grooves on the rollers, and the other end of each cable (106) is wound in the corresponding cable groove.
4. A cable assembly for an endoscope according to claim 3 and also comprising a drive wheel coaxial with said roller and fixedly connected thereto, and further comprising a hand wheel for driving said drive wheel in rotation.
5. The cable assembly for an endoscope of claim 4, wherein a force sensor is provided on a transmission chain between the hand wheel and the driving wheel, the force sensor being adapted to detect the magnitude and direction of a torque provided by the hand wheel to the driving wheel.
6. The cable assembly for an endoscope according to claim 5, further comprising an intermediate shaft (30317), wherein a rotating sleeve rotatable around the intermediate shaft (30317) is provided on the outer side of the intermediate shaft (30317), the rollers and the driving wheel are coaxially mounted on the rotating sleeve, a bottom plate in clearance fit with the rotating sleeve is provided on the outer side of the rotating sleeve, a stopper (30319) in positive relation is fixed on the bottom plate, the force sensor comprises a bump and a measuring element, the bump is fixed on the side surface of the rotating sleeve and is located in a gap between the stoppers (30319), the measuring element is arranged in a gap between the bump and any stopper (30319), and the measuring element is used for measuring the positive pressure between the bump and the stopper (30319), and the hand wheel is fixed on the bottom plate.
7. A cable assembly for an endoscope according to claim 1, and also comprising a locking structure for locking the adjusting nut (10302) in the internally threaded hole (10305).
8. A cable assembly for an endoscope according to claim 1 and wherein said flexible tube (10301) is a coil spring-like spring tube.
9. The endoscope comprises a scope body tube, a traction steel wire arranged in the scope body tube, and an electric driving mechanism for traction of the traction steel wire, and is characterized by further comprising the guy cable assembly according to claim 1, wherein the guy cable (106) is used as the traction steel wire, one end of the guy cable (106) is fixedly connected with the head end of the scope body tube, and the other end of the guy cable (106) is fixedly connected with the electric driving mechanism.
10. The endoscope comprises a endoscope body tube, a traction steel wire arranged in the endoscope body tube, and a driving mechanism for pulling the traction steel wire, wherein the driving mechanism comprises a hand wheel driving mechanism and an electric power assisting driving mechanism, and further comprises a coupling module (303) for realizing force coupling of the hand wheel driving mechanism and the electric power assisting driving mechanism, and the endoscope is characterized by further comprising the guy cable assembly according to claim 1, wherein the guy cable (106) is used as a component part of a transmission chain between the electric power assisting driving mechanism and the coupling module (303), and the guy cable (106) transmits torque output by the electric power assisting driving mechanism to the coupling module (303) through tension.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CA2239315A1 (en) * | 1997-05-30 | 1998-11-30 | Pgi International, Ltd. | Method and apparatus for flow control of nh3 |
| CN103006171A (en) * | 2012-12-13 | 2013-04-03 | 深圳市开立科技有限公司 | Light source device and endoscope device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05293076A (en) * | 1992-04-20 | 1993-11-09 | Olympus Optical Co Ltd | Motor-driven endoscope apparatus |
| JPH06105800A (en) * | 1992-09-28 | 1994-04-19 | Olympus Optical Co Ltd | Endoscope device |
| JP2002264048A (en) * | 2001-03-08 | 2002-09-18 | Hitachi Ltd | Positioning control device for towed mechanism |
| JP5840033B2 (en) * | 2012-03-02 | 2016-01-06 | オリンパス株式会社 | Endoscope |
| JP6157258B2 (en) * | 2013-07-26 | 2017-07-05 | オリンパス株式会社 | Manipulator and manipulator system |
| KR102160753B1 (en) * | 2013-09-13 | 2020-09-28 | 삼성전자주식회사 | Endoscope device |
| CN114027769A (en) * | 2021-10-21 | 2022-02-11 | 浙大宁波理工学院 | Flexible control endoscope operation assistance system and control method |
| WO2024159055A2 (en) * | 2023-01-25 | 2024-08-02 | Apreo Health, Inc. | Methods and systems for treating pulmonary disease |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2239315A1 (en) * | 1997-05-30 | 1998-11-30 | Pgi International, Ltd. | Method and apparatus for flow control of nh3 |
| CN103006171A (en) * | 2012-12-13 | 2013-04-03 | 深圳市开立科技有限公司 | Light source device and endoscope device |
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