CN110169749B - Endoscope bending part automatically regulated structure - Google Patents

Abstract

The invention discloses an automatic adjusting structure of an endoscope bending part, which comprises an operating part, an inserting part and a bending part which are sequentially connected, wherein a control hand wheel is arranged on the operating part, an angle sensor is arranged at the connecting position of the inserting part and the bending part, a first steel wire and a second steel wire are arranged in the inserting part and the bending part, the control hand wheel is respectively connected with the first steel wire and the second steel wire through a transmission mechanism, and an tightness adjusting mechanism is respectively arranged at the position of the transmission mechanism corresponding to the first steel wire and the second steel wire; the device also comprises a detection control part which is respectively and electrically connected with the angle sensor and the tightness adjusting mechanism. According to the technical scheme, the tightness of the steel wire can be automatically adjusted without detaching the mirror body, so that the control precision of the bending part is improved, the operation of doctors is facilitated, the efficiency is improved, and meanwhile, the discomfort of patients is relieved.

Description

Automatic adjustment structure of bending part of endoscope

Technical Field

The invention relates to the technical field of endoscopes, and in particular to an automatic adjustment structure of a bending portion of an endoscope.

Background technique

As shown in FIG1 , for an endoscope widely used in the medical field, the endoscope body generally consists of a light guide portion 10, a universal cable portion 20, an operating portion 30, an insertion portion 40, a bending portion 50, and a head portion 60. The bending portion 50 is generally controlled by four steel wires through two hand wheels of the operating portion 30 to respectively control the movement in the four directions of up, down, left, and right. One hand wheel controls the up and down bending movement, and the other hand wheel controls the left and right bending movement. The control principle and action process of the bending portion 50 bending in the four directions of up, down, left, and right are the same. After the endoscope has been used for a period of time, the steel wires may become loose due to wear and aging.

As shown in FIG2 , taking the up and down bending of the bending portion as an example, the bending portion 50 can move up and down under the action of the first steel wire 302 and the second steel wire 303. As shown in the figure, the first steel wire 302 is tightened, the second steel wire 303 is relaxed, and the bending portion 50 bends upward. However, after the scope has been used for a period of time, the steel wire will be looser than the initial state due to various reasons. When the first steel wire 302 is relaxed and subjected to tension, the upward bending angle of the bending portion 50 will be smaller than the expected value, which will cause the observation range of the scope in the body cavity to become smaller, affecting the diagnosis. After the problem is found, the solution of the prior art is to manually adjust the tightness of the steel wire. Before adjustment, the scope needs to be disassembled first, and then the tightness of the steel wire needs to be manually adjusted. The steps are cumbersome, time-consuming, labor-intensive, and inconvenient to operate.

Summary of the invention

In view of the current technical problems, the purpose of the present invention is to provide an automatic adjustment structure for the bending part of an endoscope that can automatically adjust the tightness of the wire, thereby enhancing the controllability and reliability of the entire endoscope body.

In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

An automatic adjustment structure for the bending portion of an endoscope comprises an operating portion, an insertion portion and a bending portion connected in sequence, the operating portion is provided with a control hand wheel, an angle sensor is provided at the position where the insertion portion and the bending portion are connected, a tension adjustment mechanism and a detection control portion are provided in the operating portion, the tension adjustment mechanism is connected to the control hand wheel, and the detection control portion is electrically connected to the angle sensor and the tension adjustment mechanism, respectively.

By adopting the above technical solution, the limit values of the angle bending of the bending part in the four directions are stored in the detection control part. Under normal circumstances, the bending direction of the bending part is controlled by controlling the rotation of the hand wheel. When the control hand wheel is rotated to the limit position, the angle sensor will detect the bending value and feed it back to the detection control part after the bending part bends. When the bending value is less than the saved limit value, the detection control part is triggered to act, and the tension adjustment mechanism is used to adjust it to achieve precise control of the bending angle.

Preferably, a first steel wire and a second steel wire are arranged in the insertion portion and the bending portion, the control hand wheel is respectively connected to the first steel wire and the second steel wire through a transmission mechanism, and the tension adjustment mechanism is respectively arranged at positions corresponding to the first steel wire and the second steel wire on the transmission mechanism.

Preferably, the transmission mechanism comprises a driving roller, a first driven roller and a second driven roller rotatably connected to the control hand wheel, the center distance between the first driven roller and the driving roller is the sum of the radii of the driving roller and the first driven roller, the center distance between the second driven roller and the driving roller is the sum of the radii of the driving roller and the second driven roller, the first driven roller is movably sleeved on a first rotating shaft, the first rotating shaft is driven by a first voice coil motor, the end of the first steel wire is connected to the first rotating shaft, and the tension adjustment mechanism is arranged between the first driven roller and the first rotating shaft;

The second driven roller is movably sleeved on a second rotating shaft, the second rotating shaft is driven by a second voice coil motor, the end of the second steel wire is connected to the second rotating shaft, and the tension adjustment mechanism is arranged between the second driven roller and the second rotating shaft.

With such a configuration, when in action, the control hand wheel rotates to drive the active roller to rotate, and the active roller drives the first driven roller and the second driven roller to rotate in opposite directions by relying on the friction between the active roller and the first driven roller and the second driven roller, and at the same time drives the first rotating shaft and the second rotating shaft to rotate in the corresponding direction, thereby driving the steel wire at the corresponding position to tighten or loosen, so as to control the bending of the bending part. When the bending value is detected to be less than the saved value, the detection control unit sends a signal to the corresponding voice coil motor, and the tension adjustment mechanism is actuated to drive the voice coil motor to drive the corresponding rotating shaft to rotate relative to the corresponding driven roller, thereby tightening the corresponding steel wire.

Preferably, the transmission mechanism comprises a driving gear rotatably connected to the control hand wheel, a first driven gear and a second driven gear respectively meshing with the driving gear, the first driven gear being movably sleeved on a first rotating shaft, the first rotating shaft being driven by a first voice coil motor, the end of the first steel wire being connected to the first rotating shaft, and the tension adjustment mechanism being arranged between the first driven gear and the first rotating shaft;

The second driven gear is movably sleeved on the second rotating shaft, the second rotating shaft is driven by the second voice coil motor, the end of the second steel wire is connected to the second rotating shaft, and the tension adjustment mechanism is arranged between the second driven gear and the second rotating shaft.

With such a configuration, when in action, the control hand wheel rotates to drive the driving gear to rotate, and the driving gear drives the first driven gear and the second driven gear to rotate in opposite directions, and at the same time drives the first rotating shaft and the second rotating shaft to rotate in the corresponding direction, thereby driving the steel wire at the corresponding position to tighten or loosen, so as to control the bending of the bending part. When the bending value is detected to be less than the saved value, the detection control unit sends a signal to the corresponding voice coil motor, and the tension adjustment mechanism is driven to drive the voice coil motor to drive the corresponding rotating shaft to rotate relative to the corresponding driven gear, thereby tightening the corresponding steel wire.

Preferably, a center line connecting the first driven roller and the second driven roller passes through a center line of the driving roller, or a center line connecting the first driven gear and the second driven gear passes through a center line of the driving gear.

Preferably, the tension adjustment mechanism includes an electromagnet which is fixed in an annular shape on the center hole of the first driven roller or the first driven gear, and the electromagnet is electrically connected to the detection control unit. At least two friction plates are distributed along the circumference of the outer periphery of the first rotating shaft, and a gap is left between two adjacent friction plates. A limit block extending along the radial direction is also provided on the first driven roller or the first driven gear, and an end of the limit block extends into the gap between two adjacent friction plates, and a gap is left between the end of the limit block and the outer periphery of the first rotating shaft.

With such arrangement, taking the adjustment of the first steel wire as an example, under normal circumstances, the friction plate moves away from the electromagnet and rotates together with the first rotating shaft, and the end of the limit block extends into the gap between two adjacent friction plates to ensure that the friction plate is relatively stationary with the first rotating shaft when rotating with the first driven roller or the first driven gear, that is, the first rotating shaft and the first driven gear or the first driven roller rotate together. When the bending portion bends upward and the detection control unit detects that the bending value is less than the previously saved value, the detection control unit energizes the electromagnet, and the friction plate approaches the electromagnet due to the action of the electromagnetic force, and the friction plate is separated from the first rotating shaft. Then the detection control unit sends a signal to the first voice coil motor, and the first voice coil motor drives the first rotating shaft to rotate. Since there is a gap between the end of the limit block and the outer periphery of the first rotating shaft, the first rotating shaft rotates at this time, the first driven roller or the first driven gear does not rotate, and a relative motion is generated between the first driven roller or the first driven gear and the first rotating shaft, thereby adjusting the initial position of the first steel wire to achieve the adjustment of the angle of the upward bending of the bending portion.

Preferably, a plurality of springs are further included, one end of each of the springs is connected to the first driven roller or the first driven gear, and the other end is connected to the friction plate at the corresponding position.

With this arrangement, the friction plate is pressed against the outer periphery of the first rotating shaft by the elastic force of the spring, thereby ensuring the positioning among the limit block, the friction plate and the first rotating shaft, and further ensuring the synchronous rotational movement between the first driven roller or the first driven gear and the first rotating shaft.

Preferably, the number of the springs is twice the number of the friction plates, and each of the springs is arranged at a position close to the end of the friction plate.

Preferably, a memory alloy and a heating element are further provided in the insertion portion, and the heating element is electrically connected to a power source.

After the insertion part of the scope in the prior art is inserted into the inner cavity, it bends naturally under the action of the cavity wall. The scope enters along the inner cavity wall under the action of the inward thrust. Because the contact area between the inner cavity and the scope is large, the friction is very large. Therefore, this solution adds a memory alloy to the middle section of the insertion part. The shape of the middle section of the insertion part can be controlled by controlling the hardness and shape of the memory alloy. When the heating element is powered on, the memory alloy hardens due to heat, and the hardness is maintained. When the heating element is powered off, the memory alloy softens and regains its flexibility. It is convenient for doctors to operate and also reduces the discomfort of patients.

Compared with the prior art, the beneficial effects of the present invention are as follows: the technical solution of the present invention realizes automatic adjustment of the tightness of the wire without disassembling the mirror body, thereby improving the control accuracy of the bending part, facilitating the doctor's operation, improving efficiency and reducing the patient's discomfort.

Description of the drawings:

FIG1 is a schematic structural diagram of the prior art;

FIG2 is a schematic diagram of the structure of the prior art in an upward bending state;

FIG3 is a schematic structural diagram of the present invention;

FIG4 is a schematic structural diagram of a first embodiment of a transmission mechanism of the present invention;

FIG5 is a schematic structural diagram of a second embodiment of a transmission mechanism of the present invention;

FIG6 is a schematic structural diagram of the tension adjustment mechanism of the present invention when no power is supplied;

FIG7 is a schematic structural diagram of the tension adjustment mechanism of the present invention after power is supplied;

FIG8 is a schematic diagram of the structure of the insertion portion in the body;

FIG9 is a logic block diagram of the present invention.

Detailed ways

The present invention is further described in detail below in conjunction with test examples and specific implementation methods. However, this should not be understood as the scope of the above subject matter of the present invention being limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

In the description of the present invention, it is necessary to understand that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

As shown in Figures 3 to 9, an automatic adjustment structure of the bending portion of an endoscope comprises an operating portion 30, an insertion portion 40 and a bending portion 50 connected in sequence, wherein the operating portion 30, the insertion portion 40 and the bending portion 50 are all existing structures, a control hand wheel 300 is arranged on the operating portion 30, an angle sensor 6 is arranged at the position where the insertion portion 40 and the bending portion 50 are connected, a first steel wire 302 and a second steel wire 303 are arranged in the insertion portion 40 and the bending portion 50, the control hand wheel 300 is respectively connected to the first steel wire 302 and the second steel wire 303 through a transmission mechanism, and a tension adjustment mechanism is respectively arranged at the position corresponding to the first steel wire 302 and the second steel wire 303 on the transmission mechanism, and a detection control unit 7 is also arranged in the operating portion 30, and the detection control unit 7 is respectively electrically connected to the angle sensor 6 and the tension adjustment mechanism. The logic judgment process of the detection control unit 7 is shown in Figure 9. In this specific embodiment, the first steel wire 302 and the second steel wire 303 control the bending of the bending portion 50 in the upward and downward directions, and also include a second hand wheel. The second hand wheel is connected to the third steel wire and the fourth steel wire through the above-mentioned transmission mechanism. The third steel wire and the fourth steel wire control the bending of the bending portion 50 in the left and right directions. The third steel wire and the fourth steel wire are also respectively connected to the tension adjustment mechanism. The adjustment control principle of the third steel wire and the fourth steel wire is the same as that of the first steel wire and the second steel wire. The present invention is specifically described by taking the adjustment of the first steel wire 302 and the second steel wire 303 as an example.

4 , the transmission mechanism includes a driving roller 1, a first driven roller 2 and a second driven roller 4 which are rotatably connected to a control hand wheel 300. The center distance between the first driven roller 2 and the driving roller 1 is the sum of the radii of the driving roller 1 and the first driven roller 2. The center distance between the second driven roller 4 and the driving roller 1 is the sum of the radii of the driving roller 1 and the second driven roller 4. The first driven roller 2 is movably sleeved on a first rotating shaft 3, which is driven by a first voice coil motor (not shown in the figure). The end of the first steel wire 302 is connected to the first rotating shaft 3. The tension adjustment mechanism is arranged between the first driven roller 2 and the first rotating shaft 3. The second driven roller 4 is movably sleeved on a second rotating shaft 5, which is driven by a second voice coil motor (not shown in the figure). The front end of the second steel wire 303 is connected to the second rotating shaft 5. The tension adjustment mechanism is arranged between the second driven roller 4 and the second rotating shaft 5. The center line connecting the first driven roller 2 and the second driven roller 4 passes through the center line of the driving roller 1 .

Referring to FIG5 , the transmission mechanism may also include a driving gear 1′ rotatably connected to the control hand wheel 300, a first driven gear 2′ and a second driven gear 4′ respectively meshing with the driving gear 1′, the first driven gear 2′ being movably sleeved on the first rotating shaft 3, the first rotating shaft 3 being driven by a first voice coil motor (not shown in the figure), the end of the first steel wire 302 being connected to the first rotating shaft 3, the tension adjustment mechanism being arranged between the first driven gear 2′ and the first rotating shaft 3; the second driven gear 4′ being movably sleeved on the second rotating shaft 5, the second rotating shaft 5 being driven by a second voice coil motor (not shown in the figure), the end of the second steel wire 303 being connected to the second rotating shaft 5, the tension adjustment mechanism being arranged between the second driven gear 4′ and the second rotating shaft 5. The center line of the first driven gear 2′ and the second driven gear 4′ passes through the center line of the driving gear 1′.

Please refer to Figures 6 and 7. The tension adjustment mechanism includes two semi-annular electromagnets 81, which are fixed in a ring shape on the center hole of the first driven roller 2 or the first driven gear 2'. The electromagnet 81 is electrically connected to the detection control unit 7. Two semi-annular friction plates 82 are distributed along the circumference of the first rotating shaft 3. The two semi-annular friction plates 82 are annularly surrounded on the outer periphery of the first rotating shaft 3 as a whole, and a gap is left between two adjacent friction plates 82. A limit block 83 extending in the radial direction is also fixed on the driven roller 2 or the first driven gear 2', and the end of the limit block 83 extends into the gap between two adjacent friction plates 82, and a gap is left between the end of the limit block 83 and the outer periphery of the first rotating shaft 3, so that after the electromagnet 81 is energized, the friction plate 82 approaches the electromagnet 81 and leaves the first rotating shaft 3, and the first rotating shaft 3 can generate relative rotation with the first driven roller 2 or the first driven gear 2' to adjust the initial position of the steel wire. The steel wire in this solution can also be a steel rope or a nylon rope or other long strip objects with a certain flexibility.

Four springs 84 are radially arranged in the center hole of the first driven roller 2 or the first driven gear 2', one end of each spring 84 is connected to the first driven roller 2 or the first driven gear 2', and the other end is connected to the friction plate 82 at the corresponding position, and the four springs 84 are respectively arranged at positions close to the ends of the friction plate 82.

It can be seen from FIG8 in combination with FIG1 that in order to facilitate the doctor's operation and reduce the patient's discomfort, a memory alloy 400 and a heating element 401 are also provided in the insertion part 40. The memory alloy 400 and the heating element 401 are adjacent to each other. The heating element 401 is electrically connected to a power supply. The heating element 401 may be a PTC heating element, a heating tube or a metal heating element. When the memory alloy 400 is controlled to maintain the shape shown in FIG8 , the insertion part 40 is pushed into the inner cavity 100, and the contact area between the inner cavity 100 and the mirror body is reduced, thereby reducing the friction force.

The principle and operation process of the present invention are as follows: the adjustment process of the steel wire is specifically described by taking the first steel wire 302 being tightened, the second steel wire 303 being relaxed, and the bending portion 50 bending upward as an example. The bending control process in other directions is similar to the control principle and operation process when bending upward.

Under normal circumstances, the electromagnet 81 is not energized, the spring 84 presses against the friction plate 82 and holds the first rotating shaft 3 tightly, the end of the limit block 83 extends into the gap between the two friction plates 82, and the control hand wheel 300 is rotated to drive the active roller 1 or the active gear 1' to rotate clockwise, and the active roller 1 drives the first driven roller 2 and the second driven roller 4 to rotate counterclockwise, and at the same time drives the first rotating shaft 3 and the second rotating shaft 5 to rotate counterclockwise. At this time, the first steel wire 302 is tightened, the second steel wire 303 is relaxed, and the bending portion 50 bends upward. When the control hand wheel 300 rotates to the extreme position, the angle sensor 6 detects the bending angle value and feeds it back to the detection control unit 7. If the angle When the angle value detected by the angle sensor 6 is less than the angle value stored in the detection control unit 7, the detection control unit 7 sends a signal to the electromagnet 81, the electromagnet 81 is energized, and the friction plate 82 approaches the electromagnet 81 and moves away from the first rotating shaft 3 under the action of the electromagnetic force. At this time, the detection control unit 7 sends a signal to the first voice coil motor and the second voice coil motor, and the first voice coil motor and the second voice coil motor drive the first rotating shaft 3 to rotate. Since the limit block 83 does not contact the first rotating shaft 3, the first driven roller 2 or the first driven gear 2', the driving gear 1 or the driving roller 1' do not rotate when the first rotating shaft 3 rotates, thereby adjusting the initial position of the first steel wire 302. The adjustment process of the third steel wire 303 is similar to that of the second steel wire 302.

Claims (3)

1. An automatic adjustment structure for a bending portion of an endoscope, comprising an operating portion (30), an insertion portion (40) and a bending portion (50) connected in sequence, wherein a control hand wheel (300) is arranged on the operating portion (30), and characterized in that an angle sensor (6) is arranged at a position where the insertion portion (40) and the bending portion (50) are connected, and a tension adjustment mechanism and a detection control portion (7) are arranged in the operating portion (30), wherein the tension adjustment mechanism is connected to the control hand wheel (300), and the detection control portion (7) is electrically connected to the angle sensor (6) and the tension adjustment mechanism respectively; A first steel wire (302) and a second steel wire (303) are arranged in the insertion portion (40) and the bending portion (50); the control hand wheel (300) is respectively connected to the first steel wire (302) and the second steel wire (303) via a transmission mechanism; and the tension adjustment mechanisms are respectively arranged at positions corresponding to the first steel wire (302) and the second steel wire (303) on the transmission mechanism; The transmission mechanism comprises a driving roller (1), a first driven roller (2) and a second driven roller (4) rotatably connected to the control hand wheel (300); the center distance between the first driven roller (2) and the driving roller (1) is the sum of the radii of the driving roller (1) and the first driven roller (2); the center distance between the second driven roller (4) and the driving roller (1) is the sum of the radii of the driving roller (1) and the second driven roller (4); the first driven roller (2) is movably sleeved on a first rotating shaft (3); the first rotating shaft (3) is driven by a first voice coil motor; the end of the first steel wire (302) is connected to the first rotating shaft (3); and the tension adjustment mechanism is arranged between the first driven roller (2) and the first rotating shaft (3); The second driven roller (4) is movably sleeved on the second rotating shaft (5), the second rotating shaft (5) is driven by a second voice coil motor, the end of the second steel wire (303) is connected to the second rotating shaft (5), and the tension adjustment mechanism is arranged between the second driven roller (4) and the second rotating shaft (5); The tension adjustment mechanism comprises an electromagnet (81) which is fixed in an annular shape on the center hole of the first driven roller (2) or the first driven gear (2'), the electromagnet (81) being electrically connected to the detection control unit (7), at least two friction plates (82) being distributed along the circumference of the outer periphery of the first rotating shaft (3), and a gap being left between two adjacent friction plates (82), and a limit block (83) extending along the radial direction thereof is also provided on the first driven roller (2) or the first driven gear (2'), the end of the limit block (83) extending into the gap between two adjacent friction plates (82), and a gap being left between the end of the limit block (83) and the outer periphery of the first rotating shaft (3); It also includes a plurality of springs (84), one end of each of the springs (84) being connected to the first driven roller (2) or the first driven gear (2'), and the other end being connected to the friction plate (82) at a corresponding position; The number of the springs (84) is twice the number of the friction plates (82), and each of the springs (84) is arranged at a position close to an end of the friction plate (82); A memory alloy (400) and a heating element (401) are also provided in the insertion portion (40); the heating element (401) is electrically connected to a power source. 2. An automatic adjustment structure for the bending portion of an endoscope according to claim 1, characterized in that: the transmission mechanism comprises a driving gear (1') rotatably connected to the control hand wheel (300), a first driven gear (2') and a second driven gear (4') respectively meshing with the driving gear (1'), the first driven gear (2') being movably sleeved on a first rotating shaft (3), the first rotating shaft (3) being driven by a first voice coil motor, the end of the first steel wire (302) being connected to the first rotating shaft (3), and the tension adjustment mechanism being arranged between the first driven gear (2') and the first rotating shaft (3); The second driven gear (4') is movably sleeved on the second rotating shaft (5), the second rotating shaft (5) is driven by the second voice coil motor, the end of the second steel wire (303) is connected to the second rotating shaft (5), and the tension adjustment mechanism is arranged between the second driven gear (4') and the second rotating shaft (5). 3. An automatic adjustment structure for the bending portion of an endoscope according to claim 2, characterized in that: the center line of the first driven roller (2) and the second driven roller (4) passes through the center line of the driving roller (1) or the center line of the first driven gear (2') and the second driven gear (4') passes through the center line of the driving gear (1').