CN114532942B - Endoscope auxiliary operation device and control method thereof - Google Patents
Endoscope auxiliary operation device and control method thereof Download PDFInfo
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- CN114532942B CN114532942B CN202210187577.2A CN202210187577A CN114532942B CN 114532942 B CN114532942 B CN 114532942B CN 202210187577 A CN202210187577 A CN 202210187577A CN 114532942 B CN114532942 B CN 114532942B
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000003780 insertion Methods 0.000 claims abstract description 36
- 230000037431 insertion Effects 0.000 claims abstract description 36
- 238000005452 bending Methods 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 69
- 230000033001 locomotion Effects 0.000 claims description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 238000002347 injection Methods 0.000 claims description 5
- 239000007924 injection Substances 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims 2
- 230000036544 posture Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000001839 endoscopy Methods 0.000 description 2
- 231100000915 pathological change Toxicity 0.000 description 2
- 230000036285 pathological change Effects 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 210000001035 gastrointestinal tract Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00066—Proximal part of endoscope body, e.g. handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
- A61B1/015—Control of fluid supply or evacuation
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Optics & Photonics (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Signal Processing (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Endoscopes (AREA)
Abstract
The invention relates to the technical field of medical equipment, in particular to an endoscope auxiliary operation device and a control method thereof, wherein the endoscope auxiliary operation device comprises an operation part auxiliary device and an insertion part feeding device which act on an endoscope; the operation part auxiliary device is used for controlling the bending part to deflect up and down and left and right, and comprises a concentric driving mechanism for driving the rotating wheel I and the rotating wheel II to rotate, and the concentric driving mechanism is respectively connected with the rotating wheel I and the rotating wheel II; the insertion part feeding device is used for driving the insertion part to move back and forth, and comprises a spacing adjusting mechanism for adjusting the size of the insertion part, so that the technical problems that in the prior art, the auxiliary operation device of the endoscope is poor in operation precision, the gesture and the position of the front end part cannot be acquired in real time, the operation safety is poor and the application degree is low are solved.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an endoscope auxiliary operation device and a control method thereof.
Background
The endoscope examination is an optical instrument examination which is sent into the body from the outside through the natural cavity of the human body to examine the internal diseases, can directly observe the pathological changes of the internal cavity of the viscera, determine the position and the range of the pathological changes, can take pictures, carry out biopsy or brush sheets, greatly improves the diagnosis accuracy of cancers and can carry out certain treatments; the prior traditional endoscope has the following problems in operation: (1) the traditional operation mode can not accurately control the angle deflection, inflation and water absorption functions of the front end part and the feeding action of the insertion part, so that the labor intensity of doctors is high; (2) the traditional endoscope operation cannot feed back the angle deflection condition of the front end part and the movement condition of the insertion part in real time, so that a doctor cannot judge the gesture and the position of the front end part in the intestinal tract; (3) the operation safety is poor, and in the extreme case, if the stress exceeds a safety value, no countermeasures are taken, so that the patient is easily injured; (4) the traditional endoscope auxiliary operation device cannot be suitable for insertion parts with different diameter sizes, and the application degree is low.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an endoscope auxiliary operation device and a control method thereof, which are used for solving the technical problems that the endoscope auxiliary operation device in the prior art has poor control precision, cannot acquire the gesture and the position of a front end part in real time, has poor control safety and has low application degree.
The technical scheme for solving the technical problems is as follows: an endoscope auxiliary operation device comprises an operation part auxiliary device and an insertion part feeding device which act on an endoscope;
the operation part auxiliary device is used for controlling the bending part to deflect up and down and left and right, and comprises a concentric driving mechanism for driving the rotating wheel I and the rotating wheel II to rotate, the concentric driving mechanism is respectively connected with the rotating wheel I and the rotating wheel II, the rotation of the rotating wheel I and the rotating wheel II is automatically controlled by arranging the concentric driving mechanism, the whole device occupies small space, and the occupied degree of the usable length of the space of an operation place and the insertion part of the endoscope is low;
the insertion part feeding device is used for driving the insertion part to move back and forth, comprises a spacing adjusting mechanism used for adjusting the size of the insertion part, and can be used for adjusting the spacing to be suitable for insertion parts of different sizes when driving the insertion part to move back and forth by arranging the spacing adjusting mechanism, so that the application range is wider.
Further, the concentric driving mechanism comprises a runner I driving mechanism and a runner II driving mechanism, the runner I driving mechanism comprises a rotary driving piece I, the rotary driving piece I drives a runner I to rotate through a transmission mechanism I driving runner control piece I, the runner II driving mechanism comprises a rotary driving piece II, the rotary driving piece II drives the runner control piece II to drive the runner II to rotate through a transmission mechanism II, and the runner control piece I and the runner control piece II are concentrically installed.
Further, the synchronous rotation of the runner control piece I and the runner I is realized through forming, friction, clamping or clamping modes, and the synchronous rotation of the runner control piece II and the runner II is realized through forming, friction, clamping or clamping modes.
Further, the transmission mechanism I and the transmission mechanism II are one of gear transmission, belt transmission or worm and gear transmission.
Further, the rotary driving piece I and the rotary driving piece II adopt a rotary motor or a rotary oil cylinder.
Further, the transmission mechanism I comprises an active transmission part I driven by a rotary driving part I to rotate, a torque limiter I is coaxially arranged between the rotary driving part I and the active transmission part I, the active transmission part I is meshed with a passive transmission part I, and the passive transmission part I and a runner control part I are synchronously and rotatably arranged; the transmission mechanism II comprises an active transmission part II which is driven to rotate by a rotary driving part II, a torque limiter II is coaxially arranged between the rotary driving part II and the active transmission part II, the active transmission part II is meshed with a passive transmission part II to be installed, the passive transmission part II and a runner control part II are synchronously rotated to be installed, and countermeasures are taken under extreme conditions if the stress of the front end part exceeds a safety value by adopting the torque limiter, so that the damage to a patient is not easy to cause, and the operation safety is improved.
Further, the driven transmission part I is coaxially provided with a transmission shaft I, the transmission shaft I rotates on a mounting shell a through a bearing I, the rotating wheel control part I and the transmission shaft I are coaxially arranged, the driven transmission part II rotates on a mounting shell a through a bearing II, the rotating driving part I and the rotating driving part II are both arranged on a shell a, and the shell a and the endoscope are both arranged on a base.
Further, insert portion feeding device still includes feeding power portion, by the initiative friction wheel of feeding power portion drive its rotation and install the driven friction wheel on pitch adjustment mechanism, leave the clearance that supplies the insert portion to pass between initiative friction wheel and the driven friction wheel, this clearance is adjusted through pitch adjustment mechanism, through setting up pitch adjustment mechanism, avoid having because the too little tip of endoscope of being difficult to place between two friction wheels of interval between initiative friction wheel and the driven friction wheel or because the too big problem that is difficult to provide sufficient hold-down force drive endoscope insert portion removal of interval, the practicality is stronger, and is convenient for operate, labour saving and time saving.
Further, the interval adjustment mechanism comprises a driven wheel support frame which is arranged on the shell b through an elastic component, the driven wheel support frame is rotatably provided with a driven friction wheel, the driven wheel support frame realizes the distance adjustment between the driven friction wheel and the driving friction wheel under the elastic action of the elastic component, the driven wheel support frame is relatively slidably arranged on the feeding power part through a sliding mechanism, the elastic component can adopt a spring, and through setting the elastic component, the pressing force between the driving friction wheel and the driven friction wheel can be ensured, and meanwhile, the rapid placement of the front end part can be realized so as to improve the operation efficiency.
Further, slide mechanism includes the slide rail of installing on shell b and the slider of slidable mounting on the slide rail, and this slider is installed on the follower support frame, still install the actuating lever on the follower support frame, the other end of this actuating lever passes shell b and extends to shell b outside, through setting up the actuating lever, when needs increase the clearance between two friction wheels, can stimulate the actuating lever and make follower support frame move in order to place the tip fast in the direction of keeping away from the action wheel support frame, structural design is nimble easy operation.
Further, a boss for installing an elastic component is arranged on the driven wheel supporting frame, an adjusting piece is detachably installed on the shell b, and the rod portion of the adjusting piece is connected with the elastic component.
Further, the driving friction wheel is rotatably mounted on a driving wheel support frame, the driving wheel support frame is mounted on the shell b, the driving friction wheel is connected with the feeding power part through an output shaft transmission part shaft, and the feeding power part is further provided with an encoder in signal connection with the feeding power part.
Further, the automatic control device further comprises a linear power component used for driving the button I and the button II respectively, the button I and the button II control the gas injection and water absorption functions of the front end part respectively, the button I and the button II drive the button I and the button II to perform linear reciprocating motion respectively through the linear power component arranged on the shell a, the linear power component is used for controlling the linear motion of the button I and the button II, the automatic control device is convenient and fast, time and labor are saved, automatic control is facilitated, a buffer piece is arranged between the linear power component and the shell a, the buffer piece has the function of reducing impact force and assisting in fixing the position of the linear power component.
The system comprises a control center, a control signal end, a signal display part and a data display part, wherein the control signal end, the signal display part and the data display part are respectively connected with the control center through signals;
the control center is used for receiving action signals of the control signal end, sending the action signals to the linear power driving parts of the button I and the button II, the rotary driving parts I and II of the operation part auxiliary device and the feeding power part of the insertion part feeding device, receiving rotation angle data of the rotary driving parts I and II and moving length data of the feeding power part, sending the action signals to the signal display part for status display, feeding the data back to the data display part for data display, and acquiring the status of each power part and the deflection angle and length displacement of the bending part in real time and carrying out data and signal display by arranging the posture feedback control device, so that the posture and the position of the endoscope in a cavity can be known in time during operation, the life safety of a patient can not be threatened due to errors of operators, and the operation safety is improved.
A control method of an auxiliary operation device for endoscopy includes receiving rotation angle data of a rotation driving member I and a rotation driving member II and movement length data of a feeding power section through a control center, and transmitting the data to a data display section for display.
Further, the control method further comprises the steps that the control signal end is used for sending action signals to the rotary driving piece I, the rotary driving piece II, the feeding power part, the linear power driving parts of the button I and the button II, the rotary driving piece I and the rotary driving piece II respectively control the rotating wheel I and the rotating wheel II to rotate, so that the bending part is deflected up and down and left and right, the feeding power part is used for controlling the driving friction wheel to rotate, the inserting part is driven to move back and forth under the friction force of the driving friction wheel and the driven friction wheel, the linear power driving part is used for driving the button I and the button II to do linear motion, and further the gas injection and water absorption actions of the front end part are realized.
Further, the control method further comprises the step of sending the states of the components to a signal display part through a control center so as to realize the running states of the components.
The control method has the beneficial effects that: the signal control end sends an action signal to the control center, and then the control center sends an instruction to automatically control the actions of each power component, so that the up-down and left-right offset of the bending part of the endoscope and the front-back movement of the insertion part are realized, and meanwhile, the action data of each power component are collected and displayed, so that the action of the endoscope is accurately controlled, the traditional manual operation mode of doctors is replaced, the labor intensity of the doctors is greatly reduced, the postures and the positions of the front end part and the insertion part of the endoscope can be acquired in real time, the operation of the endoscope is accurately controlled, the damage to patients due to the fact that the state of the endoscope cannot be acquired in time is avoided, and the operation safety is improved.
Drawings
FIG. 1 is a schematic view of a prior art endoscope;
FIG. 2 is a schematic view of a partial structure of an endoscope according to the prior art;
FIG. 3 is a schematic overall structure of an embodiment of the present invention;
FIG. 4 is a schematic view of an operation portion supporting device according to an embodiment of the present invention;
FIG. 5 is a schematic top view of the operator assistance device of FIG. 4;
FIG. 6 is a cross-sectional view at A-A in FIG. 5;
FIG. 7 is a cross-sectional view at B-B in FIG. 5;
fig. 8 is a schematic view showing an external structure of an insertion portion feeding device according to an embodiment of the present invention;
fig. 9 is a schematic view showing an internal structure of an insertion portion feeding device according to an embodiment of the present invention.
The present invention relates to a bicycle transmission, comprising a base, 2 an endoscope, 21 an insert, 22 an elbow, 23 a tip, 24 a rotor I, 25 a rotor II, 3 a rotor feed, 301 a feed power, 302 an encoder, 303 a drive support, 304 an output shaft drive, 305 a drive friction, 306 a driven friction, 307 a slide, 308 a slider, 309 an elastic member, 310 a drive, 311 an adjustment, 312 a driven wheel support, 4 a housing a,50 a rotary drive, 51 a torque limiter, 52 a drive, 53 a driven wheel, 54 a bearing, 55 a drive, 56 a rotor control, 61 a rotary drive, 62 a torque limiter, 63 a drive, 64 a bearing, 65 a rotor control, 66 a driven wheel, 7 a push button, 8 a push button, 9 a housing b,10 a linear power element, 11 a damper.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Referring to fig. 1 to 2, the conventional endoscope 2 is generally composed of a runner i 24, a runner ii 25, a button i 7, a button ii 8, an insertion portion 21, a bending portion 23, and a tip portion 23, and the runner i 24 and the runner ii 25 of the endoscope 2 are rotated to drive the bending portion 22 to deflect up and down and left and right, and the button i 7 and the button ii 8 control the air injecting and water absorbing functions of the tip portion 23.
Referring to fig. 3 and 4, an embodiment of the present invention provides an endoscope auxiliary operation device including operation portion auxiliary devices acting on a runner i 24 and a runner ii 25 of an endoscope 2, an insertion portion feeding device 3 acting on an insertion portion 21 of the endoscope 2, a linear power member 10 for driving a button i 7 and a button ii 8, respectively, and attitude feedback control means for transmitting control signals and receiving data feedback.
The button I7 and the button II 8 respectively control the air injection and water absorption functions of the front end part 23, the button I7 and the button II 8 respectively drive the button I7 and the button II 8 to do linear reciprocating motion through the linear power component 10 arranged on the shell a4, and the linear power component 10 is adopted to control the linear motion of the button I7 and the button II 8, so that the automatic control is convenient, quick, time-saving and labor-saving, and automatic control is facilitated; a buffer member 11 is installed between the linear power member 10 and the housing a4, and the buffer member 11 has a function of reducing an impact force and assisting in fixing the position of the linear power member 10.
4-6, the operation part auxiliary device is used for controlling the bending part 22 to deflect up and down and left and right, the operation part auxiliary device comprises a concentric driving mechanism for driving the rotating wheel I24 and the rotating wheel II 25 to rotate, the concentric driving mechanism is respectively connected with the rotating wheel I24 and the rotating wheel II 25, the rotation of the rotating wheel I24 and the rotating wheel II 25 is automatically controlled by arranging the concentric driving mechanism, the whole device occupies small space, and the occupied degree of the space of an operation place and the usable length of the insertion part 21 of the endoscope 3 is low;
referring to fig. 6 and 7, the concentric driving mechanism includes a driving mechanism of the rotating wheel i and a driving mechanism of the rotating wheel ii, the driving mechanism of the rotating wheel i includes a rotation driving member i 50, the rotation driving member i 50 drives the rotating wheel i 24 to rotate through a driving mechanism i driving a rotating wheel control member i 56, the driving mechanism of the rotating wheel ii includes a rotation driving member ii 61, the rotation driving member ii 61 drives the rotating wheel control member ii 65 to drive the rotating wheel ii 25 to rotate through a driving mechanism ii, and the rotating wheel control member i 56 and the rotating wheel control member ii 65 are concentrically installed. The rotating wheel control piece I56 and the rotating wheel I24 realize synchronous rotation in a forming, friction, clamping or clamping mode, the rotating wheel control piece II 65 and the rotating wheel II 25 realize synchronous rotation in a forming, friction, clamping or clamping mode, and the rotating wheel control piece and the corresponding rotating wheel can synchronously rotate in the mode, so that the operation precision is improved. The transmission mechanism I and the transmission mechanism II are one of gear transmission, belt transmission or worm and gear transmission. The rotary driving piece I50 and the rotary driving piece II 61 adopt rotary motors or rotary oil cylinders. The transmission mechanism I comprises an active transmission part I52 driven by a rotary driving part I50 to rotate, a torque limiter I51 is coaxially arranged between the rotary driving part I50 and the active transmission part I52, the active transmission part I52 is meshed with a passive transmission part I53, and the passive transmission part I53 is synchronously rotatably arranged with a runner control part I56; the transmission mechanism II comprises an active transmission part II 63 driven by a rotary driving part II 61 to rotate, a torque limiter II 62 is coaxially arranged between the rotary driving part II 61 and the active transmission part II 63, the active transmission part II 63 is meshed with a passive transmission part II 66, the passive transmission part II 66 and a runner control part II 65 are synchronously rotatably arranged, and by adopting the torque limiter, countermeasures are taken under extreme conditions if the stress of the front end part exceeds a safety value, the damage to a patient is not easy to cause, and the operation safety is improved. The driven transmission part I53 is coaxially provided with a transmission shaft I55, the transmission shaft I55 is rotatably arranged on the housing a4 through a bearing I54, the turning wheel control part I56 is coaxially arranged with the transmission shaft I55, the driven transmission part II 66 is rotatably arranged on the housing a4 through a bearing II 64, the rotary driving part I50 and the rotary driving part II 61 are both arranged on the housing a4, and the housing a4 and the endoscope 2 are both arranged on the base 1.
Wherein, referring to fig. 8 and 9, the insert part feeding device 3 is used for driving the insert part 21 to move back and forth, and comprises a spacing adjusting mechanism for adjusting the size of the insert part 21, and by arranging the spacing adjusting mechanism, the insert part 21 can be driven to move back and forth while adjusting the spacing so as to be suitable for the insert parts 21 with different sizes, and the application range is wider.
Referring to fig. 9, the insertion portion feeding device 3 further includes a feeding power portion 301, a driving friction wheel 305 driven by the feeding power portion 301 to rotate, and a driven friction wheel 306 mounted on a spacing adjustment mechanism, wherein a gap for the insertion portion to pass through is left between the driving friction wheel 305 and the driven friction wheel 306, the gap is adjusted by the spacing adjustment mechanism, and by providing the spacing adjustment mechanism, the problem that the tip portion 23 of the endoscope 2 is difficult to be placed between the two friction wheels due to too small spacing between the driving friction wheel 305 and the driven friction wheel 306 or that sufficient pressing force is difficult to be provided due to too large spacing to drive the insertion portion 21 of the endoscope 2 to move is avoided, so that the insertion portion feeding device is more practical, convenient to operate, time-saving and labor-saving. The distance adjusting mechanism comprises a driven wheel supporting frame 312 which is arranged on the shell b9 through an elastic component 309, the driven wheel supporting frame 312 is rotatably provided with a driven friction wheel 306, the driven wheel supporting frame 312 realizes the distance adjustment between the driven friction wheel 306 and the driving friction wheel 305 under the elastic action of the elastic component 309, the driven wheel supporting frame 312 is relatively and slidably arranged with the feeding power part 301 through a sliding mechanism, the elastic component 309 can adopt a spring, and through the arrangement of the elastic component 309, the pressing force between the driving friction wheel 305 and the driven friction wheel 306 can be ensured, and meanwhile, the rapid placement of the front end part 23 can be realized so as to improve the operation efficiency. The sliding mechanism comprises a sliding rail 307 arranged on a shell b9 and a sliding block 308 arranged on the sliding rail 307 in a sliding manner, the sliding block 308 is arranged on a driven wheel supporting frame 312, a driving rod 310 is further arranged on the driven wheel supporting frame 312, the other end of the driving rod 310 penetrates through the shell b9 to extend to the outside of the shell b9, when the driving rod 310 is arranged and a gap between two friction wheels needs to be enlarged, the driving rod 310 can be pulled to enable the driven wheel supporting frame 312 to move in a direction far away from the driving wheel supporting frame 303 so as to rapidly place the front end part 23, and the structure design is flexible and easy to operate. The driven wheel support frame 312 is provided with a boss for installing the elastic component 309, the shell b9 is detachably provided with an adjusting piece 311, and the rod part of the adjusting piece 311 is connected with the elastic component 309. The driving friction wheel 305 is rotatably mounted on the driving wheel supporting frame 303, the driving wheel supporting frame 303 is mounted on the shell b9, the driving friction wheel 305 is in shaft connection with the feeding power part 301 through the output shaft transmission part 304, and the feeding power part 301 is also provided with the encoder 302 in signal connection with the driving friction wheel.
The gesture feedback control device comprises a control center, a control signal end, a signal display part and a data display part, wherein the control signal end, the signal display part and the data display part are respectively connected with the control center through signals; the control center is used for receiving an action signal of a control signal end, sending the action signal to a linear power driving part of the button I7 and the button II 8, a rotary driving part I50 and a rotary driving part II 61 of an operation part auxiliary device and a feeding power part 301 of the insertion part feeding device 3, receiving rotation angle data of the rotary driving part I50 and the rotary driving part II 61 and moving length data of the feeding power part 301, sending the action signal to a signal display part for carrying out state display, feeding the data back to a data display part for carrying out data display, and acquiring the state of each power part and the deflection angle and the length displacement of a bending part in real time and carrying out data and signal display by arranging a posture feedback control device, so that the posture and the position of an endoscope in a cavity can be known in time during operation conveniently, the life safety of a patient can not be threatened due to errors of an operator, and the safety of the operation is improved.
The control method of the auxiliary operation device for endoscopy comprises the steps of receiving rotation angle data of the rotation driving piece I50 and the rotation driving piece II 61 and movement length data of the feeding power part 301 through a control center, then transmitting the data to a data display part for display, sending action signals to the rotation driving piece I50, the rotation driving piece II 61, the feeding power part 301 and the linear power driving parts of the button I7 and the button II 8 through control signal ends, respectively controlling the rotation wheel I7 and the rotation wheel II 8 to rotate through the rotation driving piece I50 and the rotation driving piece II 61, thereby realizing the up-down and left-right deflection of the bending part 22, realizing the rotation of the driving friction wheel 305 through the feeding power part 301, driving the inserting part 21 to move back and forth under the friction force of the driving friction wheel 305 and the driven friction wheel 306, realizing the linear motion of the button I7 and the button II 8, and further realizing the gas injection and water absorption actions of the front end part 23.
The control method has the beneficial effects that: the signal control end sends an action signal to the control center, and then the control center sends an instruction to automatically control the actions of each power component, so that the up-down and left-right offset of the bending part 22 of the endoscope 2 and the forward-backward movement of the inserting part 21 are realized, and meanwhile, the action data of each power component are collected and displayed, so that the action of the endoscope is accurately controlled, the traditional manual operation mode of doctors is replaced, the labor intensity of doctors is greatly reduced, the postures and positions of the front end part 23 and the inserting part 21 of the endoscope 2 can be obtained in real time, the operation of the endoscope 2 is accurately controlled, the damage to patients due to the fact that the state of the endoscope 2 cannot be timely obtained is avoided, and the operation safety is improved.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (8)
1. An endoscope auxiliary operation device, characterized in that: comprises an operation part auxiliary device and an insertion part feeding device;
the operation part auxiliary device is used for controlling the bending part to deflect up and down and left and right, and comprises a concentric driving mechanism for driving the rotating wheel I and the rotating wheel II to rotate, and the concentric driving mechanism is respectively connected with the rotating wheel I and the rotating wheel II;
the insertion part feeding device is used for driving the insertion part to move back and forth, and comprises a spacing adjusting mechanism for adjusting the size of the insertion part;
the concentric driving mechanism comprises a rotating wheel I driving mechanism and a rotating wheel II driving mechanism, the rotating wheel I driving mechanism comprises a rotating driving piece I, the rotating driving piece I drives a rotating wheel control piece I to drive the rotating wheel I to rotate through a transmission mechanism I, the rotating wheel II driving mechanism comprises a rotating driving piece II, the rotating driving piece II drives the rotating wheel control piece II to drive the rotating wheel II to rotate through a transmission mechanism II, and the rotating wheel control piece I and the rotating wheel control piece II are concentrically arranged;
the rotating wheel control member I and the rotating wheel I realize synchronous rotation in a forming, friction, clamping or clamping mode, and the rotating wheel control member II and the rotating wheel II realize synchronous rotation in a forming, friction, clamping or clamping mode;
the transmission mechanism I comprises an active transmission part I which is driven to rotate by a rotary driving part I, a torque limiter I is coaxially arranged between the rotary driving part I and the active transmission part I, the active transmission part I is meshed with a passive transmission part I, and the passive transmission part I and a runner control part I are synchronously and rotatably arranged; the transmission mechanism II comprises an active transmission part II driven by a rotary driving part II to rotate, a torque limiter II is coaxially arranged between the rotary driving part II and the active transmission part II, the active transmission part II is meshed with a passive transmission part II, and the passive transmission part II and a runner control part II are synchronously and rotatably arranged;
the transmission shaft I is coaxially arranged on the driven transmission member I, the transmission shaft I rotates on the installation shell a through the bearing I, the rotating wheel control member I and the transmission shaft I are coaxially arranged, the transmission shaft I and the rotating wheel control member II are concentrically arranged and penetrate through a hollow sleeve of the rotating wheel control member II, the driven transmission member II rotates on the installation shell a through the bearing II, the rotation driving member I and the rotation driving member II are both arranged on the shell a, and the shell a and the endoscope are both arranged on the base.
2. An endoscope auxiliary operation device according to claim 1, wherein: the insertion part feeding device further comprises a feeding power part, a driving friction wheel driven by the feeding power part to rotate and a driven friction wheel arranged on the interval adjusting mechanism, wherein a gap for the insertion part to pass through is reserved between the driving friction wheel and the driven friction wheel, and the gap is adjusted by the interval adjusting mechanism.
3. An endoscope auxiliary operation device according to claim 2, wherein: the distance adjusting mechanism comprises a driven wheel supporting frame which is arranged on the shell b through an elastic component, a driven friction wheel is rotatably arranged on the driven wheel supporting frame, the driven wheel supporting frame realizes the distance adjustment between the driven friction wheel and the driving friction wheel under the elastic action of the elastic component, and the driven wheel supporting frame is relatively and slidably arranged with the feeding power part through a sliding mechanism.
4. An endoscope auxiliary operation device according to claim 3, wherein: the driven wheel support frame is provided with a boss for installing an elastic component, the shell b is detachably provided with an adjusting piece, and the rod part of the adjusting piece is connected with the elastic component.
5. An endoscope auxiliary operation device according to claim 4, wherein: also comprises a linear power component for driving the button I and the button II respectively, the button I and the button II are respectively driven to do linear reciprocating motion through a linear power component arranged on the shell a, and a buffer piece is arranged between the linear power component and the shell a.
6. An endoscope auxiliary operation device according to any one of claims 1 to 5, wherein: the system comprises a control center, a control signal end, a signal display part and a data display part, wherein the control signal end, the signal display part and the data display part are respectively connected with the control center through signals; the control center is used for receiving action signals of control signal ends, sending the action signals to linear power driving parts of the buttons I and II, rotating driving parts I and II of the operation part auxiliary device and feeding power parts of the insertion part feeding device, receiving rotation angle data of the rotating driving parts I and II and moving length data of the feeding power parts, sending the action signals to the signal display part for status display, and feeding the data back to the data display part for data display.
7. A control method of an endoscope auxiliary operation device, which is based on the endoscope auxiliary operation device according to any one of claims 1 to 6, characterized in that the control method comprises receiving rotation angle data of the rotation driving piece i and the rotation driving piece ii and movement length data of the feeding power section through the control center, and then transmitting the data to the data display section for display.
8. The control method of an endoscope auxiliary operation device according to claim 7, further comprising sending action signals to a rotary driving member i, a rotary driving member ii, a feeding power section, and linear power driving sections of a button i and a button ii through control signal terminals, so that the rotary driving member i and the rotary driving member ii control the rotation of the wheel i and the wheel ii, respectively, thereby realizing the up-down and left-right deflection of the bending section; the feeding power part is used for controlling the driving friction wheel to rotate, the insertion part is driven to move back and forth under the friction force of the driving friction wheel and the driven friction wheel, the linear power driving part is used for driving the button I and the button II to do linear motion, and then the gas injection and water absorption actions of the front end part are realized.
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| CN202210187577.2A CN114532942B (en) | 2022-02-28 | 2022-02-28 | Endoscope auxiliary operation device and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115281746B (en) * | 2022-07-04 | 2023-10-31 | 中国科学院自动化研究所 | Flexible end-controllable medical instrument feeding system and feeding method |
| WO2024098365A1 (en) * | 2022-11-11 | 2024-05-16 | 深圳先进技术研究院 | Endoscope control apparatus and endoscope robot |
| CN115644771B (en) * | 2022-11-11 | 2023-08-15 | 深圳先进技术研究院 | Endoscope control device and endoscope robot |
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