CN110974124A

CN110974124A - Endoscope system auxiliary device

Info

Publication number: CN110974124A
Application number: CN201911398956.0A
Authority: CN
Inventors: 郑天兵; 付野; 谢天宇
Original assignee: Beijing Shuangyiqi Electronics Co ltd; Peking University
Current assignee: Beijing Shuangyiqi Electronics Co ltd; Peking University
Priority date: 2019-12-30
Filing date: 2019-12-30
Publication date: 2020-04-10

Abstract

The invention relates to the technical field of endoscope equipment, and discloses an endoscope system auxiliary device which is used for controlling the action of an auxiliary appliance in an endoscope clamping channel and comprises a control mechanism, a control mechanism and a driving mechanism; the control mechanism is used for receiving the operation of a user and converting the operation into an operation signal; the control mechanism is used for receiving an operation signal sent by the control mechanism and controlling the action of the driving mechanism; the driving mechanism is connected with the auxiliary appliance to drive the auxiliary appliance to realize the actions of advancing and retreating, rotating and executing preset operation; the steering mechanism is independent of the endoscope. The endoscope system auxiliary device enables a doctor to easily operate various medical auxiliary instruments used by the endoscope without holding the auxiliary instruments, realizes various functions of the endoscope, replaces manual operation of an operator in the process of examination and operation, and improves the working efficiency and the operation accuracy.

Description

Endoscope system auxiliary device

Technical Field

The invention relates to the technical field of endoscope equipment, in particular to an endoscope system auxiliary device.

Background

The endoscope is a detection instrument integrating traditional optics, ergonomics, precision machinery, modern electronics, mathematics and software, has an image sensor, an optical lens, light source illumination, water vapor control and the like, can enter the stomach through the oral cavity or enter the body through other natural pores, and can see pathological changes which cannot be displayed by other medical equipment such as X rays and the like by utilizing the endoscope.

At present, during operation or examination, an endoscope is required to be used with some auxiliary instruments, such as a biopsy device, a polyp device and the like, and when the auxiliary instruments are used, a doctor inserts the auxiliary instruments into auxiliary instrument channels reserved on the endoscope. This procedure generally requires a nurse to assist, one person holding the endoscope and one person inserting the accessory slowly into the accessory tube. The whole insertion operation takes a lot of time, consumes a lot of attention of doctors and nurses, and in order to get pathology in actual operation, the doctors are required to manually rotate, so that the operation is extremely complicated, the shaking or deviation of hands can change the position of the endoscope, the repositioning is required, and the overall operability and accuracy are reduced.

Disclosure of Invention

The embodiment of the invention provides an endoscope system auxiliary device, which is used for solving the problems of time and labor waste and low precision caused by the fact that the conventional endoscope system auxiliary device needs to be manually inserted so as to improve the operability of an endoscope system auxiliary tool.

The embodiment of the invention provides an endoscope system auxiliary device, which is used for controlling the action of an auxiliary appliance in an endoscope clamping channel and comprises a control mechanism, a control mechanism and a driving mechanism; the control mechanism is used for receiving the operation of a user and converting the operation into an operation signal; the control mechanism is used for receiving an operation signal sent by the control mechanism and controlling the driving mechanism to act; the driving mechanism is connected with the auxiliary appliance to drive the auxiliary appliance to realize the actions of advancing and retreating, rotating and executing preset operation; the steering mechanism is independent of the endoscope.

Wherein the driving mechanism includes an auxiliary tool advancing and retreating unit and a guide unit; one end of the guide unit is connected to an outlet of the auxiliary instrument advancing and retreating unit, and the other end of the guide unit is connected to an inlet of the endoscopic forceps channel and used for guiding the insertion of the auxiliary instrument.

The guide unit comprises a guide tube, a sealing mechanism and clamping parts arranged at two ends of the guide tube, wherein the sealing mechanism is arranged in the guide tube and/or at the end part of the guide tube and is used for preventing substances in the forceps channel of the endoscope from seeping out; the clamping part is used for inserting the outlet of the auxiliary appliance advancing and retreating unit and the inlet of the endoscope clamping channel.

The auxiliary tool advancing and retreating unit comprises an advancing and retreating driving piece, a first rotating wheel, a second rotating wheel and a tensioning assembly, a channel for the auxiliary tool to penetrate through is arranged in the auxiliary tool advancing and retreating unit, and the first rotating wheel and the second rotating wheel are oppositely arranged on two sides of the channel; advance back driving piece with the pivot dynamic coupling of first swiveling wheel is connected, tensioning assembly connect in the pivot of second swiveling wheel, with the second swiveling wheel presses to first swiveling wheel.

The auxiliary appliance advancing and retreating unit further comprises a first angle sensor connected to the first rotating wheel or the second rotating wheel, and the first angle sensor is used for detecting the number of rotation turns of the first rotating wheel or the second rotating wheel so as to calculate the advancing and retreating distance of the auxiliary appliance.

The auxiliary tool advancing and retreating unit further comprises a first torque sensor connected to the advancing and retreating driving piece, and the first torque sensor is used for detecting a first torque signal output by the advancing and retreating driving piece and sending the first torque signal to the control mechanism; the control mechanism is used for judging whether to stop the driving piece according to the first torque signal and a preset first torque range.

The driving mechanism further comprises an auxiliary appliance execution unit and an auxiliary appliance rotating unit, the auxiliary appliance execution unit comprises a sliding driving piece and a sliding connecting piece, one end of the sliding connecting piece is connected to the output end of the sliding driving piece, and the other end of the sliding connecting piece is used for being connected with a sliding handle of the auxiliary appliance so as to drive the auxiliary appliance to execute preset operation;

the auxiliary device rotating unit comprises a rotary driving piece and a rotary mounting table, the rotary driving piece is in power coupling connection with the rotary mounting table, and the rotary mounting table is used for fixing a handle of the auxiliary device so as to drive the auxiliary device to rotate in the axial direction of the auxiliary device.

The auxiliary device rotating unit further comprises a second angle sensor connected to the rotating mounting table, and the second angle sensor is used for detecting the rotating angle of the rotating mounting table.

The auxiliary device rotating unit further comprises a second torque sensor connected to the rotary driving member, and the second torque sensor is used for detecting a second torque signal output by the rotary driving member and sending the second torque signal to the control mechanism; the control mechanism is used for judging whether to stop the rotary driving piece according to the second torque signal and a preset second torque range.

The emergency stop switch is arranged on the control mechanism and used for emergency stop when a dangerous condition occurs in the operation process.

The auxiliary device of the endoscope system provided by the embodiment of the invention comprises a control mechanism, a control mechanism and a driving mechanism; the control mechanism is independent of the endoscope, and a user can directly control the advancing, retreating, rotating, opening and closing actions of the auxiliary tool on the control mechanism, so that the positioning of the endoscope is prevented from being influenced; the control mechanism can receive the operation signal to control the driving mechanism to drive the auxiliary appliance to complete the specific action. The endoscope system auxiliary device enables a doctor to easily operate various medical auxiliary instruments used by the endoscope without holding the auxiliary instruments, realizes various functions of the endoscope, replaces manual operation of an operator in the process of examination and operation, and improves the working efficiency and the operation accuracy.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic view of an endoscopic system incorporating an endoscopic system accessory of an embodiment of the present invention;

FIG. 2 is a schematic view of another endoscopic system incorporating an endoscopic system accessory of an embodiment of the present invention;

FIG. 3 is a schematic structural view of the endoscope of FIG. 2;

FIG. 4 is a schematic view of a guide unit according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of an auxiliary tool advancing/retreating unit according to an embodiment of the present invention;

FIG. 6 is a side view of the auxiliary tool advancing-retreating unit of FIG. 5;

FIG. 7 is a sectional view taken along line A-A of FIG. 6;

FIG. 8 is a sectional view taken along line B-B of FIG. 6;

FIG. 9 is a schematic structural view of a tension assembly in an embodiment of the present invention;

FIG. 10 is a schematic view of an auxiliary tool mounted on the advancing and retreating unit of the auxiliary tool in the embodiment of the present invention;

FIG. 11 is a schematic view of an auxiliary implement performing unit and an auxiliary implement rotating unit in an embodiment of the present invention;

FIG. 12 is a top view of FIG. 11;

FIG. 13 is a schematic view of a rotary unit of an auxiliary implement in an embodiment of the present invention;

FIG. 14 is a side view of FIG. 13;

FIG. 15 is a schematic view of another rotating unit of an auxiliary appliance in an embodiment of the present invention;

FIG. 16 is a side view of FIG. 15;

FIG. 17 is a schematic structural diagram of an operating mechanism according to an embodiment of the present invention;

FIG. 18 is an enlarged view of the buttons of the control mechanism of FIG. 17;

FIG. 19 is a schematic structural diagram of another manipulating mechanism according to an embodiment of the present invention;

FIG. 20 is an enlarged view of the buttons of the control mechanism of FIG. 19;

FIG. 21 is a schematic view of a biopsy taken using the steering mechanism;

FIG. 22 is a schematic view of a polyp retrieval operation using a steering mechanism;

FIG. 23 is a schematic view of the operation of the use of an electrotome with a steering mechanism;

description of reference numerals:

10: an endoscope; 10-1: an electrically powered endoscope; 11: an operation section;

12: an insertion portion; 13: clamping a channel; 20: a control mechanism;

30: an auxiliary implement actuation and rotation unit; 31: an integral support;

32: a sliding connector; 33: a sliding drive member; 34: a rotating electric machine;

35: a transmission assembly; 35-1: a first gear; 35-2: a second gear;

35-3: a second torque sensor; 35-4: a second angle sensor; 35-5: a first pulley;

35-6: a second pulley; 35-7: a belt; 36: a first bearing housing;

37: a second bearing housing; 38: a hook and ring; 40: an auxiliary tool advancing and retreating unit;

41: a driving and reversing motor; 42: a limiting block; 43: a housing;

44: a guide port; 45-1: a first bearing; 45-2: a second bearing;

46-1: a first rotating wheel; 46-2: a second rotating wheel; 47: a tension assembly;

48: a spring; 49-1: a first torque sensor; 49-2: a first angle sensor;

50: an auxiliary implement; 51: a handle; 52: a sliding handle;

53: a sheath; 54: an operation section; 60: an operating mechanism;

61-1: a first forward button; 61-2: a second forward button; 62-1: a first forward rotation button;

62-2: a second forward rotation button; 63-1: a first back button; 63-2: a second back button;

64-1: a first reverse button; 64-2: a second reverse button; 65-1: a first execution button;

65-2: a second execution button; 70: a guide unit; 71: a sealing mechanism;

72: a clamping part; 73: a guide tube; 80: an emergency stop switch.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used in this application, the terms "first," "second," and the like do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Likewise, the word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Fig. 1 is a schematic view of an endoscope system including an endoscope system assisting apparatus according to an embodiment of the present invention, fig. 2 is a schematic view of another endoscope system including an endoscope system assisting apparatus according to an embodiment of the present invention, fig. 3 is a schematic view of a structure of the endoscope in fig. 2, and as shown in fig. 1 to 3, an endoscope system assisting apparatus according to an embodiment of the present invention for controlling an operation of an accessory 50 in a forceps channel 13 of an endoscope 10 includes a manipulation mechanism 60, a control mechanism 20, and a driving mechanism. The manipulation mechanism 60 is configured to receive an operation from a user and convert the operation into an operation signal. The control mechanism 20 is used for receiving the operation signal from the control mechanism 60 and controlling the action of the driving mechanism. The driving mechanism is connected to the auxiliary tool 50 to drive the auxiliary tool 50 to advance and retreat, rotate and perform a predetermined operation. The steering mechanism 60 is independent of the endoscope 10. Wherein, when the auxiliary device 50 adopts biopsy forceps, the preset operation is the opening and closing of the forceps body; when the auxiliary appliance 50 adopts a polyp taking lantern ring, the preset operation is the tightening and loosening of the lantern ring; when the auxiliary appliance 50 adopts the calculus removing net, the preset operation is to fold and unfold the calculus removing net; when the auxiliary tool 50 adopts an electric knife, the preset operation is the reciprocating movement of the electric knife; it should be noted that the specific preset operation depends on the type of the auxiliary device 50, and any auxiliary device 50 only includes two states: an operation state and a release state, and performing the preset operation means switching the auxiliary 50 between the operation state and the release state.

Specifically, the endoscope 10 may be a conventional endoscope (as shown in fig. 1) or a novel power-driven endoscope 10-1 (as shown in fig. 2 and 3). The motorized endoscope 10-1 has an operation portion 11, an insertion portion 12, and a forceps channel 13, and the insertion portion 12 and the forceps channel 13 are the same as those of the conventional endoscope. In addition, the whole endoscope system also comprises a monitor containing video and other devices which are not listed, and the detailed description is omitted.

The manipulating mechanism 60 is independent from the endoscope 10 and does not directly contact with the endoscope 10, and the manipulating mechanism 60 can communicate with the control mechanism 20 by a wired connection or a wireless connection to transmit an operation command. The wired connection mode CAN adopt protocols such as USB, UART, SPI, I2C, CAN and the like, for example, a USB wire or a custom cable CAN be adopted, data is transmitted in a differential mode, and the corresponding EMC standard needs to be met. The wireless connection method may be a module or a communication method such as WiFi, bluetooth, Zigbee (low power consumption local area network protocol based on IEEE 802.15.4 standard), cellular data, or the like.

The control mechanism 20 is provided with a light source device and a video processor inside, the control mechanism 20 is connected with the driving mechanism through a cable, the control mechanism 20 receives the operation signal sent by the control mechanism 60, converts the operation signal into a corresponding driving signal (such as a forward/backward movement signal, a rotation signal and an execution preset operation signal) and sends the corresponding driving signal to the driving mechanism arranged on the endoscope 10, and the driving mechanism is controlled to perform a corresponding feedback action.

More specifically, a mounting seat may also be provided on the housing of the motorized endoscope 10-1 to which the drive mechanism is removably attached, such as by being plugged, snapped, or threaded.

The auxiliary device of the endoscope system provided by the embodiment comprises a control mechanism, a control mechanism and a driving mechanism; the control mechanism is independent of the endoscope, and a user can directly control the advancing, retreating, rotating, opening and closing actions of the auxiliary tool on the control mechanism, so that the positioning of the endoscope is prevented from being influenced; the control mechanism can receive the operation signal to control the driving mechanism to drive the auxiliary appliance to complete the specific action. The endoscope system auxiliary device enables a doctor to easily operate various medical auxiliary instruments used by the endoscope without holding the auxiliary instruments, realizes various functions of the endoscope, replaces manual operation of an operator in the process of examination and operation, and improves the working efficiency and the operation accuracy.

Further, as shown in fig. 3 and 4, the driving mechanism includes an auxiliary tool advancing-retreating unit 40 and a guide unit 70. One end of the guide unit 70 is connected to the outlet of the auxiliary tool advancing and retreating unit 40, and the other end of the guide unit 70 is connected to the inlet of the jaw 13 of the endoscope 10, for guiding the insertion of the auxiliary tool 50. In use, the auxiliary tool 50 is inserted through the auxiliary tool advancing/retreating unit 40 and then is passed out through the exit (i.e., the guide port 44) of the auxiliary tool advancing/retreating unit 40, so that the auxiliary tool 50 can be driven by the auxiliary tool advancing/retreating unit 40 to enter the jaw lane 13 along the guide unit 70 by itself without being manually guided or held.

Further, as shown in FIG. 4, the guide unit 70 includes a guide tube 73, a sealing mechanism 71, and clamping portions 72 provided at both ends of the guide tube 73, the clamping portions 72 being for inserting the outlet of the auxiliary instrument advancing and retreating unit 40 and the inlet of the jaw 13 of the endoscope 10. The sealing mechanism 71 is installed inside and/or at an end of the guide tube 73 for preventing a substance including gas, solid or liquid in the jaw channel 13 from leaking out. The diameter of the guide tube 73 may be the same as or comparable to the inlet diameter of the clamp channel 13. In use, the clamp portion 72 is simply inserted into the outlet of the auxiliary tool advancing and retreating unit 40 and the inlet of the clamp channel 13 of the endoscope 10, and is easily detached. The auxiliary tool 50 can slide and rotate axially inside the guide tube 73. The sealing mechanism 71 may be a seal ring, a screw seal, a gas-filled seal, or the like.

Further, the guide unit 70 further includes a filter (not shown) for filtering contaminants carried by the auxiliary device 50 when it is pulled out. The filter member may be nested in the guide tube 73 or may be nested in the retaining portion 72 at the end of the guide tube 73 that is connected to the inlet of the jaw channel 13. More specifically, the filter element may take the form of a cup, the interior of which is provided with a through hole through which the auxiliary device 50 can pass. The filtering element can also adopt other filtering consumables, such as an elastic filtering screen and the like.

Further, as shown in FIGS. 5 to 10, the auxiliary instrument advancing-retracting unit 40 includes an advancing-retracting driver, a first rotating wheel 46-1, a second rotating wheel 46-2, and a tension assembly 47, a passage through which the auxiliary instrument 50 passes is provided in the auxiliary instrument advancing-retracting unit 40, and the first rotating wheel 46-1 and the second rotating wheel 46-2 are oppositely provided at both sides of the passage. The driving and reversing element can be a driving and reversing motor 41, and an output shaft of the driving and reversing motor 41 is in power coupling connection with a rotating shaft of the first rotating wheel 46-1 to drive the first rotating wheel 46-1 to rotate. The tension assembly 47 is connected to a rotation shaft of the second rotating wheel 46-2 to press the second rotating wheel 46-2 toward the first rotating wheel 46-1.

Specifically, as shown in fig. 5 to 7, the auxiliary tool advancing-retracting unit 40 further includes a housing 43 that mainly serves to protect internal components and provide a mounting position. The advancing and retreating motor 41 is mounted on the housing 43, and the output shaft of the advancing and retreating motor 41 is connected with the rotating shaft of the first rotating wheel 46-1 through power coupling, wherein the power coupling means that the advancing and retreating motor can be directly connected through a coupler or connected through a speed reducer or an intermediate transmission member. The advancing-retreating motor 41 provides a rotational power to the first rotating wheel 46-1, and the first rotating wheel 46-1 serves as a capstan. The interior of the housing 43 is also provided with a passage for the auxiliary device 50 to pass through, and the outlet of the passage is the guide port 44, which is used for connecting the guide unit 70 and guiding the auxiliary device 50.

The first rotor 46-1 is rotatably mounted on the housing 43 by means of a first bearing 45-1, the second rotor 46-2 is also mounted on the housing 43 by means of a second bearing 45-2, and the second bearing 45-2 is slidable in a direction towards the first rotor 46-1. The first bearing 45-1 and the second bearing 45-2 function to provide support for the rotating shafts of the first rotating wheel 46-1 and the second rotating wheel 46-2 to achieve free rotational movement, while also bearing the load transmitted by the rotating shafts from the first rotating wheel 46-1 and the second rotating wheel 46-2.

The auxiliary tool 50 is extended through the guide opening 44 after passing through the channel, and the first rotating wheel 46-1 and the second rotating wheel 46-2 at both sides of the channel press and hold the auxiliary tool 50, and the first rotating wheel 46-1 and the second rotating wheel 46-2 have elasticity and friction force, so that the auxiliary tool 50 can advance and retreat by means of friction force. The main function of the tensioning assembly 47 is to reduce the distance between the first 46-1 and second 46-2 swivel wheels. Specifically, as shown in fig. 8 and 9, the tensioning assembly 47 may employ two angularly disposed springs 48, circlips, or other resilient telescoping members. One end of the spring 48 is fixed to the housing 43, and the other end of the spring 48 is connected to a rotation shaft of the second rotation wheel 46-2, pulling the second rotation wheel 46-2 toward the first rotation wheel 46-1.

Furthermore, the auxiliary device advancing and retreating unit 40 further includes a limiting block 42, the limiting block 42 is detachably connected to the housing 43, in this embodiment, the limiting block 42 is clamped to the housing 43 for illustration, and other connection methods such as a threaded connection may also be adopted. Fig. 10 shows a schematic diagram of an auxiliary device mounting apparatus of an auxiliary device advancing and retreating unit, when the auxiliary device 50 is mounted, the stopper 42 is firstly opened (i.e. the stopper 42 and the housing 43 are separated), the sheath 53 of the auxiliary device 50 is put between the first rotating wheel 46-1 and the second rotating wheel 46-2 with elasticity and friction force, the sheath 53 can be conveniently inserted into the channel by the spring of the tensioning assembly 47, and is simultaneously clamped by the tensioning assembly 47, and finally the stopper 42 is closed (i.e. the stopper 42 is clamped into the housing 43).

Further, as shown in FIGS. 5 and 6, the auxiliary implement advancing-retreating unit 40 further includes a first angle sensor 49-2 connected to the first rotation wheel 46-1 or the second rotation wheel 46-2, the first angle sensor 49-2 being used to detect the number of rotations of the first rotation wheel 46-1 or the second rotation wheel 46-2 to calculate the advancing-retreating distance of the auxiliary implement 50. Specifically, the first angle sensor 49-2 may be a potentiometer coaxially sleeved on the rotating shaft of the first rotating wheel 46-1 or the second rotating wheel 46-2, and the first angle sensor 49-2 records the number of rotations of the first rotating wheel 46-1 (or the second rotating wheel 46-2) and then calculates the advancing/retreating distance of the auxiliary device 50 according to the diameter of the first rotating wheel 46-1 (or the second rotating wheel 46-2).

Further, as shown in fig. 5 and 6, the auxiliary tool advancing and retreating unit 40 further includes a first torque sensor 49-1 connected to the advancing and retreating driving member (i.e., the advancing and retreating motor 41), the first torque sensor 49-1 for detecting a first torque signal output from the advancing and retreating motor 41 and transmitting the first torque signal to the control mechanism 20, and the control mechanism 20 for determining whether to stop the advancing and retreating motor 41 based on the first torque signal and a preset first torque range. If the first torque range is out of the preset first torque range, the control mechanism 20 transmits a stop signal to the auxiliary tool advancing and retreating unit 40 to stop the advancing and retreating motor 41.

Further, as shown in fig. 11 to 16, the driving mechanism further includes an auxiliary instrument executing unit and an auxiliary instrument rotating unit, collectively referred to as an auxiliary instrument executing and rotating unit 30. The auxiliary implement executing unit comprises a sliding driving part 33 and a sliding connecting part 32, one end of the sliding connecting part 32 is connected to the output end of the sliding driving part 33, and the other end of the sliding connecting part 32 is used for connecting a sliding handle 52 of the auxiliary implement 50 so as to drive the auxiliary implement 50 to execute preset operation.

In particular, the slide drive 33 may employ an electric push rod, a rack and pinion mechanism, or other form of mechanism that outputs a translational motion. The sliding connecting piece 32 is a Z-shaped push rod, the upper end of the sliding connecting piece 32 is clamped in the groove of the H-shaped sliding handle 52, and the lower end of the sliding connecting piece 32 is fixedly connected with the output end of the electric push rod. The output end of the electric push rod moves left and right, so that the sliding handle 52 is driven to move left and right. The slide lever 52 is slidably fitted to the handle 51, and the handle 51 is connected to the sheath 53. The sheath 53 is also provided with a connection cord (not shown), one end of which is connected to the operation portion 54 located at the distal end and facing the lesion, and the other end of which is connected to the slide lever 52. The connecting wire is pulled or loosened in accordance with the forward and backward movement of the slide lever 52, and the predetermined operation of the operating portion 54 is completed. In the case of a biopsy forceps, when the slide handle 52 is moved to the right, the binding wires are pulled to pull the forceps heads closed.

The auxiliary device rotating unit includes a rotary driving member and a rotary mounting table, the rotary driving member is in power coupling connection with the rotary mounting table, and the rotary mounting table is used for fixing the handle 51 of the auxiliary device 50 so as to drive the auxiliary device 50 to rotate around the extending shaft of the auxiliary device 50.

The rotary driving piece can adopt a rotary motor 34, the rotary mounting platform can adopt a hook ring 38, the hook ring 38 comprises a hook-shaped rotating part and a step-shaped boss, a handle 51 of the auxiliary device 50 is connected to the boss, and if the handle 51 is an annular sleeve, the handle can be directly sleeved on the boss; if the handle 51 is a solid handle, it may snap or screw into place on the boss. The whole assistive device actuator and rotator unit 30 further includes an integral bracket 31, both of which are mounted on the integral bracket 31, a handle 51 is mounted on the integral bracket 31 through a first bearing housing 36, and a rotator motor 34 are mounted on the integral bracket 31 through a second bearing housing 37.

The rotating part is connected with the output shaft of the rotating motor 34 in a power coupling way, which means that the rotating part can be directly connected through a coupling, or can be connected through a speed reducer or a transmission assembly 35. Fig. 13 to 14 show a transmission assembly 35, which adopts a gear transmission manner and includes a first gear 35-1 and a second gear 35-2, wherein the two gears are meshed with each other and can transmit power, a rotating part is connected to the first gear 35-1, and a rotating motor 34 is connected to the second gear 35-2. Fig. 15 to 16 show another transmission assembly 35, which is a belt transmission type, and includes a first pulley 35-5, a second pulley 35-6 and a belt 35-7, which are connected by a belt to transmit power. The rotating portion is connected to a first pulley 35-5, and the rotating motor 34 is connected to a second pulley 35-6.

Further, as shown in fig. 13 to 16, the auxiliary rotating unit further includes a second angle sensor 35-4 connected to the rotating mount, the second angle sensor 35-4 detecting a rotation angle of the rotating mount. Specifically, the second angle sensor 35-4 is sleeved on the rotating shaft of the hook ring 38. Further, the auxiliary rotating unit further includes a second torque sensor 35-3 connected to the rotary driving member, and the second torque sensor 35-3 is configured to detect a second torque signal output by the rotary driving member and send the second torque signal to the control mechanism 20. The control mechanism 20 is configured to determine whether to stop rotating the driving member according to the second torque signal and a preset second torque range. Specifically, the second torque sensor 35-3 is fitted to an output shaft of the rotating electrical machine 34.

The second angle sensor 35-4 is used for recording the rotation angle of the auxiliary device 50, controlling the range of the stroke of the rotation of the auxiliary device 50, and then sending an electric signal of the rotation angle to the control mechanism 20, the control mechanism 20 comparing the rotation angle with the preset rotation angle range, determining whether the rotation range is exceeded, if the rotation range is exceeded, the control mechanism 20 sending a stop signal to the auxiliary device rotation unit, and driving the rotation motor 34 to stop rotating.

The second torque sensor 35-3 is used for controlling the force value range of the auxiliary device 50 during rotation, the second torque output by the rotating motor 34 is recorded by the second torque sensor 35-3, then the second torque signal is sent to the control mechanism 20, whether the second torque range is exceeded or not is judged, and if the second torque range is exceeded, the control mechanism 20 sends a stop signal to the auxiliary device rotating unit to drive the rotating motor 34 to stop rotating.

Further, as shown in fig. 1 to 2, an emergency stop switch 80 is further included, which is installed on the control mechanism 60, and the emergency stop switch 80 is used for emergency stop when a dangerous situation occurs during operation. When the equipment is out of control or misoperation caused by other reasons, an operator can conveniently press the emergency stop switch to power off the device.

Further, fig. 17 to 20 show structural schematic diagrams of two different control mechanisms 60, and as shown in fig. 17 to 18, a first forward button 61-1 and a first backward button 63-1 are used for controlling the operation of the auxiliary device forward and backward moving unit 40. The first forward rotation button 62-1 and the first reverse rotation button 64-1 are used to control the operation of the auxiliary appliance rotating unit. The first actuation button 65-1 is used to control the actuation of the auxiliary appliance actuation unit. As shown in fig. 19 to 20, the second forward button 61-2 and the second backward button 63-2 are used to control the operation of the auxiliary device forward/backward moving unit 40. The second forward rotation button 62-2 and the second reverse rotation button 64-2 are used to control the operation of the auxiliary appliance rotating unit. The second actuation button 65-2 is used to control the actuation of the auxiliary appliance actuation unit.

Fig. 21 is a schematic view showing a biopsy taking operation performed by the manipulation mechanism 60, in which when the endoscope 10 approaches a lesion site, the auxiliary instrument 50 is mounted on the auxiliary instrument execution and rotation unit 30, and the other end thereof passes through the auxiliary instrument advancing and retracting unit 40, the auxiliary instrument 50 is fed to the lesion site through the endoscope auxiliary instrument channel by the advancing button in the manipulation mechanism 60, and then the rotation button is manipulated to adjust the angle of the auxiliary instrument 50, and the biopsy is taken by pressing the execution button after alignment.

Fig. 22 is a schematic view showing a polyp retrieval operation using the manipulator mechanism 60, in which when the endoscope 10 approaches a lesion site, the auxiliary tool 50 is attached to the auxiliary tool execution and rotation unit 30, and the other end thereof passes through the auxiliary tool advancing and retracting unit 40, the auxiliary tool 50 is fed to the lesion site through the endoscope auxiliary tool channel by the advance button of the manipulator mechanism 60, then the rotation button is manipulated to adjust the angle of the auxiliary tool 50, and the execution button is pressed after alignment to retrieve the polyp.

Fig. 23 is a view showing an operation using an electric knife using the manipulation mechanism 60, in which the auxiliary tool 50 is mounted on the auxiliary tool execution and rotation unit 30 with the other end thereof inserted through the auxiliary tool advancing and retracting unit 40 when the endoscope 10 is approached to a lesion, the auxiliary tool 50 is fed to the lesion through the endoscope auxiliary tool channel by the advancing button of the manipulation mechanism 60, then the rotation button is manipulated to adjust the angle of the auxiliary tool 50, and the execution button is pressed after alignment to perform a surgical operation.

According to the embodiment, the auxiliary device of the endoscope system comprises a control mechanism, a control mechanism and a driving mechanism; the control mechanism is independent of the endoscope, and a user can directly control the advancing, retreating, rotating, opening and closing actions of the auxiliary tool on the control mechanism, so that the positioning of the endoscope is prevented from being influenced; the control mechanism can receive the operation signal to control the driving mechanism to drive the auxiliary appliance to complete the specific action. The endoscope system auxiliary device enables a doctor to easily operate various medical auxiliary instruments used by the endoscope without holding the auxiliary instruments, realizes various functions of the endoscope, replaces manual operation of an operator in the process of examination and operation, and improves the working efficiency and the operation accuracy.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: many variations and modifications are possible in light of the disclosure herein. For example, the various devices or components described above may be implemented in hardware, or may be implemented in software, firmware, or a combination of some or all of the three.

Furthermore, as used in this application and in the claims, the terms "a," "an," "the," and/or "the" do not denote any order or importance, but rather the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.

Furthermore, flow charts are used herein to illustrate operations performed by systems according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The foregoing is illustrative of the present invention and is not to be construed as limiting thereof. Although a few exemplary embodiments of this invention have been described, those skilled in the art will readily appreciate that many modifications are possible in the exemplary embodiments without materially departing from the novel teachings and advantages of this invention. Accordingly, all such modifications are intended to be included within the scope of this invention as defined in the claims. It is to be understood that the foregoing is illustrative of the present invention and is not to be construed as limited to the specific embodiments disclosed, and that modifications to the disclosed embodiments, as well as other embodiments, are intended to be included within the scope of the appended claims. The invention is defined by the claims and their equivalents.

Claims

1. An auxiliary device for an endoscope system for controlling the action of an auxiliary device in the forceps channel of an endoscope, characterized in that:

Including control mechanism, control mechanism and drive mechanism;

The control mechanism is used to accept the operation of the user and convert it into an operation signal; the control mechanism is used to receive the operation signal sent from the control mechanism and control the action of the drive mechanism; the drive mechanism is connected to the an auxiliary device, so as to drive the auxiliary device to move forward and backward, rotate and perform preset operations;

The steering mechanism is independent of the endoscope.

2. The endoscopic system auxiliary device according to claim 1, wherein:

The driving mechanism includes an auxiliary device advancing and retreating unit and a guiding unit; one end of the guiding unit is connected to the outlet of the auxiliary device advancing and retreating unit, and the other end of the guiding unit is connected to the inlet of the endoscope forceps channel, and is used for for guiding the insertion of the assistive device.

3. The endoscopic system auxiliary device according to claim 2, wherein:

The guide unit includes a guide tube, a sealing mechanism, and a clamping portion provided at both ends of the guide tube, and the sealing mechanism is installed inside and/or at the end of the guide tube for preventing the endoscope The substance in the forceps channel seeps out; the clamping part is used for inserting the outlet of the auxiliary device advancing and retreating unit and the inlet of the endoscope forceps channel.

4. The endoscopic system auxiliary device according to claim 2, wherein:

The auxiliary device advancing and retreating unit includes an advancing and retreating drive member, a first rotating wheel, a second rotating wheel and a tensioning assembly, and a passage for the auxiliary device to pass through is provided in the auxiliary device advancing and retreating unit, and the first rotating wheel and The second rotating wheel is oppositely arranged on both sides of the channel; the forward and backward driving member is coupled and connected to the rotating shaft of the first rotating wheel, and the tensioning assembly is connected to the rotating shaft of the second rotating wheel , to press the second rotating wheel toward the first rotating wheel.

5. The endoscopic system auxiliary device according to claim 4, wherein:

The auxiliary device advancing and retreating unit further includes a first angle sensor connected to the first rotating wheel or the second rotating wheel, and the first angle sensor is used to detect the rotation of the first rotating wheel or the second rotating wheel The number of rotations of the wheel to calculate the advancing and retreating distance of the assistive device.

6. The endoscopic system auxiliary device according to claim 4, wherein:

The auxiliary appliance advancing and retreating unit further includes a first torque sensor connected to the advancing and retreating driving member, and the first torque sensor is used to detect the first torque signal output by the advancing and retreating driving member, and convert the first torque signal. sent to the control mechanism; the control mechanism is configured to determine whether to stop the advancing and retreating driving member according to the first torque signal and a preset first torque range.

7. The endoscopic system auxiliary device according to any one of claims 1 to 6, characterized in that:

The drive mechanism further includes an auxiliary appliance execution unit and an auxiliary appliance rotation unit, the auxiliary appliance execution unit includes a sliding driving member and a sliding connecting member, and one end of the sliding connecting member is connected to the sliding driving member. an output end, the other end of the sliding connecting piece is used for connecting to the sliding handle of the auxiliary appliance, so as to drive the auxiliary appliance to perform a preset operation;

The auxiliary appliance rotation unit includes a rotation drive member and a rotation installation table, the rotation driver member is dynamically coupled and connected with the rotation installation table, and the rotation installation table is used for fixing the handle of the auxiliary appliance to drive the auxiliary appliance The appliance rotates about the axis of the auxiliary appliance.

8. The endoscopic system auxiliary device according to claim 7, wherein:

The auxiliary appliance rotation unit further includes a second angle sensor connected to the rotary mounting table, and the second angle sensor is used to detect the rotation angle of the rotary mounting table.

9. The endoscopic system auxiliary device according to claim 7, wherein:

The auxiliary appliance rotating unit further includes a second torque sensor connected to the rotary driving member, the second torque sensor is used for detecting a second torque signal output by the rotary driving member, and converting the second torque signal to the rotary driving member. sent to the control mechanism; the control mechanism is configured to determine whether to stop the rotary driving member according to the second torque signal and a preset second torque range.

10. The endoscopic system auxiliary device according to claim 1, wherein:

It also includes an emergency stop switch installed on the control mechanism, the emergency stop switch is used for emergency stop when a dangerous situation occurs during the operation.