CN112568999B - Auxiliary operation structure for endoscope - Google Patents

Abstract

The invention provides an auxiliary operation structure of an endoscope, which comprises the following components: the device comprises a control module, a man-machine interface module and a clamping module; the pressing units, the turntable driving units and the knob driving units of the control module are connected to the control units on a control module of an endoscope of the control module. Under the condition of the auxiliary operation structure of the endoscope, a doctor can easily control the operation module of the endoscope as long as the doctor uses two hands to place the operation module on the controller for operation, so as to operate the endoscope to complete an invasive detection or a minimally invasive operation. In the invasive detection or minimally invasive surgery process, the operation module of the endoscope is not needed to be held by both hands of the doctor, so that extra burden or occupational injury is not caused to the wrist or arm of the doctor.

Description

Endoscope auxiliary operation structure

Technical Field

The present invention relates to the technical field related to surgical medical instruments and apparatuses, and in particular to an auxiliary operation structure of an endoscope.

Background technique

With the advancement of medical instruments and technology, endoscopy, such as gastroscope and colonoscope, can be used not only as an invasive detection instrument, but also for minimally invasive surgery. For example, if the depth of tumor invasion does not exceed the submucosal layer and there is no lymph node metastasis, it is possible to consider using endoscopy for local resection, eliminating the pain of traditional surgical treatment.

FIG. 1A shows a stereoscopic view of an existing endoscope from one viewing angle, and FIG. 1B shows a stereoscopic view of an existing endoscope from another viewing angle. To be more specific, the endoscope 1' shown in FIG. 1A and FIG. 1B is a gastroscope, and its structure includes: an operation module 11', a cable set 12', and a pipe 13'. The cable set 12' is connected between the operation module 11' and a host (not shown). In addition, one end of the pipe 13' is connected to the operation module 11', and the other end thereof is equipped with a lighting unit and a camera unit. According to the current common design, the operating module 11' of the endoscope 1' is provided with a plurality of control units, including: an image fixing button F1', a first function button F2', a second function button F3', a third function button F4', an activation suction button F5', a fluid delivery button F6', an instrument insertion channel F7', a first fixed knob F8', a first angle adjustment dial F9', a second fixed knob F10', and a second angle adjustment dial F11'.

When using the endoscope 1', the doctor will hold the operating module 11' with one hand (e.g., the right hand) and use the other hand (e.g., the left hand) as a feeding mechanism of the tube 13'. Simply put, the doctor uses his left hand to send the tube 13' into a patient's body, and then uses the lighting unit and the camera unit at the front end of the tube 13' to capture an image of a part to be detected or a part to be operated on in the patient's body. It is particularly noted that when the tube 13' is located in the patient's body, the doctor must operate the multiple control units on the operating module 11'. For example, when the doctor turns the first angle adjustment dial F9', the front end of the tube 13' will move left/right. On the other hand, when the doctor turns the second angle adjustment dial F11', the front end of the tube 13' will move up/down. Furthermore, after the front end of the tube 13' is gradually fed and moved to the surgical site, the physician can then deliver a surgical instrument into the surgical site through the instrument insertion channel F7', and then perform a minimally invasive surgery on the surgical site with the surgical instrument.

As can be seen from the above description, when a doctor operates the endoscope 1' as shown in Fig. 1A and Fig. 1B, his right hand must continuously hold and control the operating module 11' of the endoscope 1' until the front end of the pipe 13' is gradually fed to a target part (such as a part to be operated on or a part to be tested) in the patient's body. In the case of holding the operating module 11' for a long time, the doctor's wrist and/or arm will inevitably feel sore, and in severe cases, the doctor's wrist and/or arm may be injured.

From the above description, it is known that it is necessary to design an auxiliary mechanism to be combined with the endoscope 1' shown in FIG1, so that the doctor can use the endoscope 1' to complete an invasive inspection or a minimally invasive surgery by operating the auxiliary mechanism without holding the operating module 11' and the pipe 13'. In view of this, the inventor of the present case has made great efforts to study and finally developed an auxiliary operation structure of an endoscope of the present invention.

Summary of the invention

The main purpose of the present invention is to provide an auxiliary operation structure of an endoscope. When the auxiliary operation structure of the endoscope of the present invention is applied, the doctor can easily control the control module of the endoscope by operating the controller with both hands to operate the endoscope to complete an invasive detection or a minimally invasive surgery. During the invasive detection or minimally invasive surgery, the doctor does not need to hold the control module of the endoscope with both hands, so it will not cause any burden or damage to the doctor's wrist or arm.

On the other hand, for the physician operating the endoscope, when using the auxiliary operation structure of the endoscope of the present invention, he can also intuitively operate the endoscope through the aforementioned manipulator, thereby successfully completing an invasive detection or a minimally invasive surgery.

In order to achieve the main purpose of the present invention, the inventor of the present invention provides an auxiliary operation structure of the endoscope, including a control module, a human-machine interface module and a clamping module;

The control module includes an endoscope, a plurality of pressing units, a plurality of turntable driving units and a plurality of knob driving units; wherein the endoscope includes an operation module, a cable set, and a pipe, one end of the pipe is connected to the operation module, and the other end of the pipe is equipped with a lighting unit and a camera unit, and the operation module is provided with a plurality of buttons, a plurality of turntables, and a plurality of knobs; wherein the plurality of pressing units are connected to the plurality of buttons of the operation module; the plurality of turntable driving units are connected to the plurality of turntables of the operation module; and the plurality of knob driving units are connected to the plurality of knobs of the operation module;

The human-machine interface module includes a host, a display screen and a controller. The host is connected to the display screen and the controller by signal. The host is connected to the plurality of pressing units, the plurality of turntable driving units and the plurality of knob driving units by wire or wireless. The cable set of the endoscope is connected between the operation module and the host.

The clamping module is connected to the host in a wired or wireless manner, so as to allow the pipe to pass through the clamping module and stabilize the pipe, and then perform forward and backward movement control on the pipe based on the control of the manipulator, so that a front end of the pipe moves forward and backward toward a patient's test site or surgical site;

Wherein, by operating the controller, each pressing unit can be driven to press each button correspondingly, each turntable driving unit can be driven to drive each turntable to rotate correspondingly, and each knob driving unit can be driven to drive each knob to rotate correspondingly.

In a feasible embodiment, the controller is one of the following or a combination of the following: a joystick, a mouse, a keyboard, a touch screen, a handle, a steering wheel, but not limited thereto.

In a feasible embodiment, the auxiliary operation structure of the endoscope of the present invention further includes a box for accommodating the endoscope, the plurality of pressing units, the plurality of turntable drive units, and the plurality of knob drive units, and a front end of the pipe of the endoscope and a main electrical connection end of the cable assembly are exposed outside the box.

In a feasible embodiment, there is a motor inside the clamping module, and the rotating shaft of the motor extends out to form an extension shaft, and a transmission wheel is provided on the extension shaft. The pipe enters the clamping module through an entrance of the clamping module, and the pipe is carried on the transmission wheel in the internal part of the clamping module. The pipe contacts a roller fixed in the clamping module above the internal part of the clamping module, and the pipe leaves the clamping module through an exit of the clamping module, so that the pipe is movably clamped by the transmission wheel and the roller, and the pipe is driven to move stably forward and backward by the rotation of the transmission wheel in different directions.

In the embodiment of the auxiliary operation structure of the endoscope of the above-mentioned present invention, the plurality of buttons of the operation module include: an image fixation button, a first function button, a second function button, a third function button, an enable suction button, and a fluid delivery button.

In the embodiment of the auxiliary operation structure of the endoscope of the present invention, the plurality of pressing units include:

a first pressing unit connected to the image fixing button and used for pressing the image fixing button based on the control of the controller;

a second pressing unit, connected to the first function button, for pressing the first function button based on the control of the controller;

a third pressing unit, connected to the second function button, for pressing the second function button based on the control of the controller;

a fourth pressing unit, connected to the third function button, for pressing the third function button based on the control of the controller;

a fifth pressing unit connected to the attraction activation button, for pressing the attraction activation button based on the control of the manipulator; and

A sixth pressing unit is connected to the fluid delivery button and is used to press the fluid delivery button based on the control of the manipulator.

In the aforementioned embodiment of the auxiliary operation structure of the endoscope of the present invention, the first pressing unit, the second pressing unit, the third pressing unit, the fourth pressing unit, the fifth pressing unit, and the sixth pressing unit are respectively any one of the following: an electrically driven key striker or a cylinder key striker.

In the aforementioned embodiment of the auxiliary operation structure of the endoscope of the present invention, the plurality of turntables include: a first angle adjustment turntable and a second angle adjustment turntable.

In the embodiment of the auxiliary operation structure of the endoscope of the present invention, the plurality of turntable drive units include:

a first turntable driving unit, connected to the first angle adjustment turntable, for driving the first angle adjustment turntable to rotate an angle based on the control of the manipulator; and

A second turntable driving unit is connected to the second angle adjustment turntable and is used for driving the second angle adjustment turntable to rotate an angle based on the control of the manipulator.

In the aforementioned embodiment of the auxiliary operation structure of the endoscope of the present invention, the first turntable driving unit and the second turntable driving unit are both rotatable turntable kits, and are each rotated based on the drive of a motor.

In the aforementioned embodiment of the auxiliary operation structure of the endoscope of the present invention, the plurality of knobs include: a first fixed knob and a second fixed knob.

In the embodiment of the auxiliary operation structure of the endoscope of the present invention, the plurality of knob driving units include:

a first knob driving unit, connected to the first fixed knob, for driving the first fixed knob to rotate an angle based on the control of the manipulator; and

A second knob driving unit is connected to the second fixed knob and is used to drive the second fixed knob to rotate an angle based on the control of the manipulator.

In the aforementioned embodiment of the auxiliary operation structure of the endoscope of the present invention, the first knob driving unit and the second knob driving unit are both a rotatable turntable kit or a conveyor belt, and each rotates based on the drive of a motor.

The main advantage of the present invention is that when the auxiliary operation structure of the endoscope of the present invention is applied, the doctor can easily control the operation module of the endoscope by operating the manipulator with both hands to operate the endoscope to complete an invasive detection or a minimally invasive surgery. During the invasive detection or minimally invasive surgery, the doctor does not need to hold the operation module of the endoscope with both hands, so it will not cause any burden or damage to the doctor's wrist or arm.

On the other hand, for the physician operating the endoscope, when using the auxiliary operation structure of the endoscope of the present invention, he can also intuitively operate the endoscope through the aforementioned manipulator, thereby successfully completing an invasive detection or a minimally invasive surgery.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A shows a perspective view of a conventional endoscope;

FIG. 1B shows a stereoscopic view of a conventional endoscope from another viewing angle;

FIG2 is a schematic diagram showing an application of an auxiliary operation structure of an endoscope of the present invention;

FIG3A is a schematic diagram showing a clamping module of an auxiliary operation structure of an endoscope of the present invention;

FIG3B shows another schematic diagram of the auxiliary operation structure clamping module of the endoscope of the present invention;

FIG4 is a perspective view of an endoscope incorporating the auxiliary operation structure of the endoscope of the present invention;

FIG5 is a perspective view of the endoscope incorporating the auxiliary operation structure of the endoscope of the present invention from another perspective;

FIG6 shows the auxiliary operation structure of the endoscope of the present invention and a perspective view of the endoscope;

FIG. 7 shows the auxiliary operation structure of the endoscope of the present invention and a stereoscopic view of the endoscope from one viewing angle.

Description of the accompanying drawings: <The present invention> Auxiliary operation structure of endoscope 1; control module 10; box 11; clamping module 12; manipulator 15; endoscope 2; operation module 21; cable set 22; pipeline 23; human-machine interface module 30; display screen 31; host 32; transmission wheel 42; roller 44; extension shaft 45; motor 46; inlet 47; outlet 48; image fixed button F1; first function button F2; second function button F3; third function button F4; enable suction button F5; fluid delivery button F6; instrument placement channel F7; first fixed knob F8; first angle adjustment dial F9; second fixed knob F10; second angle adjustment dial F11; first pressing unit P1; second pressing unit P2; third pressing unit element P3; fourth pressing unit P4; fifth pressing unit P5; sixth pressing unit P6; first turntable driving unit D1; first motor D11; second turntable driving unit D2; second motor D21; first knob driving unit S1; third motor S11; second knob driving unit S2; fourth motor S21; <existing> endoscope 1’; operating module 11’; cable set 12’; pipeline 13’; image fixed button F1’; first function button F2’; second function button F3’; third function button F4’; enable suction button F5’; fluid delivery button F6’; instrument insertion channel F7’; first fixed knob F8’; first angle adjustment turntable F9’; second fixed knob F10’; second angle adjustment turntable F11’.

Detailed ways

In order to more clearly describe the auxiliary operation structure of an endoscope proposed by the present invention, the preferred embodiments of the present invention will be described in detail below with reference to the drawings.

Figure 2 shows an application schematic diagram of an auxiliary operating structure of an endoscope of the present invention, Figure 3A shows a schematic diagram of a clamping module of the auxiliary operating structure of the endoscope of the present invention, Figure 3B shows another schematic diagram of the clamping module of the auxiliary operating structure of the endoscope of the present invention, Figure 4 shows a stereoscopic image of an endoscope combined with the auxiliary operating structure of the endoscope of the present invention from one viewing angle, and Figure 5 shows a stereoscopic image of the endoscope combined with the auxiliary operating structure of the endoscope of the present invention from another viewing angle.

As shown in FIG. 2 , FIG. 3A , FIG. 3B , FIG. 4 , FIG. 5 and FIG. 6 , the auxiliary operation structure 1 of the endoscope of the present invention includes a control module 10 , a human-machine interface module 30 and a clamping module 12 ;

The control module 10 includes an endoscope 2, a plurality of pressing units, a plurality of turntable driving units, and a plurality of knob driving units; wherein the endoscope 2 includes an operation module 21, a cable set 22, and a pipe 23, one end of the pipe 23 is connected to the operation module 21, and the other end thereof is equipped with a lighting unit and a camera unit. The operation module 21 is provided with a plurality of buttons, a plurality of turntables, and a plurality of knobs; wherein the plurality of pressing units are connected to the plurality of buttons of the operation module; the plurality of turntable driving units are connected to the plurality of turntables of the operation module; the plurality of knob driving units are connected to the plurality of knobs of the operation module;

The human-machine interface module 30 includes a host 32, a display screen 31 and a controller 15. The host 32 is connected to the display screen 31 and the controller 15 by signal. The host 32 is connected to the plurality of pressing units, the plurality of turntable driving units and the plurality of knob driving units by wire or wireless. The cable set 22 of the endoscope 2 is connected between the operation module 21 and the host 32.

The clamping module 12 is disposed between the control module 10 and the patient, and is connected to the control module 10 by signal, and is connected to the host 32 by wire or wirelessly through the control module 10, so as to allow the pipe 23 to pass through the clamping module 12 and stabilize the pipe 23, and then perform forward and backward movement control on the pipe 23 based on the control of the manipulator 15, so that a front end of the pipe 23 moves forward and backward toward a patient's test site or surgical site;

When the controller 15 is operated, the controller 15 transmits a control signal to the host 32. The host 32 is connected to the plurality of pressing units, the plurality of turntable driving units and the plurality of knob driving units by wire or wireless means, and the host 32 can transmit a control signal thereto. Therefore, by operating the controller 15, each of the pressing units can be driven to press each of the buttons correspondingly, each of the turntable driving units can be driven to drive each of the turntables to rotate correspondingly, and each of the knob driving units can be driven to drive each of the knobs to rotate correspondingly.

In a feasible embodiment, FIG. 4, FIG. 5 and FIG. 6 show that the plurality of buttons include: an image fixed button F1, a first function button F2 (FIG. 5), a second function button F3, a third function button F4 (FIG. 5), an activation suction button F5, and a fluid delivery button F6. In addition, the plurality of dials include a first angle adjustment dial F9 (FIG. 6) and a second angle adjustment dial F11 (FIG. 6), and the plurality of knobs include a first fixed knob F8 (FIG. 6) and a second fixed knob F10 (FIG. 6).

Please refer to FIG. 6 and FIG. 7 at the same time, wherein FIG. 6 shows the auxiliary operation structure of the endoscope of the present invention and a stereoscopic view of the endoscope from one viewing angle, and FIG. 7 shows the auxiliary operation structure of the endoscope of the present invention and a stereoscopic view of the endoscope from one viewing angle.

In a feasible embodiment, as shown in FIG. 4 , FIG. 5 , FIG. 6 , and FIG. 7 , the plurality of pressing units include: a first pressing unit P1, a second pressing unit P2, a third pressing unit P3, a fourth pressing unit P4 ( FIG. 6 ), a fifth pressing unit P5, and a sixth pressing unit P6. The first pressing unit P1 is connected to the image fixed key F1 to press the image fixed key F1 based on the control of the controller 15. The second pressing unit P2 is connected to the first function key F2 to press the first function key F2 based on the control of the controller 15. On the other hand, the third pressing unit P3 is connected to the second function key F3 to press the second function key F3 based on the control of the controller 15.

According to the above description, the fourth pressing unit P4 is connected to the third function key F4, and is used to press the third function key F4 based on the control of the manipulator 15. In addition, the fifth pressing unit P5 is connected to the activation attraction key F5, and is used to press the activation attraction key F5 based on the control of the manipulator 15. Furthermore, the sixth pressing unit P6 is connected to the fluid delivery key F6, and is used to press the fluid delivery key F6 based on the control of the manipulator 15. Figures 4, 5, 6, and 7 illustrate that the first pressing unit P1, the second pressing unit P2, the third pressing unit P3, the fourth pressing unit P4, the fifth pressing unit P5, and the sixth pressing unit P6 are all cylinder-type key strikers. However, in a feasible embodiment, each of the pressing units (P1~P6) can also be an electrically driven key striker.

Corresponding to the design of the operation module 21 of the endoscope 2, in a feasible embodiment, the present invention makes the plurality of turntable drive units include a first turntable drive unit D1 (FIG. 7) and a second turntable drive unit D2 (FIG. 7). As shown in FIG. 4, FIG. 5, FIG. 6, and FIG. 7, the first turntable drive unit D1 is connected to the first angle adjustment turntable F9, and is used to drive the first angle adjustment turntable F9 to rotate an angle based on the control of the manipulator 15. In addition, the second turntable drive unit D2 is connected to the second angle adjustment turntable F11, and is used to drive the second angle adjustment turntable F11 to rotate an angle based on the control of the manipulator 15. FIG. 4, FIG. 5, FIG. 6, and FIG. 7 illustrate that the first turntable drive unit D1 and the second turntable drive unit D2 are both rotatable turntable kits, and rotate based on the drive of a first motor D11 (FIG. 6) and a second motor D21 (FIG. 7), respectively.

In more detail, the present invention makes the plurality of knob driving units include a first knob driving unit S1 (FIG. 7) and a second knob driving unit S2 (FIG. 7). As shown in FIG. 4, FIG. 5, FIG. 6, and FIG. 7, the first knob driving unit S1 is connected to the first fixed knob F8 (FIG. 6) to drive the first fixed knob F8 to rotate an angle based on the control of the manipulator 15. And the second knob driving unit S2 is connected to the second fixed knob F10 to drive the second fixed knob F10 to rotate an angle based on the control of the manipulator 15. It can be found from FIG. 4, FIG. 5, FIG. 6, and FIG. 7 that the first knob driving unit S1 is a rotatable turntable kit, and the second knob driving unit S2 is a conveyor belt, and both rotate based on the drive of a third motor S11 and a fourth motor S21, respectively.

It should be noted that even though FIG2 shows the controller 15 as a joystick device, it should be understood that the implementable aspects of the controller 15 should not be limited to a joystick. For example, the controller 15 may be one of the following or a combination of the following: a joystick, a mouse, a keyboard, a touch screen, a handle, a steering wheel, but is not limited thereto.

When the present invention is actually applied, the controller 15 is connected to the plurality of pressing units (P1-P6), the plurality of turntable driving units (D1-D2) and the plurality of knob driving units (S1-S2) by wire or wirelessly through the host 32. In this configuration, the user (i.e., the physician) controls each of the pressing units (P1-P6) to correspondingly press each of the buttons (F1-F6) on the operating module 21 of the endoscope 2 by operating the controller 15, drives each of the turntable driving units (D1-D2) to correspondingly drive each of the turntables (F9, F11) on the operating module 21 to rotate, and/or causes each of the knob driving units (S1-S2) to correspondingly drive each of the knobs (F8, F10) to rotate.

Continuing to refer to FIG. 2, in the case of applying the auxiliary operation structure 1 of the endoscope of the present invention, the endoscope 2, the plurality of pressing units, the plurality of turntable drive units, and the plurality of knob drive units are accommodated in a box 11, and a front end of the pipe 23 of the endoscope 2 and a main electrical connection end of the cable group 22 are exposed outside the box 11. Further, the doctor can sit in front of a control table, wherein a display screen 31 and a host 32 are arranged on the control table. Then, the doctor can easily control the endoscope 2 by operating the controller 15 placed on the desktop of the control table with both hands, without causing any burden or injury to the doctor's wrist or arm.

Furthermore, the doctor can manipulate the manipulator 15, so that the pipe 23 passing through the clamping module 12 is fed by the clamping module 12 and moves toward a target object, such as a part to be detected or a part to be operated on in a patient. Then, the doctor can use the lighting unit and the camera unit at the front end of the pipe 23 to capture the image of the part to be detected or the part to be operated on, and the relevant image will be displayed on the display screen 31 in real time through the control of the host 32. Finally, after the clamping module 12 gradually feeds the front end of the pipe 23 to the part to be operated on, the doctor can then send a surgical instrument into the part to be operated on through an instrument insertion channel F7, and then perform a minimally invasive surgery on the part to be operated on with the surgical instrument.

As an embodiment, as shown in Figures 3A and 3B, there is a motor 46 inside the clamping module 12, and the rotating shaft of the motor 46 extends out to form an extension shaft 45. A transmission wheel 42 is provided on the extension shaft 45. The pipe 23 enters the clamping module 12 through an inlet 47 of the clamping module 12. The pipe 23 is carried on the transmission wheel 42 in the internal part of the clamping module 12. The pipe 23 contacts a roller 44 fixed in the clamping module 12 above the internal part of the clamping module 12. The pipe 23 leaves the clamping module 12 through an outlet 48 of the clamping module 12, so that the pipe 23 is movably clamped by the transmission wheel 42 and the roller 44. By rotating the transmission wheel 42 in different directions, the pipe 23 is driven to move stably forward and backward, so that the pipe 23 can be introduced into the surgical site or withdrawn from the surgical site.

The above description is only illustrative and not restrictive of the present invention. Those skilled in the art will understand that many modifications, changes or equivalents may be made without departing from the technical concept of the present invention, but all of them will fall within the scope of protection of the present invention.

Claims (9)

1. An auxiliary operation structure of an endoscope is characterized in that: the device comprises a control module, a man-machine interface module and a clamping module;

The control module comprises an endoscope, a plurality of pressing units, a plurality of rotary table driving units and a plurality of knob driving units; the endoscope comprises an operation module, a cable group and a pipeline, wherein one end of the pipeline is connected with the operation module, the other end of the pipeline is provided with an illumination unit and a camera unit, and a plurality of keys, a plurality of turntables and a plurality of knobs are arranged on the operation module; wherein the plurality of pressing units are connected to a plurality of keys of the operation module; the turntable driving units are connected to the turntables of the operation module; the knob driving units are connected to the knobs of the operation module;

The man-machine interface module comprises a host, a display screen and a controller, wherein the host is in signal connection with the display screen and the controller, the host is also connected with the plurality of pressing units, the plurality of turntable driving units and the plurality of knob driving units in a wired or wireless mode, and a cable group of the endoscope is connected between the operation module and the host;

The clamping module is connected with the host computer in a wired or wireless mode and is used for allowing the pipeline to penetrate the clamping module and stabilizing the pipeline, and further, the pipeline is controlled to move back and forth based on the control of the controller, so that the front end of the pipeline moves back and forth towards a part to be tested or an operation part of a patient;

By operating the controller, each pressing unit can be driven to correspondingly press each key, each rotary table driving unit can be driven to correspondingly drive each rotary table to rotate, and each knob driving unit can be driven to correspondingly drive each knob to rotate.

2. The endoscope auxiliary operation structure according to claim 1, wherein the manipulator is one of or a combination of: joystick, mouse, keyboard, touch screen, handle, steering wheel.

3. The endoscope auxiliary operation structure according to claim 1, further comprising a case for accommodating the endoscope, the plurality of pressing units, the plurality of turntable driving units, and the plurality of knob driving units therein, and a front end of the tube of the endoscope and a main electrical connection end of the cable set are exposed outside the case.

4. The endoscope auxiliary operation structure according to claim 1, wherein a motor is arranged in the clamping module, a rotating shaft of the motor extends to form an extending shaft, a transmission wheel is arranged on the extending shaft, the pipeline enters the clamping module through an inlet of the clamping module, the pipeline is partially supported on the transmission wheel in the clamping module, the pipeline contacts with a roller fixedly arranged in the clamping module above the clamping module, the pipeline leaves the clamping module through an outlet of the clamping module, so that the pipeline is movably clamped by the transmission wheel and the roller, and the pipeline is driven to stably move back and forth through rotation of the transmission wheel in different directions.

5. The endoscope auxiliary operation structure according to claim 1, wherein the plurality of keys comprises: an image fixing key, a first function key, a second function key, a third function key, an attracting enabling key and a fluid conveying key;

the plurality of pressing units includes:

The first pressing unit is connected to the image fixing key and used for pressing the image fixing key based on the control of the controller;

The second pressing unit is connected to the first function key and used for pressing the first function key based on the control of the controller;

A third pressing unit connected to the second function key for pressing the second function key based on the control of the controller;

A fourth pressing unit connected to the third function key for pressing the third function key based on the control of the controller;

A fifth pressing unit connected to the attraction enabling key for pressing the attraction enabling key based on the control of the manipulator; and

And a sixth pressing unit connected to the fluid conveying key for pressing the fluid conveying key based on the control of the manipulator.

6. The endoscope auxiliary operation structure according to claim 5, wherein the first pressing unit, the second pressing unit, the third pressing unit, the fourth pressing unit, the fifth pressing unit, and the sixth pressing unit are each any one of: an electrically driven key striker or a cylinder key striker.

7. The endoscope auxiliary operation structure according to claim 1, wherein the plurality of turntables includes: a first angle adjustment dial and a second angle adjustment dial;

the plurality of turntable driving units includes:

A first rotating disc driving unit connected to the first angle adjusting rotating disc for driving the first angle adjusting rotating disc to rotate an angle based on the control of the controller; and

A second rotary table driving unit connected to the second angle adjusting rotary table for driving the second angle adjusting rotary table to rotate an angle based on the control of the manipulator;

the first and second rotary disk driving units are rotatable rotary disk sets, and each rotate based on the driving of a motor.

8. The endoscope auxiliary operation structure according to claim 1, wherein the plurality of knobs includes: a first fixed knob and a second fixed knob;

The plurality of knob driving units includes:

A first knob driving unit connected to the first fixed knob for driving the first fixed knob to rotate an angle based on the control of the manipulator; and

And the second knob driving unit is connected to the second fixed knob and used for driving the second fixed knob to rotate by an angle based on the control of the controller.

9. The endoscope auxiliary operation structure according to claim 8, wherein the first knob driving unit and the second knob driving unit are both a rotatable dial set or a conveyor belt, and each are rotated based on driving of a motor.