CN113317747B - Vector lens steering device and endoscope comprising same - Google Patents
Vector lens steering device and endoscope comprising same Download PDFInfo
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- CN113317747B CN113317747B CN202110757335.8A CN202110757335A CN113317747B CN 113317747 B CN113317747 B CN 113317747B CN 202110757335 A CN202110757335 A CN 202110757335A CN 113317747 B CN113317747 B CN 113317747B
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- 230000037431 insertion Effects 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 230000001154 acute effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 5
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 241000270295 Serpentes Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000001514 detection method Methods 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
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000214 mouth Anatomy 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 210000002784 stomach 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
-
- 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
-
- 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
- A61B1/04—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 combined with photographic or television appliances
- A61B1/045—Control thereof
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- General Health & Medical Sciences (AREA)
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- Endoscopes (AREA)
Abstract
The invention discloses a vector lens steering gear and an endoscope comprising the vector lens steering gear, relating to the technical field of medical appliances and comprising a plurality of steering knuckles, a connecting component for rotatably connecting two adjacent steering knuckles and a driving device, the driving device is used for driving the adjacent two steering knuckles to rotate relatively around the axis of the connecting assembly, an included angle is formed between the axis of the connecting assembly and at least one of the axes of the two steering knuckles connected with each other, and the steering knuckle positioned at one end of the steering knuckles is used for installing a lens. By the arrangement, the problem that the angle deflection of the lens of the endoscope in the prior art is limited is solved.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a vector lens steering gear and an endoscope comprising the vector lens steering gear.
Background
The endoscope is a medical instrument commonly used in the current hospital diagnosis and treatment process, can enter the stomach through the oral cavity or enter the body through other natural pore canals, and can be used for seeing lesions which cannot be displayed by X rays, so that the endoscope has very important roles in diagnosing some diseases and making treatment schemes.
In the implementation process of the detection technology, the endoscope needs to carry out the direction adjustment of the lens so as to achieve the purpose of comprehensively checking focus, but in the prior art, the lens adjustment of the endoscope is usually linear conduction, in the direction adjustment process of the lens, the steering movement amplitude of the endoscope is larger, namely the movement action of the lens is larger, and because the lens of the endoscope is usually in a narrower space, the problem that the angle deflection of the lens is limited exists, and certain angle view lenses cannot be achieved, so that the focus cannot be better and comprehensively checked under many conditions, and the judgment of a doctor on the state of an illness and the determination of a treatment scheme are not facilitated.
Therefore, how to solve the problem that the angular deflection of the lens of the endoscope in the prior art is limited becomes an important technical problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a vector lens steering device and an endoscope comprising the vector lens steering device, which solve the problem that the angle deflection of a lens is limited compared with the endoscope in the prior art. The preferred technical solutions of the technical solutions provided by the present invention can produce a plurality of technical effects described below.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The invention provides a vector lens steering device which comprises a plurality of steering knuckles, a connecting assembly and a driving device, wherein the connecting assembly is used for rotatably connecting two adjacent steering knuckles, the driving device is used for driving the two adjacent steering knuckles to rotate relatively around the axis of the connecting assembly, an included angle is formed between the axis of the connecting assembly and at least one of the axes of the two connected steering knuckles, and the steering knuckle positioned at one end of the steering knuckle is used for installing a lens.
Preferably, the connecting assembly comprises a limiting ring and a connecting convex part which are respectively arranged on two adjacent steering knuckles, and the connecting convex part is rotatably connected with the limiting ring.
Preferably, the driving device comprises a driving gear, a driven gear meshed with the driving gear and a micro motor for driving the driving gear to rotate, wherein the micro motor and the driven gear are respectively arranged on two adjacent steering knuckles, and the rotation axis of the driven gear coincides with the axis of the connecting assembly.
Preferably, the limit ring is provided with an annular groove into which the connecting convex part is embedded, and the connecting convex part is in clearance fit with the annular groove.
Preferably, the driven gear is fixedly arranged on the connecting convex part, and a notch for the saw teeth of the driving gear to pass through is arranged on the limiting ring.
Preferably, the connecting assembly further comprises a plurality of connecting lugs arranged on the steering knuckle, and the connecting lugs are connected with the limiting rings through fastening assemblies.
Preferably, the number of the steering knuckles is five, the steering knuckle used for installing the lens is a first steering knuckle, the steering knuckle is a second steering knuckle, a third steering knuckle, a fourth steering knuckle and a fifth steering knuckle in sequence from the first steering knuckle, the fifth steering knuckle is rotatably connected with a fixed knuckle through the connecting component, a driving device used for driving the fixed knuckle and the fifth steering knuckle to generate relative rotation is arranged between the fixed knuckle and the fifth steering knuckle, and the fixed knuckle is used for being connected with an endoscope insertion pipe.
Preferably, the fixed knuckle is a hollow column with two circular ends, the first steering knuckle and the fifth steering knuckle are hollow columns with one circular end and an oval other end, and the second steering knuckle, the third steering knuckle and the fourth steering knuckle are hollow columns with two oval ends.
Preferably, the two end surfaces of the second steering knuckle, the third steering knuckle and the fourth steering knuckle are provided with included angles.
The invention also provides an endoscope comprising the vector lens steering device.
In the technical scheme provided by the invention, the vector lens steering device comprises a plurality of steering knuckles, a connecting assembly and a driving device, wherein the connecting assembly is used for rotatably connecting two adjacent steering knuckles, the driving device is used for driving the two adjacent steering knuckles to rotate relatively around the axis of the connecting assembly, an included angle is formed between the axis of the connecting assembly and at least one of the axes of the two connected steering knuckles, and the steering knuckle positioned at one end of the steering knuckles is used for installing a lens. The driving device is controlled to enable the corresponding two steering knuckles to rotate relatively, and at least one steering knuckle is provided with an included angle between the axis of the connecting assembly and the axis of the two steering knuckles connected with the axis of the connecting assembly, so that when the two steering knuckles connected with the axis of the connecting assembly rotate relatively, the two steering knuckles respectively positioned at the two ends can generate position relative movement, the direction of the lens can also change, the lens can be comprehensively checked in the continuous adjustment process, and meanwhile, the space required by the relative rotation is smaller than the adjustment space required by the lens of the linear conduction endoscope in the prior art, the lens can flexibly steer in a narrow space, and the problem that the angle deflection of the lens of the endoscope in the prior art is limited is solved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the solutions of the prior art, further figures can be obtained from these figures without the inventive effort.
FIG. 1 is a schematic diagram of an exploded view of a vector lens steering system according to an embodiment of the present invention;
FIG. 2 is a front view of an exploded view of a vector lens steering device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the overall structure of a vector lens steering device according to an embodiment of the present invention;
FIG. 4 is a schematic view of the second knuckle, the third knuckle, and the fourth knuckle according to an embodiment of the present invention;
FIG. 5 is a schematic view of a second stop collar according to an embodiment of the present invention;
Fig. 6 is a schematic structural view of a first stop collar according to an embodiment of the present invention.
In fig. 1-6:
1. A first steering knuckle; 2. a second knuckle; 3. a third knuckle; 4. a fourth knuckle; 5. a fifth knuckle; 6. a fixed joint; 7. a drive gear; 8. a driven gear; 9. a micro motor; 10. a connecting lug; 11. a first connection protrusion; 12. a second connection protrusion; 13. a first stop collar; 14. and a second limiting ring.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, based on the examples herein, which are within the scope of the invention as defined by the claims, will be within the scope of the invention as defined by the claims.
The object of the present embodiment is to provide a vector lens steering device and an endoscope including the same, which can solve the problem that the angular deflection of the lens of the endoscope in the prior art is limited.
Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Furthermore, the embodiments shown below do not limit the content of the invention described in the claims. The whole contents of the constitution shown in the following examples are not limited to the solution of the invention described in the claims.
Referring to fig. 1-6, the vector lens steering gear provided in this embodiment includes a plurality of steering knuckles, a connecting assembly, and a driving device, wherein the connecting assembly is used for rotatably connecting two adjacent steering knuckles, the driving device is used for driving the two adjacent steering knuckles to rotate around the axis of the connecting assembly, an included angle is formed between the axis of the connecting assembly and at least one of the axes of the two connected steering knuckles, that is, an included angle is formed between the axis of the connecting assembly and the axis of one of the two connected steering knuckles, or an included angle is formed between the axis of the connecting assembly and the axis of the two connected steering knuckles, and the steering knuckle at one end of the steering knuckle is used for mounting a lens.
The driving device is controlled to enable the corresponding two steering knuckles to rotate relatively, and at least one steering knuckle is provided with an included angle between the axis of the connecting assembly and the axis of the two steering knuckles connected with the axis of the connecting assembly, so that when the two steering knuckles connected with the axis of the connecting assembly rotate relatively, the two steering knuckles respectively positioned at the two ends can generate position relative movement, the direction of the lens can also change, the lens can be comprehensively checked in the continuous adjustment process, and meanwhile, the space required by the relative rotation is smaller than the adjustment space required by the lens of the linear conduction endoscope in the prior art, the lens can flexibly steer in a narrow space, and the problem that the angle deflection of the lens of the endoscope in the prior art is limited is solved.
Moreover, compared with the linear conduction type endoscope lens in the prior art, the vector lens steering gear provided by the technical scheme of the invention also solves the problem that a lead wire and a bone wheel steel wire are easy to break in the snake bone steering of the endoscope.
As a specific embodiment, the connecting assembly comprises a stop collar and a connecting protrusion respectively arranged on two adjacent steering knuckles, the connecting protrusion is rotatably connected with the stop collar, and the connecting protrusion surrounds the circumference of the end part of the steering knuckle.
In a more specific embodiment, the driving device comprises a driving gear 7, a driven gear 8 and a micro motor 9, wherein the driven gear 8 is meshed with the driving gear 7, the micro motor 9 is connected with the driving gear 7 in a shaft mode and used for driving the driving gear 7 to rotate, the micro motor 9 and the driven gear 8 are respectively arranged on two adjacent steering knuckles, and the rotation axis of the driven gear 8 coincides with the axis of the connecting assembly. The micro motor 9 in the present embodiment is a micro motor having a side length or a diameter of about 3 mm. So set up, control the gear drive between driving gear 7 and the driven gear 8 through controlling the start-stop of motor, and then produce relative pivoted degree between two adjacent knuckle to finally control the direction of camera lens, easy operation, convenient and fast.
Further, the limiting ring is provided with an annular groove for embedding the connecting convex part, the limiting ring comprises a circular ring and an inner flange arranged at the first end of the circular ring, the inner diameter of the inner flange is smaller than the outer diameter of the driven gear 8, the space between the inner flange and the circular ring forms the annular groove, the connecting convex part is in clearance fit with the annular groove, and the end face of the limiting ring is connected with the corresponding knuckle. So arranged, two adjacent steering energy can generate relative rotation and can not be separated.
As a preferred embodiment, the driven gear 8 is fixedly arranged on the connecting convex part, namely, the driven gear 8 is also positioned at the circumferential direction of the end part of the steering knuckle, the driven gear 8 is positioned in the annular groove, and a notch for the saw teeth of the driving gear 7 to pass through is arranged on the limiting ring so that the driving gear 7 is meshed with the driven gear 8 in the limiting ring.
As an alternative embodiment, the connecting assembly further comprises a plurality of connecting lugs 10 arranged on the steering knuckle, and the connecting lugs 10 are connected with the limiting rings through fastening assemblies. So set up, be detachable connection between engaging lug 10 and the spacing ring, be convenient for assemble and overhaul. More specifically, the connecting lug 10 is connected with the limiting ring through a screw and nut assembly, or the connecting lug 10 is connected with the limiting ring through a screw penetrating through the connecting lug 10 and being screwed into the limiting ring.
In a more specific embodiment, the steering knuckles are provided with five steering knuckles for installing lenses, namely, a first steering knuckle 1, a second steering knuckle 2, a third steering knuckle 3, a fourth steering knuckle 4 and a fifth steering knuckle 5 from the first steering knuckle 1, the fifth steering knuckle 5 is rotatably connected with a fixed knuckle 6 through a connecting component, a driving device for driving the fixed knuckle 6 and the fifth steering knuckle 5 to rotate relatively is arranged between the fixed knuckle 6 and the fifth steering knuckle 5, the fixed knuckle 6 is used for being connected with an endoscope insertion tube, wherein a micro motor 9 of the driving device between the fixed knuckle 6 and the fifth steering knuckle 5 is arranged on the fixed knuckle 6, a micro motor 9 of the driving device between the fifth steering knuckle 5 and the fourth steering knuckle 4 is arranged on the fifth steering knuckle 5, a micro motor 9 of the driving device between the fourth steering knuckle 4 and the third steering knuckle 3 is arranged on the fourth steering knuckle 4, a micro motor 9 of the driving device between the third steering knuckle 3 and the second steering knuckle 2 is arranged on the third steering knuckle 3, and the micro motor 9 of the driving device between the second steering knuckle 2 is arranged on the second steering knuckle 2. By means of the arrangement, the plurality of steering knuckles are matched with the fixed knuckle 6, and the flexibility of the lens in the direction adjusting process can be enhanced.
Further, the fixed knuckle 6 is a hollow column with two circular ends, the first knuckle 1 and the fifth knuckle 5 are hollow columns with one circular end and an elliptical end, the second knuckle 2, the third knuckle 3 and the fourth knuckle 4 are hollow columns with two elliptical ends, the connecting convex parts of the connecting components among the first knuckle 1, the second knuckle 2, the third knuckle 3, the fourth knuckle 4 and the fifth knuckle 5 are first connecting convex parts 11, the outer edges of the first connecting convex parts 11 are circular or the outer edges are positioned on the same circle, and the limiting rings of the connecting components among the first knuckle 1, the second knuckle 2, the third knuckle 3, the fourth knuckle 4 and the fifth knuckle 5 are first limiting rings 13; the connecting convex part between the fixed joint 6 and the fifth steering knuckle 5 is a second connecting convex part 12, the second connecting convex part 12 is in a circular ring shape, and the limiting ring between the fixed joint 6 and the fifth steering knuckle 5 is a second limiting ring 14. So configured, when relative rotation is generated between the first knuckle 1, the second knuckle 2, the third knuckle 3, the fourth knuckle 4, the fifth knuckle 5, and the fixed knuckle 6, the relative rotation generated between the elliptical end portions can cause a positional change of the lens with respect to the fixed knuckle 6, that is, a change of the field of view, and the relative rotation generated between the circular end portions can further expand the visible range of the lens.
In a more preferred embodiment, the two end surfaces of the second steering knuckle 2, the third steering knuckle 3 and the fourth steering knuckle 4 are provided with included angles, and the included angles are preferably set to be acute angles. By the arrangement, the adjustment space required by the vector lens steering device in the lens adjustment process can be further reduced, so that the lens adjustment is more convenient and feasible.
Furthermore, the end of the first knuckle 1 where the lens is mounted is preferably provided in a truncated cone shape, i.e., with a taper, so that the vector lens steering gear is smoothly inserted into an affected part requiring microscopic examination.
The present vector lens redirector will be specifically described with reference to the above embodiments.
In this embodiment, the vector lens steering device includes several steering knuckles, a connecting assembly and a driving device, where the steering knuckles are divided into a first steering knuckle 1, a second steering knuckle 2, a third steering knuckle 3, a fourth steering knuckle 4, a fifth steering knuckle 5 and a fixing knuckle 6 which are sequentially arranged, the fixing knuckle 6 is used for connecting with an endoscope insertion tube, the first steering knuckle 1 is used for installing a lens, the fixing knuckle 6 is a hollow column with two circular ends, the first steering knuckle 1 and the fifth steering knuckle 5 are both hollow columns with one circular end and one elliptical end, one end of the first steering knuckle 1 where the lens is installed is preferably set to be round table, i.e. taper, so that the vector lens steering device can be smoothly inserted into an affected part requiring microscopic examination, the second steering knuckle 2, the third steering knuckle 3 and the fourth steering knuckle 4 are hollow columns with two elliptical ends, the first steering knuckle 1 and the second steering knuckle 2, the second steering knuckle 2 and the third steering knuckle 3, the third steering knuckle 3 and the fourth steering knuckle 4, the fourth steering knuckle 4 and the fifth steering knuckle 5, the fifth steering knuckle 5 and the fixed knuckle 6 are all rotatably connected through a connecting assembly, the connecting assembly comprises a limiting ring and a connecting convex part which are respectively arranged on two adjacent steering knuckles, the connecting convex part is rotatably connected with the limiting ring, the connecting convex part surrounds the circumference of the end part of the steering knuckle, the limiting ring is provided with an annular groove for embedding the connecting convex part, the settable limiting ring comprises a circular ring and an inner flange arranged at the first end of the circular ring, the inner diameter of the inner flange is smaller than the outer diameter of a driven gear 8, the space between the inner flange and the circular ring forms the annular groove, the connecting convex part is in clearance fit with the annular groove, the end surface of the limiting ring is connected with the corresponding steering knuckle, the driving device comprises a driving gear 7, the driving gear 8 and the micro motor 9, the driven gear 8 is fixedly arranged on the connecting convex part and is meshed with the driving gear 7, the driven gear 8 is located in the annular groove, a notch for the saw teeth of the driving gear 7 to pass through is formed in the limiting ring, the micro motor 9 is connected with the driving gear 7 in a shaft mode and is used for driving the driving gear 7 to rotate, the micro motor 9 and the driven gear 8 are respectively arranged on two adjacent steering knuckles, and the rotation axis of the driven gear 8 is coincident with the axis of the connecting assembly, so that the two adjacent steering knuckles rotate relatively around the axial direction of the limiting ring of the connecting assembly.
The invention also provides an endoscope, which comprises a vector lens steering device, wherein the vector lens steering device is the vector lens steering device in the embodiment. The vector lens steering gear comprises a plurality of steering knuckles, a connecting assembly and a driving device, wherein the connecting assembly is used for rotatably connecting two adjacent steering knuckles, the driving device is used for driving the two adjacent steering knuckles to rotate relatively around the axis of the connecting assembly, an included angle is formed between the axis of the connecting assembly and at least one of the axes of the two connected steering knuckles, and the steering knuckle positioned at one end of the steering knuckle is used for installing a lens. The driving device is controlled to enable the corresponding two steering knuckles to rotate relatively, and at least one steering knuckle is provided with an included angle between the axis of the connecting assembly and the axis of the two steering knuckles connected with the axis of the connecting assembly, so that when the two steering knuckles connected with the axis of the connecting assembly rotate relatively, the two steering knuckles respectively positioned at the two ends can generate position relative movement, the direction of the lens can also change, the lens can be comprehensively checked in the continuous adjustment process, and meanwhile, the space required by the relative rotation is smaller than the adjustment space required by the lens of the linear conduction endoscope in the prior art, the lens can flexibly steer in a narrow space, and the problem that the angle deflection of the lens of the endoscope in the prior art is limited is solved.
It is to be understood that the same or similar parts in the above embodiments may be referred to each other, and that in some embodiments, the same or similar parts in other embodiments may be referred to. The schemes provided by the invention comprise the basic schemes of the schemes, are independent of each other and are not mutually restricted, but can be combined with each other under the condition of no conflict, so that a plurality of effects are realized together.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. The endoscope is characterized by comprising a vector lens steering device, wherein the vector lens steering device comprises a plurality of steering knuckles, a connecting assembly and a driving device, wherein the connecting assembly is used for rotatably connecting two adjacent steering knuckles, the driving device is used for driving the two adjacent steering knuckles to rotate relatively around the axis of the connecting assembly, an acute angle is formed between the axis of the connecting assembly and at least one of the axes of the two connected steering knuckles, and the steering knuckle positioned at one end is used for installing a lens;
the connecting assembly comprises a limiting ring and a connecting convex part which are respectively arranged on two adjacent steering knuckles, and the connecting convex part is rotatably connected with the limiting ring;
The driving device comprises a driving gear (7), a driven gear (8) meshed with the driving gear (7) and a micro motor (9) for driving the driving gear (7) to rotate, wherein the micro motor (9) and the driven gear (8) are respectively arranged on two adjacent steering knuckles, and the rotation axis of the driven gear (8) coincides with the axis of the connecting assembly;
the connecting assembly further comprises a plurality of connecting lugs (10) arranged on the steering knuckle, and the connecting lugs (10) are connected with the limiting rings through fastening assemblies.
2. The endoscope as defined in claim 1, wherein said retainer ring is provided with an annular groove into which said connection protrusion is fitted, said connection protrusion being in clearance fit with said annular groove.
3. An endoscope as claimed in claim 1, characterized in that the driven gear (8) is fixedly arranged on the connecting projection, and that the stop collar is provided with notches through which the teeth of the driving gear (7) pass.
4. An endoscope as claimed in claim 1, characterized in that the number of the steering knuckles is five, the steering knuckles for installing lenses are first steering knuckles (1), the first steering knuckles (1) are sequentially a second steering knuckle (2), a third steering knuckle (3), a fourth steering knuckle (4) and a fifth steering knuckle (5), the fifth steering knuckle (5) is rotatably connected with a fixed knuckle (6) through the connecting assembly, the driving device for driving the fixed knuckle (6) and the fifth steering knuckle (5) to rotate relatively is arranged between the fixed knuckle (6) and the fifth steering knuckle (5), and the fixed knuckle (6) is used for being connected with an endoscope insertion tube.
5. The endoscope according to claim 4, wherein the fixed joint (6) is a hollow column with two circular ends, the first steering knuckle (1) and the fifth steering knuckle (5) are hollow columns with one circular end and the other elliptical end, and the second steering knuckle (2), the third steering knuckle (3) and the fourth steering knuckle (4) are hollow columns with two elliptical ends.
6. An endoscope as claimed in claim 5, characterized in that the second steering knuckle (2), the third steering knuckle (3) and the fourth steering knuckle (4) each have an angle between their two end faces.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110757335.8A CN113317747B (en) | 2021-07-05 | 2021-07-05 | Vector lens steering device and endoscope comprising same |
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| CN202110757335.8A CN113317747B (en) | 2021-07-05 | 2021-07-05 | Vector lens steering device and endoscope comprising same |
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| CN113317747B true CN113317747B (en) | 2024-08-09 |
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| CN114469369A (en) * | 2021-12-24 | 2022-05-13 | 苏州源流铭医疗科技有限公司 | Laparoscope tool for internal tissue operation |
| CN114906244B (en) * | 2022-05-11 | 2023-06-16 | 韶关学院 | A bionic earthworm robot |
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| CN215605550U (en) * | 2021-07-05 | 2022-01-25 | 承德医学院 | Vector lens steering gear and endoscope comprising same |
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| US6966906B2 (en) * | 2001-06-08 | 2005-11-22 | Joe Denton Brown | Deflection mechanism for a surgical instrument, such as a laser delivery device and/or endoscope, and method of use |
| TW201006430A (en) * | 2008-08-11 | 2010-02-16 | Medical Intubation Tech Corp | Four-way head-rotatable device of endoscopy |
| CN106667419A (en) * | 2015-11-10 | 2017-05-17 | 深圳市鹏瑞智能技术应用研究院 | Endoscope drive device and endoscope system |
| CN210077610U (en) * | 2019-05-15 | 2020-02-18 | 贵州医科大学附属医院 | A rotatable endoscope with variable viewing angle |
| CN212037463U (en) * | 2020-02-26 | 2020-12-01 | 柳州市妇幼保健院 | A digestive endoscope with adjustable peeping angle |
| CN213551621U (en) * | 2020-09-23 | 2021-06-29 | 徐州嘉友电子科技有限公司 | Adjusting mechanism for endoscope |
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| CN215605550U (en) * | 2021-07-05 | 2022-01-25 | 承德医学院 | Vector lens steering gear and endoscope comprising same |
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