CN118986249A - Endoscope and medical system - Google Patents

Abstract

The present application relates to an endoscope and a medical system. The endoscope includes a snake-bone mechanism, a camera mechanism and a first driving mechanism; the camera mechanism includes a lens module, a support member and a base, the support member can be arranged at the distal end of the snake-bone mechanism along the X-axis, the lens module is arranged on the support member through the base, the base has a plurality of force points, and the force points are arranged along the circumference of the base, and the first driving mechanism is used to apply a force to the force points so that the base drives the lens module to perform a yaw motion with the Y axis as the rotation center or a pitch motion with the Z axis as the rotation center; the X axis, the Y axis and the Z axis are perpendicular to the X axis, the X axis is parallel to the axis of the support member, and the Y axis is parallel to the distal axis of the snake-bone mechanism. The endoscope can adjust the vertical and horizontal fields of the lens module, and the support member can drive the camera mechanism to move up and down, which can also increase the field of view of the endoscope, that is, the endoscope has a larger field of view, which can ensure that the operator observes the lesion from multiple angles.

Description

Endoscope and medical system

Technical Field

The application relates to the technical field of medical instruments, in particular to an endoscope and a medical system.

Background

Along with the progress and development of science and technology, the medical science and technology level is also continuously improved, so that an endoscope serving as an optical instrument can enter the abdominal cavity of a patient through an incision or a natural cavity by utilizing a flexible bending part, and the position of a lens module is adjusted to expand the field of vision of a diagnostician and assist the diagnostician to observe or treat a lesion part of the diagnostician, and therefore, the endoscope has wide application in clinical medicine. However, the existing endoscope generally adjusts the position of the lens through the snake bone, and the snake bone cannot rotate in a large angle because the belly of the patient is too close to the focus, so that the view range of the lens module is small, and the focus is not easy to observe in multiple angles.

Disclosure of Invention

In view of the above, it is necessary to provide an endoscope and a medical system.

An endoscope comprises a snake bone mechanism, a camera shooting mechanism and a first driving mechanism;

The camera shooting mechanism comprises a lens module, a supporting piece and a base, wherein the supporting piece is movably arranged at the far end of the snake bone mechanism along an X axis, the lens module is arranged on the supporting piece through the base, the base is provided with a plurality of stress points, the stress points are arranged along the circumferential direction of the base, and the first driving mechanism is used for applying acting force to the stress points so that the base drives the lens module to perform deflection movement by taking a Y axis as a rotation center or perform pitching movement by taking a Z axis as a rotation center;

The X axis and the Y axis are perpendicular to the Z axis, the X axis is parallel to the axis of the supporting piece, and the Y axis is parallel to the far-end axis of the snake bone mechanism.

In one embodiment, the base is spherical, and a concave surface is disposed at one end of the support member near the base, and the concave surface is used for accommodating the base.

In one embodiment, the first driving mechanism includes a plurality of first wire wheel sets and a plurality of first traction wires, the first wire wheel sets are arranged at the distal ends of the snake bone mechanisms, the first traction wires are wound on the corresponding first wire wheel sets, the proximal ends of the first traction wires extend out from the proximal ends of the snake bone mechanisms, and the distal ends of the first traction wires are connected with the corresponding stress points.

In one embodiment, the distal end of the snake bone mechanism is provided with a step surface, the support member is configured to support the base above the step surface, and each of the first filament wheel sets is disposed on two sides of the step surface along the X-axis.

In one embodiment, the first driving mechanism includes a plurality of first magnetic members and a plurality of second magnetic members, the first magnetic members are disposed at the corresponding stress points, the second magnetic members are disposed on the supporting members and attract or repel the corresponding first magnetic members, the polarity of the first magnetic members and/or the polarity of the second magnetic members are adjustable, and the magnitude of magnetic force between the second magnetic members and the corresponding first magnetic members is adjustable.

In one embodiment, the endoscope further comprises a second drive mechanism for driving the support member to move along the X-axis;

the second driving mechanism comprises a connecting piece, at least one second wire wheel set and at least one second traction wire, wherein the connecting piece is connected with the supporting piece, the second wire wheel set is arranged at the far end of the snake bone mechanism, the second traction wire is wound on the second wire wheel set, the near end of the second traction wire extends out from the near end of the snake bone mechanism, and the far end of the second traction wire is connected with the connecting piece.

In one embodiment, the second drive mechanism further comprises an elastic member coupled to the distal end of the snake bone mechanism and the connector, the elastic member configured to apply a force to the connector that retracts inward toward the distal end of the snake bone mechanism.

In one embodiment, the snake bone mechanism comprises a plurality of snake bone units arranged along the axial direction of the snake bone mechanism;

one of the two adjacent snake bone units is convexly provided with a first connecting part along the axial direction of the snake bone mechanism, the other one is convexly provided with a second connecting part along the axial direction of the snake bone mechanism, and the first connecting part is movably connected with the second connecting part.

In one embodiment, the first connecting portion has a first cambered surface facing the second connecting portion, the second connecting portion has a second cambered surface facing the first connecting portion, and the first cambered surface is meshed with the second cambered surface.

In one embodiment, the endoscope further comprises a lens cover, wherein the lens cover is arranged at the distal end of the snake bone mechanism, so that a closed space is formed at the distal end of the snake bone mechanism, and the image pickup mechanism and the first driving mechanism are both positioned in the closed space;

the lens cover is provided with a side wall, an included angle alpha is formed between the side wall and the central axis of the snake bone mechanism, the side wall is provided with an opening, and the opening is used for exposing the camera mechanism and is provided with a light-transmitting sheet.

In one embodiment, the endoscope further comprises an instrument box and a rotation mechanism, wherein the rotation mechanism comprises a bearing, an outer sleeve and an inner sleeve;

The bearing is provided with a movable part and a fixed part, the outer sleeve is connected with the fixed part and sleeved outside the inner sleeve, the inner sleeve is connected with the movable part, the distal end of the inner sleeve is connected with the proximal end of the snake bone mechanism, and the proximal end of the inner sleeve is used for being connected with a power output shaft of the instrument box.

A medical system comprising a puncture outfit and an endoscope according to any one of the above, wherein the puncture outfit is provided with a puncture channel, the puncture channel is used for the distal end of the snake bone mechanism to penetrate, and the distal end of the snake bone mechanism can rotate in the process of penetrating the puncture channel.

In one embodiment, the puncture outfit comprises a puncture outfit body, a protective sleeve, an insertion ring and a sealing ring, wherein the insertion ring, the protective sleeve, the puncture outfit body and the sealing ring are sequentially connected along the direction from the proximal end to the distal end of the endoscope, and the puncture channel extends from the proximal end of the insertion ring to the distal end of the sealing ring.

According to the endoscope and the medical system, the first driving mechanism is matched with the base, so that the lens module can rotate at a large angle such as pitching and swaying, the up-down and left-right visual field adjustment of the lens module is realized, and the supporting piece can drive the image pickup mechanism to move up and down, so that the visual field range of the endoscope can be increased, namely, the endoscope has a larger visual field, and a focus can be observed at multiple angles by an operator.

Drawings

Fig. 1 and fig. 2 are schematic perspective views of a distal end of an endoscope according to an embodiment of the present application.

Fig. 3 is a schematic operation diagram of a surgical robot system according to an embodiment of the present application.

Fig. 4 is a schematic view of an endoscope according to an embodiment of the present application.

Fig. 5 is a schematic view of an endoscope according to another embodiment of the present application.

Fig. 6 is a schematic distribution diagram of stress points of a base according to an embodiment of the application.

Fig. 7 is a schematic view illustrating the installation of the first driving mechanism on the snake bone mechanism according to an embodiment of the application.

Fig. 8 is a schematic diagram illustrating a process of a yaw motion of an image capturing mechanism according to an embodiment of the present application.

Fig. 9 is a schematic diagram illustrating the optical cable passing through the support and the base of the lens module according to an embodiment of the application.

Fig. 10 is a schematic diagram of a partial mode of an image capturing mechanism according to an embodiment of the present application.

FIG. 11 is a schematic diagram of a snake bone mechanism according to an embodiment of the application;

Fig. 12 is a schematic view illustrating the installation of the first magnetic member on the base according to an embodiment of the present application.

Fig. 13 is a schematic view illustrating the installation of the second magnetic member on the support member according to an embodiment of the present application.

Fig. 14 is a schematic diagram showing the distribution of the polarity of the second magnetic element on the support element when the image capturing mechanism is at different positions according to an embodiment of the present application.

Fig. 15 is a schematic view illustrating the installation of the second driving mechanism on the snake bone mechanism according to an embodiment of the application.

Fig. 16 is a longitudinal partial cross-sectional view of an endoscope provided in an embodiment of the present application.

Fig. 17 is a transverse, partial cross-sectional view of an endoscope provided in accordance with an embodiment of the present application.

Fig. 18 is a schematic view illustrating an operation of a medical device according to an embodiment of the present application.

Fig. 19 is a schematic view illustrating a state of a puncture outfit according to an embodiment of the present application.

Fig. 20 is a schematic view of a mechanical immobilization point of a conventional patient table.

Fig. 21 is a schematic view of a mechanical immobilization point of a patient table according to an embodiment of the present application.

Fig. 22 is a schematic view of a distal end structure of an endoscope according to an embodiment of the present application.

FIG. 23 is a schematic view of an endoscope according to an embodiment of the present application after entering a target tissue.

Wherein, the reference numerals in the drawings are as follows:

10. An endoscope; 100. a snake bone mechanism; 100a, step surface; 110. a snake bone unit; 120. a hard tube; 200. an image pickup mechanism; 210. a lens module; 211. a lens; 212. an image sensor; 213. a circuit board; 214. an optical cable; 220. a support; 230. a base; 231. a first stress point; 232. a second stress point; 233. a third stress point; 234. a fourth stress point; 300. a first driving mechanism; 310. a first yarn wheel set; 320. a first traction wire; 330. a first magnetic member; 340. a second magnetic member; 400. a second driving mechanism; 410. a connecting piece; 420. a second yarn wheel set; 430. a second traction wire; 440. an elastic member; 500. a puncture outfit; 500a, a puncture channel; 510. placing a ring; 520. a protective sleeve; 530. a puncture outfit body; 540. a seal ring; 600. a rotation mechanism; 610. an inner sleeve; 620. a jacket; 630. a bearing; 631. a movable part; 632. a fixing part; 700. a handle; 800. a mirror cover; 800a, sidewalls; 900. an instrument box; 20. a doctor console; 30. a patient platform; 30a, large C-arm; 30b, small C-arm; 40. an image platform; A. the target tissue.

Detailed Description

In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.

In the description of the present application, it should be understood that, if any, these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., are used herein with respect to the orientation or positional relationship shown in the drawings, these terms refer to the orientation or positional relationship for convenience of description and simplicity of description only, and do not indicate or imply that the apparatus or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application.

Furthermore, the terms "first," "second," and the like, if any, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the terms "plurality" and "a plurality" if any, mean at least two, such as two, three, etc., unless specifically defined otherwise.

In the present application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly. For example, the two parts can be fixedly connected, detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, the meaning of a first feature being "on" or "off" a second feature, and the like, is that the first and second features are either in direct contact or in indirect contact through an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that if an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. If an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein, if any, are for descriptive purposes only and do not represent a unique embodiment.

Referring to fig. 1, fig. 1 is a schematic view illustrating a distal end structure of an endoscope 10 according to an embodiment of the present application, and the endoscope 10 according to an embodiment of the present application includes a snake bone mechanism 100, an image capturing mechanism 200, and a first driving mechanism 300 (not shown in fig. 1); further, the camera mechanism 200 includes a lens module 210, a supporting member 220 and a base 230, the supporting member 220 is movably disposed at a distal end of the snake bone mechanism 100 along an X axis, the lens module 210 is disposed on the supporting member 220 through the base 230, the base 230 has a plurality of stress points, the stress points are disposed along a circumferential direction of the base 230, and the first driving mechanism 300 is configured to apply a force to the stress points, so that the base 230 drives the lens module 210 to perform a yaw motion with a Y axis as a rotation center or perform a pitch motion with a Z axis as a rotation center; wherein the X-axis, Y-axis are perpendicular to the Z-axis, the X-axis is parallel to the axis of the support 220, and the Y-axis is parallel to the distal axis of the snake bone mechanism 100.

It should be noted that "distal" and "proximal" are used throughout to refer to a relative positional relationship, where "distal" of a component refers to an end of the component that is first introduced into a patient and/or is farther from an operator than the other end during normal operation, and "proximal" refers to an end that is later introduced into the patient and/or is closer to the operator than the other end. In addition, the X-axis, Y-axis and Z-axis directions in the whole text are as shown in FIG. 2.

The endoscope 10 may be used in laparoscopic surgery, knee joint examination and surgery, bronchial examination and surgery, etc. and with surgical robotic systems. As shown in fig. 3, the surgical robotic system may include three major parts, a physician console 20, a patient platform 30, and an image platform 40; the endoscope 10 is mounted on a mechanical arm of a patient trolley, is used for collecting images of focus positions, transmits image analog signals into an image host of the image platform 40 through an optical cable, processes the collected signals based on a stereoscopic imaging algorithm by the image platform 40, and finally transmits image information to a stereoscopic monitor and a two-dimensional display of the doctor console 20, so that a user can see real-time three-dimensional pictures through the stereoscopic monitor.

When the camera mechanism 200 enters the abdominal cavity of the patient along with the snake bone mechanism 100, a force can be applied to the stress point of the base 230 through the first driving mechanism 300 so as to drive the base 230 to move, so that the camera module performs deflection movement or pitching movement, and the camera mechanism 200 can rotate at multiple angles; in addition, the supporting member 220 can drive the camera mechanism 200 to move along the X-axis, so that the extension of the wide-angle depth and the insertion distance of the field of view of the camera mechanism 200 can be realized, and the angle of view of the camera mechanism 200 can be further expanded. The direction and/or magnitude of the force applied by the first driving mechanism 300 to each stress point are different.

As shown in fig. 4, a handle 700 may be disposed at a proximal end of the snake bone mechanism 100, where the handle 700 is connected to the first driving mechanism 300, and the first driving mechanism 300 may be controlled by manually operating the handle 700, so that the camera module performs a yaw motion or a pitch motion. Wherein, as shown in fig. 4, the proximal end of the snake bone mechanism 100 may be connected to the handle 700 via the stiffening tube 120.

As shown in fig. 5, the proximal end of the snake bone mechanism 100 may be provided with an instrument box 900, the instrument box 900 is provided with a motor module, the first driving mechanism 300 is connected with an output shaft of the motor module, and the first driving mechanism 300 can be controlled by remotely operating the instrument box 900, so that the camera mechanism 200 performs a yaw motion or a pitch motion.

Therefore, the endoscope 10 is matched with the base 230 through the first driving mechanism 300, so that the lens module 210 can rotate at a large angle such as pitching and swaying, thereby realizing the adjustment of the up-down, left-right visual field of the lens module 210, and the supporting piece 220 can drive the image pickup mechanism 200 to move up and down, which can also increase the visual field range of the endoscope 10, i.e. the endoscope 10 of the application has a larger visual field, and can ensure that an operator observes focus at multiple angles. The vertical direction is the same as the direction of the X axis, and the horizontal direction is the same as the direction of the Z axis.

The number of the stress points may be four (i.e., the first stress point 231, the second stress point 232, the third stress point 233, and the fourth stress point 234 shown in fig. 6), and the four stress points may be uniformly disposed along the circumferential direction of the base 230, wherein two stress points (i.e., the second stress point 232 and the fourth stress point 234) are disposed along the Y-axis, and the remaining two stress points (i.e., the first stress point 231 and the third stress point 233) are disposed along the Z-axis. By setting the number and the positions of the stress points, the number of the stress points can be reduced as much as possible on the premise that the base 230 can drive the lens module 210 to do the yaw motion or the pitch motion, and the connection between the first driving mechanism 300 and the base 230 can be simplified, so that the structure of the first driving mechanism 300 is simplified.

In order to ensure that the base 230 can rotate smoothly, as shown in fig. 1, the base 230 is spherical, and a concave surface is disposed at one end of the support member 220 near the base 230, and the concave surface is used for accommodating the base 230. During rotation of the base 230, the lower end of the base 230 is always located within the surface of the support 220 adjacent to the base 230. The base 230 may have a cylindrical structure, a cuboid structure, or other regular or irregular structures, and may be correspondingly disposed as required.

Regarding the manner of applying force to the stress point of the base 230 by the first driving machine, as shown in fig. 7, the first driving mechanism 300 may include a plurality of first wire wheel sets 310 and a plurality of first traction wires 320, the first wire wheel sets 310 are disposed at the distal ends of the snake bone mechanisms 100, the first traction wires 320 are wound on the corresponding first wire wheel sets 310, and the proximal ends of the first traction wires 320 extend from the proximal ends of the snake bone mechanisms 100, and the distal ends of the first traction wires 320 are connected to the corresponding stress points. By winding and unwinding each first traction wire 320, the rotation direction of the base 230 can be controlled, so that the base 230 can drive the lens module 210 to do a yaw motion or a pitch motion.

The first traction wires 320 are correspondingly retracted and extended according to the direction in which the base 230 is required to rotate and the number and position arrangement of the stress points, for example, as shown in fig. 6, the base 230 is uniformly provided with 4 stress points along its circumferential direction, namely, a first stress point 231, a second stress point 232, a third stress point 233 and a fourth stress point 234, where the first stress point 231 is located at the left side of the base 230, the third stress point 233 is located at the right side of the base 230, the second stress point 232 is located at the front side of the base 230, and the fourth stress point 234 is located at the rear side of the base 230; the first driving mechanism 300 is provided with 4 first traction wires 320, and the 4 first traction wires 320 are respectively connected with the first stress point 231, the second stress point 232, and the third stress point 233 and the fourth stress point 234. The front-rear direction is the same as the direction of the Y axis. As shown in fig. 8, when the first traction wire 320 connected to the third stress point 233 is tightened and the first traction wire 320 connected to the first stress point 231, the first traction wire 320 connected to the second stress point 232, and the first traction wire 320 connected to the fourth stress point 234 are released, the lens module 210 may swing to the left from the zero position; when the first traction wire 320 connected to the first stress point 231 is tightened and the first traction wire 320 connected to the third stress point 233, the first traction wire 320 connected to the second stress point 232, and the first traction wire 320 connected to the fourth stress point 234 are released, the lens module 210 may swing to the right side from the zero position.

Wherein, the proximal end of the first traction wire 320 may be connected to the handle 700 of the endoscope 10 shown in fig. 4, and in particular, the handle 700 may be provided with a plurality of operation buttons, and the proximal end of the first traction wire 320 is connected to the corresponding operation buttons, and the retraction of each first traction wire 320 is achieved by operating the corresponding operation buttons. Of course, the proximal end of the first traction wire 320 may also be connected to the instrument box 50 of the endoscope 10 shown in fig. 5, specifically, the proximal end of the first traction wire 320 is connected to a corresponding output shaft on the motor module, and the retraction of each first traction wire 320 is achieved by rotating the corresponding output shaft in a forward direction or a reverse direction. The proximal end of the first traction wire 320 may be fastened to the base 230 at a corresponding stress point by screwing, riveting, welding, or the like.

It is understood that the number of the first yarn groups 310 is the same as the number of the first traction yarns 320, and the first yarn groups 310 are in one-to-one correspondence with the first traction yarns 320. Regarding the position setting of the first wire wheel sets 310, the present embodiment is not particularly limited, and the corresponding winding of the first traction wires 320 is not affected, and as shown in fig. 7, for example, 4 first wire wheel sets 310 and 4 first traction wires 320 are provided, wherein three first wire wheel sets 310 are disposed on the left side of the supporting member 220, and the remaining one first wire wheel set 310 is disposed on the right side of the supporting member 220.

As shown in fig. 7, the distal end of the snake bone mechanism 100 is provided with a step surface 100a, and the supporting member 220 is used to support the base 230 above the step surface 100a, and each first wire wheel set 310 is disposed on two sides of the step surface 100a along the X-axis. The position of the first wire wheel set 310 is thus set to ensure stable winding of the first traction wire 320.

The number of first wire wheels and the first wire wheel positions of each first wire wheel group 310 can be set accordingly according to the requirements. For example, as shown in fig. 7, each first wire wheel set 310 is provided with three first wire wheels, one of which is disposed on the step surface 100a, and the remaining two of which are disposed below the step surface 100 a. In addition, the winding manner of the first traction wire 320 on each first wire wheel of each first wire wheel set 310 may be set accordingly according to the requirement, and still taking the first traction wire 320 connected to the first stress point 231 as shown in fig. 7 as an example, the distal end of the first traction wire 320 is fixed on the base 230, then vertically passes through the supporting member 220 downwards, passes through the right first wire rotation direction to the left, continues to wind on the left first wire rotation direction upwards, passes through the first wire rotation direction on the step surface 100a to be horizontally backwards, and is finally connected to the output shaft of the handle 700 or the motor module of the instrument box 50.

It should be noted that the supporting member 220 may have a hollow structure, so as to facilitate the threading of the pulling wire and the optical cable. In addition, the base 230 is also hollow, so that the optical cable 213 of the lens module 210 can be inserted through the base 230 and the supporting member 220 as shown in fig. 9, and finally the snake bone penetrating mechanism 100 is connected with the image host of the image platform 40. As shown in fig. 10, the lens module 210 may include a lens 211 and an image sensor circuit board 212, and the lens 211 is connected to the image sensor circuit board 212. The lens 211 is used for collecting visual field information in the abdominal cavity of the patient, sending the collected information to the image sensor circuit board 212, and the image sensor circuit board 212 processes the visual field information and registers and stores the processed result, and the processed result can be transmitted to the image host through the transmission of the optical cable 213. The lens 211 may be a binocular lens, that is, the lens module 210 has two lenses 211 located on the left and right sides; the image sensor circuit board 212 may be a CMOS (Complementary Metal Oxide Semiconductor, read-write chip) sensor.

To ensure the air tightness of the distal end of the snake bone mechanism 100, as shown in fig. 21, in some embodiments, the endoscope 10 further includes a scope cover 800, and the scope cover 800 is disposed on the distal end of the snake bone mechanism 10, so that the distal end of the snake bone mechanism 10 forms an enclosed space, and the image capturing mechanism 200 and the first driving mechanism 300 are both located in the enclosed space.

In one embodiment, as shown in fig. 21, the mirror housing 800 has a side wall 800a, where an angle α is formed between the side wall 800a and a central axis of the snake bone mechanism 100, and the side wall 800a is provided with an opening (not shown in the drawings) for exposing the camera mechanism 200 and is provided with a light transmitting sheet (not shown in the drawings). Thus, as shown in fig. 23, the side wall 800a is configured as an inclined wall, which can reduce the lifting height of the wrist joint at the distal end of the snake bone mechanism 100, and change the direction to increase the movement space of the wrist joint at the distal end of the snake bone mechanism 100. The angle α may be set correspondingly according to the specific situation, for example, 30 °. The region indicated by the reference symbol M in fig. 23 represents a region that can be observed by the imaging mechanism 200 of the endoscope 10.

Of course, the first driving mechanism 300 may apply force to the stress points of the base 230 in the following manner, as shown in fig. 12 and 13, the first driving mechanism 300 includes a plurality of first magnetic elements 330 and a plurality of second magnetic elements 340, the first magnetic elements 330 are disposed at the corresponding stress points, the second magnetic elements 340 are disposed on the supporting element 220 and attract or repel the corresponding first magnetic elements 330, wherein the polarity of the first magnetic elements 330 and/or the polarity of the second magnetic elements 340 are adjustable, and the magnitude of the force between the second magnetic elements 340 and the corresponding first magnetic elements 330 is adjustable. The rotation direction of the base 230 can be controlled by adjusting the polarities of the first magnetic element 330 and the second magnetic element 340 and the magnitude of the acting force between the second magnetic element 340 and the corresponding first magnetic element 330, so that the base 230 can drive the lens module 210 to do a yaw motion or a pitch motion.

It should be noted that, the polarity of the first magnetic element 330 is adjustable (i.e. switching between N-pole and S-pole), and the polarity of the second magnetic element 340 is not adjustable; or the polarity of the first magnetic element 330 is not adjustable, and the polarity of the second magnetic element 340 is adjustable; or the polarities of the first magnetic element 330 and the second magnetic element 340 are adjustable. The following describes how the base 230 drives the lens module 210 to perform the yaw motion and the pitch motion, with reference to the example that the polarity of the first magnetic element 330 is not adjustable and the polarity of the second magnetic element 340 is adjustable:

It is assumed that the base 230 is uniformly provided with 4 stress points along its circumferential direction, namely, a first stress point 231, a second stress point 232, a third stress point 233 and a fourth stress point 234, where the first stress point 231 is located at the left side of the base 230, the third stress point 233 is located at the right side of the base 230, the second stress point 232 is located at the front side of the base 230, the fourth stress point 234 is located at the rear side of the base 230, the polarity of the first magnetic element 330 at the first stress point 231 is S-pole, the polarity of the first magnetic element 330 at the second stress point 232 is N-pole, the polarity of the first magnetic element 330 at the third stress point 233 is N-pole, and the polarity of the first magnetic element 330 at the fourth stress point 234 is N-pole. As shown in fig. 14, when the polarity of the second magnetic element 340 corresponding to the first magnetic element 330 at the first stress point 231 (i.e., the left second magnetic element 340) is N-pole, when the polarity of the second magnetic element 340 corresponding to the first magnetic element 330 at the second stress point 232 (i.e., the front second magnetic element 340) is N-pole, when the polarity of the second magnetic element 340 corresponding to the first magnetic element 330 at the third stress point 233 (i.e., the right second magnetic element 340) is N-pole, and when the polarity of the second magnetic element 340 corresponding to the first magnetic element 330 at the fourth stress point 234 (i.e., the rear second magnetic element 340) is N-pole, the base 230 can drive the lens module 210 to swing from the null position to the right. It should be noted that, when the lens module 210 is at the zero position, the polarity of the second magnetic element 340 may be opposite to the polarity of the corresponding first magnetic element 330. As shown in fig. 14, when the polarity of the second magnetic element 340 on the left side is S-pole, the polarity of the second magnetic element 340 on the front side is N-pole, the polarity of the second magnetic element 340 on the right side is S-pole, the polarity of the second magnetic element 340 on the rear side is N-pole, and the base 230 can drive the lens module 210 to swing to the left side. As shown in fig. 14, when the polarity of the second magnetic element 340 on the left side is S-pole, the polarity of the second magnetic element 340 on the front side is S-pole, the polarity of the second magnetic element 340 on the right side is N-pole, the polarity of the second magnetic element 340 on the rear side is N-pole, and the base 230 can drive the lens module 210 to look down. As shown in fig. 14, when the polarity of the second magnetic element 340 on the left side is S-pole, the polarity of the second magnetic element 340 on the front side is N-pole, the polarity of the second magnetic element 340 on the right side is N-pole, the polarity of the second magnetic element 340 on the rear side is S-pole, and the base 230 can drive the lens module 210 to look upward.

Specifically, the first magnetic element 330 may include a first coil, and the magnitude and direction of the current flowing into the first coil are adjustable; and/or the second magnetic element 340 may include a second coil, and the magnitude and direction of the current applied to the second coil may be adjustable. The structures of the first magnetic element 330 and the second magnetic element 340 may be set according to whether the polarities of the first magnetic element 330 and the second magnetic element 340 are adjustable, for example, if the polarities of the first magnetic element 330 and the second magnetic element 340 are not adjustable, the first magnetic element 330 may be a magnet, and the second magnetic element 340 may be a coil; if the polarity of the first magnetic element 330 is adjustable and the polarity of the second magnetic element 340 is not adjustable, the first magnetic element 330 may be a coil, and the second magnetic element 340 may be a magnet; if the polarities of the first magnetic element 330 and the second magnetic element 340 are adjustable, the first magnetic element 330 and the second magnetic element 340 are both coils. The polarity of the magnetic element can be changed by changing the direction of the current flowing into the coil; the magnitude of the magnetic force of the magnetic member can be changed by changing the magnitude of the current supplied to the coil.

The first coil and the second coil may be electrically connected to an external power supply unit through a wire, and the power supply unit is configured to supply a current in a preset direction and a preset magnitude to the first coil and the second coil, and the power supply unit may be provided in the handle 700 of the endoscope 10 shown in fig. 2, in the instrument box 900 of the endoscope 10 shown in fig. 3, or outside the endoscope 10.

As shown in fig. 15, in some embodiments of the present application, endoscope 10 may further include a second drive mechanism 400, second drive mechanism 400 for driving support 220 to move along the X-axis; the second driving mechanism 400 includes a connecting member 410, at least one second wire wheel set 420 and at least one second traction wire 430, the connecting member 410 is connected with the supporting member 220, the second wire wheel set 420 is disposed at the distal end of the snake bone mechanism 100, the second traction wire 430 is wound on the second wire wheel set 420, and the proximal end of the second traction wire 430 extends from the proximal end of the snake bone mechanism 100, and the distal end of the second traction wire 430 is connected with the connecting member 410. By retracting the second traction wire 430, the movement of the link 410 can be controlled, thereby moving the support 220 along the X-axis.

Wherein the proximal end of the second pull wire 430 may be coupled to the handle 700 of the endoscope 10 shown in fig. 4, and in particular, the proximal end of the second pull wire 430 may be coupled to a corresponding operating knob on the handle 700. Of course, the proximal end of the second traction wire 430 may also be connected to the instrument box 900 of the endoscope 10 shown in fig. 5, specifically, the proximal end of the second traction wire 430 is connected to a corresponding output shaft on the motor module, and the second traction wire 430 is retracted by rotating the corresponding output shaft in a forward direction or a reverse direction. The proximal end of the second traction wire 430 may be secured to the connector 410 by threaded connection, riveting, welding, etc.

The number and positions of the second wire wheel groups 420 and the second traction wires 430 may be set according to the structure of the connecting member 410, for example, if the connecting member 410 has an L-shaped structure, and the vertical section of the connecting member 410 is connected with the supporting member 220, the number of the second traction wires 430 is 2, wherein the distal end of one second traction wire 430 is connected with the horizontal section of the connecting member 410, and the distal end of the remaining second traction wire 430 is connected with the vertical section of the connecting member 410; correspondingly, the number of the second wire wheel sets 420 is also 2, and the 2 second wire wheel sets 420 are located at the left and right sides of the support 220.

As shown in fig. 15, each of the second wire wheel sets 420 is disposed on both sides of the step surface 100a along the X-axis. Thus, the second wire wheel set 420 is positioned to ensure stable winding of the second traction wire 430.

Regarding the number of filament wheels and the filament wheel positions of each second filament wheel set 420, they can be set accordingly according to the needs. For example, as shown in fig. 15, each second wire wheel set 420 is provided with three first wire wheels, one of which is disposed on the step surface 100a, and the remaining two of which are disposed below the step surface 100 a. In addition, the winding manner of the second traction wire 430 on each second wire wheel of each second wire wheel set 420 may be set accordingly according to the requirement, taking the left second traction wire 430 shown in fig. 15 as an example, the distal end of the second traction wire 430 is fixed on the vertical section of the connecting member 410, and then vertically upwards passes through the right second wire rotation direction to the left, continues to wind on the left second wire rotation direction upwards, passes through the second wire rotation direction on the step surface 100a to the horizontal direction, and finally is connected to the output shaft of the handle 700 or the instrument box 50.

Further, as shown in fig. 15, the second driving mechanism 400 may further include an elastic member 440, wherein the elastic member 440 is connected to the distal end of the snake bone mechanism 100 and the connecting member 410, and the elastic member 440 is used to apply a force to the connecting member 410 retracting inward toward the distal end of the snake bone mechanism 100. The connection member 410 pulls the photographing mechanism 200 upward under the pulling action of the second pulling wire 430, and the photographing mechanism 200 moves downward under the self-restoring action of the elastic member 440.

The elastic member 440 may be a spring, and an upper end of the elastic member 440 is connected to the horizontal section of the connecting member 410, and a lower end of the elastic member 440 is connected to the distal end of the snake bone mechanism 100.

As shown in fig. 11, in some embodiments, the snake bone mechanism 100 includes a plurality of snake bone units 110, the plurality of snake bone units 110 being arranged along an axial direction of the snake bone mechanism 100; one of the two adjacent snake bone units 110 is provided with a first connecting portion 110a along the axial direction of the snake bone mechanism 100, and the other one is provided with a second connecting portion 110b along the axial direction of the snake bone mechanism 100, wherein the first connecting portion 110a is movably connected with the second connecting portion 110 b. The snake bone mechanism 100 adopts a bionic spine pulling motion, and compared with a traditional joint bending motion, the motion enables the snake bone mechanism 100 to be cut into a plurality of small snake bone units 110 (the snake bone units 110 can be in a snake skin shape or a petal shape), and the small displacement amount of the snake bone mechanism 100 can be increased by reducing the volume of each snake bone unit 110, so that the bending flexibility and the bending angle are increased conveniently, and the bending angle of the endoscope body of the endoscope 10 is increased. Wherein, the traction and movement of each snake bone unit 110 is realized by traction wires, and the power of the traction wires is derived from the motor module of the instrument box 50.

In an embodiment, the first connection portion 110a has a first arc surface facing the second connection portion 110b, and the second connection portion 110b has a second arc surface facing the first connection portion 110a, and the first arc surface is engaged with the second arc surface. It can be appreciated that the first cambered surface and the second cambered surface are provided with tooth structures. The number of the first and second connection parts 110a and 110b may be set according to the specific circumstances, so long as each snake bone unit 110 can be flexibly rotated, for example. The first connecting portions 110a and the second connecting portions 110b are uniformly arranged 4 along the circumferential direction of the snake bone mechanism 100.

In order to further expand the field of view of the imaging mechanism 200, as shown in fig. 5, the endoscope 10 of the present application may further include a rotation mechanism 600, where the rotation mechanism 600 is disposed at the proximal end of the snake bone mechanism 100, and is configured to drive the snake bone mechanism 100 to rotate 360 °. As shown in fig. 16 and 17, the rotation mechanism 600 may include an inner sleeve 610, an outer sleeve 620, and a bearing 630, where the bearing 630 has a movable portion 631 and a fixed portion 632, the outer sleeve 620 is connected to the fixed portion 632 and sleeved outside the inner sleeve 610, the inner sleeve 610 is connected to the movable portion 631, a distal end of the inner sleeve 610 is connected to a proximal end of the snake bone mechanism 100, and a proximal end of the inner sleeve 610 is connected to a power output shaft of the instrument box 50. When the power output shaft of the instrument box 50 rotates, the snake bone mechanism 100 can be driven to rotate by the inner sleeve 610 and the movable part 631 of the bearing 630.

As an example, as shown in FIG. 5, the snake bone mechanism 100 further comprises a snake bone hub 120, wherein the distal end of the snake bone hub 120 is connected to the proximal-most snake bone unit 110 and the proximal end of the snake bone hub 120 is connected to the inner sleeve 610.

In another aspect, an embodiment of the present application further provides a medical system, as shown in fig. 18, where the medical system includes the endoscope 10 and the puncture outfit 500 as described above, the puncture outfit 500 is fixed on the target tissue a and has a puncture channel 500a, the puncture channel 500a is used for the distal end of the snake bone mechanism 10 to penetrate, and the distal end of the snake bone mechanism 10 can rotate during the penetrating process of the puncture channel 500 a.

In order to avoid puncturing the target tissue a during operation, the conventional endoscope 10 is generally provided with an instrument operation fixed point N1 (i.e. the axis coincident point of the double-C arc rail, the large C arm 30a and the small C arm 30b of the patient platform 30) as shown in fig. 20, the target tissue a can be rotated by taking the instrument operation fixed point N as the center during operation, so as to avoid puncturing the target tissue a, however, the end of the endoscope 10 is generally provided with a rigid structure (e.g. 5 mm) with a certain length, which makes the end of the endoscope 10 unable to rotate in a narrow space, so as to prevent adjusting the view angle, in this way, in the embodiment of the application, by adding the puncture device 500 at the puncture position of the abdominal cavity (i.e. the target tissue a) of the patient, the end of the endoscope 10 can pass through the puncture channel 500a of the puncture device 500, and freely rotate in the target tissue, so as to increase the bowl-rotating space of the snake bone unit 110, increase the pre-expanding moving distance of the endoscope 10, so that the angle of the instrument 210 can be moved away from the target tissue a when the puncture device is moved toward the target tissue a (i.e. the view angle 21 is also moved toward the target tissue a) after adjusting the view angle).

Wherein the penetration channel 500a of the penetration device 500 is provided in a flare shape.

In one embodiment, as shown in fig. 19, the puncture outfit 500 comprises an insertion ring 510, a protective sheath 520, a puncture outfit body 530 and a sealing ring 540, wherein the insertion ring 510, the protective sheath 520, the puncture outfit body 530 and the sealing ring 540 are sequentially connected along the direction from the proximal end to the distal end of the endoscope 10, and wherein a puncture channel 500a extends from the proximal end of the insertion ring 510 to the proximal end of the sealing ring 540. The protective sheath 520 may be a flexible protective sheath, with the ring 510 being placed in contact with the patient's lesion incision site to ensure sealing of the incision site; the sealing ring 540 may be a silicone ring for sealing when the passive lancet enters the penetrator body 530.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (13)

1. An endoscope, characterized in that it comprises a snake mechanism, a camera mechanism and a first driving mechanism; The camera mechanism includes a lens module, a support member and a base, wherein the support member is movably arranged at the distal end of the snake-bone mechanism along the X-axis, the lens module is arranged on the support member through the base, the base has a plurality of force points, and the force points are arranged along the circumference of the base, and the first driving mechanism is used to apply a force to the force points, so that the base drives the lens module to perform a yaw motion with the Y-axis as the rotation center or a pitch motion with the Z-axis as the rotation center; The X-axis and the Y-axis are perpendicular to the Z-axis, the X-axis is parallel to the axis of the support member, and the Y-axis is parallel to the distal axis of the snake-bone mechanism. 2 . The endoscope according to claim 1 , wherein the base is spherical, and a concave surface is provided at one end of the support member close to the base, and the concave surface is used to accommodate the base. 3. The endoscope according to claim 1 is characterized in that the first driving mechanism includes a plurality of first wire wheel groups and a plurality of first traction wires, the first wire wheel group is arranged at the distal end of the snake bone mechanism, the first traction wire is wound around the corresponding first wire wheel group, the proximal end of the first traction wire extends from the proximal end of the snake bone mechanism, and the distal end of the first traction wire is connected to the corresponding force point. 4. The endoscope according to claim 3 is characterized in that a step surface is provided at the distal end of the snake-bone mechanism, the support member is used to support the base above the step surface, and each of the first wire wheel groups is arranged on both sides of the step surface along the X-axis. 5. The endoscope according to claim 1 is characterized in that the first driving mechanism includes a plurality of first magnetic members and a plurality of second magnetic members, the first magnetic members are arranged at the corresponding force points, the second magnetic members are arranged on the supporting members and attract or repel the corresponding first magnetic members, wherein the polarity of the first magnetic members and/or the second magnetic members is adjustable, and the magnetic force between the second magnetic members and the corresponding first magnetic members is adjustable. 6. The endoscope according to claim 1, characterized in that the endoscope further comprises a second driving mechanism, the second driving mechanism being used to drive the support member to move along the X-axis; The second driving mechanism includes a connecting member, at least one second wire wheel group and at least one second traction wire. The connecting member is connected to the supporting member. The second wire wheel group is arranged at the distal end of the snake-bone mechanism. The second traction wire is wound on the second wire wheel group. The proximal end of the second traction wire extends from the proximal end of the snake-bone mechanism. The distal end of the second traction wire is connected to the connecting member. 7. The endoscope according to claim 6 is characterized in that the second driving mechanism also includes an elastic member, which is connected to the distal end of the snake-bone mechanism and the connecting member, and the elastic member is used to apply a force to the connecting member to retract toward the distal end of the snake-bone mechanism. 8. The endoscope according to any one of claims 1 to 7, characterized in that the snake-bone mechanism comprises a plurality of snake-bone units, and the plurality of snake-bone units are arranged along the axial direction of the snake-bone mechanism; Among them, one of the two adjacent snake-bone units is provided with a first connecting portion protruding along the axial direction of the snake-bone mechanism, and the other one is provided with a second connecting portion protruding along the axial direction of the snake-bone mechanism, and the first connecting portion is movably connected to the second connecting portion. 9 . The endoscope according to claim 8 , wherein the first connecting portion has a first curved surface facing the second connecting portion, the second connecting portion has a second curved surface facing the first connecting portion, and the first curved surface is meshed with the second curved surface. 10. The endoscope according to any one of claims 1 to 7, characterized in that the endoscope further comprises a mirror cover, wherein the mirror cover is arranged at the distal end of the snake-bone mechanism so that the distal end of the snake-bone mechanism forms a closed space, and the camera mechanism and the first driving mechanism are both located in the closed space; The mirror cover has a side wall, and an angle α is formed between the side wall and the central axis of the snake-bone mechanism. The side wall is provided with an opening, and the opening is used to expose the camera mechanism and is provided with a light-transmitting sheet. 11. The endoscope according to any one of claims 1 to 7, characterized in that the endoscope further comprises an instrument box and a self-rotating mechanism, and the self-rotating mechanism comprises a bearing, an outer sleeve and an inner sleeve; The bearing has a movable part and a fixed part, the outer sleeve is connected to the fixed part and is sleeved on the outside of the inner sleeve, the inner sleeve is connected to the movable part, the distal end of the inner sleeve is connected to the proximal end of the snake mechanism, and the proximal end of the inner sleeve is used to connect to the power output shaft of the instrument box. 12. A medical system, characterized in that it comprises a puncture device and an endoscope as described in any one of claims 1 to 11, wherein the puncture device has a puncture channel, the puncture channel is used for the distal end of the snake bone mechanism to penetrate, and the distal end of the snake bone mechanism can rotate during the process of penetrating the puncture channel. 13. The medical system according to claim 12 is characterized in that the puncture device comprises a puncture device body, a protective sleeve, an insertion ring and a sealing ring, and the insertion ring, the protective sleeve, the puncture device body and the sealing ring are connected in sequence along the direction from the proximal end to the distal end of the endoscope, wherein the puncture channel extends from the proximal end of the insertion ring to the distal end of the sealing ring.