CN221489906U - Soft type endoscopic surgery execution device - Google Patents

Abstract

The utility model discloses a soft endoscope operation execution device which comprises an endoscope handle operation part and an endoscope body rotation operation part, wherein the endoscope body rotation operation part comprises a bottom plate, an adapter plate and an endoscope body rotation driving mechanism, the adapter plate is fixedly connected to the bottom plate, the endoscope body rotation driving mechanism comprises a first power device and a first transmission device, the first power device is fixedly connected to the bottom plate, the first transmission device is arranged on the adapter plate, a power output end of the first power device is connected with a power input end of the first transmission device, a power output end of the first transmission device is fixedly connected with the endoscope handle operation part, and a power output end of the first transmission device is rotatably arranged on the adapter plate. The soft endoscopic surgery execution device saves space, so that other functional modules can be assembled on the bottom plate, and the space structure is compact.

Description

Soft type endoscopic surgery execution device

Technical Field

The utility model relates to the technical field of medical appliances, in particular to a soft endoscopic surgery execution device.

Background

The endoscope is a detection instrument integrating traditional optics, ergonomics, precision machinery, modern electronics, mathematics, software and the like, is equipment for peeping the inside of an object from the outside, and is widely applied to the medical field. The endoscope has an image sensor, an optical lens, a light source illumination, a water-air passage, a mechanical device, and the like, and is clinically divided into a hard endoscope and a soft endoscope according to whether the endoscope body can change direction. Hard endoscopes are inflexible and torsionally, and primarily enter sterile tissues, organs of the human body or through surgical incisions into closed body cavities such as the chest, abdominal cavities, joint cavities, and the like. The soft endoscope is soft and bendable, and the lens part can be manipulated by an operator to change the direction, and is mainly used for examination through the digestive tract, the respiratory tract or the urinary tract of a human body, such as a gastroscope, a enteroscope, a bronchoscope, a ureteroscope and the like.

With the development of robot auxiliary technology, doctors can adjust the conveying length and the posture of the soft endoscope through adjusting the handle switch and the button, so that the physical strength and the manual operation fatigue of the doctors can be greatly reduced, and the operation requirement of the operation is reduced. The endoscope body driving mechanism in the operation executing device in the prior art has the advantages of complex structure, large volume, large occupied space and inconvenient arrangement.

Disclosure of utility model

In view of this, the utility model provides a soft endoscopic surgery execution device, which saves space, so that other functional modules can be assembled on the bottom plate, and the space structure is compact.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

The utility model provides a soft endoscope operation executive device, includes endoscope handle operation portion and mirror body rotation operation portion, mirror body rotation operation portion includes bottom plate, keysets and mirror body rotation driving mechanism, keysets fixed connection is in on the bottom plate, mirror body rotation driving mechanism includes a power device and a transmission, a power device fixed connection in on the bottom plate, a transmission set up in on the keysets, a power output end of power device with a power input end of transmission is connected, a power output end of transmission with endoscope handle operation portion fixed connection, a power output end of transmission rotate set up in on the keysets.

Optionally, the power output end of the first transmission device is connected with the bogie of the endoscope handle operation part through a first sensor;

The power output end of the first transmission device is a first rotating shaft, the first rotating shaft is fixedly connected with the inner ring of a first rotating bearing, the outer ring of the first rotating bearing is fixedly connected to the adapter plate, one end of the first sensor is fixedly connected with the inner ring of the first rotating bearing, and the other end of the first sensor is fixedly connected with the bogie of the endoscope handle operation part;

The first sensor is a one-dimensional force sensor.

Optionally, the first transmission device comprises a first belt pulley and a second belt pulley which are in transmission connection through a first belt, the first belt pulley and the second belt pulley are rotatably arranged on the adapter plate, and the wheel axes of the first belt pulley and the second belt pulley are perpendicular to the adapter plate;

the first power device is a first motor, the first motor is fixedly arranged on the bottom plate, and a motor shaft of the first motor is fixedly connected with the first belt wheel;

The first belt wheel is a first synchronous belt wheel, the second belt wheel is a second synchronous belt wheel, and the first belt is a first synchronous belt.

Optionally, the endoscope handle operation part comprises a large dial button executing mechanism and a small dial button executing mechanism which are coaxially arranged, the large dial button executing mechanism is in transmission connection with the large dial button driving mechanism, and the small dial button executing mechanism is in transmission connection with the small dial button driving mechanism;

the large dial button executing mechanism, the small dial button executing mechanism, the large dial button driving mechanism and the small dial button driving mechanism are all arranged on a base plate, and the base plate is rotationally connected with the power output end of the first transmission device through a bogie.

Optionally, the small dial button executing mechanism comprises a small dial button driving disc and a small dial button shaft sleeve which are coaxially arranged, the small dial button driving disc is fixedly arranged at the top end of the small dial button shaft sleeve, and the small dial button shaft sleeve is rotationally sleeved on the fixed shaft;

The large-dial button executing mechanism comprises a large-dial button driving disc and a large-dial button shaft sleeve which are coaxially arranged, the large-dial button driving disc is fixedly arranged at the top end of the large-dial button shaft sleeve, the large-dial button driving disc is sleeved on the outer side of the small-dial button driving disc, the large-dial button shaft sleeve is rotatably sleeved on the outer side of the small-dial button shaft sleeve, and the large-dial button shaft sleeve is rotatably arranged on the base plate.

Optionally, the large dial button driving mechanism comprises a second motor, a power output shaft of the second motor is connected with a power input end of a second transmission device, and a power output end of the second transmission device is connected with the large dial button shaft sleeve;

the small dial button driving mechanism comprises a third motor, a power output shaft of the third motor is connected with a power input end of a third transmission device, and a power output end of the third transmission device is connected with the small dial button shaft sleeve;

The second motor and the third motor are arranged on the first surface of the substrate, and the second transmission device and the third transmission device are arranged on the second surface of the substrate;

The large dial button driving disc and the small dial button driving disc are arranged on the first surface of the base plate, and the second transmission device and the third transmission device are arranged on the second surface of the base plate.

Optionally, the second transmission device comprises a third synchronous pulley and a fourth synchronous pulley which are in transmission connection through a second synchronous belt;

The third synchronous pulley is fixedly connected with a power output shaft of the second motor, the fourth synchronous pulley is fixedly connected to the large poking button shaft sleeve, and a first angle sensor is arranged at the shaft end of the power output shaft of the second motor.

Optionally, the third transmission device comprises a fifth synchronous pulley and a sixth synchronous pulley which are in transmission connection through a third synchronous belt;

The fifth synchronous pulley is fixedly connected with a power output shaft of the third motor, the sixth synchronous pulley is fixedly connected to the small dial button shaft sleeve, and a second angle sensor is arranged at the shaft end of the power output shaft of the third motor;

The sixth synchronous pulley is fixedly connected to one end of the small dialing button shaft sleeve extending out of the large dialing button shaft sleeve.

Optionally, the small dial button driving disc and the large dial button driving disc are connected with the soft endoscope through an adapter;

The small dialing button driving disc is in transmission connection with the small dialing button of the soft endoscope through the small dialing button switching ring of the adapter, and the large dialing button driving disc is in transmission connection with the large dialing button of the soft endoscope through the large dialing button switching ring of the adapter.

Optionally, a surgical instrument operation module is assembled on the bottom plate, the surgical instrument operation module comprises a surgical instrument and an instrument driving device, the instrument driving device is connected to the bottom plate, the surgical instrument is connected to the instrument driving device, and an actuator unit is arranged on the surgical instrument.

According to the technical scheme, the soft endoscope operation executing device provided by the utility model has the advantages that the mirror body rotation driving mechanism comprises the first power device and the first transmission device, the first power device is fixedly connected to the bottom plate, the first transmission device is arranged on the adapter plate, the power output end of the first power device is connected with the power input end of the first transmission device, and the power output end of the first transmission device is fixedly connected with the endoscope handle operation part. According to the soft endoscope operation execution device, the first transmission device is arranged on the adapter plate, and only the first power device is arranged on the bottom plate, so that the three-dimensional arrangement of the first transmission device is realized, the space is saved, other functional modules can be assembled on the bottom plate, the space structure is compact, and the space is saved.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a soft endoscopic surgery performing device according to an embodiment of the present utility model;

Fig. 2 is a schematic structural view of the soft endoscopic surgery performing device according to the embodiment of the present utility model after removing a housing;

FIG. 3 is a schematic view of a structure of an angle of a mirror rotation operation portion according to an embodiment of the present utility model;

Fig. 4 is a schematic view of another angle of the mirror rotation operation portion according to the embodiment of the present utility model;

FIG. 5 is a schematic view of an angle of the handle operation portion of the endoscope according to an embodiment of the present utility model;

FIG. 6 is a schematic view of another angle of the handle operation portion of the endoscope according to the embodiment of the present utility model;

FIG. 7 is a schematic cross-sectional view of the A-A position of FIG. 6;

FIG. 8 is a schematic view of an endoscope handle operating section according to another embodiment of the present utility model;

Fig. 9 is a schematic diagram of a connection structure between a second motor and a first angle sensor according to an embodiment of the present utility model;

FIG. 10 is a schematic cross-sectional view of the B-B position of FIG. 9;

fig. 11 is a schematic diagram of a connection structure of an adapter according to an embodiment of the present utility model.

Wherein:

1. a soft type endoscope, which comprises a lens body,

2. An operation part of the endoscope handle,

201. The substrate is provided with a plurality of grooves,

202. The side plates are arranged on the side plates,

203. The dimensions of the adapter are such that,

204. The steering wheel is arranged on the side of the steering wheel,

205. A large-pulling button driving mechanism,

2051. A fourth synchronous pulley, 2052, a second motor, 2053, a third synchronous pulley, 2054, a first angle sensor, 20541, a magnetic block, 20542, a magnetic encoder, 2055, a second synchronous belt, 2056, a second motor frame, 2057, a sensor bracket,

206. A small-scale button driving mechanism,

2061. A sixth timing pulley, 2062, a third electric motor, 2063, a fifth timing pulley, 2064, a second angle sensor, 2065, a third timing belt,

207. A quick-connection mechanism is arranged on the connecting rod,

2071. A first shaft section 2072, a first supporting seat, 2073, a latch, 2074, a second shaft section 2075, a second supporting seat, 2076, a pressing block, 2077, a spring,

208. The clamping block is used for clamping the connecting piece,

209. A handle button driving mechanism,

2091. The butt-joint disc is provided with a butt-joint groove,

210. The large-pulling button actuating mechanism is provided with a large-pulling button actuating mechanism,

2101. A large toggle drive plate 2102, a large toggle shaft sleeve,

211. The small-scale shifting button actuating mechanism is provided with a small-scale shifting button actuating mechanism,

2111. A small dial button driving disk, 2112, a small dial button shaft sleeve,

212. A fixed shaft is fixed on the upper part of the lower part,

213. The connecting bolt is used for connecting the connecting bolt,

214. An L-shaped support plate,

3. A mirror body rotating operation part is arranged on the mirror body,

301. The bottom plate is provided with a bottom plate,

302. The adapter plate is provided with a plurality of connecting plates,

303. The mirror body is provided with a rotary driving mechanism,

3031. A first power unit 3032, a first motor frame 3033, a first pulley 3034, a first belt 3035, a first tension bracket 3036, a second pulley 3037, a first rotating bearing 3038, a first rotating shaft,

304. The rib plate is provided with a plurality of grooves,

4. A surgical instrument operation module is arranged on the surgical instrument operation module,

401. An instrument driving device, 402, a surgical instrument,

5. A first sensor.

Detailed Description

The utility model discloses a soft endoscopic surgery execution device which saves space, so that other functional modules can be assembled on a bottom plate, and the space structure is compact.

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1 to 10, the soft endoscopic surgery performing device of the present utility model includes an endoscope handle operation portion 2 and a scope rotation operation portion 3, and the scope rotation operation portion 3 includes a base plate 301, an adapter plate 302, and a scope rotation driving mechanism 303. The adapter plate 302 is fixedly connected to the base plate 301. The mirror body rotation driving mechanism 303 includes a first power device 3031 and a first transmission device, and the power of the first power device 3031 is transmitted to the endoscope handle operation portion 2 through the first transmission device. The first power device 3031 is fixedly connected to the bottom plate 301, the first transmission device is arranged on the adapter plate 302, the power output end of the first power device 3031 is connected with the power input end of the first transmission device, the power output end of the first transmission device is fixedly connected with the endoscope handle operation part 2, and the power output end of the first transmission device is rotatably arranged on the adapter plate 302.

Wherein the endoscope handle operation part 2 is connected with the soft endoscope 1. The adapter plate 302 is vertically and fixedly connected to the base plate 301.

The soft endoscope operation execution device comprises a mirror body rotation driving mechanism 303, wherein the mirror body rotation driving mechanism 303 comprises a first power device 3031 and a first transmission device, the first power device 3031 is fixedly connected to a bottom plate 301, the first transmission device is arranged on an adapter plate 302, the power output end of the first power device 3031 is connected with the power input end of the first transmission device, and the power output end of the first transmission device is fixedly connected with an endoscope handle operation part 2. According to the soft endoscope operation execution device, the first transmission device is arranged on the adapter plate 302, and only the first power device 3031 is arranged on the bottom plate 301, so that the three-dimensional arrangement of the first transmission device is realized, the space is saved, other functional modules can be assembled on the bottom plate 301, the space structure is compact, and the space is saved.

Specifically, referring to fig. 3 and 4, the first transmission device includes a first pulley 3033 and a second pulley 3036 that are in transmission connection through a first belt 3034, the first pulley 3033 and the second pulley 3036 are rotatably disposed on the adapter plate 302, and the wheel axis of the first pulley 3033 and the second pulley 3036 is disposed perpendicular to the adapter plate 302. The wheel diameter of the first pulley 3033 is smaller than the wheel diameter of the second pulley 3036. The first power device 3031 is a first motor, and the first motor is fixedly installed on the base plate 301 through a first motor frame 3032. A motor shaft of the first motor is fixedly connected with a first belt wheel 3033, the first belt wheel 3033 is a driving wheel, and a second belt wheel 3036 is a driven wheel. The first pulley 3033 is a first timing pulley, the second pulley 3036 is a second timing pulley, and the first belt 3034 is a first timing belt. The adapter plate 302 is further provided with a first tensioning structure for tensioning the first belt 3034, the first tensioning structure including a first tensioning wheel rotatably connected to the first tensioning bracket 3035. In order to improve the connection reliability of the base plate 301 and the adapter plate 302, the base plate 301 and the adapter plate 302 welded together are supported and connected by the rib plate 304, so that the support reliability of the adapter plate 302 is ensured. The first belt wheel 3033 and the second belt wheel 3036 adopt a transmission structure of synchronous belt wheels and synchronous belts, compared with the prior art that a steel wire rope is used for transmission, the transmission reliability is greatly improved, and the transmission is stable and reliable.

In order to control the rotating force of the endoscope handle operation part 2 driven by the endoscope body rotating operation part 3, the damage to the tissues of a patient caused by the overlarge rotating force of the endoscope body rotating operation part 3 is avoided, meanwhile, the damage to the lens of the soft endoscope 1 is avoided, and the power output end of the first transmission device is connected with the bogie 204 of the endoscope handle operation part 2 through the first sensor 5. The power output end of the first transmission device is a first rotating shaft 3038, a second belt wheel 3036 is fixedly connected to the first rotating shaft 3038, the first rotating shaft 3038 is fixedly connected to the inner ring of the first rotating bearing 3037, and the outer ring of the first rotating bearing 3037 is fixedly connected to the adapter plate 302. One end of the first sensor 5 is fixedly connected to the inner ring of the first rotary bearing 3037, and the other end is fixedly connected to the bogie 204 of the endoscope handle operation section 2. The first sensor 5 is screwed to the bogie 204. Wherein the first sensor 5 is a one-dimensional force sensor.

Further, the endoscope handle operation portion 2 includes a large dial button actuator 210 and a small dial button actuator 211 which are coaxially arranged, the large dial button actuator 210 is in transmission connection with the large dial button driving mechanism 205, and the small dial button actuator 211 is in transmission connection with the small dial button driving mechanism 206, as shown in fig. 5 to 8. The large dial button executing mechanism 210, the small dial button executing mechanism 211, the large dial button driving mechanism 205 and the small dial button driving mechanism 206 are all arranged on the base plate 201, the base plate 201 is fixedly connected with the bogie 204, the base plate 201 is connected with the first rotating shaft 3038 of the first transmission device through the bogie 204, the first power device 3031 drives the first rotating shaft 3038 to rotate through the first transmission device, and the first rotating shaft 3038 drives the bogie 204 connected with the first power device to rotate, so that the base plate 201 is driven to rotate.

Referring to fig. 7, the small knob actuator 211 includes a small knob driving plate 2111 and a small knob shaft sleeve 2112 coaxially disposed, the small knob driving plate 2111 is fixedly disposed at the top end of the small knob shaft sleeve 2112, and the small knob shaft sleeve 2112 is rotatably sleeved on the fixed shaft 212 through a bearing. Specifically, the small dial knob driving plate 2111 is threadedly coupled to the small dial shaft sleeve 2112. The large dial button executing mechanism 210 comprises a large dial button driving disc 2101 and a large dial button shaft sleeve 2102 which are coaxially arranged, the large dial button driving disc 2101 is fixedly arranged at the top end of the large dial button shaft sleeve 2102, the large dial button driving disc 2101 is sleeved on the outer side of the small dial button driving disc 2111, the large dial button shaft sleeve 2102 is rotatably sleeved on the outer side of the small dial button shaft sleeve 2112, the large dial button shaft sleeve 2102 is rotatably sleeved on the small dial button shaft sleeve 2112 through a bearing, and the large dial button shaft sleeve 2102 is rotatably arranged on the base plate 201. Specifically, a side plate 202 is fixedly connected to the base plate 201, a bearing seat is fixedly connected to the side plate 202, and a large dial shaft sleeve 2102 is rotatably arranged on the side plate 202 on the base plate 201 through a bearing connected in the bearing seat. The side plate 202 is connected with an L-shaped support plate 214, the fixed shaft 212 is fixedly connected to the L-shaped support plate 214, and the side plate 202 and the L-shaped support plate 214 are connected together through a connecting bolt 213.

Specifically, the small dial driving plate 2111 and the large dial driving plate 2101 are connected to the soft endoscope 1 through the adapter 203. The adaptor 203 is a structure in the prior art, and a specific structure thereof will not be described herein. The small knob driving plate 2111 is in transmission connection with the small knob of the soft endoscope 1 through a small knob switching ring in the adapter 203, and the large knob driving plate 2101 is in transmission connection with the large knob of the soft endoscope 1 through a large knob switching ring in the adapter 203.

In one embodiment, the large dial drive 205 includes a second motor 2052, the power output shaft of the second motor 2052 being coupled to the power input of a second transmission, the power output of which is coupled to the large dial shaft sleeve 2102. Specifically, as shown in fig. 8, the second transmission device includes a third synchronous pulley 2053 and a fourth synchronous pulley 2051 that are in transmission connection with each other through a second synchronous belt 2055, the third synchronous pulley 2053 is fixedly connected to the power output shaft of the second motor 2052, and the fourth synchronous pulley 2051 is fixedly connected to the outer surface of the large dial shaft sleeve 2102. In order to facilitate accurate control of the rotation angle, the shaft end of the power output shaft of the second motor 2052 is provided with a first angle sensor 2054. The second motor 2052 is connected to the base plate 201 through a second motor mount 2056, and the first angle sensor 2054 is connected to a sensor bracket 2057, as shown in fig. 9 and 10. The first angle sensor 2054 includes a magnetic block 20541 and a magnetic encoder 20542. A motor shaft sleeve is fixedly connected to a motor shaft of the second motor 2052, one end of the motor shaft sleeve is fixedly connected with the motor shaft, and the other end of the motor shaft sleeve is provided with a mounting hole for placing the magnetic block 20541. The motor shaft sleeve is rotatably connected to the sensor support 2057 through a bearing, the magnetic encoder 20542 is fixed to the sensor support 2057, and the magnetic encoder 20542 is spaced from the magnetic block 20541 by a distance set by those skilled in the art. When the second motor 2052 rotates, the magnet 20541 is driven to rotate, the magnet 20541 and the magnetic encoder 20542 rotate relatively, and the magnetic encoder 20542 detects the angle change by the magnetic field change generated by the rotation of the magnet 20541.

In another embodiment, the small dial drive mechanism 206 includes a third electric motor 2062, the power output shaft of the third electric motor 2062 being connected to the power input of a third transmission having a power output end connected to the small dial shaft sleeve 2112. Specifically, as shown in fig. 7 and 8, the third transmission device includes a fifth synchronous pulley 2063 and a sixth synchronous pulley 2061 that are in driving connection with each other by a third synchronous belt 2065, the fifth synchronous pulley 2063 is fixedly connected with the power output shaft of the third electric motor 2062, and the sixth synchronous pulley 2061 is fixedly connected on the outer surface of the small dial knob shaft sleeve 2112. In order to facilitate accurate control of the rotation angle, the shaft end of the power output shaft of the third electric motor 2062 is provided with a second angle sensor 2064. The third electric motor 2062 is connected to the base plate 201 via a third motor frame. The structure of the second angle sensor 2064 is the same as that of the first angle sensor 2054 and will not be described again here. It will be appreciated that to facilitate connection of the sixth timing pulley 2061, the end of the small dial shaft sleeve 2112 remote from the small dial drive plate 2111 extends beyond the end of the large dial shaft sleeve 2102 and the sixth timing pulley 2061 is fixedly connected to this end of the small dial shaft sleeve 2112.

In order to facilitate improvement of the compactness of the structure, the second motor 2052 and the third motor 2062 are provided at the first surface of the base plate 201, and the second transmission device and the third transmission device are provided at the second surface of the base plate 201. The second motor 2052, the third motor 2062 are provided on the same side as the adapter 203. The large dial knob driving plate 2101 and the small dial knob driving plate 2111 are provided on the first surface of the base plate 201, and the second transmission device and the third transmission device are provided on the second surface of the base plate 201. The adapter 203 is connected to the base 201 by a quick-connect mechanism 207 and a snap-fit block 208, as shown in fig. 5. Referring to fig. 11, the quick-connect mechanism 207 includes a latch 2073, one end of the latch 2073 is fixedly connected with a first shaft segment 2071, the other end is fixedly connected with a second shaft segment 2074, the first shaft segment 2071 is slidably connected to a first support base 2072, the second shaft segment 2074 is slidably connected to a second support base 2075, a spring 2077 is disposed between the first support base 2072 and the latch 2073, and the spring 2077 is sleeved on the first shaft segment 2071. The end of the second shaft segment 2074 remote from the latch 2073 is fixedly connected with a pressing block 2076. When the adapter 203 is installed, the whole adapter 203 is in a certain inclination angle, the rear end of the whole adapter 203 is firstly contacted with the clamping block 208, then the front end is pressed down, in the process, the butt joint of the big and small shifting knob adapter ring on the adapter 203 and the butt joint disc 2091 of the handle button driving mechanism 209 is completed, the front end is continuously pressed down, the wedge-shaped structure at the front end of the adapter 203 is contacted with the inclined surface on the clamping bolt 2073 and pushes the clamping bolt 2073 to move along the inclined surface, the front end is pressed down to a certain position, at the moment, the wedge-shaped structure at the front end of the adapter 203 is completely positioned at the inner side of the groove of the clamping bolt 2073, the wedge-shaped structure at the front end of the adapter 203 is separated from the contact, and at the moment, the clamping bolt 2073 rebounds under the action of the spring 2077, so that the wedge-shaped structure at the front end of the adapter 203 is clamped, and the installation of the adapter 203 is completed. The handle button driving mechanism 209 is mounted on the base 201, and the soft endoscope handle button executing mechanism on the adapter 203 is in butt joint with the butt joint disc 2091 of the handle button driving mechanism 209, and the handle button driving mechanism 209 is a structure in the prior art, which is not described herein.

Specifically, the base 301 is assembled with a surgical instrument operation module 4, the surgical instrument operation module 4 comprises a surgical instrument 402 and an instrument driving device 401, the instrument driving device 401 is connected to the base 301, the surgical instrument 402 is connected to the instrument driving device 401, and an actuator unit is arranged on the surgical instrument 402, and the actuator unit comprises clamp type, electric coagulation and electroincision type, basket type, injection type, guiding type, sensing type flexible instruments and joint type instruments with bendable front ends. The surgical instrument operation module 4 is of an existing structure, and will not be described here. The surgical instrument operation module 4 and the scope rotation operation unit 3 are assembled on the same base plate 301.

The soft endoscope operation executing device has the advantages of compact structure and reasonable layout, ensures that the soft endoscope operation is finer, more stable and safer, and reduces the requirement on the experience of doctors in operating the soft endoscope.

In the description of the present embodiment, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "vertical", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present embodiment.

Furthermore, the terms "first," "second," and the like, 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 one or more such feature. In the description of the present embodiment, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. 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 utility model. Thus, the present utility model 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 (10)

1. The utility model provides a soft endoscope operation execution device, includes endoscope handle operation portion and mirror body rotation operation portion, its characterized in that, mirror body rotation operation portion includes bottom plate, keysets and mirror body rotation driving mechanism, keysets fixed connection is in on the bottom plate, mirror body rotation driving mechanism includes a power device and a transmission, a power device fixed connection in on the bottom plate, a transmission set up in on the keysets, a power output end of power device with a transmission's power input end is connected, a transmission's power output end with endoscope handle operation portion fixed connection, a transmission's power output end rotate set up in on the keysets.

2. The soft endoscopic surgery execution device according to claim 1, wherein the power output end of the first transmission device is connected to the bogie of the endoscope handle operation portion through a first sensor;

The power output end of the first transmission device is a first rotating shaft, the first rotating shaft is fixedly connected with the inner ring of a first rotating bearing, the outer ring of the first rotating bearing is fixedly connected to the adapter plate, one end of the first sensor is fixedly connected with the inner ring of the first rotating bearing, and the other end of the first sensor is fixedly connected with the bogie of the endoscope handle operation part;

The first sensor is a one-dimensional force sensor.

3. The soft endoscopic surgery performing device according to claim 1, wherein the first transmission device comprises a first pulley and a second pulley which are in transmission connection through a first belt, the first pulley and the second pulley are rotatably arranged on the adapter plate, and the wheel axes of the first pulley and the second pulley are arranged perpendicular to the adapter plate;

the first power device is a first motor, the first motor is fixedly arranged on the bottom plate, and a motor shaft of the first motor is fixedly connected with the first belt wheel;

The first belt wheel is a first synchronous belt wheel, the second belt wheel is a second synchronous belt wheel, and the first belt is a first synchronous belt.

4. The soft endoscopic surgery execution device according to claim 1, wherein the endoscope handle operation portion comprises a large dial button executing mechanism and a small dial button executing mechanism which are coaxially arranged, the large dial button executing mechanism is in transmission connection with a large dial button driving mechanism, and the small dial button executing mechanism is in transmission connection with a small dial button driving mechanism;

the large dial button executing mechanism, the small dial button executing mechanism, the large dial button driving mechanism and the small dial button driving mechanism are all arranged on a base plate, and the base plate is rotationally connected with the power output end of the first transmission device through a bogie.

5. The soft endoscopic surgery execution device according to claim 4, wherein the small knob execution mechanism comprises a small knob driving disc and a small knob shaft sleeve which are coaxially arranged, the small knob driving disc is fixedly arranged at the top end of the small knob shaft sleeve, and the small knob shaft sleeve is rotatably sleeved on a fixed shaft;

The large-dial button executing mechanism comprises a large-dial button driving disc and a large-dial button shaft sleeve which are coaxially arranged, the large-dial button driving disc is fixedly arranged at the top end of the large-dial button shaft sleeve, the large-dial button driving disc is sleeved on the outer side of the small-dial button driving disc, the large-dial button shaft sleeve is rotatably sleeved on the outer side of the small-dial button shaft sleeve, and the large-dial button shaft sleeve is rotatably arranged on the base plate.

6. The soft endoscopic surgery execution device according to claim 5, wherein the large dial button driving mechanism comprises a second motor, a power output shaft of the second motor is connected with a power input end of a second transmission device, and a power output end of the second transmission device is connected with the large dial button shaft sleeve;

the small dial button driving mechanism comprises a third motor, a power output shaft of the third motor is connected with a power input end of a third transmission device, and a power output end of the third transmission device is connected with the small dial button shaft sleeve;

The second motor and the third motor are arranged on the first surface of the substrate, and the second transmission device and the third transmission device are arranged on the second surface of the substrate;

The large dial button driving disc and the small dial button driving disc are arranged on the first surface of the base plate, and the second transmission device and the third transmission device are arranged on the second surface of the base plate.

7. The soft endoscopic surgical execution device according to claim 6, wherein the second transmission device comprises a third synchronous pulley and a fourth synchronous pulley drivingly connected by a second synchronous belt;

The third synchronous pulley is fixedly connected with a power output shaft of the second motor, the fourth synchronous pulley is fixedly connected to the large poking button shaft sleeve, and a first angle sensor is arranged at the shaft end of the power output shaft of the second motor.

8. The soft endoscopic surgical execution device according to claim 6, wherein the third transmission device includes a fifth synchronous pulley and a sixth synchronous pulley drivingly connected by a third synchronous belt;

The fifth synchronous pulley is fixedly connected with a power output shaft of the third motor, the sixth synchronous pulley is fixedly connected to the small dial button shaft sleeve, and a second angle sensor is arranged at the shaft end of the power output shaft of the third motor;

The sixth synchronous pulley is fixedly connected to one end of the small dialing button shaft sleeve extending out of the large dialing button shaft sleeve.

9. The soft endoscopic surgical execution device of claim 5, wherein the small dial knob drive and large dial knob drive are connected to the soft endoscope by an adapter;

The small dialing button driving disc is in transmission connection with the small dialing button of the soft endoscope through the small dialing button switching ring of the adapter, and the large dialing button driving disc is in transmission connection with the large dialing button of the soft endoscope through the large dialing button switching ring of the adapter.

10. The soft endoscopic surgical execution device of claim 1, wherein a surgical instrument manipulation module is assembled on the base plate, the surgical instrument manipulation module comprising a surgical instrument and an instrument drive, the instrument drive being coupled to the base plate, the surgical instrument being coupled to the instrument drive, the surgical instrument being provided with an actuator unit.