阅读说明：本技术 一种电机驱动弯曲的内窥镜 (Endoscope driven by motor to bend ) 是由 黄宏辉 于 2021-09-06 设计创作，主要内容包括：本发明公开了一种电机驱动弯曲的内窥镜,包括插入管,位于插入管末端的控制机构,还包括至少一个控制单元,每个控制单元均包括一个直线电机和一段柔性传动轴,所述直线电机的活动端前后运动,柔性传动轴一端固定在所述直线电机的活动端,另一端固定在插入管的前端。采用电机带动柔性传动轴前后伸缩,从而带动插入管向一侧弯曲,将直线电机连接到控制器上,结构简单易操作,配合电子控制系统,能精确控制直线电机活动端的伸缩长度,从而控制插入管的弯曲角度。(The invention discloses a motor-driven bending endoscope, which comprises an insertion tube, a control mechanism positioned at the tail end of the insertion tube and at least one control unit, wherein each control unit comprises a linear motor and a section of flexible transmission shaft, the movable end of the linear motor moves back and forth, one end of the flexible transmission shaft is fixed at the movable end of the linear motor, and the other end of the flexible transmission shaft is fixed at the front end of the insertion tube. The flexible transmission shaft is driven by the motor to stretch back and forth, so that the insertion pipe is driven to bend towards one side, the linear motor is connected to the controller, the structure is simple, the operation is easy, the stretching length of the movable end of the linear motor can be accurately controlled by matching with an electronic control system, and the bending angle of the insertion pipe is controlled.)

1. A motor-driven bending endoscope comprising an insertion tube (1), a control mechanism (2) located at the distal end of the insertion tube (1), characterized in that: also comprises

At least one control unit, every control unit all include a linear electric motor (3) and one section flexible drive shaft (4), the expansion end seesaw of linear electric motor (3), flexible drive shaft (4) one end is fixed the expansion end of linear electric motor (3), and the other end is fixed at the front end of intubate (1).

2. The motor-driven bending endoscope of claim 1, wherein: the front and the back of the control units are connected to form a control chain, and the front end of a flexible transmission shaft (4) in the control chain is fixed on the insertion pipe (1) or a linear motor (3) of the previous control unit.

3. The motor-driven bending endoscope of claim 2, wherein: a plurality of control chains extend toward the tip of the insertion tube (1).

4. The motor-driven bending endoscope of claim 1, wherein: the front end of the insertion tube (1) is provided with an imaging device (5), and the linear motor (3) is arranged at the rear end of the imaging device (5).

5. The motor-driven bending endoscope of claim 1, wherein: a plurality of positioning mechanisms are arranged inside the insertion tube (1), and the flexible transmission shaft (4) penetrates through the positioning mechanisms.

6. The motor-driven bending endoscope of claim 1, wherein: the insertion tube (1) is formed by connecting a plurality of bone sections in a front-back manner.

7. The motor-driven bending endoscope of claim 1, wherein: the insertion tube (1) is a flexible telescopic tube provided with folds.

8. The motor-driven bending endoscope of claim 1, wherein: an angle sensor is further arranged beside the linear single machine (3) and electrically connected with the linear motor (3).

Technical Field

The invention relates to the field of medical equipment, in particular to a motor-driven bending endoscope.

Background

Endoscopes generally refer to medical instruments that enter a human body through various ducts to observe the internal conditions of the human body. The endoscope is a comprehensive medical instrument with an image sensor or an optical lens, and can enter a body through a cavity or an incision to observe, diagnose, sample or excise a diseased part.

The endoscope body generally comprises an insertion tube and an operation part, wherein a steel wire is arranged in the insertion tube and is controlled by a hand wheel in the operation part, and the hand wheel drives the insertion tube to bend upwards, downwards, leftwards and rightwards.

The operation of the inserting tube depends on manual operation, the operation feeling of the hand wheel can be greatly influenced by too tight or too loose installation of the steel wire, the steel wire can be broken even in the operation process by too much force, and the operation safety is influenced.

Disclosure of Invention

To overcome at least one of the above-mentioned problems of the prior art, the present invention provides a motor-driven bending endoscope that allows an intuitive and clear observation of a desired position or space condition without requiring a user to be close to a wall or a door.

The utility model provides a crooked endoscope of motor drive, including the insert tube, be located the terminal control mechanism of insert tube, still include at least one the control unit, every the control unit all includes a linear electric motor and one section flexible transmission shaft, linear electric motor's expansion end seesaw, flexible transmission shaft one end is fixed linear electric motor's expansion end, the front end at the insert tube is fixed to the other end.

The above has at least the following beneficial effects: the flexible transmission shaft is driven by the motor to stretch back and forth, so that the insertion pipe is driven to bend towards one side, the linear motor is connected to the controller, the structure is simple, the operation is easy, the stretching length of the movable end of the linear motor can be accurately controlled by matching with an electronic control system, and the bending angle of the insertion pipe is controlled.

In some of the above embodiments, the control units are connected in series to form a control chain, and the front end of the flexible transmission shaft in the control chain is fixed to the insertion tube or the linear motor of the previous control unit. The motion of every linear electric motor expansion end of ability intelligent control can control every the control unit's motion, realizes the regulation of multi-angle, reaches the effect of accurate control.

In some of the embodiments described above, a plurality of control chains extend toward the front end of the insertion tube. The insertion tube can be controlled to bend towards the direction of the control chain, the more control chains are arranged, the more bending directions are arranged, the wider the observation angle is, and the endoscope is favorable for diagnosis and treatment.

In some of the above embodiments, the insertion tube is provided at a front end thereof with an image forming device, and the linear motor is provided at a rear end thereof. The displacement arrangement with image device can reduce the space that linear electric motor occupied, reaches the effect of dwindling the insert tube diameter.

In some embodiments, the insertion tube is internally provided with a plurality of positioning mechanisms, and the flexible transmission shaft is arranged in the positioning mechanisms in a penetrating way. The flexible transmission shaft is bent or shifted after receiving the thrust, so that the thrust of the linear motor cannot be transmitted, the flexible transmission shaft is limited by the positioning mechanism, failure of the flexible transmission shaft is avoided, and the motion of the insertion pipe is smoother.

In some of the above embodiments, the insertion tube is composed of several condyles connected antero-posteriorly. The extension and contraction of the flexible transmission shaft can change the space between the bone sections, so that the insertion tube can be bent to one side, and the bending angle can be changed.

In some of the embodiments described above, the insertion tube is a flexible, collapsible tube provided with corrugations. The extension and retraction of the flexible drive shaft causes the pleats to likewise expand or contract, thereby bending the insertion tube to one side and also changing the angle of the bend.

In some embodiments, an angle sensor is further arranged beside the single linear motor, and the angle sensor is electrically connected with the linear motors, monitors the bending angle of each linear motor, and prevents the flexible transmission shaft from being broken due to the overlarge bending angle.

Drawings

In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. Obviously, the described figures are only some embodiments of the invention, not all embodiments, and other designs and figures can be obtained by those skilled in the art without inventive effort, based on these figures:

FIG. 1 is a schematic view of the endoscope in accordance with the preferred embodiment of the present invention;

FIG. 2 is a partial cross-sectional view of an insertion tube according to a preferred embodiment of the present invention;

FIG. 3 is a partial cross-sectional view of a second embodiment insertion tube of the present invention;

FIG. 4 is a schematic view showing the structure of an insertion tube according to a third embodiment of the present invention;

fig. 5 is a cross-sectional view of an insertion tube when bent according to a third embodiment of the present invention.

Detailed Description

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

It should be noted that unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly and include, for example, fixed or removable connections or integral connections; the connection can be mechanical connection or electrical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 5, a bending endoscope driven by a motor is provided, which includes an insertion tube 1, and a control mechanism 2 located at the end of the insertion tube 1, where the control mechanism 2 may be a holding handle, a mechanical arm for operation, or a control base, and may manually or electrically control the movement of the insertion tube 1.

The endoscope also comprises at least one control unit, each control unit comprises a linear motor 3 and a section of flexible transmission shaft 4, the linear motor 3 is fixed in the insertion tube 1 or the control mechanism 2, the movable end of the linear motor 3 moves back and forth, one end of the flexible transmission shaft 4 is fixed at the movable end of the linear motor 3, and the other end of the flexible transmission shaft is fixed at the front end of the insertion tube 1.

Linear electric motor 3's expansion end ability seesaw drives flexible transmission shaft 4 and stretches out and draws back from beginning to end, and one side that flexible transmission shaft 4 stretches out is crooked to one side that flexible transmission shaft 4 contracts, and simple structure easily operates, and linear electric motor 3 is connected to the controller through the cable on, cooperation electronic control system, the flexible length of 3 expansion ends of ability accurate control linear electric motor to the bending angle of control intubate 1.

Referring to fig. 1 and 2, an insertion tube is fixed on a control mechanism 2 in the shape of a holding handle, a plurality of cutting grooves are formed in the front end of the insertion tube 1, so that the front end can be flexibly bent, and two groups of control units are arranged in the insertion tube and are symmetrically arranged along the center of the insertion tube 1. In order to reduce the diameter of the insertion tube 1, the linear motors 3 are disposed at the rear end of the image forming device 5, the two linear motors 3 are fixed to the inner wall of the insertion tube 1 and located at both sides of the working channel, and the ends of the flexible transmission shafts 4 are also fixed to both sides of the inner wall of the insertion tube 1. The movable end of the linear motor 3 on one side is extended and the movable end of the linear motor 3 on the other side is retracted, so that the insertion tube 1 is bent toward the side where the flexible transmission shaft 4 is shortened.

A plurality of control units are connected in a front-back mode to form a control chain, and the front end of a flexible transmission shaft 4 in the control chain is fixed on the insertion pipe 1 or a linear motor 3 of the previous control unit. The motion of 3 expansion ends of every linear electric motor of ability intelligent control can control every the control unit's motion, realizes the regulation of multi-angle, reaches accurate control's effect. A plurality of control chains extend toward the front end of the insertion tube 1. The insertion tube 1 can be controlled to bend towards the direction of the control chain, and the more control chains are arranged, the more bending directions are, the wider the observation angle is, and the endoscope is favorable for diagnosis and treatment.

Referring to fig. 3, two sets of control chains are disposed in the insertion tube 1, the two sets of control chains are respectively disposed at both sides of the working channel in the insertion tube 1, each control chain is composed of a plurality of control units, and the end of the flexible transmission shaft 4 is fixed to the previous linear motor 3. The more control units on each control chain, the more the control units can be bent, so that the bending shape of the endoscope is more various, and the length of each flexible transmission shaft 4 can be shortened, so that the flexible transmission shaft 4 has better rigidity during transmission and is not easy to bend.

The flexible transmission shaft 4 has rigidity, can provide strength and rigidity, and simultaneously has limited bending or bending capacity, and can simultaneously conduct the pulling force and the pushing force of the movable end of the linear motor 3 to bend but not break. The flexible drive shaft 4 may be a coil spring, a round or flat wire or some variation therebetween, and may be made of nitinol, titanium alloy, stainless steel or other materials known in the art.

In order to avoid that the flexible transmission shaft 4 cannot transmit the thrust of the linear motor when being bent or shifted after receiving the thrust, a plurality of positioning mechanisms are arranged inside the insertion tube 1, and the flexible transmission shaft 4 is arranged in the positioning mechanisms in a penetrating manner. Utilize positioning mechanism to carry on spacingly with flexible transmission shaft 4, avoid flexible transmission shaft 4 to become invalid for the motion of insert tube 1 is more smooth. The positioning mechanism can be a hollow groove or a channel, or positioning sheets arranged on the left and the right, or other structures capable of preventing the flexible shaft 4 from bending.

In an embodiment not shown, the insertion tube 1 consists of several condyles connected one behind the other. The extension and contraction of the flexible drive shaft 4 causes the pitch of the condyles to change, bending the insertion tube 1 to one side, and also changing the bending angle.

Referring to fig. 4 and 5, the insertion tube 1 is a flexible, collapsible tube provided with corrugations. The extension and contraction of the flexible transmission shaft 4 causes the corrugations to expand or contract as well, thereby bending the insertion tube 1 to one side and also changing the angle of bending. The shape of the insertion tube 1 is not limited to the above two shapes, but includes, but is not limited to, the grooved tube in the first embodiment, and other flexible tubes and the like.

The other angle sensor that still is provided with of sharp unit 3, angle sensor and linear electric motor 3 electric connection, angle sensor can set up a plurality ofly, monitors linear electric motor 3's bending angle, prevents that bending angle is too big to lead to the flexible transmission shaft fracture.

While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.