CN116058770A - Bending control mechanism, handle assembly, endoscope and endoscope system - Google Patents

Abstract

The invention provides a bending control mechanism, a handle assembly, an endoscope and a system, the bending control mechanism is used to connect with the handle of the endoscope, and is used to control the bending or straightening of the insertion part of the endoscope; the bending control mechanism The mechanism includes: a base; a driving assembly, which is rotatably connected to the base, and at least one wire groove group is provided on the driving assembly, and the wire groove group includes a positioning groove and a threading channel communicating with each other, and the threading channel It is used to pass the pull wire; and the transmission assembly includes at least one positioning part, the positioning part is accommodated in a positioning groove, and the positioning part is connected with the pull wire; the positioning part is tightened or tightened with the rotation of the drive assembly Release the guy wire. The bending control mechanism has a simple structure and can effectively control the insertion part to complete a preset bending operation.

Description

A bending control mechanism, handle assembly, endoscope and endoscope system

technical field

The invention relates to the technical field of medical instruments, in particular to a bending control mechanism, a handle assembly, an endoscope and an endoscope system.

Background technique

An endoscope is a commonly used medical device that can be used in various inspections and surgical procedures. Compared with traditional surgery, functional minimally invasive surgery with medical endoscope has been widely accepted by doctors and patients. As long as the medical endoscope uses the natural holes of the human body or opens small holes when necessary, it can enter the human body along these holes for minimally invasive surgery.

In traditional endoscopic surgery, the doctor manually controls the endoscope to reach the designated position through the handle, and then performs the corresponding surgical operation. Specifically, the existing endoscope includes a handle assembly and an insertion part. The insertion part is used to enter the human body and collect images by its block program module. It is connected and used to control the bending of the front end of the insertion part and adjust the shape of the insertion part. It can be seen that the handle assembly, as an operation control part, is particularly important in endoscopes. Most of the existing endoscope handles are straight handles, which are inconvenient for doctors to grasp, and the structure of the bending control mechanism is complex. In order to accommodate functional components such as the bending control mechanism, the handle is generally large in size, which further limits the doctor's operation.

Contents of the invention

The object of the present invention is to provide a bending control mechanism, a handle assembly, an endoscope and an endoscope system, so that the handle assembly can effectively control the bending of the insertion part of the endoscope.

In order to achieve the above object, the present invention provides a bending control mechanism, which includes:

base;

The driving assembly is rotatably connected to the base, and at least one wire slot group is provided on the driving assembly, and the wire slot group includes interconnected positioning slots and threading channels, and the threading channels are used for threading the pull wires ;as well as,

The transmission assembly includes at least one positioning part, the positioning part is accommodated in a positioning groove, and the positioning part is connected with the pull wire; the positioning part tightens or releases the pull wire as the driving assembly rotates.

Optionally, the wire slot group includes at least two positioning slots, at least two positioning slots are arranged at intervals and communicated through the threading channel; the positioning portion is selectively disposed in one of the positioning slots.

Optionally, at least two positioning slots are arranged around the axis of the driving assembly.

Optionally, the drive assembly is provided with two wire slot groups, and the two wire slot groups are symmetrically arranged; the number of the positioning parts is two, and each positioning part is arranged on one of the Inside the positioning slot of the trunking group.

Optionally, the drive assembly includes a central shaft and a turntable, the central shaft is rotatably connected to the base, the turntable is sleeved on the central shaft and is configured to rotate synchronously with the central shaft , and the wire slot group is provided on the turntable.

Optionally, the bending control mechanism further includes a casing, the casing is sleeved on the central shaft, and covers the turntable; a gasket is arranged between the casing and the turntable.

Optionally, the bending control mechanism further includes a limiter; the limiter includes a limiter sleeve and a limiter column, and the limiter sleeve is connected to the outer surface of the casing and sleeved on the On the central shaft, the limiting sleeve is provided with a limiting groove extending along the circumference of the central axis; the limiting column passes through the limiting groove and is detachably connected to the center on the shaft; the limiting column can rotate in the limiting groove along with the rotation of the central shaft.

Optionally, the limit member further includes an adjustment assembly, the adjustment assembly includes an adjustment plate and a first locking member; the number of the adjustment plates is two, and each of the adjustment plates has a limit surface, And the limit surfaces of the two adjustment plates are oppositely arranged; the first locking member can selectively lock or unlock the adjustment plate and the cover, when the first locking member is released When locked, the angle formed by the two limiting surfaces can be adjusted.

Optionally, the casing is provided with a threaded hole, and the adjusting plate is provided with an arc-shaped adjusting slot, and the adjusting slot extends along the circumferential direction of the central axis; the first locking member includes a screw , the screw passes through the adjustment slot and is threadedly connected with the threaded hole.

Optionally, each of the adjustment plates is locked on the casing by at least two of the screws, and at least two of the screws are arranged around the circumference of the central axis.

Optionally, the positioning part is provided with a connection hole, and the diameter of one end of the connection hole is smaller than the diameter of the other end; the pull wire includes a pull wire body and a fixing sleeve arranged at the proximal end of the pull wire body, and the fixing The sleeve is arranged in the connection hole, and the outer diameter of the fixed sleeve is larger than the diameter of one end of the connection hole.

To achieve the above object, the present invention also provides a handle assembly, including a handle and the bending control mechanism as described in any one of the preceding items, and the base is connected to the handle.

Optionally, the handle includes a first part and a second part connected at an angle, the angle formed between the first part and the second part is 90°-150°, and the bending control mechanism The base is arranged at the junction of the first part and the second part.

In order to achieve the above object, the present invention also provides an endoscope, comprising the aforementioned handle assembly and an insertion part, the insertion part is connected to the distal end of the handle, and the pull wire is connected to the insertion part .

To achieve the above object, the present invention also provides an endoscope system, including the aforementioned endoscope, an image processor and a display; the endoscope communicates with the image processor, and the image A processor is communicatively coupled with the display.

Compared with the prior art, the bending control mechanism, handle assembly, endoscope and endoscope system of the present invention have the following advantages:

The aforementioned endoscope includes a handle assembly and an insertion part, the handle assembly includes a handle and a bending control mechanism arranged on the handle, the distal end of the handle is connected to the insertion part; the bending control mechanism includes a base , a transmission assembly and a drive assembly; the base is used to connect with the handle. The drive assembly is rotatably connected to the base and is also rotatably connected to the handle. At least one A wire groove group, the wire groove group includes a positioning groove and a threading channel that communicate with each other, and the threading channel is used to thread the pull wire and constrain the extension direction of the pull wire; the transmission assembly includes a positioning part, the The positioning part is accommodated in one of the positioning slots, and the positioning part is connected to the proximal end of the pull wire, and the distal end of the pull wire can be used to connect with the insertion part; the user applies an external force to the driving assembly to make the When the driving assembly rotates, the driving assembly drives the positioning part to rotate synchronously to tighten the pull wire or release the pull wire, thereby controlling the bending or straightening of the insertion part.

Further, the wire slot group includes at least two positioning slots, at least two positioning slots are arranged at intervals and communicated through the threading channel, such a structure allows the positioning part to be selectively arranged in one of the positioning slots. In the positioning groove, it is convenient to pre-tighten the cable by selecting a suitable positioning groove to accommodate the positioning part during the assembly or use of the endoscope, so as to avoid the backlash problem of the cable and ensure the bending control performance of the endoscope, so that the inner The speculum can complete the preset bending action, and also has the advantages of simple and convenient operation.

Further, the handle includes a first part and a second part connected at an angle, and the angle formed between the first part and the second part is 90°-150°, so as to facilitate the user to hold and the base of the bending control mechanism is arranged at the junction of the first part and the second part, so that the structure of the handle assembly is more compact and the operation is more convenient.

Description of drawings

The accompanying drawings are used to better understand the present invention, and do not constitute improper limitations to the present invention. in:

FIG. 1 is a schematic structural view of an endoscope provided by the present invention according to an embodiment;

Fig. 2 is a schematic structural view of an endoscope provided by the present invention according to an embodiment, and the handle is not shown in the figure;

Fig. 3 is a schematic structural view of the bending control mechanism of the endoscope provided according to an embodiment of the present invention, and the pull wire is not shown in the figure;

Fig. 4 is an enlarged schematic diagram of place A of the bending control mechanism of the endoscope shown in Fig. 3;

Fig. 5 is an assembly diagram of the pull wire and the positioning part of the endoscope provided according to an embodiment of the present invention;

Fig. 6 is a partial structural schematic diagram of a bending control mechanism of an endoscope provided according to an embodiment of the present invention;

Fig. 7 is a partial structural schematic diagram of the bending control mechanism of the endoscope provided according to an embodiment of the present invention, in which the angle of the central angle corresponding to two adjacent positioning grooves is 30°;

Fig. 8 is a schematic diagram of the bending control principle of the endoscope provided according to an embodiment of the present invention, the endoscope shown in the figure performs one-way bending control;

Fig. 9 is a schematic diagram of the bending control principle of the endoscope provided according to an embodiment of the present invention, the endoscope shown in the figure performs two-way bending control;

Fig. 10 is an enlarged schematic view at B of the endoscope shown in Fig. 9;

Fig. 11 is a schematic diagram of a partial structure of a bending control mechanism of an endoscope according to an embodiment of the present invention, in which an adjustment component is shown.

[the reference signs are explained as follows]:

10-handle, 11-first part, 12-second part;

20 - insertion part;

30-bending mechanism, 1000-base, 2000-transmission assembly, 2000a-first transmission assembly, 2000b-second transmission assembly, 2100-positioning part, 2100a-first positioning part, 2100b-second positioning part, 2110- Connection hole, 2111-opening, 2200-guy wire, 2200a-first guy wire, 2200b-second guy wire, 2210-guy wire body, 2220-fixing sleeve, 3000-drive component, 3010-wire slot group, 3010a-first wire Groove group, 3010b-second wire groove group, 3011-positioning groove, 3011a-first positioning groove, 3011b-second positioning groove, 3012-threading channel, 3012a-first threading channel, 3012b-second threading channel, 3100- Turntable, 3110-second locking hole, 3200-central shaft, 3300-handle, 4100-cover, 4110-top plate, 4111-threaded hole, 4120-circumferential retaining wall, 5000-second limiter, 5100-limit Position sleeve, 5110-limit slot, 5200-limit column, 5300-adjustment assembly, 5310-adjustment plate, 5311-limit surface, 5312-adjustment slot, 5320-first locking member

40-connector;

50-guiding mechanism, 51-guiding hole.

Detailed ways

Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the diagrams provided in this embodiment are only schematically illustrating the basic idea of the present invention, and only the components related to the present invention are shown in the diagrams rather than the number, shape and shape of the components in actual implementation. Dimensional drawing, the type, quantity and proportion of each component can be changed arbitrarily during actual implementation, and the component layout type may also be more complicated.

In addition, each embodiment of the content described below has one or more technical features respectively, but this does not mean that the inventor must implement all the technical features in any embodiment at the same time, or can only implement different embodiments separately. Some or all of the technical features. In other words, on the premise that the implementation is possible, those skilled in the art can selectively implement some or all of the technical features in any embodiment according to the disclosure of the present invention and depending on design specifications or implementation requirements, or Selectively implement a combination of some or all of the technical features in multiple embodiments, thereby increasing the flexibility of the implementation of the present invention.

As used in this specification, the singular forms "a", "an" and "the" include plural objects, and the plural form "a plurality" includes two or more objects, unless the content clearly states otherwise. As used in this specification, the term "or" is generally used in the sense including "and/or", unless the content clearly indicates otherwise, and the terms "install", "connect" and "connect" should be To understand it in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two elements or the interaction relationship between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In this context, the terms "proximal", "distal" refer to the relative orientation, relative position, direction of elements or actions relative to each other from the perspective of a doctor using the medical device, although "proximal", "distal ” is not limiting, but “proximal” generally refers to the end of the medical device that is closest to the practitioner during normal operation, and “distal” generally refers to the end that enters the patient first.

In order to make the purpose, advantages and features of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. It should be noted that all the drawings are in very simplified form and use inaccurate scales, and are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention. The same or similar reference numerals in the drawings represent the same or similar components.

FIG. 1 shows a schematic structural diagram of an endoscope provided according to an embodiment of the present invention. As shown in FIG. 1 , the endoscope includes a handle 10 , an insertion part 20 and a bending control mechanism 30 .

Wherein, the handle 10 preferably includes a first part 11 and a second part 12 connected at an angle, and the angle α formed by the first part 11 and the second part 12 is 90°-150°. The handle 10 of this structure is convenient to hold, convenient for doctors to operate and enter the mirror, has a small volume, and is easy to carry.

The insertion part 20 is preferably connected to the distal end of the handle 10 through a connecting piece 40 . The insertion part 20 is used for inserting into the patient's body for collecting image information in the body. The structure of the insertion part 20 can refer to the prior art, and will not be repeated here.

A part of the bending control mechanism 30 is connected to the handle 10, and the other part is connected to the insertion part 20, and is used to control the bending or straightening of the insertion part 20, so as to adjust the shape of the insertion part 20 in the body . Please refer to FIG. 2 and FIG. 3 for the structure of the bending control mechanism 30 . The bending control mechanism 30 includes a base 1000 , a transmission assembly 2000 (marked in FIGS. 5 and 6 ) and a driving assembly 3000 . Wherein, the base 1000 is arranged inside the handle 10, and is located at the junction of the first part 11 and the second part 12, and is connected with the handle 10, so that the handle 10 and The connected structure of the bending control mechanism 30 is more compact. The transmission assembly 2000 includes a positioning part 2100 , the positioning part 2100 is connected with a proximal end of a pull wire 2200 , and the distal end of the pull wire 2200 extends into the insertion part 20 and is connected with the insertion part 20 . The driving assembly 3000 is rotatably connected to the base 1000 , the driving assembly 3000 is also rotatably connected to the handle 10 , and partly located inside the handle 10 . The drive assembly 3000 is provided with at least one wire slot group 3010, the wire slot group 3010 includes a positioning slot 3011 and a threading channel 3012 communicating with each other, the positioning slot 3011 is used to accommodate and limit the positioning part 2100, so The threading channel 3012 is used to thread the pull wire 2200, and constrain the extension direction of the pull wire 2200; the positioning part 2100 realizes the tightening or release of the pull wire 2200 with the rotation of the driving assembly 3000, and then drives the insertion through the pull wire bent or straightened.

The present invention has no requirement on the number of the pull wires 2200, as long as it is set according to actual needs. For example, as shown in FIG. 8, only one pull wire 2200 needs to be configured for one-way bending control, or, as shown in FIG. 9, two pull wires 2200 are configured for two-way bending control. More pull wires 2200 (not shown in the figure) are provided. When there are two or more pull wires 2200, the two or more pull wires 2200 are arranged in the handle 10 and the insertion part 20 without interfering with each other. In addition, those skilled in the art should know that the number of the wire slot groups 3010 corresponds to the number of strands of the pull wires 2200, that is, each pull wire 2200 is connected to one of the positioning parts 2100, and each of the positioning parts The part 2100 is limited in the positioning slot 3011 of one of the wire slot sets 3010 .

Please continue to refer to FIG. 8 , in the initial state, the insertion portion 20 is in a straightened state, when the drive assembly 3000 rotates in the first direction (as shown by arrow _S1 in FIG. 8 ) under the action of an external force, The driving assembly 3000 drives the positioning part 2100 to rotate synchronously, and then tightens the pull wire 2200, and pulls the insertion part 20, so that the insertion part 20 bends along the first direction (as shown in FIG. 8 Arrow S ₁ 'shown).

The bending control mechanism 30 is configured with two pull wires 2200 and two positioning parts 2100 , and the driving assembly 3000 is provided with two wire slot groups 3010 . Taking Figure 6 and Figure 9 as an example, for the convenience of expression, the two trunking groups 3010 are respectively referred to as the first trunking group 3010a and the second trunking group 3010b, and the first trunking group 3010a includes The first positioning slot 3011a and the first threading channel 3012a, the second wire slot group 3010b includes the second positioning slot 3011b and the second threading channel 3012b, and the two transmission assemblies 2000 are the first transmission assembly 2000a and the second transmission assembly 2000a respectively. Assembly 2000b, the first transmission assembly 2000a includes a first positioning portion 2000a and a first pull wire 2200a, and the second transmission assembly 2000b includes a second positioning portion 2100b and a second pull wire 2200b. The first positioning part 2100a is disposed in the first positioning groove 3011a, and is connected to the insertion part 20 through the first pull wire 2200a, and the first pull wire 2200a is partially threaded through the first threading wire. In the channel 3012a, the second positioning part 2100b is set in the second positioning groove 3011b, and is connected with the insertion part 20 through the second pull wire 2200b, and the second pull wire 2200b is partially passed through the second pull wire 2200b. In the second threading channel 3012b, and the setting of the first pull wire 2200a and the second pull wire 2200b is such that the rotation direction of the drive assembly when the first pull wire 2200a is released is opposite to the rotation direction of the drive assembly when the second pull wire 2200b is released .

In the initial state, the insertion part 20 is in a straightened state. When the driving assembly 3000 rotates in the first direction (as shown by arrow _S1 in FIG. 9 ) under the action of an external force, the driving assembly 3000 drives The first positioning part 2100a and the second positioning part 2100b rotate along the first direction, thereby tightening the first pull wire 2200a, and releasing the second pull wire 2200b, so that the insertion part 20 is in the first position. A pulling wire 2200a bends in a first direction (shown by arrow S ₁ ′ in FIG. 9 ). Similarly, when the drive assembly 3000 rotates in a second direction opposite to the first direction (shown by arrow _S2 in FIG. 9 ) under the action of an external force, the drive assembly 3000 drives the first The positioning part 2100a and the second positioning part 2100b rotate along the second direction, thereby releasing the first pull wire 2200a, and tightening the second pull wire 2200b, so that the insertion part 20 of the second pull wire 2200b Bending in the second direction under pulling (shown by arrow S ₂ ′ in FIG. 9 ).

Generally, please continue to refer to FIG. 2, FIG. 8 and FIG. 9, and in combination with FIG. There are guide holes 51 , the number of the guide holes 51 matches the number of the pull wires 2200 . After the proximal end of the pull wire 2200 protrudes from the insertion part 20 and the proximal end of the connecting piece 40, it passes through the corresponding guide hole 51 of the guide mechanism 50 in turn, and the corresponding guide hole 51 of the driving assembly 3000. The threading channel 3012 is finally connected with the positioning part 2100 .

Optionally, as shown in FIG. 4 , the positioning portion 2100 is provided with a connection hole 2110. Optionally, the connection hole 2110 may be an unclosed hole in the circumferential direction, for example, on the hole wall of the connection hole 2110 An opening 2111 extending in the axial direction thereof is formed so that the cross section of the connection hole 2110 is an opening. As shown in FIG. 5 , the pull wire 2200 includes a pull wire body 2210 and a fixing sleeve 2220 , and the fixing sleeve 2220 is disposed at a proximal end of the pull wire body 2210 . The connecting hole 2110 can be a diameter-reducing hole or a stepped hole, that is, the two ends of the connecting hole 2110 have different diameters, and the outer diameter of the fixing sleeve 2220 is slightly smaller than the diameter of one end of the connecting hole 2110 and larger than the diameter of the connecting hole 2110. The diameter of the other end of the connection hole 2110 is such that the fixing sleeve 2220 can be arranged in the connection hole 2110 and will not come out of the connection hole 2110 . When assembling the positioning part 2100 and the stay wire 2200, first make the distal end of the stay wire body 2210 pass through the connection hole 2110, then pull the stay wire 2200, and make the fixing sleeve 2220 enter the connection The hole 2110 is sufficient. Such a structure makes the connection between the proximal end of the pull wire 2200 and the positioning part 2100 simple and convenient, without crushing the fixing sleeve 2220 or performing large-area welding. Alternatively, the connecting hole may also be a circumferentially closed hole (that is, on the cross section of the connecting hole 2110 , the connecting hole is a closed ring).

Further, referring back to FIG. 6 , each wire slot group 3010 includes at least two positioning slots 3011 , and at least two positioning slots 3011 are arranged at intervals and connected through the threading channel 3012 . The positioning portion 2100 can be selectively disposed in one of the positioning slots 3011 . The advantage of doing this is that the positioning part 2100 can be accommodated by selecting the positioning groove 3011 at a suitable position during the assembly of the endoscope or during use, so as to pre-tighten the positioning part 2100 without damaging the pull wire 2200. The stay wire 2200 avoids the problem of lost motion, ensures the bending control performance of the endoscope, and enables the endoscope to complete the preset bending action. That is to say, the bending control mechanism 3000 in the embodiment of the present invention also has the function of pre-tensioning the pull wire 2200, so that there is no need to set up other structures to separately pre-tighten the pull wire 2200, so that the handle with a smaller volume 10 can also meet the installation requirements of various components, and there will be no problem of insufficient space.

Next, this article will introduce the more detailed structure of the bending control mechanism 30 by taking the endoscope equipped with two strands of the pull wires 2200 as an example to enable the endoscope to perform two-way bending control. Correspondingly, there are two transmission assemblies 2000 and two trunking sets 3010 . In the following, the previous description is used, that is, the two transmission assemblies 2000 are respectively the first transmission assembly 2000a and the second transmission assembly 2000b, and the two trunking assemblies 3010 are respectively the first trunking group 3010a and the second wire trunking group 3010a. Groove set 3010b.

In addition, those skilled in the art should understand that the following structure is only a preferred implementation of the bending control mechanism 30 , not the only optional structure, and should not constitute an improper limitation to the present invention. And, those skilled in the art can also make adaptive modifications to the following description, so as to adapt to the situation that the endoscope is equipped with only one pull wire 2200 , or more than three pull wires 2200 are configured.

Please refer back to FIG. 3 in combination with FIG. 1 and FIG. 2 , the driving assembly 3000 may specifically include a turntable 3100 , a central shaft 3200 and a handle 3300 . Wherein, the turntable 3100 is sleeved on the central shaft 3200 and configured to keep relatively stationary with the central shaft 3200 , that is, the turntable 3100 can rotate together with the central shaft 3200 . One end of the central shaft 3200 is arranged inside the handle 10, and is rotatably connected with the base 1000, and the other end passes through a through hole (not shown in the figure) on the handle 10, and extends to Outside the handle 10 , the turntable 3100 is located inside the handle 10 . The handle 3300 is disposed on the outside of the handle 10 and connected to the other end of the central shaft 3200 for receiving external force and driving the driving assembly 3000 along the first direction or the second direction. direction rotation.

The trunking group 3010 is arranged on the turntable 3100 , specifically on the end face of the turntable 3100 away from the base 1000 . At least two positioning slots 3011 of the same wire slot group 3010 can be arranged at intervals on the turntable 3100 in any suitable manner. In a preferred implementation, the same wire slot group 3010 All the positioning grooves 3011 are arranged at intervals around the axis of the driving assembly 3000 , and are preferably arranged at equal intervals. Such a structure can make full use of the area of the turntable 3100 so as to have the largest adjustment stroke when the pull wire 2200 is pre-tensioned. Further preferably, the two wire slot groups 3010 are arranged symmetrically on the turntable 3100 , and the symmetry axis of the two wire slot assemblies 3010 is L ₁ . That is, the number of the first positioning slots 3011a of the first wire slot group 3010a is the same as the number of the second positioning slots 3011b of the second wire slot group 3010b, and all the first positioning slots 3011a and all the second positioning grooves 3011b are located on the same circumference. When pre-tightening the pull wire 2200, the two pull wires can be pre-tightened respectively according to the actual conditions of the first pull wire 2200a and the second pull wire 2200b, so as to achieve optimal bending control effects in different directions .

In the embodiment of the present invention, there is no special limitation on the specific shape of the positioning groove 3011 , as long as it matches the shape of the positioning portion 2100 . Optionally, both the positioning groove 3011 and the positioning portion 2100 are circular. In addition, the threading channel 3012 is an arc-shaped groove provided on the end surface of the turntable 3100 .

Please continue to refer to FIG. 6 in combination with FIG. 7 , the first wire slot group 3010a may include three first positioning slots 3011a, and the three first positioning slots 3011a are arranged in a counterclockwise direction. That is, the first, second, and third first positioning grooves 3011a are sequentially provided in the counterclockwise direction. The second wire groove group 3010b includes three second positioning grooves 3011b, and the three second positioning grooves 3011b are arranged clockwise, that is, the first, second, and third are sequentially arranged in the clockwise direction. Thus, in the circumferential direction, the first second positioning groove 3011b is adjacent to the first first positioning groove 3011a. When initially assembling the endoscope, usually the first positioning part 2100a of the first transmission assembly 2000 is placed in the first first positioning groove 3011a, and the first positioning part 2100a of the second transmission assembly 2000 The second positioning portion 2100b is placed in the first second positioning groove 3011b. With the prolongation of use time, the first pull wire 2200a and the second pull wire 2200b will loosen, at this time, the positions of the first positioning part 2100a and the second positioning part 2200b can be adjusted, for example, the The first positioning part 2100a is taken out from the first first positioning groove 3011a and put into the second first positioning groove 3011a, so as to re-tighten the first pull wire 2200a, and set the second positioning The part 2100b is taken out from the first said second positioning groove 3011b and put into the second said second positioning groove 3011b, so as to tighten said second pull wire 2200b again. In this way, it is possible to avoid the problem of air travel when the endoscope is bending controlled, and ensure the bending control performance of the endoscope.

Optionally, in this embodiment, the angle of the third central angle θ ₃ formed between any two adjacent first positioning grooves 3011a in the same trunking group 3010 is 30°, and the first The angle of the fourth central angle θ ₄ formed between the first described first positioning groove 3011a of the wire groove group 3010a and the first described second positioning groove 3011b of the second wire groove group 3010b is 60° .

Further, please refer back to FIG. 3 , the bending control mechanism 30 includes a first limiting member (not marked in the figure), and the first limiting member is at least used to limit the positioning part 2100 in the positioning groove 3011 in. In this embodiment, the first limiting member is also used to limit the proximal end of the pull wire 2200 in the threading channel 3012 .

Optionally, the first limiting member includes a casing 4100 , and the casing 4100 includes a top plate 4110 and a circumferential blocking wall 4120 connected to an edge of the top plate 4110 . The top plate 4110 is provided with a mounting through hole (not marked in the figure), the casing 4100 is sleeved on the central shaft 3200 through the mounting hole, and the turntable 3100 is covered, and the casing 4100 The circumferential blocking wall 4120 of 4100 is also detachably connected with the base 1000 . The inner surface of the top plate 4110 of the casing 4100 can be used to press against the end surface of the turntable 3100 to prevent the positioning part 2100 from coming out of the positioning groove 3011, and to prevent the pull wire 2200 from coming out of the positioning groove 3011. Out of the threading channel 3012. Those skilled in the art can understand that, when adjusting the placement position of the positioning part 2100, the connection between the cover 4100 and the base 1000 needs to be disassembled first, and after the adjustment is completed, the cover 4100 needs to be disassembled. Reconnect with the base 1000.

During use, the turntable 3100 needs to rotate. In order to prevent the positioning part 2100 from coming out of the positioning groove 3011 and reduce the friction between the turntable 3100 and the casing 4100, the first limit The components also preferably include gaskets (not shown in the figure), such as nylon gaskets, the thickness of which may be about 1 mm, and the gaskets are arranged between the top plate 4110 and the turntable 3100 .

Further, the bending control mechanism 30 further includes a second limiter 5000 , the second limiter 5000 is used to limit the maximum rotation angle of the driving assembly 3000 . The maximum rotation angle of the driving assembly 3000 is related to the maximum bending angle of the insertion part 20. For example, in a one-way bending endoscope, the maximum rotation angle of the driving assembly 3000 may be related to the insertion portion 20. The maximum bending angles of the portions 20 are equal. In a two-way bending endoscope, the maximum rotation angle of the driving assembly 3000 may be the sum of the maximum bending angles of the insertion part 20 in two directions, for example, when the insertion part 20 is When the maximum bending angle when bending in one direction is 90°, and the maximum bending angle when the insertion portion 20 is bending in the second direction is 90°, the maximum rotation angle of the driving assembly 3000 may be 180°.

Optionally, the second limiting member 5000 includes a limiting sleeve 5100 and a limiting post 5200 . The limiting sleeve 5100 is connected to the outer surface of the casing 4100 and sleeved on the outside of the central shaft 3200 . The limiting sleeve 5100 defines a limiting slot 5110 extending along the circumference of the central axis 3200 . The limiting post 5200 is connected to the central shaft 3200 and passes through the limiting slot 5110 . The limit post 5200 rotates synchronously with the drive assembly 3000, and during the rotation, the limit sleeve 5100 remains stationary. When contacting, the sidewall of the limiting slot 5110 hinders the rotation of the limiting column 5200 , thereby limiting the rotation of the driving assembly 3000 . That is to say, the angle of the first central angle θ ₁ (marked in FIG. 11 ) corresponding to the limiting groove 5110 is related to the maximum rotation angle of the driving assembly 3000 . It can be understood that, for two-way bending control, and when the maximum bending angle of the insertion part 20 in the two directions is equal, on the axial projection of the bending control mechanism 30, the first central angle _θ1 The bisector of the angle is collinear with the symmetry axis L ₁ , and when the limiting post 5200 is located on the bisector of the first central angle θ ₁ , the insertion part 20 is in a straightened state.

For the same endoscope, when it is applied in different surgical scenarios, the requirements for the maximum bending angle of the insertion part 20 may be different, that is, the requirements for the maximum rotation angle of the driving assembly 3000 may be different. Requirements vary. If only the limit slot 5110 is used to limit the maximum rotation angle, it cannot meet the requirements of different usage scenarios. In view of this, please continue to refer to FIG. 3 and in combination with FIG. 11 , the second limiting member 5000 further includes an adjustment assembly 5300 for adjusting the maximum rotation angle of the driving assembly 3000 . Specifically, the adjustment assembly 5300 includes an adjustment plate 5310 and a first locking member 5320 , the number of the adjustment plates 5310 is two, and each of the adjustment plates 5310 has a limiting surface 5311 . The first locking member 5320 is used for selectively locking or unlocking the adjusting plate 5310 and the cover 4100 . When the first locking member 5320 locks the adjusting plate 5310 and the housing 4100, the adjusting plate 5310 and the housing 4100 remain relatively stationary, and the limit of the two adjusting plates 5310 The bit planes 5311 are arranged opposite to each other, extend along the radial direction of the central axis 3200, and correspond to a second central angle θ ₂ . The second central angle θ ₂ is within the range of the first central angle θ ₁ , and the second central angle θ ₂ has the same angle bisector as the first central angle θ ₁ . Here, when the driving assembly 3000 rotates and drives the limiting post 5200 to abut against any one of the limiting surfaces 5311, the limiting surface 5311 hinders the rotation of the driving assembly 3000 , so as to limit the rotation angle, in other words, in the presence of the adjustment assembly 5000, the maximum rotation angle of the driving assembly 3000 is related to the angle of the second central angle _θ2 . Use Alternatively, the positions of the two adjusting plates 5311 on the housing 4100 can be adjusted to adjust the angle of the second central angle _θ2 , thereby adjusting the maximum rotation angle of the driving assembly 3000.

Optionally, please focus on referring to FIG. 11 , the top plate 4110 of the casing 4100 is provided with a threaded hole 4111, and the adjustment plate 5310 is provided with an arc-shaped adjustment slot 5312, and the adjustment slot 5312 is along the The circumferential direction of the central axis 3200 extends. The first locking member 5312 includes a screw, and the screw passes through the adjustment slot 5312 and is threadedly connected with the threaded hole 4111 . When the screw is tightened so that the head of the screw presses against the adjusting plate 5310 , the screw locks the adjusting plate 5310 and the housing 4100 . When the screw is loosened so that the adjustment plate 5310 can move on the casing 4100 under the restriction of the adjustment slot 5310 and the screw, the screw releases the adjustment between the adjustment plate 5310 and the adjustment plate 5310. Locking of the housing 4100 described above.

Preferably, each of the adjustment plates 5310 is locked on the housing 4100 by two screws, and the two screws are arranged at intervals along the circumference of the central axis 3200, so that the adjustment plates 5310 can be positioned between two The screw moves along the circumferential direction of the central axis 3200 to adjust the angle of the second central angle _θ2 .

Here, it should be noted that, when the endoscope bends in one direction, the number of the adjusting plate may be one.

In addition, the bending control mechanism 3000 may further include a second locking member (not shown in the figure), the second locking member is used to selectively lock or unlock the driving assembly 3000 and the base 1000 . When assembling the endoscope (including initially assembling the endoscope and adjusting the position of the positioning part 2100 after a period of use), the driving assembly 3000 can be locked by the second locking member and the base 1000 to prevent the drive assembly 3000 from rotating relative to the base 1000 for easy assembly. After the assembly is completed, the locking of the driving assembly 3000 and the base 1000 by the second locking member is released, allowing the driving assembly 3000 to rotate under the action of an external force to control the bending of the insertion part 20 . The second locking member may be a pin, correspondingly, the base 1000 is provided with a first locking hole (not shown in the figure), and the turntable 3100 of the driving assembly 3000 is provided with a second locking hole 3110 , the second locking hole 3110 can communicate with the first locking hole for passing the pin. Preferably, when the second locking member locks the driving assembly 3000 and the base 1000, on the axial projection of the bending control mechanism 3000, the limiting column 5200 is located at the first central angle On the bisector of the angle θ ₁ , when the two strands of the pull wires 2200 are tightened, the insertion part 20 is in a straightened state.

Further, the embodiment of the present invention also provides a bending control mechanism, and the bending control mechanism is the aforementioned bending control mechanism 30 .

Furthermore, the embodiment of the present invention also provides a handle assembly, including the aforementioned handle 10 and the aforementioned bending control mechanism 30 .

Furthermore, an embodiment of the present invention also provides an endoscope system, including the aforementioned endoscope, an image processor, and a display, and the image processor is respectively connected to the endoscope and the display in communication, The image processor is used for signal processing the image information collected by the endoscope, and sending it to the display for display.

Although the present invention is disclosed above, it is not limited thereto. Those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims (15)

1. A bending control mechanism, characterized in that, the bending control mechanism comprises: base; The driving assembly is rotatably connected to the base, and at least one wire slot group is provided on the driving assembly, and the wire slot group includes interconnected positioning slots and threading channels, and the threading channels are used for threading the pull wires ;as well as, The transmission assembly includes at least one positioning part, the positioning part is accommodated in a positioning groove, and the positioning part is connected with the pull wire; the positioning part tightens or releases the pull wire as the driving assembly rotates. 2. The bending control mechanism according to claim 1, characterized in that, the wire slot group includes at least two positioning slots, at least two positioning slots are arranged at intervals, and are communicated through the threading channel; the positioning The part is selectively arranged in one of the positioning grooves. 3. The bending control mechanism according to claim 2, wherein at least two of the positioning slots are arranged around the axis of the driving assembly. 4. The bending control mechanism according to claim 3, characterized in that, the drive assembly is provided with two wire slot groups, and the two wire slot groups are symmetrically arranged; the number of the positioning parts is two Each of the positioning parts is arranged in the positioning slot of one of the wire slot groups. 5. The bending control mechanism according to any one of claims 1-4, wherein the drive assembly comprises a central shaft and a turntable, the central shaft is rotatably connected to the base, and the turntable It is fitted on the central shaft and configured to rotate synchronously with the central shaft, and the wire groove group is provided on the turntable. 6. The bending control mechanism according to claim 5, characterized in that, the bending control mechanism further comprises a casing, the casing is sleeved on the central shaft, and the turntable is covered; the casing A spacer is arranged between the turntable and the turntable. 7. The bending control mechanism according to claim 6, characterized in that, the bending control mechanism further comprises a limit piece; the limit piece comprises a limit sleeve and a limit post, and the limit sleeve is connected to On the outer surface of the casing and sleeved on the central shaft, the limiting sleeve is provided with a limiting groove extending along the circumferential direction of the central axis; the limiting column passes through the The limiting slot is detachably connected to the central shaft; the limiting column can rotate in the limiting slot with the rotation of the central shaft. 8. The bending control mechanism according to claim 7, wherein the limiting member further comprises an adjustment assembly, the adjustment assembly includes an adjustment plate and a first locking member; the number of the adjustment plates is two , each of the adjusting plates has a limiting surface, and the limiting surfaces of the two adjusting plates are oppositely arranged; the first locking member can selectively lock or unlock the adjusting plate and the As for the cover, when the first locking member is unlocked, the angle formed by the two limiting surfaces can be adjusted. 9. The bending control mechanism according to claim 8, wherein the casing is provided with a threaded hole, and the adjusting plate is provided with an arc-shaped adjusting groove, and the adjusting groove is arranged along the center axis. Extending in the circumferential direction; the first locking member includes a screw, and the screw passes through the adjusting slot and is threadedly connected with the threaded hole. 10. The bending control mechanism according to claim 9, wherein each of the adjusting plates is locked on the housing by at least two screws, and at least two of the screws rotate around the central axis Circumferential arrangement. 11. The bending control mechanism according to any one of claims 1-4, characterized in that, the positioning part is provided with a connection hole, and the diameter of one end of the connection hole is smaller than the diameter of the other end; the pull wire includes a pull wire The main body and the fixing sleeve arranged at the proximal end of the pull wire body, the fixing sleeve is arranged in the connecting hole, and the outer diameter of the fixing sleeve is larger than the diameter of one end of the connecting hole. 12. A handle assembly, characterized by comprising a handle and the bending control mechanism according to any one of claims 1-11, the base is connected to the handle. 13. The handle assembly of claim 12, wherein the handle comprises a first portion and a second portion connected at an angle, the angle formed between the first portion and the second portion being at an angle of 90°-150°, the base of the bending control mechanism is arranged at the joint of the first part and the second part. 14. An endoscope, characterized in that it comprises a handle assembly and an insertion part as claimed in claim 12 or 13, the insertion part is connected to the distal end of the handle, and the pull wire is connected to the insertion part . 15. A kind of endoscope system, is characterized in that, comprises endoscope as claimed in claim 14, image processor and display; Described endoscope is connected with described image processor by communication, and described image processor Communicatively coupled with the display.

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