TWM589029U - Auxiliary operation structure of endoscope - Google Patents

Abstract

The present invention provides an auxiliary operation structure of an endoscope, which includes: a control module, a human-machine interface module and a clamping module; the control module has a plurality of pressing units, a plurality of turntable driving units, and a plurality of knobs The drive unit is a plurality of control units connected to a control module of an endoscope of one of the control modules. In the case of the auxiliary operation structure of the endoscope, the physician can easily control the control module of the endoscope as long as the hands are placed on the manipulator to control, thereby operating the endoscope to complete an intrusion Detection or a minimally invasive surgery. In the process of invasive detection or minimally invasive surgery, there is no need to hold the control module of the endoscope to the hands of the doctor, so no additional burden or occupational injury will be caused to the wrist or arm of the doctor.

Description

Auxiliary operation structure of endoscope

The new type relates to the related technical field of surgical medical instruments and instruments, in particular to an auxiliary operation structure of an endoscope.

With the advancement of medical equipment and technology, endoscopy such as gastroscopes and colonoscopy can not only be used as instruments for invasive detection, but also for minimally invasive surgery. For example, when the tumor invasion depth does not exceed the submucosa and there is no lymphatic metastasis, you can consider using an endoscope to perform local resection, to avoid the pain of traditional surgical treatment.

FIG. 1A shows a perspective view of a conventional endoscope at one viewing angle, and FIG. 1B shows a perspective view of a conventional endoscope at another viewing angle. In more detail, the endoscope 1 ′ shown in FIGS. 1A and 1B is a gastroscope (Gastroscope), and its structure includes: an operation module 11 ′, a cable set 12 ′, and a pipe 13 ′ . The cable group 12' is connected between the operation module 11' and a host (not shown). Furthermore, one end of the duct 13' is connected to the operation module 11', and the other end is equipped with a lighting unit and an imaging unit. According to the current common design, the operation module 11' of the endoscope 1'is provided with a plurality of control units, including: a fixed image button F1', a first function button F2', a second function button F3', a third Function button F4', enable suction button F5', fluid delivery button F6', instrument insertion channel F7', first fixed knob F8', first angle adjustment dial F9', second fixed knob F10', and second angle Adjust the dial F11'.

When using this endoscope 1', the doctor will hold the operation module 11' with one hand (for example: right hand), and feed with the other hand (for example: left hand) as one of the pipes 13' mechanism. Simply put, the physician uses his left hand to send the tube 13' into the body of a patient, and then uses the lighting unit and the camera unit at the front of the tube 13' to capture a part to be tested or a hand in the patient Image of the surgical site. In particular, when the tube 13' is located in the patient's body, the physician must manipulate the control units above the operation module 11'. For example, when the physician turns the first angle adjustment dial F9', the front end of the tube 13' moves to the left/right. On the other hand, when the physician turns the second angle adjustment dial F11', the front end of the duct 13' moves up/down. Further, after the front end of the duct 13' is gradually fed and moved to the site to be operated, the physician can then send a surgical instrument into the site to be operated through the instrument insertion channel F7', and then use the operation The instrument performs a minimally invasive surgical treatment on the site to be operated.

As can be seen from the above description, when the physician operates the endoscope 1'shown in FIGS. 1A and 1B, his right hand must continuously hold and control the operation module 11' of the endoscope 1', Until the front end of the tube 13' is gradually fed to a target site in the patient (such as the site to be operated or the site to be tested). In the case of holding the operation module 11' for a long time, the physician's wrist and/or arm will definitely feel sore, and in severe cases, the physician's wrist and/or arm may be injured.

As can be seen from the above description, it is necessary to design a set of auxiliary mechanism for coupling to the endoscope 1'as shown in FIG. 1, so that the doctor can hold the operation module 11' and the pipe 13' without In this case, the endoscope 1'can be used to complete an invasive detection or a minimally invasive operation by operating the auxiliary mechanism. In view of this, the author of this case tried his best to study and create, and finally developed and completed an auxiliary operating structure of this new type of endoscope.

The main purpose of the present invention is to propose an auxiliary operation structure of an endoscope. In the case of applying the auxiliary operation structure of the endoscope of the present invention, a physician can easily control the interior as long as he controls the manipulator with both hands. The control module of the endoscope can operate the endoscope to complete an invasive detection or a minimally invasive operation. In the process of invasive detection or minimally invasive surgery, it is not necessary for the doctor's hands to hold the control module of the endoscope, so it will not cause any burden or injury to the doctor's wrist or arm.

On the other hand, for physicians operating endoscopes, they are using the new In the case of the auxiliary operation structure of the endoscope, the endoscope can also be intuitively operated through the aforementioned manipulator, thereby successfully completing an invasive detection or a minimally invasive operation.

In order to achieve the above-mentioned main purpose of the new model, the author of this case provides the auxiliary operating structure of the endoscope, including a control module, a human-machine interface module and a clamping module; the control module includes an internal view A mirror, a plurality of pressing units, a plurality of turntable driving units and a plurality of knob driving units; wherein the endoscope includes an operation module, a cable set, and a pipe, one end of the pipe is connected to the operation module, and The other end is equipped with a lighting unit and a camera unit. The operation module is provided with a plurality of buttons, a plurality of dials, and a plurality of knobs; wherein the plurality of pressing units are connected to the plurality of operation modules Button; the plurality of turntable drive units are connected to the plurality of turntables of the operation module; the plurality of knob drive units are connected to the plurality of knobs of the operation module; the human-machine interface module includes a host, A display screen and a controller, the host is a signal connecting the display screen and the controller, the host is connected to the plurality of pressing units, the plurality of turntable driving units and the plurality of knob driving units in a wired or wireless manner, The cable set of the endoscope is connected between the operation module and the host; the clamping module is connected to the host in a wired or wireless manner for the pipe to penetrate the clamping module and stabilize the The pipeline, and then perform forward and backward movement control on the pipeline based on the control of the manipulator, so that one of the front ends of the pipeline moves back and forth toward a patient to be tested or a surgical site; wherein, by operating the manipulator, each of the pressing The unit may be driven to correspondingly press each of the keys, each of the turntable drive units may be driven to correspondingly drive each of the turntables for rotation, and each of the knob driving units may be driven to correspondingly drive each of the keys Turn the knob.

In a feasible embodiment, the controller is one or a combination of the following: joystick, mouse, keyboard, touch screen, handle, steering wheel, but not limited thereto.

In a feasible embodiment, the auxiliary operation structure of the new endoscope of the present invention further includes a box for the endoscope, the plurality of pressing units, the plurality of turntable driving units, A plurality of knob drive units are accommodated therein, and a front end of the pipe of the endoscope and a main electrical connection end of the cable set are exposed outside the box.

In a feasible embodiment, the clamping module has a motor inside, and the rotation shaft of the motor is extended to form an extension shaft, the extension shaft is provided with a transmission wheel, and the pipe passes through an inlet of the clamping module Entering the clamping module, the pipe is carried on the conveying wheel in the inner part of the clamping module, and the pipe is in contact with a fixed inside the clamping module above the inner part of the clamping module Of the roller, the pipe exits into the clamping module through an outlet of the clamping module, so that the pipe is movably clamped by the transmission wheel and the roller, driven by the rotation of the transmission wheel in different directions The pipe moves steadily back and forth.

In the aforementioned embodiment of the auxiliary operation structure of the endoscope of the present invention, the plurality of buttons of the operation module include an image fixed button, a first function button, a second function button, and a third function button, An activated suction button and a fluid delivery button.

In the aforementioned embodiment of the auxiliary operation structure of the endoscope of the present invention, the plurality of pressing units include: a first pressing unit connected to the image fixing button for pressing the image fixing based on the control of the manipulator Key; a second pressing unit, connected to the first function button, for pressing the first function button based on the control of the manipulator; a third pressing unit, connected to the second function button, for based on the Controlling the manipulator to press the second function button; a fourth pressing unit connected to the third function button for pressing the third function button based on the control of the manipulator; a fifth pressing unit connected to The activation attraction button is used to press the activation attraction button based on the control of the manipulator; and a sixth pressing unit is connected to the fluid delivery button to press the fluid delivery button based on the control of the manipulator.

In the aforementioned embodiment of the auxiliary operation structure of the endoscope of the present invention, the first The pressing unit, the second pressing unit, the third pressing unit, the fourth pressing unit, the fifth pressing unit, and the sixth pressing unit may be any of the following: an electrically driven key striker or a cylinder Key striker.

In the foregoing embodiment of the auxiliary operation structure of the endoscope of the present invention, the plurality of turntables includes: a first angle adjustment turntable and a second angle adjustment turntable.

In the aforementioned embodiment of the auxiliary operation structure of the endoscope of the present invention, the plurality of turntable drive units includes: a first turntable drive unit connected to the first angle adjustment turntable for controlling based on the control of the manipulator Driving the first angle adjustment turntable to rotate an angle; and a second turntable driving unit connected to the second angle adjustment turntable to drive the second angle adjustment turntable to rotate an angle based on the control of the manipulator.

In the foregoing embodiment of the auxiliary operation structure of the endoscope of the present invention, the first turntable drive unit and the second turntable drive unit are both rotatable turntable kits, and each rotates based on the drive of a motor .

In the foregoing embodiment of the auxiliary operating structure of the endoscope of the present invention, the plurality of knobs includes: a first fixed knob and a second fixed knob.

In the foregoing embodiment of the auxiliary operation structure of the endoscope of the present invention, the plurality of knob drive units include: a first knob drive unit connected to the first fixed knob for driving based on the control of the manipulator The first fixed knob rotates at an angle; and a second knob drive unit is connected to the second fixed knob to drive the second fixed knob to rotate at an angle based on the control of the manipulator.

In the aforementioned embodiment of the auxiliary operating structure of the endoscope of the present invention, the first knob drive unit and the second knob drive unit are both a rotatable turntable kit or a conveyor belt, and are each based on a motor. Drive and rotate.

<this new model>

1‧‧‧Auxiliary operation structure of endoscope

10‧‧‧Control module

11‧‧‧Box

12‧‧‧ clamping module

15‧‧‧manipulator

2‧‧‧Endoscope

21‧‧‧Operation module

22‧‧‧Cable set

23‧‧‧Pipeline

30‧‧‧Human-machine interface module

31‧‧‧Display screen

32‧‧‧Host

42‧‧‧Transmission wheel

44‧‧‧wheel

45‧‧‧Extended shaft

46‧‧‧Motor

47‧‧‧ entrance

48‧‧‧Export

F1‧‧‧Fixed button

F2‧‧‧ First function button

F3‧‧‧Second function button

F4‧‧‧ third function button

F5‧‧‧Enable the attract button

F6‧‧‧Fluid delivery button

F7‧‧‧Instrument insertion channel

F8‧‧‧First fixed knob

F9‧‧‧ First angle adjustment turntable

F10‧‧‧Second fixed knob

F11‧‧‧Second angle adjustment turntable

P1‧‧‧ First pressing unit

P2‧‧‧Second pressing unit

P3‧‧‧ Third pressing unit

P4‧‧‧ Fourth pressing unit

P5‧‧‧ fifth pressing unit

P6‧‧‧Sixth pressing unit

D1‧‧‧The first turntable drive unit

D11‧‧‧ First motor

D2‧‧‧Second turntable drive unit

D21‧‧‧Second motor

S1‧‧‧ First knob drive unit

S11‧‧‧The third motor

S2‧‧‧ second knob drive unit

S21‧‧‧ Fourth Motor

<Learning>

1’‧‧‧Endoscope

11’‧‧‧Operation module

12’‧‧‧ cable set

13’‧‧‧ pipeline

F1’‧‧‧Fixed button

F2’‧‧‧ First function button

F3’‧‧‧Second function button

F4’‧‧‧ third function button

F5’‧‧‧Enable the attract button

F6’‧‧‧ fluid delivery button

F7’‧‧‧Instrument insertion channel

F8’‧‧‧First fixed knob

F9’‧‧‧ First angle adjustment turntable

F10’‧‧‧Second fixed knob

F11’‧‧‧Second Angle Adjustment Dial

Fig. 1A shows a perspective view of a conventional endoscope at one viewing angle; Fig. 1B shows a perspective view of a conventional endoscope at another viewing angle; Fig. 2 shows an application schematic diagram of an auxiliary operation structure of an endoscope of the present invention Figure 3A shows the schematic diagram of the auxiliary operating structure clamping module of the new endoscope; Figure 3B shows another schematic diagram of the auxiliary operating structure clamping module of the new endoscope; Figure 4 shows the combination A perspective view of a perspective view of an endoscope of the auxiliary operating structure of the new endoscope; FIG. 5 shows another perspective view of the endoscope combined with the auxiliary operating structure of the new endoscope; FIG. 6 shows The auxiliary operation structure of the new endoscope and a perspective view of the endoscope; FIG. 7 shows the auxiliary operation structure of the new endoscope and perspective view of the endoscope.

In order to be able to more clearly describe the auxiliary operation structure of an endoscope proposed by the present invention, the following will explain in detail the preferred embodiments of the present invention in conjunction with the drawings.

Figure 2 shows a schematic diagram of the application of the auxiliary operating structure of an endoscope of the present invention, Figure 3A shows a schematic view of the clamping module of the auxiliary operating structure of the new endoscope, and Figure 3B shows the new endoscope of the present invention Another schematic diagram of the auxiliary operation structure holding module, FIG. 4 shows a perspective view of an endoscope combined with the auxiliary operation structure of the novel endoscope, and FIG. 5 shows a perspective view of the combined endoscope Another perspective view of the endoscope with an auxiliary operation structure.

As shown in Figure 2, Figure 3A, Figure 3B, Figure 4, Figure 5 and Figure 6, the auxiliary operating structure 1 of the new endoscope includes a control module 10 and a human-machine interface module 30 with A clamping module 12; the control module 10 includes an endoscope 2, a plurality of pressing units, a plurality of turntable drive units and a plurality of knob drive units; wherein the endoscope 2 includes an operation module 21, a The cable set 22 and a pipe 23, one end of the pipe 23 is connected to the operation module 21, and the other end is equipped with a lighting unit and a camera unit. The operation module 21 is provided with a plurality of buttons, a plurality of dials, and a plurality of knobs; wherein the plurality of pressing units are connected to the plurality of buttons of the operation module; the plurality of dial drive units are A plurality of turntables connected to the operation module; the plurality of knob drive units are connected to the plurality of knobs of the operation module; the man-machine interface module 30 includes a host 32, a display screen 31 and a controller 15. The host 32 is a signal to connect the display screen 31 and the controller 15. The host 32 is connected to the plurality of pressing units, the plurality of turntable driving units, and the plurality of knob driving units in a wired or wireless manner. The cable set 22 of the sight glass 2 is connected between the operation module 21 and the host 32; the clamping module 12 is provided between the control module 10 and the patient, and it is in signal connection with the control module 10, And connect to the host 32 through the control module 10 in a wired or wireless manner for the pipeline 23 to penetrate the clamping module 12 and stabilize the pipeline 23, and then control the pipeline 23 based on the control of the manipulator 15 Perform back-and-forth movement control to move one front end of the pipeline 23 back and forth toward a patient's site to be measured or a surgical site; wherein, when the manipulator 15 is operated, the manipulator 15 transmits the control signal to the host 32, Through the wired or wireless connection of the host 32 and the plurality of pressing units, the plurality of turntable drive units and the plurality of knob drive units, the host 32 can transmit control signals to it, so by operating the controller 15 , Each of the pressing units can be driven to correspondingly press each of the keys, each of the turntable driving units can be driven to correspondingly drive each of the turntables to rotate, and each of the knob driving units can be driven to correspond to Turn each knob to rotate.

In a possible embodiment, Figure 4, Figure 5 and Figure 6 show that the plurality of buttons include: a fixed image button F1, a first function button F2 (Figure 5), a second function button F3 1. A third function button F4 (figure 5), an activation suction button F5, and a fluid delivery button F6. And, the plurality of dials includes a first angle adjustment dial F9 (Figure 6) and a second angle adjustment The turntable F11 (Figure 6), and the plurality of knobs include a first fixed knob F8 (Figure 6) and a second fixed knob F10 (Figure 6).

Please refer to Figure 6 and Figure 7 at the same time, where Figure 6 shows the auxiliary operation structure of the new endoscope and a perspective view of the endoscope, and Figure 7 shows the auxiliary operation of the new endoscope A perspective view of the structure and endoscope.

In a feasible embodiment, as shown in FIG. 4, FIG. 5, FIG. 6, and FIG. 7, the plurality of pressing units includes: a first pressing unit P1, a second pressing unit P2, a first Three pressing units P3, a fourth pressing unit P4 (Figure 6), a fifth pressing unit P5, and a sixth pressing unit P6. The first pressing unit P1 is connected to the image fixing button F1 for pressing the image fixing button F1 based on the control of the controller 15. Moreover, the second pressing unit P2 is connected to the first function button F2 for pressing the first function button F2 based on the control of the manipulator 15. On the other hand, the third pressing unit P3 is connected to the second function button F3 for pressing the second function button F3 based on the control of the manipulator 15.

According to the above description, the fourth pressing unit P4 is connected to the third function button F4 for pressing the third function button F4 based on the control of the manipulator 15. Moreover, the fifth pressing unit P5 is connected to the activation attraction button F5 for pressing the activation attraction button F5 based on the control of the manipulator 15. Furthermore, the sixth pressing unit P6 is connected to the fluid delivery button F6 for pressing the fluid delivery button F6 based on the control of the manipulator 15. 4, 5, 6, and 7 illustrate the first pressing unit P1, the second pressing unit P2, the third pressing unit P3, the fourth pressing unit P4, the fifth Both the pressing unit P5 and the sixth pressing unit P6 are one-cylinder key strikers. However, in a feasible embodiment, each of the pressing units (P1~P6) may also be an electrically driven key striker.

Corresponding to the design of the operation module 21 of the endoscope 2, in a feasible embodiment, the present invention makes the plurality of turntable drive units include a first turntable drive unit D1 (Figure 7) and a second turntable drive Unit D2 (Figure 7). As shown in FIGS. 4, 5, 6, and 7, the first turntable drive unit D1 is connected to the first angle adjustment turntable F9 to drive the first turntable based on the control of the manipulator 15 An angle adjustment dial F9 rotates by an angle. And, the second turntable drive The moving unit D2 is connected to the second angle adjustment dial F11 for driving the second angle adjustment dial F11 to rotate by an angle based on the control of the manipulator 15. Figure 4, Figure 5, Figure 6, and Figure 7 show that the first turntable drive unit D1 and the second turntable drive unit D2 are both rotatable turntable kits, and are based on a first The motor D11 (Figure 6) and a second motor D21 (Figure 7) are driven to rotate.

In more detail, in the present invention, the plurality of knob drive units include a first knob drive unit S1 (Figure 7) and a second knob drive unit S2 (Figure 7). As shown in FIG. 4, FIG. 5, FIG. 6, and FIG. 7, the first knob drive unit S1 is connected to the first fixed knob F8 (FIG. 6) for control based on the manipulator 15 The first fixed knob F8 is driven to rotate by an angle. Moreover, the second knob driving unit S2 is connected to the second fixed knob F10 for driving the second fixed knob F10 to rotate by an angle based on the control of the manipulator 15. It can be found from Figure 4, Figure 5, Figure 6, and Figure 7 that the first knob drive unit S1 is a rotatable turntable kit, and the second knob drive unit S2 is a conveyor belt, and both Rotation is based on the driving of a third motor S11 and a fourth motor S21, respectively.

It should be noted that even if the second figure shows the manipulator 15 with a rocker device, it should be understood that the implementable form of the manipulator 15 should not be limited to the rocker, for example: the manipulator 15 can One or a combination of the following: joystick, mouse, keyboard, touch screen, handle, steering wheel, but not limited to this.

When the present invention is actually applied, the controller 15 is connected to the plurality of pressing units (P1~P6), the plurality of turntable driving units (D1~D2) and the plurality of knobs by wired or wireless connection through the host 32 Unit (S1~S2). In this way, the user (that is, the doctor) controls the pressing units (P1 to P6) by operating the manipulator 15 to correspondingly press the buttons on the operating module 21 of the endoscope 2 (F1~F6), drive each of the turntable drive units (D1~D2) to correspondingly drive the turntables (F9, F11) on the operation module 21 to rotate, and/or make each of the knobs The driving unit (S1~S2) correspondingly drives the knobs (F8, F10) to rotate.

Continuing to refer to FIG. 2, in the case of applying the auxiliary operation structure 1 of the endoscope of the present invention, the endoscope 2, the plurality of pressing units, the plurality of turntable driving units, and the complex Several knob driving units are accommodated in a box 11, and a front end of the pipe 23 of the endoscope 2 and a main electrical connection end of the cable set 22 are exposed outside the box 11 . Further, the physician can sit in front of a control table, where a display screen 31 and a host 32 are provided on the control table. Then, as long as the doctor controls the manipulator 15 placed on the desk of the control table with his hands, the endoscope 2 can be easily controlled without causing any burden or injury to the wrist or arm of the doctor.

Furthermore, the physician can manipulate the manipulator 15 so that the pipe 23 passing through the clamping module 12 is fed by the clamping module 12 to advance towards a target, such as: A site to be tested or a site to be operated on in a patient. Then, the physician can use the lighting unit and the camera unit at the front of the pipeline 23 to capture images of the site to be detected or the site to be operated, and the related images will be displayed on the display screen 31 in real time under the control of the host 32. Finally, after the clamping module 12 gradually feeds the front end of the tube 23 to the site to be operated, the physician can then send a surgical instrument into the site to be operated through an instrument insertion channel F7, and then use the The surgical instrument performs a minimally invasive surgical treatment on the site to be operated.

As an embodiment, as shown in FIGS. 3A and 3B, the clamping module 12 has a motor 46 inside, and the rotation shaft of the motor 46 extends to form an extension shaft 45, and a transmission shaft is provided on the extension shaft 45. Wheel 42, the pipe 23 enters the clamping module 12 through an inlet 47 of the clamping module 12, the pipe 23 is carried on the transmission wheel 42 inside the clamping module 12, the pipe 23 Above the inner part of the clamping module 12 contacts a roller 44 fixed inside the clamping module 12, the pipe 23 leaves the clamping module through an outlet 48 of the clamping module 12 12. The pipeline 23 is movably held by the transmission wheel 42 and the roller 44. The rotation of the transmission wheel 42 in different directions drives the pipeline 23 to move forward and backward steadily, so that the pipeline 23 can be introduced into the surgical site Or withdraw from the surgical site.

In this way, the above description has explained in detail the preferred embodiments of the auxiliary operating structure of the new endoscope and their corresponding features and functions in accordance with the drawings. However, it must be emphasized that the above detailed description is a specific description of this new embodiment, but this embodiment is not intended to limit the patent scope of this new model, and any equivalent implementation or change without departing from the technical spirit of this new model , Should be included in the scope of this new patent.

1‧‧‧Auxiliary operation structure of endoscope

10‧‧‧Control module

11‧‧‧Box

12‧‧‧ clamping module

15‧‧‧manipulator

2‧‧‧Endoscope

22‧‧‧Cable set

23‧‧‧Pipeline

30‧‧‧Human-machine interface module

31‧‧‧Display screen

32‧‧‧Host

42‧‧‧Transmission wheel

44‧‧‧wheel

45‧‧‧Extended shaft

46‧‧‧Motor

47‧‧‧ entrance

48‧‧‧Export

Claims (9)

An auxiliary operation structure of an endoscope includes a control module, a human-machine interface module and a clamping module; the control module includes an endoscope, a plurality of pressing units, a plurality of turntable driving units and a plurality of Knob drive unit; wherein the endoscope includes an operation module, a cable set, and a pipe, one end of the pipe is connected to the operation module, and the other end is equipped with a lighting unit and a camera unit, the operation module A plurality of buttons, a plurality of dials, and a plurality of knobs are arranged on the top; wherein the plurality of pressing units are connected to the plurality of buttons of the operation module; the plurality of turntable drive units are connected to the operation module A plurality of turntables in the group; the plurality of knob drive units are connected to the plurality of knobs of the operation module; the man-machine interface module includes a host, a display screen and a controller, and the host is connected to the display by a signal The screen and the controller, the host are connected to the plurality of pressing units, the plurality of turntable drive units and the plurality of knob drive units in a wired or wireless manner, and the cable set of the endoscope is connected to the operation module and Between the host; the clamping module is connected to the host in a wired or wireless manner to allow the pipe to penetrate the clamping module and stabilize the pipe, and then execute the pipe before and after based on the control of the manipulator The movement control moves one of the front ends of the tube forward and backward toward a patient's site to be measured or the surgical site; wherein, by operating the manipulator, each of the pressing units can be driven to press each of the buttons correspondingly The turntable driving unit may be driven to correspondingly drive each of the turntables for rotation, and each of the knob driving units may be driven to correspondingly drive each of the knobs for rotation. The auxiliary operating structure of the endoscope as described in item 1 of the patent scope, wherein the controller is one or a combination of the following: joystick, mouse, keyboard, touch screen, handle, steering wheel . The auxiliary operation structure of the endoscope as described in item 1 of the patent application scope further includes a box for driving the endoscope, the plurality of pressing units, the plurality of turntable driving units, and the plurality of knobs The unit is accommodated therein, and a front end of the pipe of the endoscope and a main unit of the cable group The electrical connection ends are exposed outside the box. The auxiliary operation structure of the endoscope as described in item 1 of the scope of the patent application, in which the clamping module has a motor inside, the rotation shaft of the motor extends to form an extension shaft, and a transmission wheel is provided on the extension shaft, The pipe enters the clamping module through an inlet of the clamping module, the inner part of the pipe is carried on the transmission wheel in the inner part of the clamping module, and the inner part of the pipe is in the inner part of the clamping module The upper part contacts a roller fixed inside the clamping module, and the pipeline exits into the clamping module through an outlet of the clamping module, so that the pipeline can be moved by the transmission wheel and the rolling clamp Hold, through the rotation of the transmission wheel in different directions, drive the pipeline to move forward and backward steadily. The auxiliary operation structure of the endoscope as described in item 1 of the patent application scope, wherein the plurality of buttons include: a fixed image button, a first function button, a second function button, a third function button, a The suction button and a fluid delivery button are activated; the plurality of pressing units includes: a first pressing unit connected to the image fixing button for pressing the image fixing button based on the control of the manipulator; a second pressing unit , Connected to the first function button, for pressing the first function button based on the control of the manipulator; a third pressing unit, connected to the second function button, for pressing the controller based on the control of the manipulator A second function button; a fourth pressing unit connected to the third function button for pressing the third function button based on the control of the manipulator; a fifth pressing unit connected to the activation attraction button for Pressing the activation suction button based on the control of the manipulator; and a sixth pressing unit connected to the fluid delivery button for pressing the fluid delivery button based on the control of the manipulator. The auxiliary operation structure of the endoscope as described in item 5 of the patent scope, wherein the first pressing unit, the second pressing unit, the third pressing unit, the fourth pressing unit, the fifth pressing unit, And the sixth pressing unit can be any of the following: an electrically driven key striker or Cylinder type key striker. The auxiliary operation structure of the endoscope as described in item 1 of the patent application scope, wherein the plurality of turntables include: a first angle adjustment turntable and a second angle adjustment turntable; the plurality of turntable drive units include: a first A turntable drive unit connected to the first angle adjustment turntable for driving the first angle adjustment turntable to rotate an angle based on the control of the manipulator; and a second turntable drive unit connected to the second angle adjustment turntable , Used to drive the second angle adjustment turntable to rotate an angle based on the control of the manipulator; both the first turntable drive unit and the second turntable drive unit are a rotatable turntable kit, and are each based on a motor Driven to rotate. The auxiliary operating structure of the endoscope as described in item 1 of the patent scope, wherein the plurality of knobs include: a first fixed knob and a second fixed knob; the plurality of knob drive units include: a first knob A driving unit is connected to the first fixed knob to drive the first fixed knob to rotate an angle based on the control of the manipulator; and a second knob driving unit is connected to the second fixed knob to be based on the The control of the manipulator drives the second fixed knob to rotate by an angle. The auxiliary operating structure of the endoscope as described in item 1 of the patent scope, wherein the first knob drive unit and the second knob drive unit are both a rotatable turntable kit or a conveyor belt, and are based on Driven by a motor to rotate.

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