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WO2025138119A1 - 一种调弯驱动装置及内窥镜 - Google Patents

一种调弯驱动装置及内窥镜 Download PDF

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Publication number
WO2025138119A1
WO2025138119A1 PCT/CN2023/143293 CN2023143293W WO2025138119A1 WO 2025138119 A1 WO2025138119 A1 WO 2025138119A1 CN 2023143293 W CN2023143293 W CN 2023143293W WO 2025138119 A1 WO2025138119 A1 WO 2025138119A1
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WO
WIPO (PCT)
Prior art keywords
bending
driving wheel
traction
wire winding
channel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2023/143293
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English (en)
French (fr)
Inventor
张勇
王飞
王进
吴文豪
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Macrolux Medical Technology Co Ltd
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Macrolux Medical Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Macrolux Medical Technology Co Ltd filed Critical Macrolux Medical Technology Co Ltd
Priority to PCT/CN2023/143293 priority Critical patent/WO2025138119A1/zh
Publication of WO2025138119A1 publication Critical patent/WO2025138119A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes

Definitions

  • the invention relates to a bending drive device, and in particular to bending control of an endoscope.
  • Endoscope is a detection instrument that integrates traditional optics, ergonomics, precision machinery, modern electronics, mathematics, software, etc. With the rapid development of science and medical technology in recent years, the use of endoscopes for minimally invasive or non-invasive medical examinations or treatments has become widely popular.
  • Endoscopes generally include a handle assembly and an insertion tube assembly.
  • the insertion tube assembly can be provided with a camera module that can be inserted into the target part and realize imaging of the target part.
  • the proximal end of the insertion tube assembly is connected to the distal end of the handle assembly, and the handle assembly can drive the insertion tube assembly to move and/or rotate.
  • the distal end of the insertion tube assembly of a medical flexible endoscope includes an adjustable bending section (i.e., snake bone) that can be bent.
  • the adjustable bending section generally includes a plurality of bending adjustment segments arranged in sequence, and a hinge structure is provided between two adjacent bending adjustment segments, and the hinge axis formed by the hinge structure between the two can be relatively deflected, thereby realizing the bending of the adjustable bending section.
  • the doctor can use the bendable property of the front end of the flexible endoscope to drive the adjustable bending section to bend through the bending drive device at the operating handle, so that the flexible endoscope enters the body through the natural channel of the human body, causing almost no damage to the patient, thereby realizing a full range of inspections of the diseased tissue.
  • the bending of the adjustable bending section can be controlled by traction wires.
  • the traction wires are generally arranged in pairs.
  • the two traction wires in a pair are parallel to the axis of the insertion tube assembly and are respectively located on both sides of the vertical axis of the hinge axis of the bending section.
  • the bending control requirements of different insertion tube assemblies may be different, and the bending drive device on the handle assembly also needs to meet different bending control requirements.
  • the main technical problem solved by the present invention is how to make the bending drive device meet the bending control requirements of the adjustable bending section.
  • the present invention provides a bending drive device.
  • a bending drive device comprising:
  • a driving wheel the driving wheel being rotatably mounted on the mounting base;
  • the two traction wires arranged in pairs are respectively used to be arranged on different sides of the snake bone to drive the snake bone to swing in two opposite directions;
  • At least two wire winding areas are provided on the driving wheel, and the two wire winding areas include at least one first wire winding area and at least one second wire winding area.
  • the first wire winding area and the second wire winding area are located on different radial sides of the driving wheel, and the wire winding radius of at least one of the first wire winding areas is different from the wire winding radius of at least one of the second wire winding areas.
  • At least two wire winding areas are arranged in layers along the rotation axis of the driving wheel.
  • a groove is provided on the radial outer side of the driving wheel, and the wire winding area is formed by the groove.
  • the driving wheel includes an anti-slip protrusion, which is arranged on the side wall of the slot and located at the notch of the slot.
  • the anti-slip protrusion is used to prevent the traction wire from escaping from the slot along the radial direction of the driving wheel.
  • FIG4 is a perspective schematic diagram of the driving wheel in FIG1 ;
  • FIG13 is a right side view of FIG12
  • FIG14 is a partial enlarged view of FIG12
  • FIG15 is a perspective view of another embodiment of the snake bone of the present invention.
  • FIG. 16 is a schematic diagram of the arrangement position of the traction wire channel on the bending adjustment segment in FIG. 15 .
  • 300 power input member; 310, transmission column; 311, square end; 312, operating rod; 313, screw;
  • connection and “coupling” mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).
  • a bending drive device is disposed on a handle assembly of an endoscope.
  • the handle assembly includes a lower shell 110 , an upper shell 120 , a drive wheel 200 , a power input member 300 , and a traction wire 460 .
  • the lower shell 110 and the upper shell 120 can be fixed together to form a mounting cavity for mounting corresponding components.
  • the lower shell 110 and the upper shell 120 can be fixed by ultrasonic welding, snap connection, fastener connection, bonding, etc.
  • the lower shell 110 constitutes a mounting base of the bending drive device, which can be used to mount the driving wheel 200, the power input member 300 and the traction wire 460.
  • the driving wheel 200 is rotatably mounted on the mounting base and is used to rotate under the drive of the manual operating member.
  • the driving wheel 200 can wind and release the traction wire 460, thereby changing the length of the traction wire 460 between the snake bone of the endoscope and the driving wheel 200 to achieve the bending of the endoscope.
  • the traction wires 460 can be arranged in pairs, and the two traction wires 460 arranged in pairs are respectively used to be set on different sides of the snake bone; when one of the two traction wires 460 in a pair is wound and tensioned, the other is released and relaxed, so that the snake bone can be driven to deflect in two opposite directions.
  • a transmission structure is provided on one axial side of the driving wheel 200, and the transmission structure is used to connect with the power input member 300 to realize the forward and reverse rotation of the driving wheel 200.
  • a boss 210 is provided on the side of the driving wheel 200 close to the lower shell 110, and a square hole 211 is provided on the boss 210
  • the power input member 300 is a shift lever
  • the shift lever includes an operating rod 312 and a transmission column 310 connected to one end of the operating rod 312, and the transmission column 310 has a square end 311, and the square end 311 can be inserted into the square hole 211 to transmit the driving force.
  • a mounting hole is provided on the lower shell 110, and the transmission column 310 of the shift lever passes through the mounting hole and is fixed to the driving wheel 200 inside the lower shell 110 by screws 313, and is positioned on the lower shell 110 together with the driving wheel 200 and can rotate on the lower shell 110.
  • the transmission structure may also be replaced by any other form capable of realizing power transmission, such as setting a square end on the driving wheel 200 and setting a square hole on the power input member 300, or replacing the square hole 211 and the square end 311 with a hexagon, a triangle, or a cylinder with a flat outer surface.
  • the driving wheel 200 is manually driven by the operator, and in some cases, the driving wheel 200 may also be driven electrically.
  • the driving wheel 200 and the lever may be connected by other means, such as interference fit, snap-fit, bonding, etc.
  • the proximal end of the traction wire 460 is fixed on the driving wheel 200.
  • a fixing groove 221 is provided on the end surface of the driving wheel 200, and a traction block 462 is fixed at the end of the traction wire 460.
  • the traction block 462 is embedded in the fixing groove 221, and a channel 222 for the traction wire 460 to be led out is provided on the groove wall of the fixing groove 221, so as to achieve the fixing of the proximal end of the traction wire 460 and the driving wheel 200.
  • glue can be injected into the fixing groove 221, and the traction block 462 is bonded to the driving wheel 200 after the glue is cured.
  • the traction wire 460 can also be fixedly connected to the driving wheel 200 in other ways, such as by screw crimping.
  • By adjusting the installation position of the traction block 462 on the traction wire 460 it can be ensured that the traction wire 460 is tensioned on the winding area of the driving wheel 200 after the traction block 462 is installed on the driving wheel 200.
  • the fixing method of the traction wire 460 and the traction block 462 is not limited, for example, they can be fixed by interference fit, crimping, bonding, set screw connection, etc.
  • the fixing grooves 221 corresponding to the two traction wires 460 can also be adjusted in position, for example, set to the notch part, and each fixing groove 221 can also be combined into a larger groove structure that can simultaneously install two traction blocks 462.
  • the traction wire 460 is wound around the driving wheel 200 and then passes through the protective sleeve 461.
  • the traction wire 460 can slide in the protective sleeve 461, and a positioning structure, such as a slot, is provided on the lower shell 110 for fixing the protective sleeve 461.
  • the operator's finger moves the power input member 300 on the snake bone bending driving device, and the power input member 300 rotates to rotate the driving wheel 200 inside.
  • the driving wheel 200 rotates, it will drive the traction wire 460 installed on it to change its length, thereby driving the snake bone to bend.
  • the rotatable angle of the power input member 300 in the snake bone bending driving device generally selects the maximum operable angle that conforms to ergonomics, and the rotatable angles of the levers of endoscope products with different maximum bending angles are basically equal. Under the premise of a certain rotatable angle of the lever, the maximum bending angle of the snake bone can be determined by the wire winding radius of the driving wheel 200.
  • the wire winding radius is the radial dimension of the position on the outer circumference of the driving wheel 200 where the traction wire 460 is wound. Different wire winding radii can achieve different maximum bending angles of the snake bone. The present invention designs multiple wire winding radii on the driving wheel 200, and can achieve different maximum bending angles of the snake bone by selecting different wire winding radii.
  • Existing snake bones can be basically divided into two categories: metal snake bones and non-metallic snake bones.
  • the bending adjustment segment of the metal snake bone is usually processed by blanking, cutting, grooving and other processes.
  • the entire processing process requires high precision, low production efficiency, and high cost of a single bending adjustment segment;
  • the non-metallic snake bone is mainly plastic snake bones, which are integrally formed by injection molding, with high production efficiency and low cost, but the production and processing of plastic snake bones requires mold opening, which faces high mold opening costs and long processing cycles.
  • the bending angles required by different endoscope products are different. If the corresponding snake bones are specially made to achieve different bending angles, whether it is a metal snake bone or a non-metallic snake bone, it will cost a lot.
  • the present invention by designing the structure of the bending drive device, can rely on the multiple winding radii on the driving wheel 200 to enable the same snake bone to achieve different bending angle requirements.
  • At least two wire winding areas are provided on the driving wheel 200.
  • the first wire winding area 231 and the second wire winding area 232 are located on different radial sides of the driving wheel 200, and the first wire winding area 231 and the second wire winding area 232 have different wire winding radii.
  • a groove is provided on the radial outer side of the driving wheel 200, and the wire winding area is formed by the groove.
  • At least two wire winding areas are arranged in layers along the rotation axis of the driving wheel 200 to form a step structure.
  • three first wire winding areas 231 and three second wire winding areas 232 are provided on the driving wheel 200, the three first wire winding areas 231 are located on the lower side of the driving wheel 200 in Figure 7, and the three second wire winding areas 232 are located on the upper side of the driving wheel 200 in Figure 7.
  • each first wire winding area 231 is respectively connected with a corresponding second wire winding area 232 along the circumference of the driving wheel 200 to form a complete arc.
  • This structure can facilitate the processing of the driving wheel 200, and can still ensure the winding of the traction wire 460 when the driving wheel 200 rotates a large angle, thereby achieving a larger traction stroke.
  • first wire winding area 231 and the second wire winding area 232 connected along the circumference of the driving wheel 200 can also be considered to have an overlapping section, and the first wire winding area 231 and the second wire winding area 232 can share the overlapping section.
  • the number of first wire winding areas 231 and second wire winding areas 232 can be increased or decreased, and the number of first wire winding areas 231 can also be different from the number of second wire winding areas 232; in addition, the first wire winding area 231 and the three second wire winding areas 232 located at the same position along the axial direction of the driving wheel 200 can also be separated from each other along the circumference of the driving wheel 200.
  • the driving wheel 200 is circular.
  • the first wire winding area 231 and the second wire winding area 232 connected along the circumference of the driving wheel 200 form a circular arc portion 241 and a notch portion 242 on the driving wheel 200.
  • the wire winding area is arranged on the circular arc portion 241. At least a part of the end surface of the arc portion 241 is exposed in the notch portion 242.
  • the traction wire 460 of the bending drive device is wound on the circular arc portion 241 through the notch portion 242.
  • the fixed groove 221 and the notch portion 242 on the end surface of the driving wheel 200 are located on opposite sides of the driving wheel 200.
  • the channel 222 arranged on the groove wall of the fixed groove 221 near the notch portion 242 can allow the traction wire 460 to extend to the notch portion 242, and then enter the wire winding area through the notch portion 242, so as to facilitate the assembly of the traction wire 460 on the driving wheel 200.
  • the initial state of the traction wire 460 when assembled on the driving wheel 200 may be as shown in FIG. 2 and FIG. 6 .
  • the arc portion 241 in the illustrated embodiment is a major arc, and the notch portion 242 is located between the two ends of the major arc.
  • the arc portion 241 may also be a minor arc, and a notch portion 242 may be provided between the two corresponding ends of the first wire winding area 231 and the second wire winding area 232.
  • the notch portion 242 forms a thinned area on the driving wheel 200, and the thinned area has a slope portion, the thickness of the slope portion gradually decreases from the side close to the rotation axis of the driving wheel 200 to the radial outer side of the driving wheel 200, and the slope portion forms a smooth curved surface for supporting the traction wire 460.
  • the provision of a smooth curved surface can protect the traction wire 460 and prevent the formation of sharp edges on the driving wheel 200, which may cause the traction wire 460 to be worn or even broken.
  • the driving wheel 200 includes an anti-slip protrusion 233, which is arranged on the side wall of the slot and located at the notch of the slot, and the anti-slip protrusion 233 is used to prevent the traction wire 460 from slipping out of the slot along the radial direction of the driving wheel 200.
  • the anti-slip protrusion 233 can be arranged on one side of the slot side wall of the slot, and the other side of the slot side wall of the slot is provided with an escape opening 234, and at least a part of the anti-slip protrusion 233 extends into the escape opening 234, and there is a gap between the anti-slip protrusion 233 and the inner side wall of the escape opening 234.
  • the traction wire 460 can be inserted into the slot along the circumference of the driving wheel 200.
  • the bottom wall of the slot and the inner wall of the avoidance opening 234 are located on the same arc surface, which can facilitate the molding of the driving wheel 200 and the observation of the assembly state of the traction wire 460 in the slot.
  • the bottom wall of the slot and the inner wall of the avoidance opening 234 may also be located on different surfaces.
  • a zero-position positioning notch 250 is also designed on the driving wheel 200, and the zero-position positioning notch 250 can be located at the symmetric axis of the first winding area 231 and the second winding area 232. In one embodiment, the zero-position positioning notch 250 can be set on the side wall of the slot farthest from the fixing slot 221.
  • the number of the anti-slip protrusions 233 on each wire winding area is one, and they are arranged on both sides of the symmetrical distribution direction of the first wire winding area 231 and the second wire winding area 232. In some other embodiments, the number of the anti-slip protrusions 233 may also be greater. In addition, the anti-slip protrusions 233 may also be arranged on the side walls of the slot on both sides.
  • the above-mentioned bending drive device can achieve different maximum bending angles for the same snake bone, meet the bending requirements of different endoscopes, and enable multiple endoscope products to share one snake bone bending drive device, avoiding the high cost caused by remaking the snake bone.
  • the traction wire 460 When the snake bone is assembled or matched with other parts, the traction wire 460 often interferes with other parts. In order to solve the interference problem, the size of the snake bone is usually made larger. In the field of endoscopes, the size parameter of the part entering the human body is a key parameter indicator, and its numerical value directly affects the scope of application of the product, the patient's experience during the inspection or treatment process, and the market competitiveness of the product.
  • Another consideration for designing multiple winding radii on the driving wheel 200 is that for the above-mentioned snake bone with asymmetrically arranged traction wires 460, the displacement of the traction wires 460 is different when the snake bone is bent in both directions: for the traction wires 460 on the side close to the sway axis of the snake bone, the displacement of the traction wires 460 is relatively small and the traction force is relatively large when the snake bone is bent; for the traction wires 460 on the side away from the sway axis of the snake bone, the displacement of the traction wires 460 is relatively large and the traction force is relatively small when the snake bone is bent.
  • a traditional driving wheel 200 is used to drive the asymmetric sway of the snake bone, when the snake bone is bent in both directions, there will be problems such as inconsistent driving force for bidirectional bending or jamming (for example, if the winding radius of the driving wheel 200 is arranged according to the traction wires 460 with relatively small displacement, the traction wires 460 with relatively large displacement will not be able to achieve sufficient displacement and will jam).
  • a first wire winding area 231 and a second wire winding area 232 with different wire winding radii are provided.
  • the displacement and traction force differences of the traction wire 460 during the bidirectional bending of the serpentine bone due to the asymmetric arrangement of the traction wire 460 can be balanced by designing wire winding areas with corresponding wire winding radii on both sides of the driving wheel 200.
  • a smaller driving size is used for the traction wire 460 on the side close to the yaw axis of the serpentine bone, and a larger driving size is used for the traction wire 460 on the side away from the yaw axis of the serpentine bone.
  • the size of the wire winding radius on both sides of the driving wheel 200 is directly related to the distance from the traction wire 460 on both sides of the serpentine bone to the yaw axis.
  • first wire winding area 231 and one second wire winding area 232 may be provided on the driving wheel 200, and the first wire winding area 231 and the second wire winding area 232 may be located at the same position along the axial direction of the driving wheel 200, or may be located at different positions along the axial direction of the driving wheel 200.
  • two of the wire winding areas may be selected to respectively drive the two traction wires 460 of the asymmetric snake bone, provided that the bending adjustment requirements of the asymmetric snake bone are met.
  • An endoscope comprises an insertion tube assembly and a handle assembly;
  • the insertion tube assembly comprises an adjustable bending section, the adjustable bending section comprises bending adjustment segments hinged in sequence, a hinge portion is provided between two adjacent bending adjustment segments, the hinge portion forms a deflection axis for relative deflection of the two adjacent bending adjustment segments, and the hinge portion between the two adjacent bending adjustment segments is located at two opposite sides of the radial direction of the snake bone;
  • the handle assembly is connected to the proximal end of the insertion tube assembly, and a bending adjustment drive device is provided in the handle assembly, and the bending adjustment drive device is the bending adjustment drive device of any of the above-mentioned embodiments.
  • the snake bone serves as an important component of the insertion tube assembly of the endoscope, please refer to Figures 10 and 13, which includes a distal connection part 410, a proximal connection part 420, and also includes a bending adjustment segment 430 and a hinge part 440 arranged between the proximal connection part 420 and the distal connection part 410, and a connecting wire 450 passing through the bending adjustment segment 430 and the hinge part 440.
  • the snake bone is integrally formed by injection molding, and the material can be plastic or other materials used for injection molding.
  • the connecting wire 450 can be directly formed in the snake bone as a pre-embedded insert during injection molding, and can pass through each bending adjustment segment 430 and the hinge 440.
  • the connecting wire 450 can be made of metal wire or non-metal wire, which has a certain strength and toughness, and can play a role in enhancing reliability and avoiding failure of two adjacent bending adjustment segments 430 of the snake bone during repeated deflection and bending.
  • the above-mentioned connecting wire 450 can be a non-essential structure.
  • the connecting wire 450 is located on the symmetrical center line of the outer contour of the snake bone body, so that each bending adjustment segment 430 can form a stable deflection axis 441. In some other embodiments, the connecting wire 450 can also be assembled into the bending adjustment segment 430 and the hinge 440 after the bending adjustment segment 430 and the hinge 440 are formed.
  • the number of the bending adjustment segments 430 can be increased or decreased as needed, and each bending adjustment segment 430 is arranged along the axis of the snake bone.
  • the axis of the snake bone will change its curvature with the deflection of the bending adjustment segment 430.
  • the snake bone In the initial state, the snake bone is generally straight, and its axis is a straight line. During the bending process of the snake bone, its axis is also correspondingly bent.
  • each bending adjustment segment 430 is realized by a hinge 440, which is connected between two adjacent bending adjustment segments 430.
  • the hinge 440 is located at two opposite sides of the radial direction of the snake bone.
  • the hinge 440 forms a deflection axis 441 for the two adjacent bending adjustment segments to deflect relative to each other.
  • the deflection axis 441 can be considered as a line connecting two hinges 440 located at two opposite sides of the radial direction of the snake bone. It should be noted that the deflection axis 441 can be a virtual axis or a physical axis.
  • the deflection axis 441 of each bending adjustment segment is a virtual axis; and for the assembled snake bone, the hinge 440 of each bending adjustment segment will form a deflection axis 441 of a physical structure.
  • an ear plate protruding from the end surface can be set at one axial end of the bending adjustment segment 430, and a rotating shaft perpendicular to the axis of the bending adjustment segment 430 can be set on the ear plate, and a rotating matching hole can be set at the other axial end of the bending adjustment segment 430, and the rotating shaft can be rotatably embedded in the rotating matching hole to achieve hinged connection.
  • a working channel 431 is provided on the bending segment 430.
  • the working channel 431 extends along the axis of the snake bone and is located in the middle area of the cross section of the bending segment 430.
  • the number of working channels 431 can be configured as one or more than two, and any one working channel 431 can only pass one instrument/line, or can pass more than two different instruments/lines at the same time.
  • the shape of the working channel 431 can be set as needed, and is not limited in the present invention.
  • this working channel can form a channel distribution area, and the channel distribution area corresponds to the edge contour of the working channel.
  • at least two working channels may also be provided on the bending segment 430, and the portion of the bending segment 420 located between the working channels and the working channels together form a channel distribution area.
  • a traction wire channel is provided on the bending adjustment segment 430, which is located outside the working channel 431 and also extends along the axis of the snake bone.
  • the traction wire channel includes a first traction wire channel 432 and a second traction wire channel 433, which are respectively arranged on different sides of the bending adjustment segment 430 in a direction perpendicular to the axis of the snake bone.
  • a traction wire 460 can be arranged in each traction wire channel. When one of the traction wires 460 is tightened, the snake bone can bend toward the side where the traction wire 460 is tightened.
  • the traction wire channel can allow the traction wire 460 to move, and the distal end of the traction wire 460 can be fixed to the distal end of the snake bone.
  • the outer contour of the cross-section of the snake bone is circular, and the outer contour dimension in the second direction is equal to the outer contour dimension in the third direction.
  • the outer contour of the cross-section of the snake bone may also be other shapes, such as an ellipse, so that the outer contour dimension of the snake bone in the second direction is not equal to the outer contour dimension in the third direction.
  • the traction wire 460 is easy to cause interference when the snake bone is assembled with other parts, if the problem is solved by increasing the radial size of the snake bone, it will affect the scope of application of the endoscope and reduce the comfort of the patient during the examination and treatment process.
  • at least one of the first traction wire channel 432 located on one side of the deflection axis 441 in the third direction and the second traction wire channel 433 located on the other side of the deflection axis 441 in the third direction is offset on the bending adjustment segment 430 along the second direction, so that it is possible to avoid forming an avoidance position by increasing the radial size of the snake bone, thereby realizing the radial size control of the snake bone.
  • the above-mentioned offset refers to the deviation from the middle part of the bending adjustment segment 430 in the corresponding direction, and the middle part of the bending adjustment segment 430 in the corresponding direction is located on the straight line with the maximum outer contour size of the snake bone along the third direction.
  • only the second traction wire 460 may be offset.
  • a vertical line from the first traction wire channel 432 to the deflection axis 441 passes through the axis of the bending adjustment segment 430, and the second traction wire channel 433 has an offset relative to the symmetrical position of the first traction wire channel 432 at least in the extension direction of the deflection axis 441, and the symmetrical position of the first traction wire channel 432 is a mirror image position of the first traction wire channel 432 with the plane where the axis of the bending adjustment segment 430 and the deflection axis 441 are located as the symmetrical plane.
  • the distance between the first traction wire channel 432 and the yaw axis 441 is greater than the distance between the second traction wire channel 433 and the yaw axis 441 , so that a larger avoidance space can be formed at the symmetrical position of the first traction wire channel 432 .
  • the working channel 431 has different sizes on both sides in the third direction along the second direction, and the size of the side away from the first traction wire channel 432 is smaller.
  • the first traction wire channel 432 is arranged with the working channel 431 along the third direction, that is, the first traction wire channel 432 is located outside the channel distribution area in the third direction
  • the second traction wire channel 433 is arranged with the working channel 431 along the second direction, that is, the second traction wire channel 433 is located outside the channel distribution area in the second direction.
  • the second traction wire channel 433 if the second traction wire channel 433 deviates from the symmetrical position of the first traction wire channel 432 by a small distance, and a part of it exceeds the working channel 431 along the third direction, it can also be considered that the second traction wire channel 433 is arranged with the working channel 431 along the third direction.
  • the bending segment 430 has a first traction wire channel 432 on one side as the first side, and a second traction wire channel 433 on the other side as the second side, and the first side thickness of the side wall of the working channel 431 is greater than the second side thickness, so that the second traction wire channel 433 can be arranged while gaining a larger cross-section of the working space, and the size of the snake bone can be avoided from increasing.
  • the cross-sectional profile of the side of the working channel 431 away from the first traction wire channel 432 is an arc shape, which can achieve greater space utilization.
  • the cross-sectional profile of the side of the working channel 431 away from the first traction wire channel 432 can also be a straight line shape.
  • the working channels 431 can also be symmetrically arranged along the yaw axis 441.
  • the outer contour of the cross section of the snake bone is circular; in some other embodiments, the outer contour of the cross section of the snake bone may also be other shapes, such as an ellipse, and the long axis of the ellipse is arranged along the third direction, so that a smaller circumferential size can be achieved.
  • the bending adjustment segment 430 and the hinge 440 are integrally injection molded.
  • the snake bone adopts a metal snake bone.
  • the bending adjustment segment 430 of the metal snake bone is an annular structure, and a groove 435 is formed by local stamping deformation of the ring body, and the groove 435 protrudes toward the inner cavity of the ring body, thereby forming a traction wire channel.
  • a physical deflection shaft 441 can be formed by processing corresponding grooves and hinge pieces at both ends of the metal ring, or a riveted structure is used between the bending adjustment segments 430 to form a physical deflection shaft 441.
  • the molding method of the bending adjustment segment 430 of the above metal snake bone can adopt the existing technology, and only the setting position of the first traction wire channel 432 and the second traction wire channel 433 needs to be changed.
  • the proximal and distal ends of the snake bone need to be connected to corresponding components, and the outer diameters of these components and the wall thickness of the internal channels are limited.
  • the first traction wire channel 432 and the second traction wire channel 433 are offset along the second direction on the bending adjustment segment 430, the corresponding components can be avoided more flexibly, and there is no need to reduce or avoid interference by assembling in a manner that increases the radial size of the insertion tube, thereby achieving a smaller radial size of the insertion tube.
  • the hinged parts are arranged along the extension axis of the adjustable bending section, each bending section forms a bending section in the same direction with the same swing direction, the swing axes of each bending section are parallel to each other, and the adjustable bending section can only swing back and forth in two opposite directions.
  • the bending sections on both sides of the middle bending section in the three adjacent bending sections can have a 90-degree position difference in the circumferential direction, and the swinging action with the swinging axes crossing can be achieved by relying on two groups of hinged parts on both sides of the bending section that are arranged at 90 degrees in the circumferential direction.
  • two pairs of traction wires are provided, and two driving wheels can be provided on the bending drive device to drive a pair of traction wires respectively.

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  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)

Abstract

本发明涉及调弯驱动装置，特别涉及内窥镜的弯曲控制。调弯驱动装置包括：安装基体；驱动轮，所述驱动轮转动装配在所述安装基体上；以及至少两条成对布置的牵引丝，两条成对布置的所述牵引丝分别用于设置于蛇骨的不同侧以驱动蛇骨朝向两个相反的方向偏摆；所述驱动轮上设有至少两个绕丝区域，所述两个绕丝区域包括至少一个第一绕丝区域和至少一个第二绕丝区域，所述第一绕丝区域和第二绕丝区域位于所述驱动轮径向的不同侧，至少一个所述第一绕丝区域的绕丝半径与至少一个所述第二绕丝区域的绕丝半径不同。本发明主要解决的技术问题是如何使调弯驱动装置满足可调弯段的弯曲控制需求。

Description

一种调弯驱动装置及内窥镜 技术领域
本发明涉及调弯驱动装置，特别涉及内窥镜的弯曲控制。
 背景技术
内窥镜是集传统光学、人体工程学、精密机械、现代电子、数学、软件等于一体的检测仪器，随着近年来科技和医疗技术的迅速发展，采用内窥镜进行微创或无创医疗检查或治疗已经得到广泛普及。内窥镜一般包括手柄组件和插入管组件，插入管组件上可以设置摄像模组，能够插入目标部位并实现目标部位的成像，插入管组件的近端连接在手柄组件的远端，手柄组件能够带动插入管组件移动和/或转动。
尤其是医用软性内窥镜，其插入管组件的远端包括能够弯曲的可调弯段（即蛇骨），本领域技术人员知晓，可调弯段一般包括多个依次排列的调弯节段，相邻两调弯节段之间设有铰接结构并能够依靠两者之间的铰接结构所形成的铰接轴线相对偏摆，从而实现可调弯段的弯曲。在检查或治疗中，医生可以利用软性内窥镜前端可以弯曲的特性，通过操作手柄处的调弯驱动装置驱动可调弯段弯曲，使软性内窥镜经人体天然孔道进入体内，对病人几乎无损伤，从而实现对病变组织进行全方位的检查。
可调弯段的弯曲可以依靠牵引丝控制，牵引丝一般两两成对地设置，成对的两牵引丝均平行于插入管组件的轴线并且分别位于调弯节段铰接轴线的垂向两侧。手柄组件上的调弯驱动装置拉紧其中一侧的牵引丝时放松另一侧的牵引丝，可调弯段即朝向牵引丝被拉紧的一侧弯曲。
但是，不同插入管组件的弯曲控制需求可能存在不同，手柄组件上的调弯驱动装置也就需要满足不同的弯曲控制需求。
 技术问题
本发明主要解决的技术问题是如何使调弯驱动装置满足可调弯段的弯曲控制需求。
 技术解决方案
第一方面，本发明提供了一种调弯驱动装置。
一种调弯驱动装置，包括：
安装基体；
驱动轮，所述驱动轮转动装配在所述安装基体上；
以及至少两条成对布置的牵引丝，两条成对布置的所述牵引丝分别用于设置于蛇骨的不同侧以驱动蛇骨朝向两个相反的方向偏摆；
所述驱动轮上设有至少两个绕丝区域，所述两个绕丝区域包括至少一个第一绕丝区域和至少一个第二绕丝区域，所述第一绕丝区域和第二绕丝区域位于所述驱动轮径向的不同侧，至少一个所述第一绕丝区域的绕丝半径与至少一个所述第二绕丝区域的绕丝半径不同。
在一种技术方案中，至少两个绕丝区域沿所述驱动轮的转动轴线分层布置。
在一种技术方案中，所述驱动轮的径向外侧设有卡槽，所述绕丝区域由所述卡槽形成。
在一种技术方案中，所述驱动轮包括防脱凸起，所述防脱凸起设置在所述卡槽的槽侧壁上并位于所述卡槽的槽口处，所述防脱凸起用于防止牵引丝沿所述驱动轮的径向从所述卡槽内脱出。
在一种技术方案中，所述防脱凸起设置在所述卡槽的其中一侧槽侧壁上，所述卡槽的另一侧槽侧壁上设有避让口，所述防脱凸起的至少一部分伸入的避让口内，所述防脱凸起与所述避让口的内侧壁之间具有间隔。
在一种技术方案中，所述卡槽的槽底壁与所述避让口的内侧壁位于同一平面上。
在一种技术方案中，所述驱动轮包括圆弧部分和缺口部分，绕丝区域设置在所述圆弧部分上，所述圆弧部分的末端端面的至少一部分暴露于所述缺口部分中，所述调弯驱动装置的牵引丝经所述缺口部分绕设到圆弧部分上。
在一种技术方案中，所述驱动轮仅包括一处所述圆弧部分和一处所述缺口部分，所述圆弧部分为优弧，所述缺口部分位于优弧的两端之间。
在一种技术方案中，所述驱动轮为圆形，所述缺口部分在所述驱动轮上形成减薄区域，所述减薄区域具有坡面部分，所述坡面部分的厚度由靠近所述驱动轮的转动轴线的一侧向所述驱动轮的径向外侧逐渐减小，所述坡面部分形成用于支撑牵引丝的平滑曲面。
在一种技术方案中，所述驱动轮的端面上设有固定槽，所述牵引丝的末端固定有牵引块，所述牵引块嵌入所述固定槽内，所述固定槽的槽壁上设有供所述牵引丝引出的通道。
第二方面，本发明提供了一种内窥镜。
一种内窥镜，包括：
插入管组件，所述插入管组件包括可调弯段，所述可调弯段包括依次铰接的调弯节段，相邻两所述调弯节段之间设有铰接部，所述铰接部形成供相邻两所述调弯节段相对偏摆的偏摆轴，相邻两所述调弯节段之间的所述铰接部位于所述可调弯段径向的两相对侧；
手柄组件，所述手柄组件连接在所述插入管组件的近端，所述手柄组件内设有调弯驱动装置，所述调弯驱动装置为上述任一项技术方案所述的调弯驱动装置。
在一种技术方案中，所述调弯节段的轴线延伸方向为第一方向，所述偏摆轴的延伸方向为第二方向，所述调弯节段具有与所述第一方向和第二方向同时垂直的第三方向，所述牵引丝通道包括分别位于所述偏摆轴在第三方向上的两侧的第一牵引丝通道和第二牵引丝通道，所述第一牵引丝通道和第二牵引丝通道的至少一个沿所述第二方向偏置于所述调弯节段上。
在一种技术方案中，所述第一牵引丝通道到所述偏摆轴的垂线经过所述调弯节段的轴线，所述第二牵引丝通道至少在所述第二方向上相对于所述第一牵引丝通道的对称位置具有偏移量，所述第一牵引丝通道的对称位置是所述第一牵引丝通道以所述调弯节段的轴线和所述偏摆轴共同所在的平面为对称面的镜像位置。
在一种技术方案中，所述调弯节段上设有一个工作通道，所述工作通道形成一个通道分布区域，或者，所述调弯节段上设有至少两个工作通道，所述调弯节段上位于各所述工作通道之间的部分和各所述工作通道共同形成一个通道分布区域；所述第一牵引丝通道在所述第三方向上位于所述通道分布区域的外侧，所述第二牵引丝通道在所述第二方向上位于通道分布区域的外侧。
 有益效果
本发明的有益效果：
通过在驱动轮上设置不同的绕丝区域能够形成不同的绕丝半径，成对的两牵引丝可以分别缠绕在相应的绕丝区域上而具有不同的绕丝半径，在驱动轮转动时，不同牵引丝可以依靠不同的绕丝半径实现不同的长度变化，从而满足可调弯段的相应弯曲控制需求，不需针对成对的牵引丝分别设置调弯驱动装置，结构简单，操作方便，有利于节约成本。
进一步地，在驱动轮上的绕丝区域较多时，一个调弯驱动装置即能够满足不同可调弯段的不同弯曲角度的控制需求，可以实现不同内窥镜产品共用同一驱动装置，且装配方便，易于实施，能有效减少物料种类、降低产品成本。
 附图说明
图1为一种内窥镜的一个实施例中手柄组件的结构分解图；
图2为图1中调弯驱动装置的主视图；
图3为图1中驱动轮的安装结构剖视图；
图4为图1中驱动轮的立体示意图一；
图5为图1中驱动轮的立体示意图二；
图6为图3中牵引丝的示意图；
图7为图1中驱动轮的主视图；
图8为图1中驱动轮的A-A剖视图；
图9为图1中驱动轮的B-B剖视图；
图10为一种内窥镜的一个实施例中的蛇骨的立体示意图；
图11为图10的局部放大图；
图12为图10的正向剖视图；
图13为图12的右视图；
图14是图12的局部放大图；
图15是本发明中蛇骨的另一个实施例的立体示意图；
图16是图15中调弯节段上的牵引丝通道的布置位置示意图。
图中附图标记对应的特征名称列表：
110、下壳体；120、上壳体；
200、驱动轮；210、凸柱；211、方形孔；221、固定槽；222、通道；231、第一绕丝区域；232、第二绕丝区域；233、防脱凸起；234、避让口；241、圆弧部分；242、缺口部分；250、零位定位缺口；
300、动力输入件；310、传动柱；311、方形端头；312、操作杆；313、螺钉；
410、远端连接部；
420、近端连接部；
430、调弯节段；431、工作通道；432、第一牵引丝通道；433、第二牵引丝通道；434、连接丝通道；435、槽位；
440、铰接部；441、偏摆轴；
450、连接丝；
460、牵引丝；461保护套管；462、牵引块。
 本发明的实施方式
下面通过具体实施方式结合附图对本发明作进一步详细说明。其中不同实施方式中类似元件采用了相关联的类似的元件标号。在以下的实施方式中，很多细节描述是为了使得本申请能被更好的理解。然而，本领域技术人员可以毫不费力的认识到，其中部分特征在不同情况下是可以省略的，或者可以由其他元件、材料、方法所替代。在某些情况下，本申请相关的一些操作并没有在说明书中显示或者描述，这是为了避免本申请的核心部分被过多的描述所淹没，而对于本领域技术人员而言，详细描述这些相关操作并不是必要的，他们根据说明书中的描述以及本领域的一般技术知识即可完整了解相关操作。
另外，说明书中所描述的特点、操作或者特征可以以任意适当的方式结合形成各种实施方式。同时，方法描述中的各步骤或者动作也可以按照本领域技术人员所能显而易见的方式进行顺序调换或调整。因此，说明书和附图中的各种顺序只是为了清楚描述某一个实施例，并不意味着是必须的顺序，除非另有说明其中某个顺序是必须遵循的。
本文中为部件所编序号本身，例如“第一”、“第二”等，仅用于区分所描述的对象，不具有任何顺序或技术含义。而本申请所说“连接”、“联接”，如无特别说明，均包括直接和间接连接（联接）。
本文中出现的“近端”和“远端”是医疗领域的常规称谓，对于待操作的器械来说，近端即靠近器械操作者的一端，远端即远离器械操作者的一端；图1中，近端和远端如箭头所标识。
在本发明中，调弯驱动装置的驱动轮200上设有绕丝半径不同的绕丝区域，两根成对的用于分别驱动蛇骨朝向两个相反的方向偏摆的牵引丝能够选择不同的绕丝区域缠绕在驱动轮200上，从而具有不同的绕丝半径，驱动轮200转动同样的角度时，不同牵引丝能够实现不同的长度变化，进而满足不同的调弯需求。
本发明中一种调弯驱动装置的实施例：
请参考图1，在一种实施例中，一种调弯驱动装置设置在内窥镜的手柄组件上，手柄组件包括下壳体110、上壳体120、驱动轮200、动力输入件300和牵引丝460。
其中，下壳体110和上壳体120能够固定在一起，两者围成安装腔以安装相应的零部件。下壳体110和上壳体120的固定方式可以是超声波焊接、卡扣连接、紧固件连接、粘接等。同时，下壳体110构成了调弯驱动装置的安装基体，能够安装驱动轮200、动力输入件300和牵引丝460。
驱动轮200转动装配在安装基体上，用于在手动操作件的驱动下转动，驱动轮200转动时能够卷绕和释放牵引丝460，从而改变位于内窥镜的蛇骨与驱动轮200之间的牵引丝460的长度以实现内窥镜的调弯。具体地，牵引丝460可以成对地布置，成对布置的两条牵引丝460分别用于设置于蛇骨的不同侧；成对的两牵引丝460中的一根被卷绕和张紧时，另一根被释放和放松，即可驱动蛇骨朝向两个相反的方向偏摆。
在一种实施例中，驱动轮200的轴向一侧设有传动结构，该传动结构用于与动力输入件300连接以实现驱动轮200的正向和反向转动。在一种具体实施例中，请参考图3、图5和图7，驱动轮200靠近下壳体110的一侧设有凸柱210，凸柱210上设有方形孔211，而动力输入件300为拨杆，拨杆包括操作杆312和连接在操作杆312一端的传动柱310，传动柱310具有方形端头311，方形端头  311能够插入方形孔211内以传递驱动力。另外，如图3，下壳体110上设有安装孔，拨杆的传动柱310从安装孔中穿过并通过螺钉313固定在下壳体110内部的驱动轮200上，与驱动轮200共同定位在下壳体110上并能够在下壳体110上转动。
在其他实施例中，传动结构也可以被替换为其他任何能够实现动力传递的形式，例如在驱动轮200上设置方形端头并在动力输入件300上设置方形孔，再如将方形孔211与方形端头311替换为六角形、三角形等，又如采用外周面具有平面的圆柱。另外，上述实施例中，驱动轮200由操作者手动驱动，在一些情况下，驱动轮200也可以通过电动方式进行驱动。再者，驱动轮200与拨杆之间还可以通过其他方式连接，例如过盈配合、卡接、粘接等。
牵引丝460的近端固定在驱动轮200上，在一种实施例中，驱动轮200的端面上设有固定槽221，牵引丝460的末端固定有牵引块462，牵引块462嵌入固定槽221内，固定槽221的槽壁上设有供牵引丝460引出的通道222，从而实现牵引丝460的近端与驱动轮200的固定。为了避免牵引块462脱出固定槽221，在一种实施例中，固定槽221内可以注入胶液，胶液固化后将牵引块462粘接在驱动轮200上。当然，在其他实施例中，牵引丝460也可以采用其他方式与驱动轮200固定连接，例如通过螺钉压接。通过调整牵引丝460上的牵引块462的安装位置，能够在牵引块462安装在驱动轮200上以后保证牵引丝460张紧在驱动轮200的绕丝区域上。牵引丝460与牵引块462的固定方式不限，例如可以通过过盈配合、压接、粘接、紧定螺钉连接等方式固定。另外，在其他实施例中，两根牵引丝460所对应的固定槽221也可以调整位置，例如设置到缺口部分，各固定槽221还可以合并为一个能够同时安装两处牵引块462的较大槽结构。
为了保证牵引丝460的顺畅动作，在一种实施例中，牵引丝460绕装到驱动轮200上以后从保护套管461中通过，牵引丝460可以在保护套管461内滑动，而下壳体110上设有供保护套管461固定的定位结构，例如卡槽。
操作者手指拨动蛇骨弯曲驱动装置上的动力输入件300，动力输入件300转动带内部的驱动轮200旋转，驱动轮200转动时会带动安装在上面的牵引丝460产生长度变化从而驱动蛇骨发生弯曲。为了让医护人员便于操作，减小拨杆的操作用力，蛇骨弯曲驱动装置中动力输入件300的可转动角度一般都选择符合人体工程学的最大可操作角度，具有不同最大弯曲角度的内窥镜产品的拨杆的可转动角度基本上也是相等的。在拨杆的可转动角度一定前提下，蛇骨的最大弯曲角度能够由驱动轮200的绕丝半径决定，绕丝半径即驱动轮200的外周面上供牵引丝460绕装的位置的径向尺寸，不同的绕丝半径可实现蛇骨不同的最大弯曲角度。本发明通过在驱动轮200上设计多个绕丝半径，能够通过选用不同的绕丝半径来实现蛇骨不同的最大弯曲角度。
在驱动轮200上设计多个绕丝半径的一个考虑是：蛇骨作为内窥镜产品的关键零件，其性能的可靠性与成本备受关注。现有的蛇骨基本可分为两类：金属蛇骨和非金属蛇骨。其中，金属蛇骨的调弯节段通常通过下料、切割、压槽等工序加工而成，整个加工过程精度要求高，生产效率低，单个调弯节段成本高；而非金属蛇骨以塑胶蛇骨为主，塑胶蛇骨通过注塑方式一体成型，生产效率高，成本低，但是塑胶蛇骨的生产加工需要开模，需要面临高昂的开模成本和漫长的加工周期。然而，不同的内窥镜产品要求的弯曲角度具有差异，如果为了实现不同的弯曲角度而专门制作相应的蛇骨，不论是金属蛇骨还是非金属蛇骨，都需要较高的成本。而本发明通过设计调弯驱动装置的结构，可以依靠驱动轮200上的多个绕丝半径使同一蛇骨能够实现不同的弯曲角度需求。
具体地，驱动轮200上至少设有第一绕丝区域231、第二绕丝区域232两个绕丝区域，第一绕丝区域231和第二绕丝区域232位于驱动轮200径向的不同侧，第一绕丝区域231和第二绕丝区域232具有不同的绕丝半径。在一种具体实施例中，为了避免牵引丝460脱离驱动轮200、提高工作可靠性，驱动轮200的径向外侧面上设有卡槽，绕丝区域由卡槽形成。
在一种实施例中，为了适应更多的调弯需求，至少两个绕丝区域沿驱动轮200的转动轴线分层布置，形成台阶结构。在一种具体实施例中，请参考图4、图7至图9，驱动轮200上设有三个第一绕丝区域231和三个第二绕丝区域232，三个第一绕丝区域231位于图7中驱动轮200的下侧，三个第二绕丝区域232位于图7中驱动轮200的上侧。从驱动轮200上设有固定槽221的一侧向该侧的相反侧，三个第一绕丝区域231的绕丝半径依次增大，三个第二绕丝区域232的绕丝半径也依次增大。并且，各第一绕丝区域231分别与一个对应的第二绕丝区域232沿驱动轮200的周向对接，形成一个完整的圆弧，该结构能够便于驱动轮200的加工，并且在驱动轮200转动较大的角度时仍能够保证对牵引丝460的缠绕，从而能够实现更大的牵引行程。实际上，沿驱动轮200的周向对接的第一绕丝区域231和第二绕丝区域232也可以被认为具有重合段，第一绕丝区域231和第二绕丝区域232能够共用该重合段。
需要说明的是，在一些其他实施例中，第一绕丝区域231和第二绕丝区域232的数量均可以增减，并且第一绕丝区域231的个数也可以不同于第二绕丝区域232的个数；另外，沿驱动轮200的轴向位于同一位置的第一绕丝区域231和三个第二绕丝区域232也可以沿驱动轮200的周向相互分离。
请参考图4、图5及图7，在一种实施例中，驱动轮200为圆形，沿驱动轮200的周向对接的第一绕丝区域231和第二绕丝区域232使得驱动轮200形成了一处圆弧部分241和一处缺口部分242，绕丝区域设置在圆弧部分241上，圆弧部分241的末端端面的至少一部分暴露于缺口部分242中，调弯驱动装置的牵引丝460经缺口部分242绕设到圆弧部分241上。驱动轮200的端面上的固定槽221和缺口部分242位于驱动轮200的相反两侧，固定槽221靠近缺口部分242的一侧槽壁上设置的通道222能够供牵引丝460延伸至缺口部分242，进而经缺口部分242进入绕丝区域，便于在驱动轮200上装配牵引丝460。牵引丝460装配到驱动轮200上时的初始状态可以如图2和图6所示。
根据驱动轮200的转动角度，图示实施例中圆弧部分241为优弧，缺口部分242位于优弧的两端之间。但是，在一些其他实施例中，根据驱动轮200的不同转动角度设计，圆弧部分241也可以是劣弧，而第一绕丝区域231和第二绕丝区域232的两个对应端之间均可以设置一处缺口部分242。
在一种实施例中，缺口部分242在驱动轮200上形成减薄区域，减薄区域具有坡面部分，坡面部分的厚度由靠近驱动轮200的转动轴线的一侧向驱动轮200的径向外侧逐渐减小，坡面部分形成用于支撑牵引丝460的平滑曲面。设置平滑曲面能够起到保护牵引丝460的作用，避免驱动轮200上形成尖锐的棱角而导致牵引丝460磨损甚至断裂。
在一些其他实施例中，缺口部分242也可以沿驱动轮200的轴向贯通驱动轮200，形成完全空置的开口。另外，驱动轮200上沿轴向分布的各层绕丝区域也可以沿驱动轮200的周向延伸一周。驱动轮200上沿轴向分布的各层绕丝区域沿驱动轮200的周向延伸一周时，为了使端头固定在驱动轮200的端面上的牵引丝460进入作为绕丝区域的卡槽内，可以使供牵引丝460通过的通道222从固定槽221延伸至相应的绕丝区域。
为了保证牵引丝460与驱动轮200保持配合，驱动轮200包括防脱凸起233，防脱凸起233设置在卡槽的槽侧壁上并位于卡槽的槽口处，防脱凸起233用于防止牵引丝460沿驱动轮200的径向从卡槽内脱出。在一些实施例中，防脱凸起233可以设置在卡槽的其中一侧槽侧壁上，卡槽的另一侧槽侧壁上设有避让口234，防脱凸起233的至少一部分伸入的避让口234内，防脱凸起233与避让口234的内侧壁之间具有间隔。组装时，可以将牵引丝460沿驱动轮200的周向穿入到卡槽内。进一步地，卡槽的槽底壁与避让口234的内侧壁位于同一圆弧面上，能够便于驱动轮200的成型，也便于观察牵引丝460在卡槽中的装配状态，在一些其他实施例中，卡槽的槽底壁与避让口234的内侧壁也可以位于不同的面上。
为了便于准确地确定驱动轮200的初始位置，驱动轮200上还设计有零位定位缺口250，零位定位缺口250可以位于第一绕丝区域231、第二绕丝区域232的对称轴部位。在一种实施例中，零位定位缺口250可以设置在距离固定槽221最远的卡槽的槽侧壁上。
需要说明的是，图示实施例中，各绕丝区域上的防脱凸起233数量为一个，并且设置在第一绕丝区域231、第二绕丝区域232的对称分布方向两侧。在一些其他实施例中，防脱凸起233也可以具有更多的数量。另外，也可以在卡槽两侧槽侧壁上均设置防脱凸起233。
上述调弯驱动装置可以对同一蛇骨实现不同的最大弯曲角度，满足不同内窥镜的调弯需求，实现多款内窥镜产品共用一个蛇骨弯曲驱动装置，避免重新制作蛇骨导致的高额成本。
蛇骨与其他零部件组装或配合时，经常出现牵引丝460与其他零部件干涉问题。为解决干涉问题，蛇骨的尺寸通常会做的更大。而在内窥镜领域，进入人体部分的尺寸参数是一个关键参数指标，其数值大小直接影响产品的适用范围、检查或治疗过程中病人的体验以及产品的市场竞争力。为此，不同于现有技术中的蛇骨采用的将牵引丝通道对称地分布在偏摆轴的两侧的结构，可以考虑将蛇骨的第一牵引丝通道和第二牵引丝通道相对于调弯节段的偏摆轴采用非对称分布，这样能够让出对应部位的空间，从而有利于减小或者避免调弯节段在与其他零部件组合装配时出现牵引丝460与其他零部件结构干涉的问题，避免为了避让牵引丝460而需要增加径向尺寸的情况，有利于控制蛇骨的径向外形尺寸。
在驱动轮200上设计多个绕丝半径的另外一个考虑是：对于上述牵引丝460非对称布置的蛇骨，蛇骨在双向弯曲时，牵引丝460的位移量是不同的：对于靠近蛇骨偏摆轴的一侧的牵引丝460，蛇骨弯曲时牵引丝460的位移量相对较小、牵引力相对较大；对于远离蛇骨偏摆轴的一侧的牵引丝460，蛇骨弯曲时牵引丝460位移量相对较大、牵引力相对较小。假如采用传统的驱动轮200驱动非对称蛇骨偏摆，蛇骨双向弯曲时会出现双向弯曲的驱动力不一致的问题或者卡死（例如驱动轮200的绕丝半径按照位移量相对较小的牵引丝460布置，位移量相对较大的牵引丝460将无法实现足够的位移而卡死）的问题。而本发明中设置了绕丝半径不同的第一绕丝区域231和第二绕丝区域232，可通过在驱动轮200两侧设计相应绕丝半径的绕丝区域来平衡掉上述因牵引丝460非对称布置来的蛇骨双向弯曲时牵引丝460的位移量及牵引力差异，对于靠近蛇骨偏摆轴的一侧的牵引丝460使用较小的驱动尺寸，对于远离蛇骨偏摆轴的一侧的牵引丝460使用较大的驱动尺寸，且驱动轮200两侧的绕丝半径的大小与蛇骨上两侧牵引丝460到偏摆轴的距离有直接关系，通过设计合适的绕丝半径可以实现蛇骨双向弯曲时保持相同的操作手感并顺畅弯曲。
需要说明的是，对于上述牵引丝460非对称布置的蛇骨，驱动轮200上可以仅设置一个第一绕丝区域231和一个第二绕丝区域232，第一绕丝区域231和第二绕丝区域232可以沿驱动轮200的轴向位于相同位置，也可以沿驱动轮200的轴向位于不同位置。当然，对于设置了两个以上第一绕丝区域231和第二绕丝区域232的驱动轮200，在满足非对称蛇骨的调弯需求的情况下，还可以选择其中两个绕丝区域分别来驱动非对称蛇骨的两根牵引丝460。
本发明中一种内窥镜的实施例：
一种内窥镜，包括插入管组件和手柄组件；插入管组件包括可调弯段，可调弯段包括依次铰接的调弯节段，相邻两调弯节段之间设有铰接部，铰接部形成供相邻两调弯节段相对偏摆的偏摆轴，相邻两调弯节段之间的铰接部位于蛇骨径向的两相对侧；手柄组件连接在插入管组件的近端，手柄组件内设有调弯驱动装置，调弯驱动装置为上述任一实施例的调弯驱动装置。
下面将主要介绍上述非对称蛇骨的结构。
在一种实施例中，蛇骨作为内窥镜的插入管组件中的重要组成部分，请参考图10和图13，其包括远端连接部410、近端连接部420，还包括设置在近端连接部420与远端连接部410之间的调弯节段430、铰接部440，以及穿设在调弯节段430和铰接部440内的连接丝450。
请参考图10至图13，该蛇骨采用注塑工艺一体成型，材质可以是塑胶等用于注塑成型的材料，而连接丝450在注塑时可以作为预埋嵌件直接成型在蛇骨中，并且可以贯穿各调弯节段430和铰接部440。连接丝450可以采用金属丝、非金属丝，具有一定强度和韧性，可以起到加强可靠性的作用，避免蛇骨的相邻两调弯节段430在反复偏摆弯折的过程中失效。当然，上述连接丝450可以是非必须结构。连接丝450位于蛇骨主体外轮廓对称中心线上，便于各调弯节段430形成稳定的偏摆轴441。在一些其他实施例中，连接丝450也可以在调弯节段430和铰接部440成型后组装到调弯节段430和铰接部440中。
调弯节段430可以根据需要增减数量，各调弯节段430沿蛇骨的轴线排列。蛇骨的轴线在内窥镜使用时会随调弯节段430的偏摆发生曲率变化，初始状态下，蛇骨为一般是平直状态，其轴线是直线，蛇骨弯曲的过程中，其轴线也对应地呈弯曲状态。
各调弯节段430的弯曲偏摆是通过铰接部440实现，铰接部440连接在相邻两调弯节段430之间，铰接部440位于蛇骨径向的两相对侧，请参考图13，铰接部440形成供相邻两调弯节段相对偏摆的偏摆轴441，该偏摆轴441可以被认为是两个位于蛇骨径向的两相对侧的铰接部440的连线。需要说明的是，偏摆轴441可以是虚拟的轴，也可以是实体轴，例如，对于本实施例中采用一体注塑成型的蛇骨来说，其各调弯节段的偏摆轴441为虚拟轴；而对于组装式的蛇骨，各调弯节段的铰接部440则会形成实体结构的偏摆轴441。作为一种示例，调弯节段430的轴向一端可以设置凸出于端面的耳板，耳板上设置垂直于调弯节段430轴线的转轴，而调弯节段430的轴向另一端可以设置转动配合孔，转轴可转动地嵌入转动配合孔内即可实现铰接。
为了实现器械的通过和/或线路的布置，调弯节段430上设有工作通道431，工作通道431沿蛇骨的轴线延伸，并位于调弯节段430横截面的中间区域。需要说明的是，工作通道431的数量可以被配置为一个，也可以被配置为两个以上，任何一个工作通道431可以仅通过一种器械/线路，也可以同时通过两种以上不同器械/线路。另外，工作通道431的形状可以根据需要设置，本发明中不作限制。当调弯节段430上仅设有一个工作通道时，这一个工作通道能够形成一个通道分布区域，该通道分布区域与工作通道的边缘轮廓对应。在一些其他实施例中，调弯节段430上也可以设有至少两个工作通道，调弯节段420上位于各工作通道之间的部分和各工作通道共同形成一个通道分布区域。
为了实现蛇骨的弯曲控制，调弯节段430上设有牵引丝通道，牵引丝通道位于工作通道431的外围，也沿蛇骨的轴线延伸。牵引丝通道包括第一牵引丝通道432和第二牵引丝通道433，第一牵引丝通道432和第二牵引丝通道433分别沿垂直于蛇骨轴线的方向设置在调弯节段430的不同侧，各牵引丝通道内分别可以设置一条牵引丝460，拉紧其中一条牵引丝460，则蛇骨即可产生朝向牵引丝460被拉紧的一侧弯曲。本领域技术人员应当理解，牵引丝通道能够供牵引丝460活动，而牵引丝460的远端可以固定于蛇骨的远端。
为了便于更清楚地说明本发明的具体实施方式和技术方案，下文中，请参考图11、图13，以调弯节段430的轴线延伸方向为第一方向，偏摆轴441的延伸方向为第二方向，以调弯节段430上与第一方向和第二方向同时垂直的方向为第三方向。当然，实施例中做此方位限定仅是为了更加清楚的说明各个部件之间的位置关系，并不限定本发明的实际空间位置。
在一种实施例中，蛇骨的横截面外轮廓为圆形，第二方向的外轮廓尺寸等于第三方向的外轮廓尺寸，但是，在其他实施例中，蛇骨的横截面外轮廓也可以为其他形状，例如椭圆形，使蛇骨第二方向的外轮廓尺寸不等于第三方向的外轮廓尺寸。
由于牵引丝460容易在蛇骨与其他零部件组合装配时造成干涉，如果通过增加蛇骨的径向尺寸解决该问题，则会影响内窥镜的适用范围并降低病人在检查和治疗过程中的舒适度。而本发明中，位于偏摆轴441在第三方向上的一侧的第一牵引丝通道432、位于偏摆轴441在第三方向上的另一侧的第二牵引丝通道433两者中的至少一个沿第二方向偏置于调弯节段430上，这样能够避免通过增大蛇骨的径向尺寸来形成避让位置，从而实现蛇骨的径向尺寸控制。需要说明的是，本领域技术人员应当理解，上述偏置是指偏离调弯节段430在对应方向的正中间部位，调弯节段430在对应方向的正中间部位即位于沿第三方向具有最大蛇骨外轮廓尺寸的直线上。
在一种实施例中，可以仅将第二牵引丝460采用偏置形式。请参考图13，在一种实施例中，第一牵引丝通道432到偏摆轴441的垂线经过调弯节段430的轴线，第二牵引丝通道433至少在偏摆轴441的延伸方向上相对于第一牵引丝通道432的对称位置具有偏移量，上述第一牵引丝通道432的对称位置是第一牵引丝通道432以调弯节段430的轴线和偏摆轴441共同所在的平面为对称面的镜像位置。
在一种具体实施例中，第一牵引丝通道432距离偏摆轴441的距离大于第二牵引丝通道433距离偏摆轴441的距离，这样能够在第一牵引丝通道432的对称位置形成更大的避让空间。
在一种具体实施例中，如图13所示，工作通道431在第三方向上的两侧沿第二方向具有不同的尺寸，远离第一牵引丝通道432的一侧尺寸较小。对应地，第一牵引丝通道432与工作通道431沿第三方向排列，即第一牵引丝通道432在所述第三方向上位于通道分布区域的外侧，而第二牵引丝通道433与工作通道431沿第二方向排列，即第二牵引丝通道433在第二方向上位于通道分布区域的外侧。在一些其他实施例中，假如第二牵引丝通道433偏离第一牵引丝通道432的对称位置的距离较小，一部分沿第三方向超出了工作通道431，则也可以认为第二牵引丝通道433是与工作通道431沿第三方向排列。
在一种实施例中，在第三方向上，请参考图13，调弯节段430设有第一牵引丝通道432的一侧为第一侧、设有第二牵引丝通道433的一侧为第二侧，工作通道431的侧壁的第一侧厚度大于第二侧厚度，从而能够在争取更大截面的工作空间的情况下仍能够满足第二牵引丝通道433的布置，并且避免增大蛇骨的尺寸。
为了争取更大的工作通道431，在一种实施例中，工作通道431远离第一牵引丝通道432的一侧的横截面轮廓为圆弧形，能够实现更大的空间利用率。当然，在一种具体实施例中，工作通道431远离第一牵引丝通道432的一侧的横截面轮廓也可以是直线形状。另外，在一些其他实施例中，工作通道431也可以沿偏摆轴441对称布置。
在上述实施例中，蛇骨的横截面外轮廓为圆形；在一些其他实施例中，蛇骨的横截面外轮廓也可以是其他形状，例如椭圆形，椭圆形的长轴沿第三方向布置，这样可以做到更小的周向尺寸。
在上述实施例中，调弯节段430与铰接部440为一体注塑成型，在一些其他实施例中，请参考图15和图16，蛇骨采用金属蛇骨，具体地，金属蛇骨的调弯节段430为环状结构，通过环体局部冲压变形形成槽位435，槽位435朝向环体内腔凸出，从而形成牵引丝通道。为了实现金属蛇骨中相邻两调弯节段430的铰接摆动，可以通过在金属环的两端分别加工相应的槽和铰接片来形成实体偏摆轴441，或者在调弯节段430之间使用铆接结构形成实体偏摆轴441。上述金属蛇骨的调弯节段430成型方式可以采用现有技术，仅需要改变第一牵引丝通道432和第二牵引丝通道433的设置位置即可。
组装内窥镜的插入管组件时，蛇骨的近端和远端需要连接对应的零部件，而这些零部件的外径和内部通道的壁厚有限，通过将第一牵引丝通道432、第二牵引丝通道433设置为非对称结构，至少一个沿第二方向偏置于调弯节段430上，即可更灵活地避让对应的零部件，不需通过采用增加插入管径向尺寸的方式进行组装来减小或避免干涉，从而实现更小的插入管径向尺寸。
在上述实施例中，铰接部均沿可调弯段的延伸轴线排列，各调弯节段形成偏摆方向相同的同向弯曲区段，各调弯节段的偏摆轴相互平行，可调弯段仅能够向两个相反的方向往复摆动。在一些其他实施方式中，对于需要在四个方向上实现弯曲的可调弯段，可以使相邻三个调弯节段中位于中间的调弯节段轴向两侧的调弯节段在周向上具有90度位置差，依靠调弯节段轴向两侧的两组在可调弯段周向上成90度布置的铰接部分别实现摆动轴线存在交叉的摆动动作，此时，牵引丝设置有两对，调弯驱动装置上可以设置两个驱动轮，分别驱动一对牵引丝。
以上应用了具体个例对本发明进行阐述，只是用于帮助理解本发明，并不用以限制本发明。对于本发明所属技术领域的技术人员，依据本发明的思想，还可以做出若干简单推演、变形或替换。

Claims (10)

  1. 一种调弯驱动装置，其特征在于，包括：
    安装基体；
    驱动轮，所述驱动轮转动装配在所述安装基体上；
    以及至少两条成对布置的牵引丝，两条成对布置的所述牵引丝分别用于设置于蛇骨的不同侧以驱动蛇骨朝向两个相反的方向偏摆；
    所述驱动轮上设有至少两个绕丝区域，所述两个绕丝区域包括至少一个第一绕丝区域和至少一个第二绕丝区域，所述第一绕丝区域和第二绕丝区域位于所述驱动轮径向的不同侧，至少一个所述第一绕丝区域的绕丝半径与至少一个所述第二绕丝区域的绕丝半径不同。
  2. 如权利要求1所述的调弯驱动装置，其特征在于，至少两个绕丝区域沿所述驱动轮的转动轴线分层布置，所述驱动轮的径向外侧设有卡槽，所述绕丝区域由所述卡槽形成。
  3. 如权利要求2所述的调弯驱动装置，其特征在于，所述驱动轮包括防脱凸起，所述防脱凸起设置在所述卡槽的槽侧壁上并位于所述卡槽的槽口处，所述防脱凸起用于防止牵引丝沿所述驱动轮的径向从所述卡槽内脱出。
  4. 如权利要求3所述的调弯驱动装置，其特征在于，所述防脱凸起设置在所述卡槽的其中一侧槽侧壁上，所述卡槽的另一侧槽侧壁上设有避让口，所述防脱凸起的至少一部分伸入的避让口内，所述防脱凸起与所述避让口的内侧壁之间具有间隔。
  5. 如权利要求1至4中任一项所述的调弯驱动装置，其特征在于，所述驱动轮包括圆弧部分和缺口部分，绕丝区域设置在所述圆弧部分上，所述圆弧部分的末端端面的至少一部分暴露于所述缺口部分中，所述调弯驱动装置的牵引丝经所述缺口部分绕设到圆弧部分上。
  6. 如权利要求1至4中任一项所述的调弯驱动装置，其特征在于，所述驱动轮的端面上设有固定槽，所述牵引丝的末端固定有牵引块，所述牵引块嵌入所述固定槽内，所述固定槽的槽壁上设有供所述牵引丝引出的通道。
  7. 一种内窥镜，其特征在于，包括：
    插入管组件，所述插入管组件包括可调弯段，所述可调弯段包括依次铰接的调弯节段，相邻两所述调弯节段之间设有铰接部，所述铰接部形成供相邻两所述调弯节段相对偏摆的偏摆轴，相邻两所述调弯节段之间的所述铰接部位于所述可调弯段径向的两相对侧；
    手柄组件，所述手柄组件连接在所述插入管组件的近端，所述手柄组件内设有调弯驱动装置，所述调弯驱动装置为权利要求1至6中任一项所述的调弯驱动装置。
  8. 如权利要求7所述的内窥镜，其特征在于，所述调弯节段的轴线延伸方向为第一方向，所述偏摆轴的延伸方向为第二方向，所述调弯节段具有与所述第一方向和第二方向同时垂直的第三方向，所述牵引丝通道包括分别位于所述偏摆轴在第三方向上的两侧的第一牵引丝通道和第二牵引丝通道，所述第一牵引丝通道和第二牵引丝通道的至少一个沿所述第二方向偏置于所述调弯节段上。
  9. 如权利要求8所述的内窥镜，其特征在于，所述第一牵引丝通道到所述偏摆轴的垂线经过所述调弯节段的轴线，所述第二牵引丝通道至少在所述第二方向上相对于所述第一牵引丝通道的对称位置具有偏移量，所述第一牵引丝通道的对称位置是所述第一牵引丝通道以所述调弯节段的轴线和所述偏摆轴共同所在的平面为对称面的镜像位置。
  10. 如权利要求8所述的内窥镜，其特征在于，所述调弯节段上设有一个工作通道，所述工作通道形成一个通道分布区域，或者，所述调弯节段上设有至少两个工作通道，所述调弯节段上位于各所述工作通道之间的部分和各所述工作通道共同形成一个通道分布区域；所述第一牵引丝通道在所述第三方向上位于所述通道分布区域的外侧，所述第二牵引丝通道在所述第二方向上位于通道分布区域的外侧。
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CN218870247U (zh) * 2022-12-12 2023-04-18 上海埃尔顿医疗器械有限公司 内窥镜蛇骨牵引绳调节装置

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CN102753077A (zh) * 2010-03-08 2012-10-24 奥林巴斯医疗株式会社 多节弯曲医疗装置
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