CN116327101A - a bronchoscope - Google Patents

Abstract

The invention provides a bronchoscope, which comprises an insertion tube and a bending adjustment instrument box. The insertion tube is provided with a forceps tube and a plurality of bending adjustment wires. The bending adjustment instrument box includes a mounting seat and a plurality of bending control parts. There is an installation cavity in the installation seat; an internal channel is provided in the installation cavity, and an installation channel connecting the outside world and the installation cavity is provided on the installation seat. The insertion tube is installed in the installation channel and the clamp tube is docked with one end of the internal channel, and the clamp channel The tube and the internal channel form an instrument channel, and the other end of the internal channel passes through the mounting seat and forms an entrance of the instrument channel outside the mounting seat. A plurality of bending control parts corresponds to a plurality of bending adjustment wires one by one; the bending control parts are installed in the installation cavity and connected to them in rotation, and the proximal ends of the bending adjustment wires are wound around the corresponding bending control parts and then fixedly connected to them. The output end of the bending control part is the transmission claw, which extends out of the installation cavity and is located outside the installation seat. The transmission claw is used to dock with the external power end chuck, and the external power end chuck drives the rotation to control the corresponding bending adjustment. The retraction and release of silk.

Description

a bronchoscope

technical field

The invention belongs to the technical field of medical instruments, in particular to a bronchoscope.

Background technique

Some minimally invasive robots that require precise control are usually used in medical operations. Some surgical instruments are configured at the execution end of the robot. In medical procedures, these surgical instruments enter the human body through small incisions or natural orifices of patients. With the assistance of relevant imaging and positioning devices, it can accurately reach the location of the lesion, and realize various actions of the distal end of the instrument in the human body by controlling the driving end of the instrument, and complete the relevant operation.

Most of the existing standard bronchoscopes are manually adjusted. The most common way is to adjust the end of the mirror by driving the lever on the handle. During the operation, the doctor needs to hold the handle of the mirror and rotate the lever to reach the end of the mirror. 360-degree bending at the end of the snake bone; in addition, there is a toggle lever similar to a universal ball on the handle of the mirror body, which can also realize 360-degree bending at the end of the mirror snake bone, but all of the above are manually controlled bronchi In order to complete related operations, it requires high skills of doctors.

Contents of the invention

The purpose of the present invention is to provide a bronchoscope to solve the problem in the prior art that a doctor needs to manually operate the bend of the bronchoscope.

Technical scheme of the present invention is:

A bronchoscope, comprising an insertion tube and a bending adjustment instrument box, the insertion tube is provided with a clamp channel tube and a plurality of bending adjustment wires for controlling the bending angle of the bending part of the insertion tube; the bending adjustment instrument box includes :

The mounting seat is provided with a mounting cavity; the mounting cavity is provided with an internal passage, and the mounting seat is provided with an mounting channel communicating with the outside world and the mounting cavity, and the proximal end of the insertion tube is installed on the mounting and the proximal end of the clamp tube is docked with one end of the internal channel, the clamp tube and the internal channel form an instrument channel, and the other end of the internal channel passes through the mounting seat and is connected to the internal channel. The entrance of the instrument channel is formed outside the mounting seat;

A plurality of bending control parts corresponding to a plurality of bending wires; the bending control parts are installed in the installation cavity and connected to the mounting seat in rotation, and the proximal ends of the bending wires are wound around corresponding The bending control part is then fixedly connected with it;

The output end of the bending control part is a transmission claw, and the transmission claw extends out of the installation cavity and is located outside the installation seat. The transmission claw is used for docking with the external power end chuck, and the external power end The chuck is driven to rotate to control the retraction and release of the corresponding bending wire.

In the bronchoscope provided in a certain embodiment, the insertion tube is provided with four bending adjustment wires, and the distal ends of the four bending adjustment wires are evenly distributed in the circumferential direction of the corresponding positions of the insertion tube;

Four bending control components are provided on the mounting base, and two bending control components are respectively provided on both sides of the internal channel.

In the bronchoscope provided in a certain embodiment, the two bending control components located on the same side of the internal channel are arranged along the axial direction of the internal channel, and the bending control components located on both sides of the internal channel Symmetrical setting.

In the bronchoscope provided in a certain embodiment, the bending control component includes:

The transmission claw, the transmission claw is provided with a connecting shaft, the connecting shaft passes through the mounting seat and extends into the mounting cavity, and the connecting shaft is rotatably connected with the mounting seat;

The turntable assembly is arranged in the installation cavity, and the turntable assembly is fixedly connected to the connecting shaft; the bend adjustment wire is wound around the turntable assembly and the proximal end of the bend adjustment wire is fixedly connected to the on the turntable assembly.

In the bronchoscope provided in a certain embodiment, the turntable assembly includes:

The bending wire turntable has a hoop structure, and the hoop structure is fixedly connected to the connecting shaft through fasteners to hold the connecting shaft; when the fastener corresponding to the hoop structure does not make the When the hoop structure tightly hugs the connecting shaft, the hoop structure can rotate around the connecting shaft;

A limit sleeve, the limit sleeve is sleeved on the turntable of the bending wire; a positioning ball is installed on the proximal end of the bend wire, and positioning grooves are respectively arranged on the turntable of the bend wire and the limit sleeve , the two cooperate to form a positioning cavity, the positioning ball is assembled in the positioning cavity to realize positioning and fixing, and the limiting sleeve is fixed on the bending wire turntable through fasteners.

In the bronchoscope provided in a certain embodiment, the end surface of the connecting shaft extending into the installation cavity is provided with a threaded hole, and the threaded hole is internally threaded with a shaft end bolt;

A support end bearing is provided between the nut of the shaft end bolt and the bending wire turntable, the inner ring of the support end bearing is connected to the connecting shaft, and the outer ring is connected to the mounting seat; and the shaft The nuts on the end bolts cooperate with the bending wire turntable to limit the axial movement of the bearing at the support end.

In the bronchoscope provided in a certain embodiment, the transmission claw is provided with a positioning shaft, the axis of the positioning shaft coincides with the rotation axis of the bending control component and the mounting seat, and the positioning shaft is used for Butt the central positioning shaft hole on the chuck of the external power end;

The transmission claw is provided with at least one limiting groove, and the limiting groove is used to connect with the positioning boss on the chuck of the external power end to drive the transmission claw to rotate by transmitting torque.

In the bronchoscope provided in a certain embodiment, the transmission claw is provided with a guide arc surface corresponding to the limit card slot, and the limit card slot is set at the guide end position of the guide arc surface; The surface height of the guiding arc surface gradually decreases toward the guiding end position so that the object abutting on the guiding arc surface slides to the guiding end position under the guidance of the guiding arc surface.

In the bronchoscope provided in a certain embodiment, the transmission claw is provided with two sets of the limiting slots and the guide arc surface, and the two sets are symmetrically arranged on both sides of the positioning shaft.

In the bronchoscope provided in a certain embodiment, the mounting base is provided with an unlocking assembly, and the unlocking assembly is used to release the external power end chuck installed with the external power end chuck when docking with the transmission claw. Locking of the relative position of the power end mounting base and the mounting base.

In the bronchoscope provided in a certain embodiment, the unlocking component includes:

The lock cover is connected to the mounting base, and the lock cover is provided with a lock position, which is used for locking the lock claws on the mounting base of the external power end under the action of pre-tightening force. When the pawl is locked on the locking position, the relative position of the external power end mounting seat and the mounting seat is locked;

The lock push rod is slidably connected to the mounting seat, the lock push rod is located at the beginning of the sliding stroke under the action of the elastic member, and the lock push rod is subjected to external force to overcome the elastic resistance of the elastic member and move to the sliding stroke During the process of the end, push the outer lock claw to overcome the effect of the pre-tightening force to leave the lock position.

In the bronchoscope provided in a certain embodiment, the mounting seat is further provided with a suction injection channel, one end of the suction injection channel communicates with the internal channel, and the other end is located outside the mounting seat to install a suction valve interface, For docking suction injection equipment;

The internal channel is provided with an instrument channel closing switch, which is used to close the internal channel at its location; the instrument channel closing switch is arranged on the internal channel and is located between the suction injection channel and the instrument between the entrances of the channel.

In the bronchoscope provided in a certain embodiment, the internal channel includes a three-way connector and a flexible pipe, and the three channel openings of the three-way connector communicate with the proximal end of the clamp tube, the suction injection channel, respectively. one end communicating with the internal passage, one end of the hose, the other end of the hose protrudes from the mounting seat and is equipped with an inlet joint;

The instrument channel closing switch includes a valve body and a valve core push rod, the hose passes through the hose channel on the valve body, a push rod port is opened on the side of the hose channel, and the valve core pushes The rod is slidably connected to the valve body, and one end of the valve core push rod can extend into the hose passage through the push rod opening and compress the hose so that the inner passage of the hose is closed; The other end of the valve core push rod is arranged outside the mounting seat.

In the bronchoscope provided in a certain embodiment, a plurality of mounting seat openings on the mounting seat communicate with the mounting cavity and have components installed therein, and a There is a sealing structure for achieving a sealed connection between the opening and the member.

Compared with the prior art, the present invention has the following advantages and positive effects due to the adoption of the above technical scheme:

In the bronchoscope provided by the present invention, the plurality of bending control parts on the mounting base are correspondingly coiled with a plurality of bending adjustment wires for controlling the bending angle of the insertion tube bending part, and the drive card on the bending adjustment part is driven by the external power end chuck The claw can be used to retract and release the bending wire to realize the bending control of the bending part of the insertion tube.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiment. The drawings are only for the purpose of illustrating a preferred embodiment and are not to be considered as limiting the invention.

Fig. 1 is a schematic diagram of the appearance of a bronchoscope;

Figure 2 is a schematic structural view of a bronchoscope;

Fig. 3 is a structural schematic diagram of the head end;

4 to 7 are schematic layout diagrams of the structure of the bending part and the pose detection components;

Fig. 8 is a schematic diagram of the bending adjustment of the bending part of the insertion tube and a schematic diagram of the internal circuit layout;

Fig. 9 is a schematic diagram of bronchoscope real-time positioning;

Fig. 10 is a schematic diagram of the appearance of one side of the transmission claw of the bending instrument box;

Figure 11 and Figure 12 are schematic diagrams of the internal structure of the bending instrument box;

Fig. 13 is a vertical sectional view of the bending instrument box;

Figure 14 is a horizontal sectional view of the bending instrument box;

Figure 15 is a schematic structural view of the unlocking assembly;

Fig. 16 is a vertical sectional view at the bending control part;

Fig. 17 is a structural schematic diagram of a bending control component;

Figure 18 is an exploded view of the bending control part;

Figure 19 is a schematic structural view of the transmission claw;

Fig. 20 is a schematic structural view of the closing switch of the internal channel and the instrument channel;

Fig. 21 is a schematic cross-sectional view of the closing switch of the internal channel and the instrument channel;

Fig. 22 is a partial structural schematic diagram of an instrument channel closing switch;

Fig. 23 is a schematic structural diagram of an external power end;

Fig. 24 is a schematic structural view of an external power end chuck;

Fig. 25 is a schematic diagram of an external lock claw and lock position locked.

Explanation of reference signs:

1: Insertion tube; 2: Bending instrument box; 3: Head end; 4: Curved part; 5: Main hose; 6: Insertion tube instrument channel; 7: Lighting component; 8: Camera component; 9: Protective cover ;10: Mounting seat; 11: Bending control part; 12: Unlock button; 13: Spool push rod; 14: Inlet joint; 15: Aviation plug; 16: Suction valve interface; 17: Leak detection interface; 18: Snake bone Structure; 19: 5DOF sensor; 20: 6DOF sensor; 21: Bending wire; 22: Cable (of four 5DOF sensors); 23: Biopsy instrument; 24: Lesion location; 25: Body positioning sensor; 26: Bronchoscope ;27: Human trachea and branch structure; 28: Lock cover plate; 29: Column support plate; 30: Seal ring; 31: Support column; 32: Shaft end bolt; 33: Clamp tube; 34: Cage; 35 : suction injection channel; 36: O-ring; 37: instrument channel; 38: lock spring; 39: hose; 40: lock push rod; 41: limit sleeve; 42: adjusting wire turntable; 43: Positioning end bearing; 44: transmission claw; 45: support end bearing; 46: tension bolt; 47: positioning slot; 48: connecting shaft; 49: positioning shaft; 50: guide arc surface; 51: limit card slot; 52: Bending wire guide groove; 53: Clamp pipe channel opening; 54: Valve body; 55: Tee connector; 56: Positioning scribe;

57: Power end mounting seat; 58: Power end chuck; 59: Lock claw; 60: Power end push rod; 61: Center positioning shaft hole; 62: Positioning boss.

Detailed ways

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation manners of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other accompanying drawings based on these drawings and obtain other implementations.

In order to make the drawing concise, each drawing only schematically shows the parts related to the present invention, and they do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, in some drawings, only one of the components having the same structure or function is schematically shown, or only one of them is marked. Herein, "a" not only means "only one", but also means "more than one".

The present invention is applied to the bronchoscopic biopsy operation through the natural cavity, and the biopsy operation is completed by controlling the end of the bronchoscope 26 to bend into the complex airway to locate the lesion position 24 .

Referring to FIGS. 1 to 21 , this embodiment provides a bronchoscope 26 , which includes an insertion tube 1 and a bending instrument box 2 . The insertion tube 1 is provided with a forceps tube 33 and a plurality of bending adjustment wires 21 for controlling the bending angle of the bending part 4 of the insertion tube 1 .

Mounting seat 10 is provided with an installation cavity, and the installation cavity is provided with an internal channel. The installation seat 10 is provided with an installation channel that communicates with the outside world and the installation cavity. The end is docked with one end of the internal channel, the clamp pipe 33 and the internal channel form an instrument channel 37 , and the other end of the internal channel passes through the mounting base 10 and forms the entrance of the instrument channel 37 outside the mounting base 10 .

A plurality of bending control components 11 corresponds to a plurality of bending adjusting wires 21 one by one. The bending control component 11 is installed in the installation cavity and is rotatably connected with the mounting base 10 , and the proximal end of the bending adjustment wire 21 is wound around the corresponding bending control component 11 and then fixedly connected with it. The output end of the bending control part 11 is the transmission claw 44, which extends out of the installation cavity and is located outside the mounting seat 10, and the transmission claw 44 is used to dock with the chuck of the external power end, and is driven by the chuck of the external power end to realize rotation To control the retraction of the corresponding bending wire 21.

The structure of this embodiment will now be described. For ease of description, the end close to the operator is referred to as the proximal end or rear end, and the end farther away from the operator is referred to as the distal end or front end.

1 and 2 illustrate the appearance of the bronchoscope 26 . The bronchoscope 26 includes an insertion tube 1 at the front end and a bending-adjusting instrument box 2 at the rear end, and the connection between the insertion tube 1 and the bending-adjusting instrument box 2 (here specifically refers to the outside of the bending-adjusting instrument box 2) is provided with a soft rubber material protection Set of 9 protects it. The insertion tube 1 comprises a main hose 5, a bend 4 and a head end 3 connected in sequence, and the far end of the head end 3 is provided with an illuminating part 7 and a camera part 8, the illuminating part 7 is used to illuminate the front area, and the camera part 8 for image acquisition of the front area.

The proximal ends of the head end portion 3 and the bending portion 4 are respectively provided with pose detection components, which are used to respectively detect and output the posture of the insertion tube 1 at the position, so as to simulate the actual contour of the bending portion 4 after being processed by an external processing device. Realize the closed-loop control of the bend adjustment of the bending part 4; or, the head end 3 is provided with a pose detection component, which is used to detect the posture of the insertion tube 1 at the position and output it, so as to obtain the distal end of the insertion tube 1 after being processed by an external processing device The position and direction information of the bending part 4 realizes the open-loop control of the bending adjustment.

Also on the insertion tube 1 is an insertion tube instrument channel 6 that does not interfere with the illumination component 7, the camera component 8 and the posture detection component.

The relative positional relationship between the pose detection component and the axis of the insertion tube instrument channel 6 at the distal end of the insertion tube 1 is obtained through position calibration before the operation, and is applied in the operation algorithm program; during the operation, the bronchoscope 26 enters the patient's airway, The position and posture detection component can feed back its own position information in real time and display the position of the bronchial endoscope through relevant algorithm programs, so that the operator can intuitively see the real-time position of the bronchial endoscope in the patient's lungs and quickly and accurately locate it combined with CT images Lesions, biopsy sampling and other operations.

Specifically, the insertion tube instrument channel 6 is also called the forceps channel, and serves as the working channel of the biopsy instrument 23 . The instrument channel 6 of the insertion tube passes through the main hose 5, the bending part 4 and the head end 3 in sequence. The part on the side of the instrument channel 6 of the insertion tube 1 is the tube wall part of the insertion tube 1. The lighting part 7 and the camera part 8. The pose detection components and the cables connected to the pose detection components are all arranged in the pipe wall.

The axis of the insertion tube instrument channel 6 coincides with or is parallel to the axis of the insertion tube 1 . Preferably in this embodiment, referring to FIG. 3 , the axis of the insertion tube instrument channel 6 is parallel to the axis of the insertion tube 1 , that is, it is arranged eccentrically on the insertion tube 1 . On the distal end face of the head end 3 , the center of the camera part 8 and the center of the insertion tube instrument passage 6 are located on a straight line passing through the center of the distal end face of the head end 3 . Two illuminating units 7 are provided, and the two illuminating units 7 are provided on both sides of the imaging unit 8 along the circumferential direction of the insertion tube 1 . The illuminating part 7 can be selected from an LED cold light source, and the camera part 8 can be selected from a CMOS lens. In other embodiments, the number and positions of the lighting components 7 and the imaging components 8 can be selected according to actual conditions, and no specific limitation is imposed on this.

Referring mainly to Fig. 4, the curved part 4 can adopt a snake bone structure 18, and the head end 3 and the root of the snake bone are respectively arranged with pose detection components, specifically corresponding to Fig. 4, the pose detection components are sensor assemblies, and each set of sensor assemblies includes two 5DOF sensors 19, two 5DOF sensors 19 in the same group are arranged symmetrically around the axis of the insertion tube 1, that is, arranged diagonally along the circumferential direction. The first group of 5DOF sensors 19 at the front end can provide real-time feedback on the position and direction of the head end 3, and the second group of 5DOF sensors 19 on the rear end can feed back the position and direction and serve as a reference. The combination of feedback data from the two groups of 5DOF sensors 19 can simulate the entire bending The actual contour of part 4 realizes the closed-loop control of the bending process. Moreover, after the 5DOF sensor 19 is installed, the outer diameter of the insertion tube 1 can be guaranteed to reach a minimum of 3.6mm, thereby achieving a higher surgical standard.

Certainly, in other embodiments, there may be other options for the selected equipment and the installation location of the pose detection component, which is not limited thereto. For example, referring to Fig. 5, in a certain embodiment, the pose detection component is a 6DOF sensor 20, using two 6DOF sensors 20 before and after instead of the combination of two groups of 5DOF sensors 19 in total, the same function can be realized (one The 6DOF sensor 20 is equivalent to the combination of two 5DOF sensors 19 arranged diagonally).

For example, referring to Fig. 6, in a certain embodiment, only two 5DOF sensors 19 are arranged diagonally in the circumferential direction of the head end 3, and the position and direction information of the distal end of the bronchoscope 26 can be fed back, in an open-loop control mode Assisted turning.

For example, referring to FIG. 7 , in a certain embodiment, only one 6DOF sensor 20 is arranged on the head end 3 , which can feed back the position and direction information of the distal end of the bronchoscope 26 , and assist bending adjustment in an open-loop control manner. In another embodiment, the pose detection component can also adopt an optical fiber shape sensor (the fiber optic shape sensor can also realize the pose feedback of the bronchoscope), etc. There are no restrictions on the combination and arrangement, whether it is evenly distributed in the circumferential direction, the angle between the bending wire 21 or the lens, etc.

Please mainly refer to Fig. 8, there are four bending wires 21 (generally steel wires) evenly distributed along the circumference in the wall part of the insertion tube 1, and the bending wires 21 can be pulled alone to achieve 180-degree bending, and the four bending wires 21 cooperate It can realize 180-degree bending in any direction in the space, and the cables 22 of the four 5DOF sensors 19 are arranged in the inner wall part of the insertion tube 1, and then connected to the bending adjustment instrument box 2, and then connected to the external processing equipment.

Figure 9 shows the state of an operation. The patient's lungs are placed in a fixed magnetic field, and three human body positioning sensors 25 are attached to the surface of the human body to locate the human body's trachea and branch structures 27. During the operation, the bronchoscope 26 penetrates the airway from the patient's mouth, and the posture detection component The real-time position of the curved part 4 of the bronchoscope 26 in the airway can be clearly observed under the positioning of the bronchoscope 26. Combined with the CT image, the head end 3 of the bronchoscope 26 is controlled to reach the lesion position 24, and then the biopsy instrument 23 is controlled to enter. When the CMOS lens observes that the biopsy instrument 23 has just reached the distal end, it can be confirmed again whether the distal position of the head end 3 is aligned with the lesion, and then the biopsy sampling is performed to avoid the biopsy deviation caused by the vibration of the biopsy instrument 23 entering and exiting, etc., and then Improved biopsy success rate.

The above part shows several structures of the insertion tube 1, but the insertion tube 1 in the present invention is not limited to the several insertion tubes 1 shown above.

The bending adjustment instrument box 2 includes a mounting base 10 and a bending control component 11 arranged on the mounting base 10, an unlocking assembly, an inlet joint 14 (of the instrument channel 37), a valve core push rod 13, a suction valve interface 16, and a leak detection interface 17 , (for the derivation of cables) aviation plug 15, etc., designed as a sealed bending mechanism for limited repeated sterilization.

The distal ends of the four bending adjustment wires 21 in the insertion tube 1 are evenly distributed in the circumferential direction of the corresponding positions of the insertion tube 1. Four bending control parts 11 are arranged on the mounting base 10, and two are respectively arranged on both sides of the inner channel. Bending control part 11. The two bending control components 11 located on the same side of the internal channel are arranged along the axial direction of the internal channel, and the bending control components 11 located on both sides of the internal channel are arranged symmetrically. Of course, in other embodiments, the quantity and position of the bending adjusting wire 21 and the bending controlling component 11 are not limited.

In this embodiment, the four adjusting wires 21 are evenly distributed in the circumferential direction, and used in conjunction with each other, can realize the 360-degree bending effect of the space at the distal end of the bronchoscope 26 . Specifically: the four adjusting wires 21 are evenly distributed in the circumferential direction, which can be assumed to be 0°, 90°, 180°, and 270°. The tension of a single adjusting wire 21 can control the bending part 4 to bend in the corresponding direction (the remaining three adjusting wires wire 21 cooperates to carry out relatively suitable stretching), when two adjacent adjustment wires 21 (such as 0 ° and 90 °) are stretched to the same length at the same time, the bending part 4 will be bent along the direction of 45 ° in theory (the other two Adjusting wire 21 cooperates to carry out relatively appropriate stretching); When two adjacent adjusting wires 21 (such as 0 ° and 90 °) are stretched to different lengths at the same time, the bending part 4 will be opened along a specified direction theoretically. bending (the remaining two adjusting wires 21 cooperate to carry out relatively suitable stretching), controlling the stretching amount of these two adjusting wires 21 can control the bending within the range of 0-90°, similarly control the four adjusting wires 21 The stretching amount can control the bending part 4 to bend 360° within the rotation range along the central axis.

Figure 10 shows the profile of the side of the bending adjustment instrument box 2 docked with the external power end. The main components are four sets of large-taper-guided bending control parts 11. When the bending part 4 is in a free state, the bending control parts 11 have angles that can be adjusted. The rotation deviation of the control (that is, the bending control part 11 is allowed to rotate relative to the mounting seat 10) ensures that the power end can be docked smoothly. The fingers can be easily separated by pressing the unlocking buttons 12 (in the unlocking assembly) on the left and right sides simultaneously.

Figures 11 and 12 show the internal structure of the installation cavity. The main hose 5 includes a clamp tube 33 (the inner tube is a part of the instrument channel 6 of the insertion tube), four bending wires 21, a CMOS lens and a pose detection component. Cables, outer coverings, etc. Cage 34 is installed in the installation cavity, and all lines are hinged together and reach the cable interface channel along the line guide groove on the cage 34, stretch out and weld the aviation plug 15 by the cable interface channel (the aviation plug 15 is positioned at the mounting seat 10) docking with the device side. Above the cage 34 (orientation in FIG. 11 and FIG. 12 ), a column support plate 29 is provided, and the column support plate 29 is fixedly installed in the installation cavity through the support column 31 .

Referring mainly to FIG. 16 to FIG. 19 , the bending control component 11 includes the above-mentioned transmission claw 44 and the turntable assembly. The transmission claw 44 is provided with a connecting shaft 48. The connecting shaft 48 penetrates the mounting seat 10 and extends into the mounting cavity, and is rotatably connected with the mounting seat 10 when passing through. Further, a positioning end bearing 43 can be provided at the rotating connection.

The turntable assembly is disposed in the installation cavity, and the turntable assembly is fixedly connected to the connecting shaft 48 . The bending adjustment wire 21 is wound around the turntable assembly and the proximal end of the bending adjustment wire 21 is fixedly connected to the turntable assembly. Specifically, the turntable assembly includes a bending wire turntable 42 and a limit sleeve 41 . There is a hoop structure on the wire turntable 42, and the hoop structure hugs the connecting shaft 48 by a fastener (tension bolt 46 can be selected) to realize a fixed connection with the connecting shaft 48; when the tension bolt 46 does not make the hoop structure When the connecting shaft 48 is tightly held, the hoop structure can rotate around the connecting shaft 48 . This makes it possible to fine-tune the tightness of the bending wire 21, and tighten the tightening bolt 46 to limit the degree of freedom of rotation of the bending wire turntable 42 relative to the connecting shaft 48 after the adjustment is completed.

The limit sleeve 41 is sleeved on the turntable 42 of the bending wire. The proximal end of the bending wire 21 is equipped with a positioning ball, and the bending wire rotating disk 42 and the limit sleeve 41 are respectively provided with a positioning groove 47, and the two cooperate to form a positioning cavity, and the positioning ball is assembled in the positioning cavity to realize positioning and fixing. The bit sleeve 41 is fixed on the wire turntable 42 by a fastener (set screw can be selected). Specifically, the positioning ball is provided with a stepped inner hole, and the bending wire 21 adopts a steel wire. The end of the steel wire first passes through the inner hole of the positioning ball, and then a cylindrical rivet is fixed at the end of the steel wire, and the positioning ball can pass through the inner hole on the steel wire. Sliding up; when installing the positioning ball on the turntable assembly, the steel wire needs to be tightened, the positioning ball slides to the end, and the rivet catches the step on the inner hole of the positioning ball to prevent the positioning ball from coming out, and then the positioning ball is put into the positioning cavity, and the positioning cavity The shape of the ball restricts the position of the positioning ball and the rivet, and plays the role of fixing the end of the steel wire. Wherein, a hole for allowing the steel wire to pass will be left on the positioning chamber, and the hole can be arranged on the outer arc surface of the bending wire turntable 42 .

The end surface of one end of the connecting shaft 48 extending into the installation cavity is provided with a threaded hole, and the inner thread of the threaded hole is connected with a shaft end bolt 32 . The supporting end bearing 45 is installed on the connecting shaft 48, the inner ring is fixed on the connecting shaft 48 and resists the adjusting wire turntable 42, the outer ring is fixed on the bearing position of the column support plate 29, and resists the screw of the shaft end bolt 32. cap. That is, when the shaft end bolt 32 is tightened, the support end bearing 45 is pressed on the adjusting wire turntable 42 , and the nut on the shaft end bolt 32 cooperates with the adjustment wire turntable 42 to limit the axial movement of the support end bearing 45 . Preferably, a gasket can be provided between the nut and the bearing 45 at the supporting end.

The transmission claw 44 is provided with a positioning shaft 49, the axis of the positioning shaft 49 coincides with the rotation axis of the bending control part 11 and the mounting seat 10, and the positioning shaft 49 is used for docking with the central positioning shaft hole on the external power end chuck for Guaranteed docking accuracy. The transmission claw 44 is provided with at least one limiting slot 51, and the limiting slot 51 is used to connect with the positioning boss on the external power end chuck, so as to realize the relative position fixation between the transmission claw 44 and the external power end chuck. The transmission claw 44 is driven to rotate when the chuck at the external power end is rotated by transmitting the torque.

The transmission claw 44 is also provided with a guide arc surface 50 corresponding to the limit card groove 51 , and the limit card groove 51 is arranged at the guide end position of the guide arc surface 50 . The height of the surface of the guiding arc surface 50 gradually decreases toward the guiding end position so that the object contacting the guiding arc surface 50 slides to the guiding end position under the guidance of the guiding arc surface 50 . Preferably, the transmission claw 44 is provided with two sets of limiting slots 51 and guiding arc surfaces 50 , and the two sets are symmetrically arranged on both sides of the positioning shaft 49 . As shown in FIG. 19 , the guiding arc surface 50 may be a tapered guiding arc surface.

In this way, even if there is a large deviation and misalignment between the power end chuck and the transmission jaw 44 when docking the power end chuck, easy and free docking can be realized (the rotation limit positions are set on the chucks at both ends, and the allowable deviation of the docking can cover the effective stroke) , no need to return to zero butt.

The mounting seat 10 is provided with an unlocking assembly, and the unlocking assembly is used to release the locking of the relative position of the external power end mounting seat with the external power end chuck and the mounting seat 10 when the external power end chuck and the transmission claw 44 are docked. . Specifically, the unlocking assembly includes a lock cover 28 and a lock push rod 40. The lock cover 28 is connected to the mounting base 10, and the lock cover 28 is provided with a lock position for locking the power end mounting base. The locking of the claw under the action of the pre-tightening force, when the locking claw is locked on the locking position, the relative positions of the power end mounting seat and the mounting seat 10 are locked. The lock push rod 40 is slidably connected to the mounting base 10, the lock push rod 40 is located at the beginning of the sliding stroke under the action of the elastic member, and the lock push rod 40 moves to the end of the sliding stroke by overcoming the elastic resistance of the elastic member under the action of an external force During the process, push the locking claw to overcome the effect of the pre-tightening force and leave the locking position.

More specifically, referring to Fig. 15 and Fig. 25, two lock push rods 40 are slidably connected to the mounting base 10, and unlock buttons are installed on the outer ends (relative to the mounting base 10) of the two lock push rods 40. 12. It is convenient for the operator to push the lock push rod 40. The elastic member can be the lock pull spring 38, and the lock pull spring 38 pulls the two lock push rods 40 towards the beginning of the sliding stroke. When it is necessary to release the locking of the relative position of the mounting base 10 and the power end mounting base, the operator presses the two unlocking buttons 12 with two fingers and compresses them to the middle, and the two lock push rods 40 will overcome the lock spring The pulling force of 38 moves toward each other, so that the end of the lock push rod 40 that is not equipped with the lock spring can push the lock claw on the power end mounting seat away from the lock position, so that the power end mounting seat and the mounting seat 10 separation.

In order to realize the suction injection function in the medical procedure, a suction injection channel 35 is provided on the mounting base 10 . The main part of the suction injection channel 35 is set in the installation cavity. One end of the suction injection channel 35 communicates with the internal channel, and the other end is located outside the mounting seat 10 to install a suction valve interface 16 for docking with suction injection equipment. 20 and 21, the internal channel includes a three-way connector 55 and a flexible pipe 39, and the three channel openings of the three-way connector 55 are respectively connected to the proximal end of the clamp tube 33, and the suction injection channel 35 communicates with the internal channel. One end, one end of the hose 39 , while the other end of the hose 39 protrudes from the mount 10 and is fitted with the inlet connector 14 . That is, a branch is separated from the instrument channel 37 and used as the suction injection channel 35 . Referring to Fig. 20, the three-way connector 55 is also provided with two bending wire guide grooves 52, which are used to guide the two bending wires 21 corresponding to the two bending control parts 11 at the rear end; The passage opening for communicating with the clamp pipe 33 is the passage opening 53 of the clamp pipe.

The internal channel is also provided with an instrument channel closing switch for closing the internal channel at its location; the instrument channel closing switch is arranged on the internal channel and between the entrance of the suction injection channel 35 and the instrument channel 37 . Specifically, the instrument channel closing switch includes a valve body 54 and a valve core push rod 13. The hose 39 passes through the hose channel on the valve body 54. The side of the hose channel is provided with a push rod port, and the valve core push rod 13 is slidably connected. On the valve body 54, and one end of the valve core push rod 13 can extend into the hose channel through the push rod port and press the hose 39 so that the inner channel of the hose 39 is closed; the other end of the valve core push rod 13 is located on the installation Seat 10 outside. When the biopsy instrument 23 passes through normally, the spool push rod 13 does not act, so that the inner channel of the hose 39 remains connected, and the positioning scribe 56 is installed on the spool push rod 13, on the one hand, the spool push rod 13 is restricted from rotating in the circumferential direction. , and on the other hand play the role of mobile orientation. When suction injection is required, the valve core push rod 13 is driven by the push rod of the external power end to advance toward the hose 39, so that the inner channel of the hose 39 is closed.

Mounting seat 10 is provided with a plurality of mounting seat openings that communicate with the mounting cavity and components are installed therein (such as the opening for the bending control component 11 to pass through, the installation channel, the opening at the lock push rod 40, etc.), the mounting seat A sealing structure is provided between the opening and the components inside to realize the sealed connection between the opening and the components, so as to prevent the liquid from entering the installation cavity when the bronchoscope 26 is cleaned and sterilized, so that the bronchoscope 26 can be used for limited repeated sterilization . The sealing structure may be an O-ring 36 and a sealing ring 30 and the like. Such as: the O-ring 36 between the main hose 5 and the installation channel shown in Figure 12; the installation seat 10 is composed of two parts snapped together, and the two parts need to be provided with a sealing ring 30 when connecting; the valve shown in Figure 13 The O-ring 36 between the core push rod 13 and the mounting seat 10; the O-ring 36 between the drive dog 44 shown in FIG. 16 and the mounting seat 10, and so on. All joints on the mounting base 10 can be designed to be installed with fine threads, so as to achieve a waterproof sealing effect.

The function of the leak detection interface 17 is to detect the tightness of the installation cavity in the bending adjustment instrument box 2, because the bronchoscope 26 is designed as a sealed instrument that can be repeatedly sterilized, and external detection equipment and leak detection equipment are required after each cleaning. The interface 17 is connected to detect whether the sealing is good or not. The leak detection interface 17 is installed in the same manner as the suction valve interface 16 and the inlet joint 14, and the fine tooth external thread of its main body is screwed on the side wall of the mounting seat 10 to communicate with the mounting cavity.

The main functions in the bending adjustment instrument box 2 include four bending control components 11 to realize the universal adjustment function of the bending part 4, and its specific implementation and details can be changed and adjusted in other embodiments. For example: the hoop structure is not provided on the adjusting wire turntable 42, and positioning and fastening are carried out by key pins and the like between the connecting shaft 48, and the end of the adjusting wire 21 adopts an adjusting screw, and the length of the adjusting screw 21 ends extending out of the adjusting screw can be adjusted. Adjust; the elastic part of the unlocking assembly adopts the lock extension spring 38 to move the two lock push rods 40 to the beginning of the sliding stroke without external force.

The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and equivalent technologies, they still fall within the protection scope of the present invention.

Claims (14)

1. The bronchoscope is characterized by comprising an insertion tube and a bending-adjusting instrument box, wherein a forceps channel tube and a plurality of bending-adjusting wires for controlling the bending angle of the bending part of the insertion tube are arranged in the insertion tube; the bending apparatus box includes:

the mounting seat is internally provided with a mounting cavity; an inner channel is arranged in the mounting cavity, a mounting channel which is communicated with the outside and the mounting cavity is arranged on the mounting seat, the proximal end of the insertion tube is arranged in the mounting channel, the proximal end of the forceps tube is in butt joint with one end of the inner channel, the forceps tube and the inner channel form an instrument channel, and the other end of the inner channel penetrates through the mounting seat and forms an inlet of the instrument channel outside the mounting seat;

the bending control components are in one-to-one correspondence with the bending adjustment wires; the bending control component is arranged in the mounting cavity and is rotationally connected with the mounting seat, and the proximal end of the bending adjustment wire is fixedly connected with the bending control component after being wound around the bending control component;

the output end of the bending control component is a transmission claw, the transmission claw extends out of the mounting cavity and is positioned outside the mounting seat, the transmission claw is used for being in butt joint with an external power end clamping disk, and the external power end clamping disk drives the transmission claw to rotate so as to control the winding and unwinding of the bending adjustment wire.

2. The bronchoscope according to claim 1, wherein four bending wires are arranged in the insertion tube, and distal ends of the four bending wires are uniformly distributed in the circumferential direction of the insertion tube at corresponding positions;

four bending control components are arranged on the mounting seat, and two bending control components are respectively arranged on two sides of the internal channel.

3. Bronchoscope according to claim 2, wherein two of said bending control members located on the same side of said internal passageway are arranged along the axial direction of said internal passageway, and said bending control members located on both sides of said internal passageway are symmetrically arranged.

4. The bronchoscope according to claim 1, wherein said bend control component comprises:

the transmission claw is provided with a connecting shaft, the connecting shaft penetrates through the mounting seat to extend into the mounting cavity, and the connecting shaft is rotationally connected with the mounting seat;

the turntable assembly is arranged in the mounting cavity and is fixedly connected with the connecting shaft; the bending regulating wire is wound on the rotary table assembly, and the proximal end of the bending regulating wire is fixedly connected to the rotary table assembly.

5. The bronchoscope according to claim 4, wherein said turntable assembly comprises:

the bending wire adjusting turntable is provided with a hoop structure, and the hoop structure is tightly held by the connecting shaft through a fastener to realize fixed connection with the connecting shaft; when the corresponding fastener of the anchor ear structure does not enable the anchor ear structure to hold the connecting shaft tightly, the anchor ear structure can rotate around the connecting shaft;

the limiting sleeve is sleeved on the bending wire adjusting rotary table; the locating ball is arranged at the proximal end of the bending wire, locating grooves are respectively formed in the bending wire adjusting rotary table and the limiting sleeve, the locating grooves and the limiting sleeve are matched to form a locating cavity, the locating ball is assembled in the locating cavity to achieve locating and fixing, and the limiting sleeve is fixed on the bending wire adjusting rotary table through a fastening piece.

6. The bronchoscope according to claim 5, wherein a threaded hole is formed in an end face of one end of the connecting shaft extending into the mounting cavity, and a shaft end bolt is connected in the threaded hole in a threaded manner;

a supporting end bearing is arranged between the nut of the shaft end bolt and the bending wire adjusting turntable, an inner ring of the supporting end bearing is connected with the connecting shaft, and an outer ring of the supporting end bearing is connected with the mounting seat; and a nut on the shaft end bolt is matched with the bending wire adjusting turntable to limit the axial movement of the support end bearing.

7. The bronchoscope according to claim 1, wherein a positioning shaft is arranged on the driving claw, the axis of the positioning shaft coincides with the rotation axis of the bending control component and the mounting seat, and the positioning shaft is used for butting a central positioning shaft hole on an external power end chuck;

the transmission claw is provided with at least one limiting clamping groove, and the limiting clamping groove is used for butting a positioning boss on an external power end chuck to transmit torque to drive the transmission claw to rotate.

8. The bronchoscope according to claim 7, wherein the driving claw is provided with a guiding cambered surface corresponding to the limiting clamping groove, and the limiting clamping groove is arranged at the guiding tail end position of the guiding cambered surface; the surface height of the guide cambered surface gradually decreases towards the position of the guide tail end so that an object abutting against the guide cambered surface slides to the position of the guide tail end under the guide of the guide cambered surface.

9. The bronchoscope according to claim 8, wherein the driving claw is provided with two groups of the limiting clamping grooves and the guiding cambered surfaces, and the two groups are symmetrically arranged on two sides of the positioning shaft respectively.

10. The bronchoscope of claim 9, wherein said mount is provided with an unlocking assembly, said unlocking assembly operable to unlock a relative position of said mount and an external power end mount with an external power end chuck mounted thereto when said drive dog is in a docked condition with said external power end chuck.

11. The bronchoscope according to claim 10, wherein said unlocking assembly comprises:

the locking cover plate is connected to the mounting seat, a locking position is arranged on the locking cover plate and used for locking the locking claw on the mounting seat of the external power end under the action of pretightening force, and when the locking claw of the external locking claw is locked on the locking position, the relative positions of the mounting seat of the external power end and the mounting seat are locked;

the locking push rod is slidably connected to the mounting seat, the locking push rod is located at the beginning end of the sliding stroke under the action of the elastic piece, and the locking push rod is pushed to leave the locking position under the action of the pretightening force by the action of the external locking claw in the process of overcoming the elastic resistance of the elastic piece to move to the end of the sliding stroke under the action of the external force.

12. The bronchoscope according to claim 1, wherein the mounting seat is further provided with an attraction injection channel, one end of the attraction injection channel is communicated with the internal channel, and the other end of the attraction injection channel is positioned outside the mounting seat and is provided with an attraction valve interface for butt joint of attraction injection equipment;

an instrument channel closing switch is arranged on the internal channel and used for closing the internal channel at the position of the instrument channel closing switch; the instrument channel closing switch is disposed on the interior channel and between the suction injection channel and the inlet of the instrument channel.

13. The bronchoscope according to claim 12, wherein said internal passageway comprises a three-way connector and a hose, three ports of said three-way connector respectively communicating with a proximal end of said forceps tube, an end of said suction injection passageway communicating with said internal passageway, an end of said hose, and an opposite end of said hose extending out of said mounting base and having an inlet fitting mounted thereto;

the instrument channel closing switch comprises a valve body and a valve core push rod, wherein the hose penetrates through a hose channel on the valve body, a push rod opening is formed in the side direction of the hose channel, the valve core push rod is connected to the valve body in a sliding mode, and one end of the valve core push rod can extend into the hose channel through the push rod opening and tightly press the hose to enable the hose channel in the hose to be closed; the other end of the valve core push rod is arranged outside the mounting seat.

14. The bronchoscope according to claim 1, wherein said mount is provided with a plurality of mount openings communicating with said mounting cavity and having members mounted therein, and a sealing structure is provided between said mount openings and said members therein for effecting a sealed connection of said openings and said members.

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