Endoscope with double-rotation positioning function and surgical robot system

Abstract

The embodiment of the invention relates to an endoscope with a dual-rotation positioning function. The endoscope comprises a supporting main body; the output transmission part is rotatably arranged on the supporting main body; the first driving interface is arranged on the supporting main body and is in transmission connection with the output transmission part through the first transmission mechanism; the second driving interface is arranged on the supporting main body and is in transmission connection with the output transmission part through a second transmission mechanism; when the first driving interface and the second driving interface are driven at the same time, mechanical interference is generated at the output transmission part through output rotating speed difference or driving direction conflict generated by the first transmission mechanism and the second transmission mechanism at the output transmission part, and the butt joint state of the endoscope is represented through driving load change caused by the mechanical interference. Therefore, the problem that the connection state cannot be detected through rotation blocking due to the fact that an existing endoscope supporting shaft does not have rotation limiting is effectively solved. The invention further provides a surgical robot system.

Description

Technical Field

[0001] This application relates to the field of medical surgical instruments, and in particular to an endoscope and surgical robot system with dual rotational positioning function. Background Technology

[0002] In minimally invasive surgical robotic systems, the endoscope typically serves as a core component providing the surgical field of view, mounted on the power interface of the robotic arm via a drive box at its end. To allow the surgeon to flexibly adjust the surgical field of view, the endoscope's support axis is usually designed to rotate continuously and infinitely 360° around its axis. To achieve this motion characteristic, the drive chain inside the endoscope typically lacks any physical rigid limiting structures to prevent obstruction of the field of view or cable damage during surgery due to rotation hitting the limiting points.

[0003] However, this design without hard limits presents a technical challenge for the automated docking of the endoscope and the robot's drive system. In conventional surgical instrument docking procedures, the robot system typically determines whether the instrument interface has been correctly positioned and locked by monitoring the load current of the drive motor. If the instrument has hard limits, the motor will "stalle" upon contacting the limit after the interface locks, causing a sudden change in current and providing a definite feedback signal to the system. However, for an endoscope that can rotate indefinitely, since there is no resistance along its rotation path, even if the drive interface has been coupled to the motor, the motor can still rotate smoothly under no-load conditions, making it impossible for the system to capture a clear current feedback characteristic to determine successful docking.

[0004] Current solutions typically rely on manual examination by medical staff or the addition of high-precision position sensors to the end effector of the robot. Manual examination reduces the efficiency of surgical preparation, while adding sensors significantly increases the hardware cost of the system and the difficulty of aseptic protection.

[0005] However, the inventors discovered at least the following technical problem in the related technology: how to achieve highly reliable adaptive docking detection using simple mechanical logic without changing the infinite rotation function of the endoscope. Summary of the Invention

[0006] One object of this application is to provide an endoscope and surgical robot system with dual rotational positioning function, at least to solve the above-mentioned problems.

[0007] To achieve the above objectives, some embodiments of this application provide an endoscope with dual rotational positioning function, including:

[0008] Supporting entity;

[0009] The output transmission component is rotatably mounted on the support body and is used to support and drive the endoscope body to rotate.

[0010] The first drive interface is located on the support body, and the first drive interface is connected to the output transmission component through the first transmission mechanism.

[0011] The second drive interface is located on the support body, and the second drive interface is connected to the output drive component through the second transmission mechanism.

[0012] The first transmission mechanism and the second transmission mechanism are configured such that when the first drive interface and the second drive interface are applied the same input speed, the output speed generated by the first transmission mechanism driving the output transmission component is greater than the output speed generated by the second transmission mechanism driving the output transmission component.

[0013] When the first drive interface and the second drive interface are driven simultaneously, mechanical interference is generated at the output transmission component due to the difference in output speed or the conflict in drive direction caused by the first transmission mechanism and the second transmission mechanism. The change in drive load caused by the mechanical interference is used to characterize the docking status of the endoscope.

[0014] Some embodiments of this application also provide a surgical robot system, including the endoscope with dual rotational positioning function provided in the foregoing embodiments.

[0015] Compared with related technologies, the solution provided in this application uses a first drive interface and a second drive interface to jointly drive the same output transmission component (endoscope support shaft) through a first transmission mechanism and a second transmission mechanism with different output speeds. These two drive interfaces are configured to simultaneously receive power from an external drive source. By utilizing the structural characteristics of "non-equal ratio dual transmission," mechanical interference is artificially created at the endoscope support shaft. When the external drive source does not drive according to the relationship that compensates for the difference in output speed, the inconsistency in displacement caused by the difference in output speed will cause motion conflict between the two transmission mechanisms at the output end (output transmission component), thereby transforming the "positioned state" of the mechanical connection into a drastic change in the load current of the drive source motor. This effectively solves the technical problem that existing endoscope support shafts cannot detect the connection status through "stalling" because they lack rotational limiters. Attached Figure Description

[0016] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0017] Figure 1 This is a schematic diagram of the structure of the endoscope provided in the embodiments of this disclosure;

[0018] Figure 2This is a partial structural schematic diagram of the endoscope provided in an embodiment of this disclosure;

[0019] Figure 3 This is another partial structural schematic diagram of the endoscope provided in the embodiments of this disclosure;

[0020] Figure 4 This is another partial structural schematic diagram of the endoscope provided in the embodiments of this disclosure.

[0021] Figure label:

[0022] 10: Support body; 20: Output transmission component; 30: Driven gear; 40: First drive interface; 50: Second drive interface; 60: First driving gear; 70: Second driving gear; 80: First intermediate gear; 90: Second intermediate gear. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0025] In this disclosure, the terms "upper," "lower," "inner," "middle," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for better description of the embodiments of this disclosure and their implementations, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to require them to be constructed and operated in a specific orientation. Furthermore, some of the aforementioned terms may be used to indicate other meanings besides orientation or positional relationship; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in the embodiments of this disclosure according to the specific circumstances.

[0026] Furthermore, the terms "set up," "connect," and "fix" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0027] Unless otherwise stated, the term "multiple" means two or more.

[0028] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0029] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0030] It should be noted that, unless otherwise specified, the embodiments and features described in the present disclosure can be combined with each other.

[0031] Combination Figures 1 to 4 As shown in the figure, an endoscope with dual rotation positioning function provided in this embodiment includes: a support body 10, an output transmission component 20, a first drive interface 40, a first transmission mechanism, a second drive interface 50, and a second transmission mechanism.

[0032] The output transmission component 20 is rotatably mounted on the support body 10 for carrying and driving the endoscope body to rotate. The first drive interface 40 is located on the support body 10 and is connected to the output transmission component 20 via a first transmission mechanism, and has a first transmission ratio. The second drive interface 50 is located on the support body 10 and is connected to the output transmission component 20 via a second transmission mechanism, and has a second transmission ratio. The first transmission ratio is less than the second transmission ratio. When the first drive interface 40 and the second drive interface 50 are driven simultaneously, mechanical interference is generated at the output transmission component 20 due to the difference between the first and second transmission ratios or the conflict of driving directions. The change in driving load caused by the mechanical interference is used to characterize the docking state of the endoscope.

[0033] The endoscope provided in this embodiment drives the same output transmission component (endoscope support shaft) through a first drive interface and a second drive interface, respectively via a first transmission mechanism and a second transmission mechanism with different output speeds. These two drive interfaces are configured to simultaneously receive power from an external drive source. Utilizing the structural characteristic of "non-uniform dual transmission," mechanical interference is artificially created at the endoscope support shaft. When the external drive source does not drive according to the relationship compensating for the difference in output speed, the inconsistency in displacement caused by the differentiated output speeds leads to motion conflict between the two transmission mechanisms at the output end (output transmission component), thereby transforming the "positioned state" of the mechanical connection into a drastic change in the load current of the drive source motor. This effectively solves the technical problem that existing endoscope support shafts cannot detect the connection status through "stalling" due to the lack of rotational limit.

[0034] This embodiment addresses the "lack of state awareness" problem inherent in existing single-drive interfaces during docking. In traditional single-interface structures, because the endoscope support shaft can rotate indefinitely, the external drive motor faces a stable and low-resistance load in both the "interface searching" and "successful docking" states. This prevents the control system from effectively distinguishing whether docking is successful through current signals, easily leading to low docking efficiency or mechanical damage. By introducing a first drive interface 40 and a second drive interface 50 with different transmission ratios (1:1 and 2:1), and utilizing an artificially created mechanical lock, the physical state of mechanical docking is transformed into a significant electrical signal characteristic (current mutation). This allows the surgical robot to accurately determine the endoscope's matching status through current changes. This not only improves the efficiency and reliability of adaptive matching between the endoscope and the surgical robot but also avoids continuous rotational damage caused by the inability to confirm success, ensuring the safe and stable operation of the surgical robot system.

[0035] In some embodiments, the support body 10 is a transmission box housing, and the first drive interface 40 and the second drive interface 50 are exposed on the surface of the transmission box housing; the output transmission component 20 is an endoscope support shaft, which is mounted on the transmission box housing through a bearing structure and is used to support the endoscope body.

[0036] The housing structure of the transmission box provides mechanical protection and a dustproof environment for the internal transmission mechanism. By exposing the drive interface on the surface, rapid mechanical coupling between the surgical robot's end effector and the endoscope transmission box is facilitated. Thus, the cooperation between the housing and bearings ensures that the endoscope support shaft maintains high axial and radial stability when carrying the endoscope body.

[0037] The endoscope achieves docking sensing through a mechanical structure within its transmission box, which includes a first drive interface 40, a second drive interface 50, and an endoscope support shaft. The first drive interface 40 is connected to the support shaft via a first transmission mechanism (a single-stage gear pair); the second drive interface 50 is connected to the same support shaft via a second transmission mechanism (a tertiary gear pair), and the two have different transmission ratios. Since the endoscope support shaft is configured without mechanical rotational limits, it can rotate infinitely clockwise or counterclockwise. During adaptive matching with the surgical robot, the two motors of the surgical robot's drive source are coupled to the first drive interface 40 and the second drive interface 50, respectively, and controlled to drive simultaneously, for example, using a drive strategy where one motor rotates forward and the other reverses. At this time, due to logical conflicts in the angular velocity or rotation direction generated by the first and second transmission mechanisms at the support shaft, mutual interference and constraints occur at the mechanical level, causing a surge in the load current of the drive motors at the moment the motors successfully dock and lock with the drive interfaces.

[0038] In some embodiments, the distances from the free end face of the first drive interface 40 and the free end face of the second drive interface 50 to the surface of the transmission housing are equal.

[0039] The distances from the free end faces of the first drive interface 40 and the second drive interface 50 to the surface of the transmission box housing are set to be equal. This means that, physically, the two drive knobs are at the same height relative to the plane of the transmission box; this helps to standardize and align the docking interfaces, eliminating the need for the drive motors at the end of the surgical robot to be designed with complex staggered arrangements to accommodate different interface heights; it simplifies the mechanical design complexity of the surgical robot's drive arm and ensures that the axial pressure and power coupling depth of the two drive interfaces remain consistent during automatic docking, thereby improving the reliability of instrument installation.

[0040] In some embodiments, the output transmission component 20 is rotatably mounted in the support body 10 via a bearing.

[0041] The output transmission component 20 (i.e., the endoscope support shaft) is rotatably mounted in the support body 10 via bearings. Specifically, rolling bearings or similar friction-reducing components are embedded at the connection between the support shaft and the support body 10 (such as a transmission box base or housing). By converting sliding friction into rolling friction, the frictional resistance and starting torque during the rotation of the endoscope support shaft are greatly reduced, enabling the surgical robot to achieve higher precision rotational control with less power consumption. Simultaneously, the use of bearings effectively reduces mechanical vibration and wear during rotation, ensuring smooth and seamless endoscope positioning during surgery.

[0042] Optionally, the output transmission component 20 is fixedly provided with a driven gear 30, and both the first transmission mechanism and the second transmission mechanism are connected to the driven gear 30 to drive the output transmission component 20 to rotate.

[0043] The endoscope support shaft serves as the output transmission component 20, with a driven gear 30 fixed to its shaft and rotating synchronously with it. The first drive interface 40 and the second drive interface 50 converge on the driven gear 30 through their respective independent transmission paths. By integrating dual power inputs into a single output end (output transmission component 20), two external drive sources can directly act on the same mechanical component, thereby directly applying mechanical conflicts arising from different transmission ratios or directions to the driven gear 30. This ensures more direct transmission of detection signals and more accurate feedback of connection status through changes in motor current.

[0044] Optionally, the first transmission mechanism includes: a first driving gear 60, which is coaxially fixedly disposed with the first drive interface 40, and the first driving gear 60 meshes with the driven gear 30 on the output transmission member 20; when the first drive interface 40 rotates in the first clockwise direction, the first transmission mechanism drives the output transmission member 20 to rotate in the second clockwise direction opposite to the first clockwise direction.

[0045] The first driving gear 60 directly meshes with the driven gear 30 on the output transmission component 20, forming a single-stage gear pair structure. When the first drive interface 40 rotates in the first clockwise direction (e.g., clockwise), due to the characteristics of the external meshing gear, it drives the output transmission component 20 to rotate in the opposite second clockwise direction (e.g., counterclockwise). By adopting a single-stage gear transmission, not only is the structure simple and the transmission efficiency high, but it also establishes the basic logic of opposite input and output directions, providing a definite reference phase for subsequently creating mechanical deadlock through dual-path conflict.

[0046] Optionally, the second transmission mechanism includes: a second driving gear 70, which is coaxially fixedly disposed with the second drive interface 50; and an intermediate transmission component disposed between the second driving gear 70 and the driven gear 30, so as to drive the second driving gear 70 and the driven gear 30 through the intermediate transmission component; when the second drive interface 50 rotates in the first clockwise direction, the second transmission mechanism drives the output transmission component 20 to rotate in the second clockwise direction opposite to the first clockwise direction.

[0047] In practical implementation, the power from the second drive interface 50 is transmitted to the driven gear 30 via an intermediate transmission assembly. When the second drive interface 50 rotates in the first clockwise direction, the second transmission mechanism similarly drives the output transmission component 20 to rotate in the opposite second clockwise direction. By introducing the intermediate transmission assembly, the same steering logic as the first transmission mechanism is achieved, meaning that the two transmission chains have a consistent rotational direction response at the physical level. This consistency in rotational direction means that when a conflict needs to be created, it is only necessary to control the two drive sources to output torque in opposite directions to achieve an effective mechanical lock-up effect.

[0048] Optionally, the intermediate transmission assembly includes a first intermediate gear 80 and a second intermediate gear 90 that mesh with each other. The second transmission mechanism is composed of a second driving gear 70, a first intermediate gear 80, a second intermediate gear 90 and a driven gear 30 meshing in sequence, forming a three-stage gear pair.

[0049] A 2:1 transmission ratio (the ratio of input speed to output speed) is achieved through three-stage gear meshing. At the same time, the three meshings (an odd number of times) ensure that the power output direction is opposite to the input direction. This allows the second transmission mechanism to achieve a difference in speed ratio while forming a physical basis for cooperation or resistance with the first transmission mechanism in the direction of rotation.

[0050] In some embodiments, the number of teeth of both the first intermediate gear 80 and the second intermediate gear 90 is greater than the number of teeth of the second driving gear 70.

[0051] Within the limited space of the transmission box, a 2:1 transmission ratio is achieved by adjusting the gear ratio of the intermediate gear. This ensures that when the second drive interface 50 rotates by the same angle, the displacement generated is much smaller than that of the first drive interface 40. This significant angular displacement deviation is key to creating "speed lock-up," ensuring that even when the two drive motors rotate in the same direction, sufficient current feedback signals can be generated due to speed ratio conflicts.

[0052] In some embodiments, the gears of the first transmission mechanism and the second transmission mechanism are both mounted on the support body 10 via rotating shafts.

[0053] The support body 10 and the rotating shaft provide stable mechanical rigidity for the gears of the transmission mechanism, ensuring that each gear can withstand instantaneous high torque loads without disengaging or deforming when mechanical interference (i.e., deadlock) occurs. This ensures that sudden changes in motor current during detection are entirely due to mechanical conflict rather than structural failure, thereby improving the reliability and repeatability of state sensing.

[0054] Optionally, when the speed ratio of the external drive source applied to the first drive interface 40 and the second drive interface 50 is greater than or less than the output speed ratio between the first transmission mechanism and the second transmission mechanism (i.e., deviating from the inherent speed ratio correspondence), or when the external drive source applied to the first drive interface 40 and the second drive interface 50 has opposite driving directions, the first transmission mechanism and the second transmission mechanism will generate a mechanical deadlock at the output transmission component 20, causing the endoscope to be in docking detection mode; at this time, the motion obstruction caused by the deadlock will cause a significant change in the load parameters of the drive motor (such as the current value), and the system will determine that the drive interface has been successfully docked and locked.

[0055] When the external drive source applies the same driving direction to the first drive interface 40 and the second drive interface 50, and the applied speed ratio is configured to compensate for the output speed difference between the first transmission mechanism and the second transmission mechanism, the first transmission mechanism and the second transmission mechanism work together to drive the output transmission component 20 to rotate, so that the endoscope is in normal operating mode. In this mode, the two power flows achieve motion synchronization at the output end, eliminating mechanical interference and ensuring that the endoscope can rotate smoothly.

[0056] This embodiment achieves adaptive switching of the endoscope mode by applying motion control to the first drive interface 40 and the second drive interface 50 through an external drive source. This embodiment cleverly utilizes the redundancy constraints within the mechanical system, and can realize two completely different functional logics of detection and execution through pure algorithm control, without the need for additional physical clutches or sensors, thus reducing the overall complexity and cost.

[0057] This disclosure also provides a surgical robot system, characterized in that it includes an endoscope with dual rotational positioning function as provided in the above embodiments.

[0058] Optionally, the surgical robot system also includes a drive source having a first motor and a second motor, the first motor being drivenly connected to a first drive interface 40 and the second motor being drivenly connected to a second drive interface 50; the drive source is configured to switch the endoscope between a docking detection mode and a normal operation mode by adjusting the output parameters of the first motor and the second motor.

[0059] The system also includes a drive source with a first motor and a second motor, wherein the first motor is connected to a first drive interface 40 and the second motor is connected to a second drive interface 50. In specific implementations, the drive source is configured to control the endoscope to seamlessly switch between docking detection mode and normal operation mode by adjusting the output parameters (such as speed, direction, torque, etc.) of the first and second motors in real time. By translating the connection status perception of the mechanical structure into logical judgments of the electronic control system, fully automatic closed-loop control is achieved during the endoscopic instrument docking process. This not only improves the automation level of the surgical robot system but also ensures the accuracy and safety during the switching of surgical operation modes.

[0060] In some embodiments, in the docking detection mode, the drive source controls the first motor and the second motor to drive the first drive interface 40 and the second drive interface 50 in opposite rotational directions, causing a mechanical lock at the output drive shaft, thereby triggering a change in the load parameters of the first motor and / or the second motor to indicate successful docking of the first drive interface 40 and the second drive interface 50 with the drive source; in the normal operation mode, the drive source controls the first motor and the second motor to drive in the same rotational direction, and controls the speed ratio of the second motor and the first motor applied to the first drive interface and the second drive interface to compensate for the output speed difference between the first transmission mechanism and the second transmission mechanism, so as to eliminate mechanical interference and drive the endoscope to rotate.

[0061] The specific operational logic of the endoscope in docking detection mode is as follows: the drive source controls the first motor and the second motor to synchronously drive their respective first drive interface 40 and second drive interface 50 in opposite rotational directions, thereby instantaneously generating directional torque opposition at the output drive shaft and forming a mechanical lock. At this time, the motion obstruction caused by the lock will cause a significant change in the load parameters (such as current value) of the first motor and / or the second motor. Based on this, the system determines that the first drive interface 40 and the second drive interface 50 have successfully docked with the drive source and achieved locking. This embodiment, taking advantage of the lack of physical rotation limit on the endoscope support shaft, uses the current pulse generated by the "directional lock" as a feedback signal, providing a more direct and reliable locking confirmation scheme than conventional position sensors, greatly improving the safety of endoscopic instrument installation.

[0062] In some embodiments, when entering normal operating mode, the drive source controls the first motor and the second motor to drive in the same direction of rotation, and controls the speed ratio of the two to compensate for the output speed difference between the first transmission mechanism and the second transmission mechanism (for example, the output speed ratio between the first transmission mechanism and the second transmission mechanism is 2:1, and the speed ratio of the two motors is controlled to be 1:2). Specifically, speed compensation eliminates the angular displacement difference between the two transmission paths, thereby offsetting mechanical lock-up and driving the endoscope body to rotate smoothly. In this way, not only is the lock-up state during the detection phase resolved to achieve smooth surgical operation, but the dual-path synchronous drive also improves the total torque output capability and positioning stiffness of the output transmission component 20, enhancing the motion control performance of the endoscope in minimally invasive surgery.

[0063] Optionally, the first drive interface 40 and the second drive interface 50 are concave or convex couplers, which are axially connected to the first motor and the second motor, respectively.

[0064] The first drive interface 40 and the second drive interface 50 (such as knobs on the surface of the transmission box) are configured as concave or convex couplers with specific geometries. These couplers can adopt structures such as cross-grooves, internal hexagons, star-shaped protrusions, or specific gear-shaped protrusions. Correspondingly, the output shafts of the first and second motors of the external drive source (such as the end effector of a surgical robot arm) are provided with matching ends of completely complementary shapes. During the installation adaptation phase, the drive source drives the motor axially toward the endoscope transmission box, so that the output end of the motor is directly embedded or sleeved with the coupler on the transmission box, thereby completing the axial docking and locking of the power.

[0065] This embodiment achieves high efficiency in power transmission and stable connection through the interlocking mechanical features. This coupling structure has excellent self-alignment characteristics, automatically correcting minor positional deviations during axial docking, ensuring that torque is transmitted from the motor to the internal transmission mechanism without loss and with precision. Simultaneously, the axial docking design simplifies the assembly logic of the surgical robot, enabling medical personnel to quickly replace and install endoscopic instruments through simple "plug-and-play" actions.

[0066] In some embodiments, the output transmission member 20 can rotate continuously 360° relative to the support body 10; the endoscope does not have a mechanical hard limit structure on the rotation path of the output transmission member 20, and the feedback of the connection state depends only on the change in drive load caused by mechanical deadlock.

[0067] The mechanical structure design inside the transmission housing eliminates any form of physical stops, pins, or interference ribs, thus allowing the endoscope support shaft and the endoscope body it carries to rotate freely under power without angular limitations. In this structure, the endoscope does not rely on physical collisions to confirm its position or status; instead, the feedback of the connection status is entirely based on the changes in drive load caused by the artificial mechanical lock-up between the first and second transmission mechanisms.

[0068] This embodiment utilizes a sudden change in drive load generated by dual-path differential interference to provide a highly reliable electronic feedback mechanism for infinitely rotating instruments. This not only enables precise sensing and identification of the docking status but also avoids mechanical damage that physical hard limits may cause under high speed or high torque, thus extending the service life of the instrument.

[0069] Furthermore, under the same input speed, the output speed generated by the first transmission mechanism driving the output transmission component is preferably 1.5 to 3 times the output speed generated by the second transmission mechanism driving the output transmission component.

[0070] By setting the output speed difference within this range, the detection sensitivity and drive smoothness can be balanced. If the ratio difference is too small, the current surge during docking detection may not be significant enough and is easily affected by system noise; if the difference is too large, the requirements for motor synchronization compensation accuracy in normal operation mode are too high.

[0071] For example, in a preferred embodiment, the transmission ratio (input speed / output speed) of the first transmission mechanism is set to 1:1, and the transmission ratio (input speed / output speed) of the second transmission mechanism is set to 2:1. This means that when the first drive interface rotates one revolution, the output transmission component rotates one revolution synchronously; while when the second drive interface rotates one revolution, the output transmission component only rotates half a revolution. In detection mode, if the surgical robot drives the two drive interfaces at the same speed, it will directly generate twice the displacement difference and cause instantaneous deadlock; in operation mode, simply controlling the input speed of the second drive interface to be twice that of the first drive interface is sufficient to achieve coordinated rotation.

[0072] The endoscope and surgical robot system provided in this embodiment has a core transmission logic in which two sets of transmission mechanisms with differentiated transmission characteristics jointly drive the same output end (output transmission component 20). Specifically, the endoscope transmission box is equipped with an endoscope support shaft, which serves as the output transmission component 20, and a driven gear 30 is fixed on the shaft. The first drive interface 40 is connected to the driven gear 30 through a first transmission mechanism, while the second drive interface 50 is connected to the same driven gear 30 through a second transmission mechanism. In terms of mechanical limiting, the endoscope support shaft is configured to rotate 360 ​​degrees continuously and infinitely within the transmission box without any physical stops or hard limiting structures. While this design ensures the flexibility of the endoscope rotation during surgery, it also leads to the inability to sense and identify the docking status during docking due to the constant load resistance in traditional single-motor drive schemes.

[0073] For example, to achieve precise feedback on the docking status, this embodiment precisely configures the speed ratio and rotation direction of the two transmission mechanisms. The first transmission mechanism consists of a first driving gear 60 coaxially arranged with the first drive interface 40 and a driven gear 30 on the endoscope support shaft. Since the first driving gear 60 and the driven gear 30 are a single-stage gear pair with direct external meshing, their transmission directions are opposite, and the first transmission ratio is set to 1:1. This means that when the first drive interface 40 rotates clockwise one revolution, the endoscope support shaft will synchronously rotate counterclockwise one revolution.

[0074] The second transmission mechanism employs a three-stage gear pair structure, designed to achieve a 2:1 transmission ratio and maintain the same steering logic as the first transmission mechanism. Specifically, the second transmission mechanism includes a meshing second driving gear 70, a first intermediate gear 80, a second intermediate gear 90, and a driven gear 30 fixed to the support shaft. In this embodiment, the number of teeth on the driven gear 30 is set to twice the number of teeth on the second driving gear 70.

[0075] Each time an external engagement occurs, the rotation direction reverses. The first transmission mechanism engages once, with the output direction opposite to the input. The second transmission mechanism engages three times: the second driving gear 70 drives the first intermediate gear 80 (in reverse), the first intermediate gear 80 drives the second intermediate gear 90 (returning to the forward direction), and the second intermediate gear 90 drives the driven gear 30 (again in reverse). This odd-numbered engagement arrangement ensures that when the second drive interface 50 inputs clockwise, it also drives the support shaft to rotate counterclockwise. This consistency in direction is a prerequisite for creating "directional lock-up" and also lays the foundation for speed compensation in normal operating mode.

[0076] With the above structure, in the docking detection mode, the external drive source (surgical robot motor) controls the first drive interface 40 and the second drive interface 50 to rotate in opposite directions. Even if both the first drive interface 40 and the second drive interface 50 are docked in place, the reverse torque generated on the output transmission component 20 will instantly cause mechanical lock-up because they attempt to rotate the same output transmission component 20 in opposite directions. This leads to a sudden change in motor current, and the system determines that the drive source and drive interface have successfully docked. In normal operation mode, the drive source controls the two motors to rotate in the same direction, and controls the speed of the second drive motor to be twice that of the first drive motor. At this time, the two power flows achieve angular velocity matching at the output transmission component 20 (support shaft), eliminating interference and thus achieving the effect of smooth rotation of the endoscope through dual-path collaborative driving.

[0077] In some optional embodiments, in the three-stage gear pair of the second transmission mechanism, one of the first-stage gears (such as the first intermediate gear 80) is designed as a double-plate misaligned gear, and a torsion spring is used to generate a circumferential force, so that the two tooth surfaces respectively engage with the left and right tooth grooves of the driven gear 30. Since this embodiment involves multi-stage transmission (three-stage gear pair), the cumulative backlash between the gears will affect the positioning accuracy of the endoscope in normal operating mode. By adding the aforementioned backlash elimination mechanism, the backlash error caused by multi-stage meshing can be offset, ensuring that in minimally invasive surgery, when the motor speed is precisely matched, the rotational following ability of the endoscope is stronger, avoiding lag.

[0078] In some optional embodiments, the contact surface of the concave or convex coupler is designed as a helical ramp or conical guide surface with a preset tilt angle, and a miniature compression spring is provided at the axial end of the coupler. In specific implementations, when the external drive source presses downward, the guide surface can guide the interface to automatically slide into the correct position with a slight radial deviation. This embodiment improves the success rate of "blind insertion" of the surgical robot in the preoperative preparation stage, reduces the docking resistance caused by misalignment of the mechanical interface, and also provides physical certainty for subsequent determination of complete docking by current surge.

[0079] In some optional embodiments, O-rings are provided at the connections between the first drive interface 40, the second drive interface 50, and the transmission housing, and medical-grade damping grease is injected into the bearing position of the endoscope support shaft. This sealing structure ensures that the gear set inside the transmission housing remains lubricated after repeated high-temperature, high-pressure sterilization or chemical disinfection, preventing liquid infiltration that could cause rusting of metal parts. Simultaneously, the introduction of damping grease can compensate for minor vibrations between the gears, resulting in smoother endoscope rotation during normal operation, avoiding electromagnetic interference to the video signal caused by high-frequency vibrations of the metal gears, and improving the stability of intraoperative images.

[0080] This disclosure also provides a method for detecting the docking status of an endoscope, applied to the endoscope with dual rotation positioning function provided in the above embodiments. The detection method includes the following steps: controlling the first motor and the second motor, which are respectively connected to the first drive interface 40 and the second drive interface 50, to start simultaneously, and causing the output speed or rotation direction generated by the first transmission mechanism and the second transmission mechanism on the output transmission component to conflict; monitoring the load parameters (current parameters) of the first motor / second motor; when the load parameters exceed a preset threshold, determining that the endoscope and the external drive source have completed docking and positioning.

[0081] The surgical robot's control system first synchronously starts the first and second motors, which are coupled to the endoscope's first drive interface 40 and second drive interface 50, respectively. During startup, the control system adjusts the output parameters of the two motors using an adaptive algorithm, causing a difference in angular velocity or a logical conflict in rotation direction between the two power flows on the jointly driven output transmission component 20 (such as the endoscope support shaft). During this process, the system monitors the load parameters (such as operating current) of the first or second motor in real time and compares them with a pre-set safety threshold. Once the system detects that the load parameters, such as current, exceed the preset threshold due to mechanical lock-up, it determines that the endoscope and the drive source (the surgical robot's power end) have completed mechanical docking and positioning.

[0082] In some embodiments, the rotation directions of the first motor and the second motor are controlled to be opposite, and mechanical deadlock is created by the reverse torque generated on the output transmission member 20 by the first transmission mechanism and the second transmission mechanism.

[0083] Because the rotational logic of the first and second transmission mechanisms inside the endoscope in applying torque to the output transmission component 20 is consistent, when the first and second motors rotate in opposite directions, they generate opposing torques in the output transmission component 20, thus creating a strong physical mechanical deadlock. This deadlock state, formed by "torque counteraction," can generate extremely high-amplitude load current surges, providing the system with a characteristic signal with a high signal-to-noise ratio. Compared to simple speed differences, the current surge caused by this directional deadlock is more dramatic and easier to detect, greatly enhancing the anti-interference capability of adaptive docking detection and ensuring the determinism of the surgical robot's judgment results during the preoperative preparation stage.

[0084] In some optional embodiments, the system not only monitors whether the current exceeds a preset threshold, but also records and analyzes the slope (rise rate) and fluctuation frequency characteristics of the current surge during each docking test through a control algorithm. With increased use, gear wear leads to increased meshing clearance, thereby altering the load characteristics at the moment of deadlock. Through in-depth recording of current parameters, the device can achieve predictive maintenance. When the dynamic characteristics of the current surge deviate from the baseline model, the system can issue an early warning of instrument wear to the user, avoiding the risk of power failure due to gear fatigue and tooth breakage during surgery, thus improving system safety.

[0085] For example, the docking detection scenario is as follows: preoperative adaptive matching and lock confirmation.

[0086] During the equipment preparation phase before surgery, medical staff need to install the endoscope drive box onto the end of the surgical robot's robotic arm. Because the first drive interface 40 and second drive interface 50 of the drive box typically use a blind-plug docking method with the robot's drive sources (first motor and second motor), incomplete gear engagement is highly likely. At this point, the system enters a docking detection scenario, and the robot control unit simultaneously starts the first and second motors.

[0087] Because the output transmission component 20 (the endoscope's support shaft) has the characteristic of 360° infinite continuous rotation without hard limits, in this scenario, the system utilizes the transmission difference between the output speed of the first transmission mechanism connected to the first drive interface 40 and the output speed of the second transmission mechanism connected to the second drive interface 50 to intentionally control the first and second motors to rotate in opposite directions or at mismatched speed ratios. If docking is successful, the two transmission mechanisms will generate severe torque conflict or speed clash at the same output transmission component 20 (support shaft), creating a mechanical deadlock state. By monitoring the instantaneous change in the current of the first motor and / or the second motor (a surge to a preset threshold), the control system can accurately determine that the endoscope has been reliably locked to the drive source (robot power end), thereby completing the preoperative automatic calibration.

[0088] An example of normal operating mode: smooth intraoperative rotation and visual field control.

[0089] Once the system confirms successful docking, the endoscope switches to normal operating mode to support the actual procedures during surgery. In this scenario, the surgeon controls the robot via a console, instructing the endoscope to rotate to adjust the observation angle of the surgical field.

[0090] At this point, the surgical robot's drive source no longer creates conflict but instead executes a cooperative drive strategy. The first and second motors are controlled to rotate in the same direction. To eliminate mechanical lock-up, the system performs real-time speed compensation based on the hardware-preset output speed ratio. For example, when the output speed ratio of the first and second transmission mechanisms is 1:2, the control system will control the second motor to maintain a speed twice that of the first motor. Under this precise speed matching, the two power flows achieve motion synchronization at the support shaft, canceling out mechanical interference and allowing the support shaft to smoothly and seamlessly drive the endoscope to rotate. This dual-path drive not only achieves blind-spot-free field of view adjustment but also enhances the rotational positioning stiffness through redundant drive, ensuring the stability of the image during surgery.

[0091] The foregoing description and accompanying drawings fully illustrate embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included or substituted for parts and features of other embodiments. Embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims, and the foregoing embodiments should be considered exemplary and non-limiting.

Claims

1. An endoscope with dual rotation positioning function, characterized in that, include: Supporting entity; The output transmission component is rotatably mounted on the support body and is used to support and drive the endoscope body to rotate. The first drive interface is located on the support body, and the first drive interface is connected to the output transmission component through the first transmission mechanism. The second drive interface is located on the support body, and the second drive interface is connected to the output drive component through the second transmission mechanism. The first transmission mechanism and the second transmission mechanism are configured such that when the first drive interface and the second drive interface are applied the same input speed, the output speed generated by the first transmission mechanism driving the output transmission component is greater than the output speed generated by the second transmission mechanism driving the output transmission component. When the first drive interface and the second drive interface are driven simultaneously, mechanical interference is generated at the output transmission component due to the difference in output speed or the conflict in drive direction caused by the first transmission mechanism and the second transmission mechanism. The change in drive load caused by the mechanical interference is used to characterize the docking status of the endoscope.

2. The endoscope according to claim 1, characterized in that, The output transmission component is fixedly equipped with a driven gear. Both the first transmission mechanism and the second transmission mechanism are connected to the driven gear to drive the output transmission component to rotate.

3. The endoscope according to claim 2, characterized in that, The first transmission mechanism includes: The first driving gear is fixedly mounted coaxially with the first drive interface, and the first driving gear meshes with the driven gear on the output transmission component; When the first drive interface rotates in the first clockwise direction, the first transmission mechanism drives the output transmission component to rotate in the second clockwise direction, which is opposite to the first clockwise direction.

4. The endoscope according to claim 2, characterized in that, The second transmission mechanism includes: The second drive gear is fixedly mounted coaxially with the second drive interface; An intermediate transmission assembly is disposed between the second driving gear and the driven gear to drive and connect the second driving gear and the driven gear through the intermediate transmission assembly; When the second drive interface rotates in the first clockwise direction, the second transmission mechanism drives the output transmission component to rotate in the second clockwise direction, which is opposite to the first clockwise direction.

5. The endoscope according to claim 4, characterized in that, The intermediate transmission assembly includes a first intermediate gear and a second intermediate gear that mesh with each other. The second transmission mechanism includes a second driving gear, a first intermediate gear, a second intermediate gear, and a driven gear meshing in sequence, forming a three-stage gear pair.

6. The endoscope according to claim 1, characterized in that, When the speed ratio of the external drive source applied to the first drive interface and the second drive interface is greater than or less than the output speed ratio between the first transmission mechanism and the second transmission mechanism, or when the external drive source applied to the first drive interface and the second drive interface has opposite driving directions, the first transmission mechanism and the second transmission mechanism will generate a mechanical deadlock at the output transmission component, so that the endoscope is in docking detection mode. When the external drive source applies the same drive direction to the first drive interface and the second drive interface and the applied speed ratio is configured to compensate for the output speed difference between the first transmission mechanism and the second transmission mechanism, the first transmission mechanism and the second transmission mechanism work together to drive the output transmission component to rotate, so that the endoscope is in normal operating mode.

7. The endoscope according to claim 1, characterized in that, Under the same input speed, the output speed generated by the first transmission mechanism driving the output transmission component is 1.5 to 3 times that of the output speed generated by the second transmission mechanism driving the output transmission component.

8. The endoscope according to any one of claims 1 to 7, characterized in that, The first and second drive interfaces are concave or convex couplers used for axial docking with an external drive source.

9. A surgical robot system, characterized in that, Including an endoscope with dual rotation positioning function as described in any one of claims 1 to 8.

10. The surgical robot system according to claim 9, characterized in that, It also includes a drive source having a first motor and a second motor, wherein the first motor is connected to a first drive interface and the second motor is connected to a second drive interface. The drive source is configured to switch the endoscope between docking detection mode and normal operation mode by adjusting the output parameters of the first motor and the second motor.

Images