Electronic endoscope and surgical robot

Abstract

The present invention discloses an electronic endoscope and a surgical robot, comprising: a housing; a lens holder installed in the housing, the lens holder including a seat body, two first mounting holes provided on the seat body, and a first mounting groove and a second mounting groove recessed in the seat body and respectively communicating with the two first mounting holes; a first lens and a second lens for being respectively installed in the two first mounting holes; a PCB board installed in the housing; a first image sensor and a second image sensor, the two image sensors being fixed on the PCB board, and the first image sensor and the second image sensor being used for being respectively installed in the first mounting groove and the second mounting groove so that the distance between the first lens and the first image sensor is equal to the distance between the second lens and the second image sensor. The present invention can prevent the inconsistent installation positions between different image sensors, thereby avoiding the phenomenon that the images received by different image sensors are inconsistent.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to an electronic endoscope and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with the traditional surgical method, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. Currently, the electronic endoscopes used in the process of minimally invasive surgery include structures such as dual lenses and dual image sensors disposed on a PCB board. However, due to its small volume, the assembly requirements for the dual lenses, dual image sensors, and PCB board at the front end are relatively high. If there is a positional deviation between the two image sensors during installation, the distance between each lens and its corresponding image sensor will be inconsistent. In this way, the images received by the two image sensors will be inconsistent, which will affect the imaging effect and further reduce the safety of doctors during the operation using the electronic endoscope. Summary of the Invention

[0003] The main purpose of the present invention is to provide an electronic endoscope and a surgical robot, aiming to solve the technical problem that in the existing electronic endoscope during assembly, due to the inconsistent installation positions of each image sensor, the images received by different image sensors are inconsistent, which affects the imaging effect.

[0004] To achieve the above purpose, the present invention provides an electronic endoscope, including:

[0005] A housing;

[0006] A lens holder, installed in the housing, the lens holder includes a seat body, two first mounting holes provided on the seat body, and a first mounting groove and a second mounting groove recessed on the seat body and respectively communicating with the two first mounting holes;

[0007] A first lens and a second lens, used to be respectively installed into the two first mounting holes;

[0008] A PCB board, installed in the housing;

[0009] A first image sensor and a second image sensor, the two image sensors are fixed on the PCB board, and the first image sensor and the second image sensor are used to be respectively installed into the first mounting groove and the second mounting groove so that the distance between the first lens and the first image sensor is equal to the distance between the second lens and the second image sensor.

[0010] Preferably, the lens holder further includes a heat-conducting boss protruding from the seat body. The seat body has a first side surface connected to the heat-conducting boss and a second side surface facing away from the heat-conducting boss and opposite to the first side surface. The first mounting hole penetrates through the first side surface and the second side surface.

[0011] Preferably, the seat body extends from the edge of the second side surface in a direction away from the first side surface to form a first extension portion. The PCB board has an abutting surface adapted to the first extension portion, and the first extension portion is used to abut against the abutting surface.

[0012] Preferably, the PCB board is a double-layer PCB structure or a T-shaped structure.

[0013] Preferably, the first lens and / or the second lens includes a lens body having a central axis and a stop portion. The stop portion is formed by the lens body protruding from one end away from the lens holder in a direction away from the central axis. The stop portion has a first abutting surface on the side close to the lens holder, and the first abutting surface is used to limit the lens when the lens body penetrates into the first mounting hole and abuts against the lens holder.

[0014] Preferably, the image acquisition unit further includes a lens hood for fastening to the lens holder. The lens hood includes a hood body. The hood body has an outer side surface on the side away from the lens holder and an inner side surface on the side close to the lens holder. The lens hood is provided with a second mounting hole corresponding to the position of the first mounting hole and used for receiving the stop portion. The second mounting hole penetrates through the outer side surface and the inner side surface.

[0015] Preferably, the stop portion has a second abutting surface on the side away from the lens holder. The second mounting hole has a center, and the outer side surface extends a limiting portion in the direction of the center at the position corresponding to the second mounting hole. The stop portion is used to be mounted in the second mounting hole so that the second abutting surface abuts against the limiting portion.

[0016] Preferably, a heat-conducting boss protrudes from the seat body and a light source is provided on the heat-conducting boss. The lens hood further includes a receiving groove for accommodating the light source and the heat-conducting boss. The receiving groove penetrates through the outer side surface and the inner side surface.

[0017] Preferably, the hood body extends from the edge of the inner side surface in a direction away from the outer side surface to form a fastening portion. The fastening portion and the inner side surface enclose a receiving space, and the fastening portion is used to be fastened to the seat body to receive the lens, the light source, and the heat-conducting boss in the receiving space.

[0018] Preferably, a heat-conducting boss protrudes from the base body, and the image acquisition unit further includes a light source disposed on the heat-conducting boss, and the heat-conducting boss is used to conduct the heat generated by the light source.

[0019] Preferably, the heat-conducting boss includes a substrate connected to the base body and a fixing groove recessed in the substrate. The fixing groove is recessed from one side of the substrate away from the lens holder towards the side close to the lens holder, and the fixing groove is used to mount and fix the light source.

[0020] Preferably, the heat-conducting boss includes a substrate connected to the base body and an aluminum plate fixed on the substrate, and the aluminum plate is used to mount and fix the light source.

[0021] Preferably, the image acquisition unit further includes a shielding cover for engaging with the lens holder. The shielding cover and the lens holder enclose a receiving space to accommodate the PCB board.

[0022] Preferably, the base body has a first side surface and a second side surface disposed opposite to each other. The base body extends from the edge of the second side surface in a direction away from the first side surface to form a first extension portion; the shielding cover includes a main body and a second extension portion extending from the edge of the main body towards the lens holder, and the first extension portion and the second extension portion are engaged.

[0023] Preferably, the shielding cover further includes a shielding plate located at one end of the main body away from the lens holder, and a through hole for a connecting wire to pass through is provided on the shielding plate.

[0024] Preferably, a thin wire hole is further provided on the shielding plate, and the image acquisition unit further includes a signal ground wire, and the thin wire hole is used for the signal ground wire to pass through.

[0025] Preferably, the image acquisition unit further includes a shielding cover connected to the lens holder, a first heat pipe connected to the shielding cover, and a first heat sink connected to the first heat pipe; the shielding cover has a first outer side wall, and a first receiving groove is recessed in the first outer side wall, and the first receiving groove is used to receive the first end of the first heat pipe; a first accommodating groove is recessed in the first heat dissipation portion, and the first accommodating groove is used to receive the second end of the first heat pipe.

[0026] Preferably, the image acquisition unit further includes a second heat pipe connected to the shielding cover and disposed opposite to the first heat pipe, and a second heat sink disposed opposite to the first heat sink; the shielding cover further has a second side wall disposed opposite to the first outer side wall, and a second receiving groove is recessed in the second side wall, and the second receiving groove is used to receive the first end of the second heat pipe; a second accommodating groove is recessed in the second heat sink, and the second accommodating groove is used to receive the second end of the second heat pipe.

[0027] Preferably, the first heat sink includes a first body and a first extension piece extending from the first body towards the lens holder, and the first receiving groove is provided on the first extension piece; the second heat sink includes a second body and a second extension piece extending from the second body towards the lens holder, and the second receiving groove is provided on the second extension piece.

[0028] Preferably, a first wire groove is recessed on the inner side of the first body, and / or a second wire groove is recessed on the inner side of the second body; the image acquisition unit further includes a connecting wire connected to the PCB board, and the first wire groove or the second wire groove is used for the connecting wire to pass through.

[0029] Preferably, the first body is used to be mounted on the second body, so that the first wire groove and the second wire groove are combined to form a wire passing groove for the connecting wire to pass through.

[0030] Preferably, the second body protrudes with a limiting portion towards the direction close to the first body, and the first body is provided with a limiting groove at a position corresponding to the limiting portion. The limiting portion is used to limit the second body from moving towards the lens holder direction or away from the lens holder direction when being mounted in the limiting groove.

[0031] Preferably, the shielding cover is located between the first heat pipe and the second heat pipe, and the first heat pipe and the second heat pipe are located between the first heat sink and the second heat sink.

[0032] Preferably, a liquid refrigerant is contained in the first heat pipe and / or the second heat pipe, or the first heat pipe and / or the second heat pipe is a copper pipe.

[0033] Preferably, the first heat sink and / or the second heat sink is tightly connected to the housing.

[0034] Preferably, the image acquisition unit further includes an insulating cover sleeved on the lens holder and the shielding cover, and the housing is sleeved on the insulating cover.

[0035] Preferably, the insulating cover includes an insulating cavity connected to the shielding cover and the housing, an insulating surface located at one end of the insulating cavity away from the lens holder and closing the insulating cavity, and a hollow tube extending from the insulating surface towards the direction away from the lens holder. The hollow tube is used for the connecting wire connected to the PCB board to pass through.

[0036] Preferably, the image acquisition unit further includes a connection portion provided at one end of the housing away from the lens holder. The electronic endoscope further includes a driving mechanism and a joint assembly connected to the connection portion and the driving mechanism. The joint assembly is configured to bend under the driving action of the driving mechanism to drive the image acquisition unit to move. The electronic endoscope further includes an outer heat-conducting flexible tube connected to the housing and covering the joint assembly for heat conduction.

[0037] Preferably, the image acquisition unit further includes a connection line connected to the PCB board. The first end of the connection line is located inside the housing, and the second end of the connection line is located inside the driving mechanism. The electronic endoscope further includes an inner heat-conducting flexible tube covering the connection line.

[0038] Preferably, the driving mechanism includes a driving portion and a driving wire. One end of the driving wire is connected to the driving portion, and the other end is connected to the joint assembly. The second end of the connection line is located inside the driving portion, and the portion between the first end and the second end of the connection line is located inside the joint assembly.

[0039] Preferably, the electronic endoscope further includes a tube body portion with one end connected to the driving portion and the other end connected to the joint assembly. The driving wire and the connection line respectively pass through the tube body portion and are connected to the driving portion.

[0040] Preferably, the outer heat-conducting flexible tube and / or the inner heat-conducting flexible tube is a mesh tube woven from metal wires.

[0041] To achieve the above object, the present invention further provides a surgical robot, which includes the electronic endoscope as described above.

[0042] For the electronic endoscope and the surgical robot provided by the present invention, by recessing an installation groove in the seat body of the lens holder, providing a PCB board, and two image sensors fixed on the PCB board, and then correspondingly installing the two image sensors in the first installation groove and the second installation groove, it is possible to prevent the inconsistent installation positions between different first image sensors and second image sensors, thereby avoiding the phenomenon that the images received by different image sensors are inconsistent, and further improving the safety of doctors during the operation using the electronic endoscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a partial exploded structural schematic diagram of the first embodiment of the electronic endoscope of the present invention;

[0044] Figure 2 It is Figure 1 the assembled structural schematic diagram of;

[0045] Figure 3 Schematic diagram of the partial assembly structure of the second embodiment of the electronic endoscope of the present invention;

[0046] Figure 4 is Figure 3 Schematic cross-sectional view of the complete structure of the electronic endoscope in;

[0047] Figure 5 Schematic diagram of the assembly structure of the third embodiment of the electronic endoscope of the present invention;

[0048] Figure 6 is Figure 1 Schematic top view structure diagram of the lens holder in;

[0049] Figure 7 is Figure 1 Schematic bottom view structure diagram of the lens holder in;

[0050] Figure 8 is Figures 1 to 5 Schematic diagram of the partial structure of an embodiment of any electronic endoscope in;

[0051] Figure 9 is Figures 1 to 5 Schematic diagram of the partial structure of another embodiment of any electronic endoscope in;

[0052] Figure 10 is Figures 1 to 5 Schematic diagram of the structure of the first embodiment of the PCB board of any electronic endoscope in;

[0053] Figure 11 is Figures 1 to 5 Schematic diagram of the structure of the second embodiment of the PCB board of any electronic endoscope in;

[0054] Figure 12 is Figures 1 to 5 Schematic diagram of the structure of an embodiment of the shielding cover of any electronic endoscope in;

[0055] Figure 13 is Figures 1 to 5 Schematic diagram of the structure of the insulating cover of any electronic endoscope in;

[0056] Figure 14 is Figures 1 to 5 Schematic diagram of the structure of the lens of any electronic endoscope in;

[0057] Figure 15 is Figures 1 to 5 Schematic diagram of the structure of the lens cover and the lens of any electronic endoscope in;

[0058] Figure 16 is Figure 2 Schematic cross-sectional view along line A-A in;

[0059] Figure 17 is Figure 5 partial assembled structure schematic diagram of

[0060] Figure 18 is Figure 17 structure schematic diagram from another angle;

[0061] Figure 19 is Figure 5 partial exploded structure schematic diagram of

[0062] Figure 20 is Figure 19 exploded structure schematic diagram of the heat dissipation part in

[0063] Explanation of the reference numerals in the drawings:

[0064]

[0065]

[0066] The realization, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the drawings. Detailed implementation manners

[0067] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0068] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0069] In the present invention, unless otherwise clearly defined and limited, the terms "connection", "fixation", etc. shall be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0070] In addition, in the present invention, descriptions such as "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments may be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0071] The present invention provides a surgical robot, which includes a master console and a slave operating device. The master console is used to send control commands to the slave operating device according to the operations of a doctor to control the slave operating device; the slave operating device is used to respond to the control commands sent by the master console and perform corresponding surgical operations. The slave operating device includes a robotic arm, a power mechanism disposed on the robotic arm, and an operating arm. The operating arm is used to extend into the body under the driving action of the power mechanism, perform surgical operations through the end effector at its distal end, and obtain internal images through the electronic endoscope at its distal end. The master console is also used to display the images obtained by the electronic endoscope.

[0072] As Figure 1 and Figure 2 shown, the present invention provides an electronic endoscope 100, and the electronic endoscope 100 may be a bendable structure or a non-bendable structure. As Figure 3 and Figure 4 shown, when the electronic endoscope 100 is a bendable structure, the electronic endoscope 100 may include an image acquisition unit 12, a joint assembly 13 connected to the image acquisition unit 12, an outer heat-conducting flexible tube 162 wrapped around the joint assembly 13 and connected to the image acquisition unit 12, and a driving mechanism (not shown in the figure) connected to the joint assembly 13.

[0073] Furthermore, as Figure 4 shown, the image acquisition unit 12 includes a housing 1, a light source assembly 3 disposed in the housing 1, a PCB board 6, a connection line 17 connected to the PCB board 6, and a connection portion 11 provided at one end of the housing 1 away from the light source assembly 3 and connected to the joint assembly 13. The driving mechanism includes a driving portion 14 and a driving wire 18 with one end connected to the driving portion 14 and the other end connected to the joint assembly 13. Among them, the first end of the connection line 17 is connected to the PCB board 6, the second end of the connection line 17 is located in the driving portion 14, and the portion between the first end and the second end of the connection line 17 is located in the joint assembly 13.

[0074] In this embodiment, the driving part 14 drives the joint assembly 13 to bend, thereby driving the image acquisition part 12 to move. In one embodiment, the outer heat-conducting flexible tube 162 can be connected to the housing 1, and in another embodiment, the outer heat-conducting flexible tube 162 can be connected to the connecting part 11. The heat generated by the light source assembly 3 is conducted through the outer heat-conducting flexible tube 162 wrapped around the joint assembly 13.

[0075] Furthermore, the electronic endoscope further includes an inner heat-conducting flexible tube 161 wrapped around the connection wire 17. The length of the inner heat-conducting flexible tube 161 is not limited in this embodiment. It can extend into the housing 1 and be connected to the PCB board 6, or it can extend into the housing 1 without being connected to the PCB board 6, or it can not extend into the housing 1. The specific setting method can be reasonably selected according to actual needs.

[0076] It can be understood that it is possible to choose to only set the inner heat-conducting flexible tube 161, or to only set the outer heat-conducting flexible tube 162, or to set both the inner heat-conducting flexible tube 161 and the outer heat-conducting flexible tube 162 at the same time. When both the inner heat-conducting flexible tube 161 and the outer heat-conducting flexible tube 162 are set, the heat dissipation effect of the electronic endoscope 100 can be significantly improved through two-way heat conduction. Furthermore, both the inner heat-conducting flexible tube 161 and / or the outer heat-conducting flexible tube 162 are mesh tubes woven from metal wires. Of course, in other embodiments, the inner heat-conducting flexible tube 161 and / or the outer heat-conducting flexible tube 162 can be other flexible heat-conducting materials.

[0077] It can be understood that the joint assembly 13 is formed by connecting a plurality of identical connection units to form a bendable joint. The driving part 14 is connected to the joint assembly 13 through the driving wire 18, and by driving the elongation and contraction of the driving wires 18 connected to different connection units in the joint assembly 13, the joint assembly 13 is driven to bend, thereby driving the image acquisition part 12 to move.

[0078] In one embodiment, the joint assembly 13 can be provided with a tension spring (not shown in the figure) between the connection units, and the stretching direction of the tension spring is the same as the length direction of the driving wire 18. The stiffness of the joint assembly 13 is increased through the tension spring.

[0079] In another embodiment, the electronic endoscope can further include a tube body part 15 with one end connected to the driving part 14 and the other end connected to the joint assembly 13. The driving wire 18 and the connection wire 17 respectively pass through the tube body part and are connected to the driving part 14. The stiffness of the joint assembly 13 is increased through the supporting effect of the tube body part.

[0080] When the electronic endoscope 100 has a non-flexible structure, such as Figure 5 shown, the electronic endoscope may only include an image acquisition unit, without including structures such as the joint assembly 13 and the outer heat-conducting flexible tube 162. It can be understood that the electronic endoscope 100 may further include a rotation driving unit, and drive the image acquisition unit 12 to rotate along the central axis of the housing 1.

[0081] It can be understood that when the electronic endoscope 100 is flexible, it is applicable to single-port surgery; when the electronic endoscope 100 is non-flexible, it is applicable to multi-port surgery. Of course, it is not excluded that a flexible electronic endoscope 100 may also be selected for multi-port surgery. Specifically, the structure of the electronic endoscope 100 can be reasonably set according to actual needs.

[0082] Such as Figure 1 shown, in an embodiment, the image acquisition unit 12 further includes a lens holder 2 disposed in the housing 1 and used for installing the light source assembly 3, a lens cover 4 buckled to the lens holder 2 and used for accommodating the light source assembly 3, an image sensor 5 fixedly disposed in the lens holder 2 and fixedly connected to the PCB board 6 and close to one side of the light source assembly 3, a shielding cover 7 buckled and connected to the lens holder 2 on the side far from the lens cover 4, and an insulating cover 8 sleeved on the lens holder 2 and the shielding cover 7. The housing 1 is sleeved on the insulating cover 8. The specific structure of the above image acquisition unit 12 can constitute the front end portion of the image acquisition unit 12. It can be understood that heat-conducting glue can be filled in the accommodation space of the lens holder 2 and the shielding cover 7 to facilitate heat conduction.

[0083] In an embodiment, the inner heat-conducting flexible tube 161 may also be connected to the shielding cover 7 or extend into the heat-conducting glue in the shielding cover 7.

[0084] The housing 1 is a hollow cylindrical structure. Of course, in other embodiments, it can also be of other reasonable shapes. The material of the housing 1 can be stainless steel or the like. It can be understood that when the housing 1 is a hollow cylindrical structure, structures such as the lens hood 4, the lens mount 2, the shielding cover 7, and the insulating cover 8 can be adapted cylindrical structures. During specific installation, the light source assembly 3, the image sensor 5, and the PCB board 6 can be first fixed to the lens mount 2 to form a first module (not shown in the figure), then the lens hood 4 is snap-connected to the first module to form a second module (not shown in the figure), then the shielding cover 7 is snap-connected to the second module to form a third module (not shown in the figure), and finally the housing 1 is snap-connected to the third module to form the electronic endoscope 100. Optionally, the structure between adjacent modules is a tightly connected structure. For example, it can be a fixing method of interference fit. To further enhance the fixing strength between the modules, an adapted snap structure can be provided on the corresponding structure. In this way, the way of series assembly between the modules can improve the assembly efficiency of the electronic endoscope 100. Of course, in other embodiments, part of the structure of the light source assembly 3 and the lens hood 4 can be assembled together to form a first module (not shown in the figure), other structures of the light source assembly 3, the lens mount 2, the image sensor 5, the PCB board 6, and the shielding cover 7 can be assembled together to form a second module (not shown in the figure), the insulating cover 8 and the housing 1 can be assembled together to form a third module (not shown in the figure), and then the first module, the second module, and the third module are assembled together to form the complete electronic endoscope 100. In this way, by first assembling into different modules respectively, the assembly efficiency of the electronic endoscope 100 can also be improved.

[0085] As Figure 6 and Figure 7 shown, the lens mount 2 includes a base body 21, a heat-conducting boss 22 protruding from the base body 21, a first mounting hole 23 provided on the base body 21, and a mounting groove 24 recessed in the base body 21. Specifically, the base body 21 is recessed toward the heat-conducting boss 22 on the side away from the heat-conducting boss 22 to form the mounting groove 24. The position of the mounting groove 24 corresponds to the position of the first mounting hole 23. That is, the mounting groove 24 communicates with the first mounting hole 23. As Figure 8 shown, the light source assembly 3 includes a light source 32 provided on the base body 21 and a lens 33 for being installed in the first mounting hole 23.

[0086] Further, the image sensor 5 includes a first image sensor (not shown in the figure) and a second image sensor (not shown in the figure), and the mounting groove 24 includes a first mounting groove (not shown in the figure) for accommodating the first image sensor and a second mounting groove for accommodating the second image sensor. Correspondingly, the number of the first mounting holes 23 includes two, and the electronic endoscope 100 also includes a first lens and a second lens corresponding to the first image sensor and the second image sensor, respectively, and the first lens and the second lens are used to be installed in the two first mounting holes 23, respectively. When the first image sensor and the second image sensor are installed in the first mounting groove and the second mounting groove, respectively, the distance between the first lens and the first image sensor is equal to the distance between the second lens and the second image sensor.

[0087] During installation of this embodiment, the two image sensors 5 are first fixed on the PCB board 6, and then the two image sensors 5 are installed in the installation groove 24. This not only facilitates the installation of the image sensors 5, but also prevents the installation positions of different image sensors 5 from being inconsistent, thereby avoiding the phenomenon of inconsistent images received by different image sensors 5, thereby improving the safety of doctors when using the electronic endoscope 100 to perform surgery.

[0088] Further, refer to Figure 6 The seat body 21 has a first side surface 211 and a second side surface 212 which are arranged opposite to each other. Specifically, when the light source 32 is used as a reference, the first side surface 211 is a side close to the light source 32, and the second side surface 212 is a side away from the light source 32; when the shielding cover 7 is used as a reference, the first side surface 211 is a side away from the shielding cover 7, and the second side surface 212 is a side close to the shielding cover 7. In one embodiment, the first side surface 211 is connected to the heat-conducting boss 22, and the second side surface 212 is arranged on a side away from the heat-conducting boss 22 and opposite to the first side surface 211. The first mounting hole 23 passes through the first side surface 211 and the second side surface 212. The seat body 21 is provided with a mounting groove 24 at a position corresponding to the first mounting hole 23, from the second side surface 212 to a direction close to the first side surface 211. The mounting groove 24 is used to mount the image sensor 5.

[0089] Furthermore, the light source 32 can be disposed on the heat-conducting boss 22, and the heat generated by the light source 32 is conducted to the end of the electronic endoscope 100 away from the light source assembly 3 through the heat-conducting boss 22 via the base 21. In this way, good heat dissipation can be provided for the light source 32 of the electronic endoscope 100, thereby reducing the problem of light decay.

[0090] It should be understood that the specific number of the lenses 33 in the present invention is not limited, and it can be two or more. Of course, in other embodiments, there may be only one lens 33. Correspondingly, the numbers of the light source 32 and the image sensor 5 are the same as that of the lens 33. Of course, in other embodiments, there may also be only one image sensor 5. However, compared with the solution with only one image sensor 5, this embodiment can avoid interfering with the image, thereby improving the image quality obtained by the electronic endoscope 100.

[0091] Further, as Figure 7 shown, the seat body 21 extends from the edge of the second side surface 212 in a direction away from the first side surface 211 to form a first extension portion 25, and the first extension portion 25 and the second side surface 212 enclose a receiving space 26. As Figure 1 , Figure 10 and Figure 11 shown, the PCB board 6 has a contact surface 60 adapted to the first extension portion 25. When the PCB board 6 enters the receiving space 26, the first extension portion 25 abuts against the contact surface 60. In this way, when the PCB board 6 enters the receiving space 26 under the guiding action of the first extension portion 25, the PCB board 6 and the image sensor 5 can be accurately positioned and installed in the installation groove 24, thereby further improving the installation accuracy of different image sensors 5 and the PCB board 6, and further improving the image quality obtained by the electronic endoscope 100.

[0092] As Figure 7 shown, the diameter of the first installation hole 23 may be the same as the width of the installation groove 24, or the width of the installation groove 24 is greater than the diameter of the first installation hole 23. In this way, it can prevent the fixing glue from leaking to the lens 33 during the installation of the module. After the image sensor 5 is fixedly connected to the PCB board 6 and the image sensor 5 is fixed at the installation groove 24, heat-conducting glue can be filled in the receiving space 26 and other receiving spaces away from the lens cover 4 direction, thereby further increasing the heat-conducting effect.

[0093] In one embodiment, as Figure 6 shown, the heat-conducting boss 22 includes a substrate 221 connected to the seat body 21 of the lens seat 2 and a fixing groove 222 recessed in the substrate 221. The substrate 221 is recessed from one side in the direction away from the lens seat 2 towards the lens seat 2 to form the fixing groove 222, and the fixing groove 222 is used for installing and fixing the light source 32. Wherein, the height of the light source 32 is the same as the depth of the fixing groove 222, so that the light source 32 is flush with the heat-conducting boss 22.

[0094] In another embodiment, as Figure 9 shown, the heat-conducting boss 22 includes a substrate 221 connected to the lens holder 2 and an aluminum plate 223 fixed on the substrate 221, and the aluminum plate 223 is used for mounting and fixing the light source 32.

[0095] Furthermore, as Figure 6 shown, the lens holder 2 has a center line 27, and the lens holder 2 is provided with a wire passing hole 28 for the wire of the light source 32 to pass through. The wire passing hole 28 penetrates through the substrate 221 or the wire passing hole 28 is located at a position between the heat-conducting boss 22 and the center line 27. This way, compared with the embodiment where the wire passing hole 28 is located outside the seat body 21, it can avoid the edge of the seat body 21 from being too thin, thereby improving the overall strength of the lens holder 2.

[0096] The material of the lens holder 2 can be materials with good heat-conducting performance such as metal and non-metal. For example, the lens holder 2 can be metal copper or non-metal diamond, etc. Optionally, the lens holder 2 is an integrally formed structure.

[0097] It can be understood that the light source 32 can be: visible light, invisible light, laser or other light sources. In this embodiment, the light source 32 can be visible light such as LED or optical fiber. When using an LED for illumination, a matrix LED is installed at the front end of the electronic endoscope 100, and energy is provided to the LED through a cable to make it emit light so as to provide illumination for the endoscope; when using an optical fiber for illumination, the light at the distal end is transmitted to the front end of the endoscope by the optical fiber, so that the endoscope obtains illumination. The image sensor can be a CCD (Charge-coupled Device), or a CMOS (Complementary Metal Oxide Semiconductor), etc.

[0098] As Figure 10 shown, the PCB board 6 is a stacked double-layer PCB structure. In another embodiment, as Figure 11 shown, the PCB board 6 can also be a T-shaped structure. Specifically, the PCB board 6 includes a first board 61 and a second board 62. The first board 61 is fixedly connected to the image sensor, and the second board 62 is fixedly connected to the first board 61, and the plane where the first board 61 is located is perpendicular to the plane where the second board 62 is located.

[0099] As Figure 12As shown, the shielding cover 7 includes a body 71, a second extension portion 72 extending from the edge of the body 71 towards the lens holder 2, and a shielding plate 73 located at one end of the body 71 away from the lens holder 2. The second extension portion 72 is used to engage with the first extension portion 25. As Figure 1 shown, the shielding cover 7 and the lens holder 2 enclose a receiving space 74 to accommodate the PCB board 6. Specifically, the second side surface 212, the first extension portion 25, and the shielding cover 7 enclose the receiving space 74, and the receiving space 74 is used to accommodate the PCB board 6. Further, as Figure 12 shown, a through hole 75 for the connection line 17 to pass through is provided on the shielding plate 73. It can be understood that the connection line 17 can be the connection line of the light source 32 or the connection line connected to the PCB board 6, and is not limited here. The material of the shielding cover 7 can be metal, which can produce a good electromagnetic shielding effect on the electronic components on the internal PCB board 6, so as not to be interfered by the external complex electromagnetic environment, and further ensure the quality stability and reliability of the image obtained by the electronic endoscope 100. In addition, a thin wire hole 76 and a signal ground wire 70 fixed in the thin wire hole 76 can be provided at a position adjacent to the through hole 75 on the shielding plate 73. The thin wire hole 76 is used for the signal ground wire 70 to pass through and weld the signal ground wire 70 to the thin wire hole 76 to further enhance the electromagnetic shielding effect of the shielding cover 7. The number of the thin wire holes 76 can be 1, 2 or more. Of course, in other embodiments, the thin wire holes 76 may not be provided, and the signal ground wire 70 may be directly welded to the shielding plate 73. In another embodiment, as Figure 18 shown, the shielding cover 7 can also be of other shapes. At this time, through holes 75' and thin wire holes 76' are also provided on the shielding plate 73.

[0100] As Figure 13 shown, the insulating cover 8 includes an insulating cavity 81 connected to the shielding cover 7 and the housing 1, an insulating surface 82 located at one end of the insulating cavity 81 away from the lens holder 2 and closing the insulating cavity 81, and a hollow tube 83 extending from the insulating surface 82 in a direction away from the lens holder 2. The hollow tube 83 extends from the insulating surface 82 in a direction away from the lens holder 2, and the hollow tube 83 is used for the connection line of the light source 32 and / or the connection line 17 connected to the PCB board 6 to pass through. By providing the hollow tube 83, the stress point of the bending of the connection line 17 can be extended in a direction away from the lens holder 2, and a larger stress area and a larger bending radius can be provided, so that the stress of the connection line 17 is more evenly distributed, and thus it is not easy to cause breakage.

[0101] The insulating cover 8 is located between the housing 1 and the lens holder 2, and is tightly connected to the housing 1 and the lens holder 2, so that the heat generated by the light source 32 can be transferred to the air through the lens holder 2, the insulating cover 8, and the housing 1 in sequence. Since the shielding cover 7 is connected to the lens holder 2, the insulating cover 8 is also located between the housing 1 and the shielding cover 7, and is tightly connected to the housing 1 and the shielding cover 7. That is, the insulating cover 8 is sleeved on the lens holder 2 and the shielding cover 7, so as to prevent the electronic components of the electronic endoscope 100 from leakage.

[0102] like Figure 14 As shown, the lens 33 includes a lens body 331 having a central axis (not shown in the figure) and a stopper 332. The stopper 332 is formed by the lens body 331 protruding from an end away from the lens holder 2 in a direction away from the central axis. The stopper 332 has a first top abutting surface 333 on a side close to the lens holder 2 and a second top abutting surface 334 on a side away from the lens holder 2. The first top abutting surface 333 is used to limit the lens 33 when the lens body 331 is installed in the first mounting hole 23 and contacts the lens holder 2, thereby preventing the lens 33 from slipping out of the first mounting hole 23.

[0103] like Figure 15 As shown, the lens cover 4 includes a cover body 41, a receiving groove 42 for accommodating the light source 32 and the heat-conducting boss 22, and a second mounting hole 43 corresponding to the first mounting hole 23 and for accommodating the stopper 332. The cover body 41 has an outer side surface 411 away from the lens holder 2 and an inner side surface 412 close to the lens holder 2. The second mounting hole 43 passes through the outer side surface 411 and the inner side surface 412. The receiving groove 42 passes through the outer side surface 411 and the inner side surface 412.

[0104] Furthermore, the second mounting hole 43 has a center (not shown in the figure), and the outer side surface 411 extends a limiting portion 413 in the direction of the center at a position corresponding to the second mounting hole 43. The limiting portion 413 is used to abut against the second top abutting surface 334 when the stop portion 332 is installed in the second mounting hole 43, so as to limit the lens 33, thereby preventing the lens from slipping out of the second mounting hole 43.

[0105] Further, a fastening portion 44 is formed by the cover body 41 extending from the edge of the inner side surface 412 in a direction away from the outer side surface 411. The fastening portion 44 and the inner side surface 412 enclose a receiving space 45. The fastening portion 44 is used to be fastened to the lens body 331 so as to receive the lens 33, the light source 32, and the heat conducting boss 22 in the receiving space 45.

[0106] Further, as Figure 16 shown, the lens cover 4 further includes a first cover glass (not shown in the figure) respectively covering the second mounting hole 43, and a second cover glass (not shown in the figure) covering the receiving groove 42. A filter 46 fixed above the light source 32 is further provided between the second cover glass and the light source 32. It can be understood that the first cover glass and the second cover glass can be transparent glass structures. Additionally, a sealing structure can be provided at the position of the first cover glass and the second mounting hole 43, and at the position of the second cover glass and the first mounting hole 23 to prevent liquid from entering the electronic endoscope 100 through the gap and thus affecting the stable operation of the electronic components. Specifically, the sealing structure can be an O-ring or sealant.

[0107] Further, as Figure 16 shown, the receiving groove 42 further includes a first groove 421 for receiving the light source 32, a communication groove 422 communicating with the first groove 421 on a side away from the light source 32, and a second groove 423 communicating with the communication groove 422. The second groove 423 is used to receive the filter 46. The structural setting of the receiving groove 42 can prevent the influence of the sinking design of the light source 32 in the present invention on the illumination of the light source 32.

[0108] As Figures 17 to 20 shown, in an embodiment, the image acquisition unit 12 may further include a heat pipe portion 9 connected to the shielding cover 7 and a heat dissipation portion 10 connected to the heat pipe portion 9. The heat pipe portion 9 and the heat dissipation portion 10 constitute the rear end portion of the image acquisition unit. In other embodiments, the heat pipe portion 9 may further extend on one side of the shielding cover 7 to contact the lens holder 2. Among them, the materials of the structures such as the lens holder 2, the shielding cover 7, the heat pipe portion 9, the heat dissipation portion 10, and the housing 1 are all materials with good heat conduction performance. The heat dissipation portion 10 is tightly connected to the housing 1 so as to conduct the heat generated by the light source 32 through the lens holder 2, the shielding cover 7, the heat pipe portion 9, the heat dissipation portion 10, and the housing 1 to the air in sequence. In this way, by sequentially transferring the heat generated by the light source 32 to the next structure, the temperature gradient between the light source 32 and the housing 1 is reduced, thereby reducing the temperature of the light source 32.

[0109] In one embodiment, the image acquisition unit 12 has an outer wall (not shown in the figure), and a receiving groove 77 is recessed in the outer wall. The receiving groove 77 is used to receive the first end of the heat pipe portion 9; a receiving groove 200 is recessed in the heat dissipation portion 10, and the receiving groove 200 is used to receive the second end of the heat pipe portion 9. It can be understood that the outer wall can be the outer wall structure of the shielding cover 7 or the outer wall structure of the lens holder 2. That is, the receiving groove 77 can be provided on the shielding cover 7 or on structures such as the lens holder 2. Correspondingly, the shielding cover 7 can have a first outer wall and a second outer wall arranged oppositely, or the lens holder can have a first outer wall and a second outer wall arranged oppositely. The following embodiments will be described by taking the case of being provided on the shielding cover 7 as an example.

[0110] The shielding cover 7 may further include an outer wall 78 with one side connected to the second extension portion 72 and the other side connected to the shielding plate 73. The receiving groove 77 is recessed in the outer wall 78. The receiving groove 77 is used to receive the first end 91 of the heat pipe portion 9, and a receiving groove 200 is recessed in the heat dissipation portion 10. The receiving groove 200 is used to receive the second end 92 of the heat pipe portion 9. Wherein, the first end 91 of the heat pipe portion 9 is the end close to the lens holder 2, and the second end 92 is the other end far from the lens holder 2. Wherein, a liquid refrigerant is accommodated in the heat pipe portion 9, and the specific heat dissipation principle is as follows:

[0111] Wherein, since a liquid refrigerant is accommodated in the heat pipe portion 9, liquid-gas-liquid conversion can be performed. When the heat generated by the heat source sequentially passes through the lens holder 2 and the shielding cover 7 and reaches the first end 91 of the heat pipe, the liquid refrigerant at the first end 91 of the heat pipe absorbs heat and is converted into gas, and under the action of pressure, it moves along the length direction of the heat pipe towards the second end 92 of the heat pipe. During the movement, heat is continuously transferred from the heat source end towards the heat dissipation portion 10. When the gaseous refrigerant reaches the second end 92 of the heat pipe, since the heat at the second end 92 is taken away by the heat dissipation portion 10, at this time, the heat at the second end 92 decreases, causing the refrigerant at the second end 92 to change from gaseous to liquid state and flow back to the first end 91 again, thus cycling repeatedly.

[0112] Of course, in other embodiments, the heat pipe can be replaced by a copper tube. At this time, the copper tube is only used as a heat conduction material. The heat generated by the heat source sequentially passes through the lens holder 2 and the shielding cover 7 and reaches the copper tube, and then the copper tube transfers the heat to the heat dissipation portion 10, thereby reducing the heat of the heat source. The copper tube can be selected as a flexible copper tube.

[0113] It can be understood that when the accommodation groove 77 is provided in the shielding cover 7, in order to increase the fixing strength between the shielding cover 7 and the lens holder 2, the first extension 25 of the lens holder 2 can also be concave and is adaptively snap-connected with the accommodation groove 77.

[0114] Further, the heat pipe portion 9 includes two heat pipes arranged oppositely: a first heat pipe 93 and a second heat pipe 94. The outer side wall 78 includes a first outer side wall 781 and a second outer side wall 782 arranged oppositely, and the accommodation groove 77 includes a first accommodation groove 771 and a second accommodation groove (not shown in the figure). The first outer side wall 781 is recessed with the first accommodation groove 771, and the second outer side wall 782 is recessed with the second accommodation groove. The heat dissipation portion 10 includes a first heat dissipation fin 101 and a second heat dissipation fin 102 arranged oppositely. The first heat dissipation fin 101 is recessed with a first accommodation groove 103, and the second heat dissipation fin 102 is recessed with a second accommodation groove 104. The first accommodation groove 771 is used to accommodate the first end 91 of the first heat pipe 93, and the first accommodation groove 103 is used to accommodate the second end 92 of the first heat pipe 93. The second accommodation groove is used to accommodate the first end 91 of the second heat pipe 94, and the second accommodation groove 104 is used to accommodate the second end 92 of the second heat pipe 94.

[0115] Certainly, in other embodiments, the number of the heat pipes can be multiple. Correspondingly, the number of the heat dissipation fins can also be multiple. It can be understood that the lengths of the heat pipe portion 9 and the heat dissipation portion 10 can be reasonably set according to actual needs. When the length is relatively long, the heat dissipation effect is relatively good.

[0116] Further, as Figure 20 shown, the first heat dissipation fin 101 includes a first sheet body 105 and a first extension sheet 112 extending from the first sheet body 105 towards the lens holder 2. The first extension sheet 112 is recessed with the first accommodation groove 103; the second heat dissipation fin 102 includes a second sheet body 107 and a second extension sheet 113 extending from the second sheet body 107 towards the lens holder 2. The second extension sheet 113 is recessed with the second accommodation groove 104.

[0117] A first wire groove 109 is concavely provided on the inner side of the first sheet body 105, and / or a second wire groove 110 is concavely provided on the inner side of the second sheet body 107. The first wire groove 109 and / or the second wire groove 110 are used for the connecting wire to pass through. That is, only the first wire groove 109 or the second wire groove 110 can be provided, or both the first wire groove 109 and the second wire groove 110 can be provided. When only the first wire groove 109 or the second wire groove 110 is provided, the connecting wire passes through the first wire groove 109 or the second wire groove 110. When both the first wire groove 109 and the second wire groove 110 are provided, when the first sheet body 105 is mounted on the second sheet body 107, the first wire groove 109 and the second wire groove 110 are combined to form a wire passing channel 111 for the connecting wire to pass through.

[0118] Further, as Figures 17 to 19 shown, the shielding cover 7 is located between the first heat pipe 93 and the second heat pipe 94, and the first heat pipe 93 and the second heat pipe 94 are located between the first heat sink 101 and the second heat sink 102. In this way, the fixed connection among the shielding cover 7, the heat pipe part 9, and the heat dissipation part 10 can be realized without additionally adding a fixing structure.

[0119] Further, as Figure 20 shown, the second sheet body 107 is convexly provided with a limiting part 115 in a direction approaching the first sheet body 105, and the first sheet body 105 is provided with a limiting groove 116 at a position corresponding to the limiting part 115. The limiting part 115 is used for restricting the second sheet body 107 from moving in a direction towards the lens holder 2 or away from the lens holder 2 when being mounted in the limiting groove 116. It can be understood that the limiting groove 116 can also be provided on the second sheet body 107, and the limiting part 115 can be convexly provided on the first sheet body 105. In addition, the limiting part 115 is not limited to the way of convexly protruding towards the first sheet body in this embodiment. In other embodiments, it can also be convexly protruding in a direction towards the second wire groove 110.

[0120] In this embodiment, through the arrangement of the heat pipe part 9 and the heat dissipation part 10, the heat generated by the light source 32 can be conducted to the air in sequence through the heat pipe part 9, the heat dissipation part 10 and the housing 1, so as to provide a good heat dissipation effect for the electronic endoscope 100. It can be understood that when the electronic endoscope 100 conducts the heat generated by the light source 32 to one end of the electronic endoscope 100 far from the light source assembly 3 through the heat conduction boss at the image acquisition part 12, it can be selected whether to add the structures of the heat pipe part 9 and the heat dissipation part 10 according to the specific actual needs. For example, during single-hole surgery, an electronic endoscope 100 that is flexibly bendable and does not have the structures of the heat pipe part 9 and the heat dissipation part 10 can be selected; during multi-hole surgery, an electronic endoscope 100 that is not bendable or bendable but has the structures of the heat pipe part 9 and the heat dissipation part 10 can be selected. If the heat pipe part 9 and the heat dissipation part 10 are added, the heat dissipation effect of the electronic endoscope 100 can be further improved.

[0121] The above are only the optional embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. All equivalent structural transformations made under the inventive concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An electronic endoscope, characterized in that, the electronic endoscope includes an image acquisition unit, and the image acquisition unit includes: a housing; a lens holder installed in the housing, the lens holder includes a base body, two first mounting holes provided on the base body, and a first mounting groove and a second mounting groove recessed in the base body and respectively communicating with the two first mounting holes; a first lens and a second lens for respectively being installed into the two first mounting holes; a PCB board installed in the housing; a first image sensor and a second image sensor, the first image sensor and the second image sensor are fixed on the PCB board, and the first image sensor and the second image sensor are used for respectively being installed into the first mounting groove and the second mounting groove so that the distance between the first lens and the first image sensor is equal to the distance between the second lens and the second image sensor; the lens holder further includes a heat-conducting boss protruding from the base body, the base body has a first side surface connected to the heat-conducting boss and a second side surface facing away from the heat-conducting boss and opposite to the first side surface, and the first mounting hole penetrates through the first side surface and the second side surface; the base body extends from the edge of the second side surface in a direction away from the first side surface to form a first extension portion, the PCB board has an abutting surface adapted to the first extension portion, and the first extension portion is used for abutting against the abutting surface; the first image sensor and the second image sensor are CCD image sensors or CMOS sensors.

2. The electronic endoscope according to claim 1, characterized in that, the PCB board is a double-layer PCB structure or a T-shaped structure.

3. The electronic endoscope according to claim 1, characterized in that, the first lens and / or the second lens includes a lens body having a central axis and a stop portion, the stop portion is formed by the lens body protruding from one end away from the lens holder in a direction away from the central axis, and the stop portion has a first abutting surface on a side close to the lens holder, and the first abutting surface is used for limiting the lens when the lens body penetrates into the first mounting hole and abuts against the lens holder.

4. The electronic endoscope according to claim 3, characterized in that, the image acquisition unit further includes a lens cover for being buckled onto the lens holder, the lens cover includes a cover body, the cover body has an outer side surface on a side away from the lens holder and an inner side surface on a side close to the lens holder, and the lens cover is provided with a second mounting hole corresponding to the position of the first mounting hole and used for receiving the stop portion, and the second mounting hole penetrates through the outer side surface and the inner side surface.

5. The electronic endoscope according to claim 4, characterized in that, the stop portion has a second abutting surface on a side away from the lens holder, the second mounting hole has a center, and the outer side surface extends a limiting portion in a direction towards the center at a position corresponding to the second mounting hole, and the stop portion is used for being installed into the second mounting hole so that the second abutting surface abuts against the limiting portion.

6. The electronic endoscope according to claim 4, It is characterized in that the image acquisition unit further includes a light source disposed on the heat conducting boss, the lens hood further includes a receiving groove for receiving the light source and the heat conducting boss, and the receiving groove penetrates through the outer side surface and the inner side surface.

7. The electronic endoscope according to claim 6, It is characterized in that the cover body extends from the edge of the inner side surface in a direction away from the outer side surface to form a fastening portion, the fastening portion and the inner side surface enclose a receiving space, and the fastening portion is used for fastening to the seat body to receive the lens, the light source and the heat conducting boss in the receiving space.

8. The electronic endoscope according to claim 1, It is characterized in that the image acquisition unit further includes a light source disposed on the heat conducting boss, and the heat conducting boss is used for conducting the heat generated by the light source.

9. The electronic endoscope according to claim 8, It is characterized in that the heat conducting boss includes a substrate connected to the seat body and a fixing groove recessed on the substrate, the fixing groove is recessed on the substrate from a side away from the lens seat towards a side close to the lens seat, and the fixing groove is used for mounting and fixing the light source.

10. The electronic endoscope according to claim 8, It is characterized in that the heat conducting boss includes a substrate connected to the seat body and an aluminum plate fixed on the substrate, and the aluminum plate is used for mounting and fixing the light source.

11. The electronic endoscope according to claim 1, It is characterized in that the image acquisition unit further includes a shielding cover for fastening to the lens seat, and the shielding cover and the lens seat enclose a receiving space to receive the PCB board.

12. The electronic endoscope according to claim 11, It is characterized in that the seat body has a first side surface and a second side surface which are oppositely arranged, and the seat body extends from the edge of the second side surface in a direction away from the first side surface to form a first extension portion; the shielding cover includes a main body and a second extension portion extending from the edge of the main body towards the lens seat, and the first extension portion and the second extension portion are fastened.

13. The electronic endoscope according to claim 12, It is characterized in that the shielding cover further includes a shielding plate located at one end of the main body away from the lens seat, and a through hole for a connecting wire to pass through is provided on the shielding plate.

14. The electronic endoscope according to claim 13, It is characterized in that a thin wire hole is further provided on the shielding plate, and the image acquisition unit further includes a signal ground wire, and the thin wire hole is used for the signal ground wire to pass through.

15. The electronic endoscope according to claim 1, It is characterized in that the image acquisition unit further includes a shielding cover connected to the lens seat, a first heat pipe connected to the shielding cover, and a first heat sink connected to the first heat pipe; the shielding cover has a first outer side wall, and a first receiving groove is recessed on the first outer side wall, and the first receiving groove is used for receiving the first end of the first heat pipe; a first receiving groove is recessed on the first heat dissipation portion, and the first receiving groove is used for receiving the second end of the first heat pipe.

16. The electronic endoscope according to claim 15, It is characterized in that The image acquisition unit further includes a second heat pipe connected to the shielding cover and disposed opposite to the first heat pipe, and a second heat sink disposed opposite to the first heat sink; the shielding cover further has a second side wall disposed opposite to the first outer side wall, and a second accommodation groove is recessed on the second side wall for accommodating the first end of the second heat pipe; a second accommodation groove is recessed on the second heat sink for accommodating the second end of the second heat pipe.

17. The electronic endoscope according to claim 16, wherein, the first heat sink includes a first body and a first extension piece extending from the first body towards the lens holder, and the first accommodation groove is disposed on the first extension piece; the second heat sink includes a second body and a second extension piece extending from the second body towards the lens holder, and the second accommodation groove is disposed on the second extension piece.

18. The electronic endoscope according to claim 17, wherein, a first wire groove is recessed on the inner side of the first body, and / or a second wire groove is recessed on the inner side of the second body; the image acquisition unit further includes a connection wire connected to the PCB board, and the first wire groove or the second wire groove is for the connection wire to pass through.

19. The electronic endoscope according to claim 18, wherein, the first body is used to be mounted on the second body so that the first wire groove and the second wire groove are combined to form a wire passing groove for the connection wire to pass through.

20. The electronic endoscope according to claim 17, wherein, the second body protrudes towards the direction close to the first body with a limiting portion, and a limiting groove is provided on the first body at a position corresponding to the limiting portion, and the limiting portion is used to limit the second body from moving towards the lens holder or away from the lens holder when being mounted in the limiting groove.

21. The electronic endoscope according to claim 15, wherein, the shielding cover is located between the first heat pipe and the second heat pipe, and the first heat pipe and the second heat pipe are located between the first heat sink and the second heat sink.

22. The electronic endoscope according to claim 15, wherein, a liquid refrigerant is accommodated in the first heat pipe and / or the second heat pipe, or the first heat pipe and / or the second heat pipe is a copper pipe.

23. The electronic endoscope according to claim 15, wherein, the first heat sink and / or the second heat sink is tightly connected to the housing.

24. The electronic endoscope according to claim 11 or 15, wherein, the image acquisition unit further includes an insulating cover sleeved on the lens holder and the shielding cover, and the housing is sleeved on the insulating cover.

25. The electronic endoscope according to claim 24, wherein, The insulating cover includes an insulating cavity connected to the shielding cover and the housing, an insulating surface located at one end of the insulating cavity away from the lens holder and closing the insulating cavity, and a hollow tube extending from the insulating surface in a direction away from the lens holder, and the hollow tube is used for allowing a connecting wire connected to the PCB board to pass through.

26. The electronic endoscope according to claim 1, characterized in that the image acquisition unit further includes a connecting portion provided at one end of the housing away from the lens holder, the electronic endoscope further includes a driving mechanism, and a joint assembly connected to the connecting portion and the driving mechanism, and the joint assembly is used for bending under the driving action of the driving mechanism to drive the image acquisition unit to move; the electronic endoscope further includes an outer heat-conducting flexible tube connected to the housing and covering the joint assembly for heat conduction.

27. The electronic endoscope according to claim 26, characterized in that the image acquisition unit further includes a connecting wire connected to the PCB board, a first end of the connecting wire is located inside the housing, and a second end of the connecting wire is located inside the driving mechanism; the electronic endoscope further includes an inner heat-conducting flexible tube covering the connecting wire.

28. The electronic endoscope according to claim 27, characterized in that the driving mechanism includes a driving portion and a driving wire, one end of the driving wire is connected to the driving portion, and the other end is connected to the joint assembly; the second end of the connecting wire is located inside the driving portion, and a portion between the first end and the second end of the connecting wire is located inside the joint assembly.

29. The electronic endoscope according to claim 28, characterized in that the electronic endoscope further includes a tube body portion with one end connected to the driving portion and the other end connected to the joint assembly, and the driving wire and the connecting wire respectively pass through the tube body portion and are connected to the driving portion.

30. The electronic endoscope according to claim 27, characterized in that the outer heat-conducting flexible tube and / or the inner heat-conducting flexible tube is a mesh tube woven by metal wires.

31. A surgical robot, characterized in that the surgical robot includes the electronic endoscope according to any one of claims 1 to 30.

Images