Endoscope, image processing device and surgical robot

Abstract

The present invention discloses an endoscope, an image processing device and a surgical robot, wherein the endoscope comprises an image acquisition unit for acquiring image signals; a main control box connected to the image acquisition unit, wherein a signal processing module is arranged in the main control box, and the signal processing module is used to receive the image signal acquired by the image acquisition unit and convert the image signal into a target signal, so as to transmit the target signal to the image host. The present invention can solve the technical problem that the existing endoscope is prone to signal attenuation when transmitting signals to the image host.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an endoscope, an image processing device 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 traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

[0003] With the advancement of science and technology, minimally invasive surgical robot technology has gradually matured and has been widely used. Minimally invasive surgical robots usually include 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 doctor's operation 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.

[0004] The operating equipment usually includes a robotic arm, a power mechanism arranged on the robotic arm, a surgical instrument, an image host and an image display. The robotic arm is used to adjust the position of the instrument, the surgical instrument is used to extend into the body and perform surgical operations, and the power mechanism is used to drive the end instrument of the surgical instrument to perform corresponding operations. The end instrument includes a front-end image acquisition unit for observing the surgical area and an end effector (such as clamps, scissors, and needle holders, etc.) for performing surgical operations. Among them, when the surgical instrument is an endoscope, the endoscope transmits the image signal acquired at the front end to the image host for processing and then displays it on the image display. However, when the signal acquired by the front end of the existing endoscope is transmitted to the image host, due to the long transmission distance, signal attenuation often occurs, and it cannot be effectively transmitted to the image host. Summary of the invention

[0005] The main purpose of the present invention is to provide an endoscope, an image processing device and a surgical robot, aiming to solve the technical problem that the existing endoscope is prone to signal attenuation when transmitting signals to an image host.

[0006] To achieve the above object, the present invention provides an endoscope, comprising:

[0007] An image acquisition unit, used for acquiring image signals;

[0008] A main control box connected to the image acquisition unit has a signal processing module disposed therein, the signal processing module is used to receive the image signal acquired by the image acquisition unit and convert the image signal into a target signal so as to transmit the target signal to the image host.

[0009] Preferably, the signal processing module is used to convert the image signal into a low voltage differential signal; decode the low voltage differential signal, perform optical signal encoding on the decoded low voltage differential signal to obtain an optically encoded signal; convert the optically encoded signal into an optical signal, so as to transmit the optical signal as the target signal to the image host; or

[0010] The signal processing module is used to convert the image signal into a low-voltage differential signal; decode the low-voltage differential signal, and encode the decoded low-voltage differential signal into an SDI signal to obtain an SDI encoded signal; convert the SDI encoded signal into an SDI signal to transmit the SDI signal as the target signal to the image host.

[0011] Preferably, the signal processing module comprises a first processing unit, a second processing unit and a third processing unit which are sequentially connected in the main control box.

[0012] The first processing unit is used for converting the image signal into a low voltage differential signal, and sending the low voltage differential signal to the second processing unit;

[0013] The second processing unit is used to decode the received low voltage differential signal, and perform optical signal encoding on the decoded low voltage differential signal to obtain an optically encoded signal;

[0014] The third processing unit is used for receiving the optical coding signal transmitted by the second processing unit, and converting the optical coding signal into an optical signal, so as to transmit the optical signal as the target signal to the image host.

[0015] Preferably, the signal processing module comprises a first processing unit, a second processing unit and a third processing unit which are sequentially connected in the main control box.

[0016] The first processing unit is used for converting the image signal into a low voltage differential signal, and sending the low voltage differential signal to the second processing unit;

[0017] The second processing unit is used to decode the received low voltage differential signal, and perform SDI signal encoding on the decoded low voltage differential signal to obtain an SDI encoded signal;

[0018] The third processing unit is used for receiving the SDI coded signal transmitted by the second processing unit, and converting the SDI coded signal into an SDI signal, so as to transmit the SDI signal as the target signal to the image host.

[0019] Preferably, the first processing unit includes a first PCB board arranged in the main control box and a first chip arranged on the first PCB board, the second processing unit includes a second PCB board arranged in the main control box and a second chip arranged on the second PCB board, the third processing unit includes a third PCB board arranged in the main control box and a third chip arranged on the third PCB board, and the first PCB board, the second PCB board and the third PCB board are stacked in sequence in a direction away from the image acquisition part.

[0020] Preferably, the endoscope also includes a drive box connected to the main control box and the image acquisition unit, an electrical connector seat is provided on the side of the signal processing module close to the image acquisition unit, the drive box includes a box body and an electrical connector provided in the box body, and the electrical connector is detachably connected to the electrical connector seat so that the drive box is detachably connected to the main control box.

[0021] Preferably, the electrical connector seat includes a plurality of needle seats, and the electrical connector includes a plurality of contact pins, and the contact pins are used to be inserted into the needle seats so that the image signals collected by the image acquisition unit are transmitted to the main control box via the drive box.

[0022] Preferably, the main control box comprises a shell and a plug interface provided on a side of the shell facing the drive box, and the box body is provided with a docking interface at a position corresponding to the plug interface.

[0023] The contact pins of the electrical connector are used to sequentially pass through the docking port and the plugging port and be inserted into the pin seat of the electrical connector seat, so that the image signal collected by the image acquisition unit is transmitted to the main control box via the drive box.

[0024] Preferably, the shape of the plug port and / or the docking port corresponds to the arrangement array of the plurality of contact pins.

[0025] Preferably, the endoscope further comprises a drive box connected to the main control box and the image acquisition unit respectively.

[0026] The main control box includes a shell, and a rotating part connected to one end of the shell close to the driving box and rotatable relative to the shell.

[0027] The driving box comprises a box body and an extending portion extending from the periphery of the box body toward the main control box.

[0028] The rotating part is used to cooperate with the extending part to fix the main control box on the driving box when the rotating part rotates in a first direction relative to the shell; the rotating part is also used to separate from the extending part to separate the main control box from the driving box when the rotating part rotates in a second direction opposite to the first direction relative to the shell.

[0029] Preferably, the extending portion is provided with a limiting groove in the first direction, and the inner side wall of the rotating portion is provided with a protruding portion;

[0030] The protrusion is used to engage in the limiting groove to fix the main control box on the drive box when the rotating part rotates in the first direction relative to the shell, and to disengage from the limiting groove when the rotating part rotates in a second direction opposite to the first direction relative to the shell, so as to separate the main control box from the drive box.

[0031] Preferably, the main control box further comprises a connecting portion arranged in the rotating portion, the shell comprises a chassis for fixedly connecting with the connecting portion, the rotating portion is provided with a bearing portion protruding inwardly on a side away from the driving box, the main control box further comprises a fixing portion for being carried on the bearing portion, the fixing portion is provided with a plurality of mounting portions protruding inwardly along the circumferential direction, and the chassis is provided with a plurality of matching portions at positions corresponding to the fixing portions.

[0032] The mounting portion is used to cooperate with the matching portion so that the rotating portion can rotate between the fixing portion and the chassis.

[0033] Preferably, the main control box further comprises an elastic portion provided between the bearing portion and the chassis, and the elastic portion is used to abut against the bearing portion and the chassis respectively.

[0034] Preferably, the main control box also includes a connecting part arranged in the rotating part, a first protrusion is protruding on the outer side wall of the connecting part, and a second protrusion is protruding on the inner side wall of the extending part, and the first protrusion is used to snap with the second protrusion to fix the connecting part to the box body.

[0035] Preferably, the shell includes a chassis for connecting to the connecting part, and the chassis is provided with one or more ridges protruding outward along the periphery, and the ridges are used to abut against the top wall of the extension part facing the shell after the first protrusion is snapped with the second protrusion, thereby limiting the connecting part from continuing to move toward the shell.

[0036] Preferably, the main control box also includes a connecting portion arranged in the rotating portion, and a slider is also protruding from the outer wall of the connecting portion. The extending portion is recessed with a sliding groove in the direction away from the main control box at a position corresponding to the slider, and the slider is used to cooperate with the sliding groove to limit the connecting portion from rotating in the first direction or the second direction relative to the main control box.

[0037] Preferably, the main control box also includes a connecting portion arranged in the rotating portion, and the connecting portion is provided with a positioning portion protruding toward the direction of the shell; the shell includes a chassis for connecting to the connecting portion, and the chassis is provided with a through groove along the periphery, and the positioning portion is used to cooperate with the through groove to fix the shell and the connecting portion.

[0038] Preferably, the main control box also includes a connecting portion arranged in the rotating portion, the shell includes a chassis for connecting to the connecting portion, and a main body extending from the chassis away from the driving box, and the two operating portions are located on opposite sides of the main body.

[0039] Preferably, the endoscope also includes a connector connected to the drive box, and the drive box also includes a box body connected to the main control box, a base arranged in the box body, a bracket fixed on the base and a control member pivotally connected to the bracket, the control member includes a top abutment away from one side of the main control box and a control member with one end extending out of the drive box and located on one side of the main control box, and the other end connected to the top abutment and pivotally connected to the bracket; the connector has a fastener, which is used to pass through the base and snap with the base; the control member is used to drive the top abutment to contact the fastener when a force is applied to one end of the drive box, so that the top abutment is separated from the base, so that the drive box is separated from the connector.

[0040] Preferably, the control part includes an operating part extending out of the drive box and located on one side of the main control box, and a reversing part pivotally connected to the bracket, one end of the reversing part is movably connected to the operating part, and the other end is movably connected to the supporting part, and the operating part is used to drive the reversing part to move when being operated, thereby driving the supporting part to contact the fastener, so that the fastener is separated from the base.

[0041] Preferably, the operating portion comprises a first rotating shaft pivotally connected to the bracket, a pressing portion arranged relative to the first rotating shaft, and a main driving shaft; the reversing portion comprises a second rotating shaft pivotally connected to the bracket, a slave driving shaft arranged relative to the second rotating shaft, and a first movable end having a first movable groove; the abutting portion comprises a third rotating shaft pivotally connected to the bracket, an abutting portion arranged relative to the third rotating shaft, and a second movable end having a second movable groove;

[0042] The main driving shaft is used to be movably connected in the first movable groove, and the slave driving shaft is used to be movably connected in the second movable groove; the abutting portion is used to abut against the fastener;

[0043] The pressing portion is used to drive the main driving shaft to rotate outward relative to the first rotating shaft and drive the first movable end to rotate outward when subjected to a force, so that the slave driving shaft rotates inward relative to the second rotating shaft and drives the second movable end to rotate inward, thereby causing the interference portion to interfere with the fastener outward relative to the third rotating shaft.

[0044] Preferably, the reversing portion further comprises an intermediate portion pivotally connected to the second rotating shaft, one end of the intermediate portion is connected to the slave driving shaft, and the other end is connected to the first movable end, the slave driving shaft is parallel to the first movable end, and the intermediate portion is parallel to the base.

[0045] The middle portion is used to rotate relative to the base when the slave driving shaft rotates inwardly relative to the second rotating shaft, so that the slave driving shaft rotates inwardly relative to the second rotating shaft.

[0046] Preferably, the first rotating axis is parallel to the base, the second rotating axis is perpendicular to the base, and the third rotating axis is parallel to the base.

[0047] Preferably, the drive box has a symmetry center line and a center point on the symmetry center line, the line connecting the position of the top support portion projected onto the base and the center point is the first line, the line connecting the position of the operating portion projected onto the base and the center point is the second line, the angle between the first line and the symmetry center line is an acute angle, and the second line is perpendicular to the symmetry center line.

[0048] Preferably, the main control box further comprises a conducting hole provided on the shell, and the conducting hole is used for allowing one end of the control unit to extend out.

[0049] Preferably, the connector is provided with two oppositely arranged columns protruding toward the direction of the driving box, the line connecting the two columns on the connector is a limit line, and the box body is provided with a limit portion protruding toward the direction of the connector, the limit portion is used to be inserted between the two columns and interfere with the two columns to limit the movement of the box body relative to the connector along the limit line.

[0050] Preferably, the endoscope further comprises a drive box connected to the main control box and the image acquisition unit respectively.

[0051] The main control box has a first matching portion;

[0052] The driving box comprises a box body and a first control member arranged on the box body, wherein the first control member comprises a second matching portion for matching with the first matching portion;

[0053] The first control member is used to move in a first direction when subjected to an applied force, so that the second matching portion is separated from the first matching portion, so that the drive box is separated from the main control box.

[0054] Preferably, the first control component also includes a movable body arranged on the box body and a locking portion connected to the movable body, and the second matching portion is protruded from the movable body toward the main control box; the movable body is used to move in the first direction relative to the box body when the locking portion is subjected to a force, so that the second matching portion is separated from the first matching portion, thereby separating the drive box from the main control box.

[0055] Preferably, the drive box also includes a support body fixed in the box body for carrying the movable body, the locking portion includes a button portion connected to the movable body and an elastic portion, the elastic portion is connected between the button portion and the support body, the first control member is used to move along the first direction when the button portion is subjected to pressing force, the elastic portion is used to elastically deform when the first control member moves along the first direction, and elastically restore when the pressing force on the button portion disappears to reset the first control member.

[0056] Preferably, a receiving groove for accommodating the elastic part is concavely provided on the support body, and one end of the elastic part is connected to the button part, and the other end is connected to the receiving groove.

[0057] Preferably, the drive box also includes a support body fixedly arranged in the box body for carrying the moving body, the moving body is movable relative to the support body, the locking part includes a rotating body and a rotating part connected to the rotating body, the rotating body is provided with a spiral groove, the first control part also includes a connecting column extending from the moving body toward the locking part, the connecting column is provided with a convex column, the convex column is located in the spiral groove, the rotating part is used to rotate and drive the convex column to move in the spiral groove, thereby driving the moving body to move relative to the supporting body.

[0058] Preferably, the support body is recessed with a threaded portion, and the locking portion also includes a convex ridge portion convexly provided on the rotating body, the convex ridge portion is used to engage with the threaded portion, and when the rotating portion is used to rotate in the opening direction, the convex ridge portion moves in the threaded portion in a direction away from the movable body, causing the convex column to move in the spiral groove in a direction away from the rotating portion, thereby causing the movable body to move in the first direction; the rotating portion is also used to rotate in the locking direction, when the convex ridge portion moves in the threaded portion in a direction close to the movable body, causing the convex column to move in the spiral groove toward the rotating portion, thereby causing the movable body to move in a second direction opposite to the first direction.

[0059] Preferably, the rotating body is also provided with a stop groove located on one side of the rotating part and connected to the spiral groove. The convex cylinder is used to move along the spiral groove into the stop groove and contact with the groove wall of the stop groove when the rotating part rotates in the locking direction, so as to prevent the convex cylinder from moving out of the stop groove.

[0060] Preferably, the locking portion also includes an elastic portion having one end connected to the movable body or the connecting column and the other end connected to the rotating portion; the elastic portion is used to elastically deform when the convex cylinder moves from the spiral groove to the stop groove, and to elastically restore when the convex cylinder is located in the stop groove, so that the convex cylinder contacts the groove wall of the stop groove.

[0061] Preferably, the movable body is provided with a buckling portion protruding toward the connector, and the buckling portion is used to abut against an edge portion of the supporting body to prevent the bottom shell from moving relative to the movable body.

[0062] Preferably, the main control box includes a bottom shell provided with the first matching portion, which is a card slot; the support body is provided with a positioning slot inwardly, and the second matching portion is used to snap with the card slot to limit the movement of the bottom shell away from the connector; the buckling portion is used to snap with the positioning slot to limit the movement of the bottom shell toward the connector.

[0063] Preferably, the support body is provided with a sliding groove at one end close to the first direction; the first control member also includes a supporting portion for moving along the sliding groove to the first direction, and an extending portion extending from the movable body to the first direction, and the extending portion is fixedly matched with the supporting portion; the connector is provided with a stop wall on one side close to the first direction; the supporting portion is used to abut against the stop wall to prevent the movable body from moving when the drive box and the connector are not separated and when the first control member is subjected to pressing force.

[0064] Preferably, the box body is provided with a through hole at a position corresponding to the abutting portion, so that the abutting portion can extend out of the through hole when the moving body moves along the supporting body toward the first direction; or

[0065] The box body is provided with a through hole corresponding to the position of the abutting portion, so that one end of the abutting portion extends out of the box body and moves along the through hole in the first direction when the moving body moves along the supporting body in the first direction.

[0066] Preferably, the abutting portion is concavely provided with a groove toward the connector, and the extending portion is convexly provided with a flange body cooperating with the groove toward the connector, and the flange body is used to drive the abutting portion to move in the first direction when the movable body moves in the first direction A along the supporting body.

[0067] Preferably, the main control box includes a bottom shell provided with the first mating portion, and the first mating portion is a card slot; the second mating portion is used to pass through the first mating portion and snap with the side of the bottom shell away from the connector to fix the drive box to the main control box; the second mating portion is also used to separate from the side when the moving body moves in the first direction, thereby separating the drive box from the main control box.

[0068] Preferably, the endoscope also includes a connector for detachably connecting with the driving box, and a second control member arranged on the box body, the connector having a fastener; the driving box also includes a bracket fixedly arranged in the box body, the first control member includes a lever pivotally connected to the bracket, and a separation pressing portion movably connected to the first end of the lever; the second end of the lever is used to contact the fastener; the separation pressing portion is used to drive the second end of the lever to contact the fastener outward when subjected to pressing force, so as to separate the fastener from the fastening portion, thereby separating the driving box from the connector.

[0069] Preferably, the separation pressing portion includes a main body and an elastic portion with one end connected to the inner side of the main body and the other end connected to the bracket; the first end of the lever is provided with a first boss protruding toward the connector, and the main body is provided with a movable groove for movably connecting the first boss; the main body is used to elastically deform the elastic portion when subjected to pressing force, and drive the first boss in the movable groove to move inward, so that the second end moves outward to resist the fastener.

[0070] Preferably, the second end of the lever is provided with a second boss protruding toward the connector, and the bracket is provided with a limiting groove at a position corresponding to the second boss, and the limiting groove has a limiting wall on the side away from the main body. The second boss is used for causing the elastic part to elastically restore and push the main body to move outward when the pressing force applied to the main body disappears, and drives the first boss in the movable groove to move outward, and then it conflicts with the limiting wall to stop the separation pressing part from moving.

[0071] Preferably, the separation pressing part also includes an operating part connected to the outer side of the main body, and the operating part is used to push the main body to move when subjected to pressing force, so that the elastic part is elastically deformed and drives the first protrusion in the movable groove to move inward, thereby causing the second end to move outward to resist the fastener.

[0072] Preferably, the endoscope also includes a connector for detachably connecting to the drive box, and the connector has a fastener that cooperates with the box body; the drive box also includes a support body fixed in the box body and a box cover body fixedly connected to the support body, and the box cover body is provided with a fastening portion protruding in the direction of the support body, and the fastening portion is provided with a positioning hole for the fastener to be inserted into so that the drive box is fixedly connected to the connector.

[0073] Preferably, the first control member comprises a moving body carried on the supporting body and movable relative to the supporting body, and the moving body is located between the supporting body and the box cover body.

[0074] Preferably, the endoscope further comprises a connector for detachably connecting with the driving box, and a second control member arranged on the box body, the connector having a fastener; the second control member is used to resist the fastener when subjected to a force, thereby separating the driving box from the connector; the first control member is used to move in the first direction after the driving box is separated from the connector and when subjected to a force, thereby separating the second mating portion from the first mating portion, thereby separating the driving box from the main control box.

[0075] Preferably, the endoscope further comprises a connecting rod connected to the driving box and passing through the connector, wherein the connecting rod is connected to the image acquisition unit.

[0076] To achieve the above object, the present invention further provides an image processing device, which includes an image host and the endoscope as described above, and the image host is used to receive and process the signal transmitted by the endoscope.

[0077] To achieve the above objectives, the present invention also provides a surgical robot, which includes the endoscope as described above.

[0078] The endoscope, image processing device and surgical robot provided by the present invention are provided with an image acquisition unit for acquiring image signals and a main control box connected to the image acquisition unit, wherein a signal processing module is provided in the main control box, and the signal processing module is used to receive the image signal acquired by the image acquisition unit, and convert the image signal into a target signal, so as to transmit the target signal to the image host, and the transmission distance is shortened. In this way, the image signal acquired by the image acquisition unit can be prevented from attenuating during the transmission process to the image host, thereby preventing the image displayed on the image display from being distorted, thereby improving the image quality of the surgical area. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1-1This is a schematic structural diagram of an embodiment of a surgical robot according to the present invention;

[0080] Figure 1-2 This is a schematic diagram of an application scenario in which the endoscope of the present invention is suitable for handheld use;

[0081] Figure 2 It is a structural schematic diagram of an embodiment of an endoscope of the present invention;

[0082] Figure 3 It is a structural schematic diagram of the drive box and the connector during assembly of the present invention;

[0083] Figure 4 It is a schematic diagram of a partial explosion structure of the endoscope of the present invention;

[0084] Figure 5 A block diagram of an embodiment of the invented surgical robot;

[0085] Figure 6 A schematic diagram of a flow chart of a first embodiment of a signal conversion performed by a signal processing module;

[0086] Figure 7 A schematic diagram of a flow chart of a second embodiment of a signal conversion performed by a signal processing module;

[0087] Figure 8 for Figure 4 The structural diagram of the signal processing module;

[0088] Fig. 9 for Figure 4 Schematic diagram of the partial explosion structure of the main control box;

[0089] Fig.10 for Figure 4 Schematic diagram of the assembly structure of the drive box;

[0090] Fig.11 for Figure 4 Schematic diagram of the assembly structure of the central main control box;

[0091] Fig.12 for Figure 4 A schematic diagram of the structure of the middle rotating part;

[0092] Fig.13 for Figure 3 Schematic diagram of the structure after removing the main control box and the box body;

[0093] Fig.14 for Fig.13 The structural diagram of the control unit;

[0094] Fig.15 It is a schematic diagram of the structure of the drive box and the connector before being assembled;

[0095] Fig.16 for Figure 2 Schematic diagram of the structure from a top-down perspective;

[0096] Fig.17 It is a structural schematic diagram of another embodiment of the present invention;

[0097] Fig.18 for Fig.17 Schematic diagram of some explosion structures;

[0098] Fig.19 for Fig.18 Schematic diagram of the partial explosion structure of the main control box;

[0099] Fig. 20 for Fig.18 A schematic diagram of the structure of the surgical instrument without the connecting rod;

[0100] Fig.21 for Fig. 20 Schematic diagram of partial explosion structure of the bottom shell of the central main control box and the driver box;

[0101] Fig. 22 for Fig.21 Schematic diagram of the assembly structure;

[0102] Fig.23 for Fig.21 A schematic diagram of another perspective of the moving body and the supporting body;

[0103] Fig.24 for Fig.17 A schematic structural diagram of another embodiment of the first control member and the support body;

[0104] Fig.25 for Fig.24 A schematic diagram of the structure of the middle rotating part from another perspective;

[0105] Fig.26 for Fig.25 Schematic diagram of the opening direction and locking direction of the middle rotating part;

[0106] Fig. 27 for Fig.17 A schematic diagram of the structure from another perspective;

[0107] Fig.28 It is a structural schematic diagram of another embodiment of the endoscope of the present invention;

[0108] Fig.29 for Fig.28 Schematic diagram of the exploded structure without the connecting rod;

[0109] Fig.30 for Fig.29 A schematic diagram of the matching structure between the second control member and the connector;

[0110] Fig.31 for Fig.30 Schematic diagram of the structure of the middle lever;

[0111] Fig.32 for Fig.30 A schematic diagram of the structure of the middle separation pressing part;

[0112] Fig.33 for Fig. 20 Schematic diagram of the structure of the middle bracket;

[0113] Fig.34 for Fig.19 Schematic diagram of the structure of the signal processing module.

[0114] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0115] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0116] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0117] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0118] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0119] like Figure 1-1 As shown, the present invention provides a surgical robot 1000, the surgical robot 1000 includes a main operation table 200 and a slave operation device 300, the main operation table 200 is used to send a control command to the slave operation device 300 according to the doctor's operation to control the slave operation device 300; the slave operation device 300 is used to respond to the control command sent by the main operation table 200 and perform corresponding surgical operations. The slave operation device 300 includes a mechanical arm 301, a power mechanism (not shown in the figure) provided on the mechanical arm 301, a surgical instrument (not shown in the figure), an image host 302 and an image display 303. The surgical instrument is used to extend into the body under the driving action of the power mechanism, perform surgical operations through its end effector located at the far end, and obtain image signals in the body through its image acquisition unit located at the front end, and transmit the obtained image signals to the image host 302. The image host 302 is used to analyze and process the received image signals, for example, decode the received image signals, and then output the video signals to the image display 303 for display. Of course, the image host 302 can also perform noise reduction, white balance and other processing on the received image signal to obtain an image with higher picture quality. The main operating console is also used to display the image obtained by the endoscope.

[0120] like Figure 1-2 As shown, the endoscope 100 is also suitable for handheld application scenarios. Therefore, the endoscope 100 provided in this embodiment can be used not only in application scenarios of controlling a surgical robot to perform surgery, but also in application scenarios of performing surgery by hand.

[0121] The present invention provides an endoscope 100 for observing a surgical area. The endoscope 100 may be a bendable structure or a non-bendable structure. It is understood that the endoscope 100 may be an instrument suitable for single-port surgery or a multi-port surgery, which will be described in detail below.

[0122] like Figure 2 and Figure 3As shown, the endoscope 100 suitable for single-port surgery includes a main control box 1, a drive box 2 connected to the main control box 1, a connector 4 connected to the drive box 2, an image acquisition unit 5 connected to the drive box 2, and a connecting rod 51 connected to the drive box 2 and passing through the connector 4. The image acquisition unit 5 is used to collect image signals of the patient's lesion area, and the image signals may specifically include target tissue images of the lesion area and images of the operation process of the end effector performing the surgery. It should be understood that the connector 4 can be a structure of the endoscope 100, or a structure independent of the endoscope 100.

[0123] Furthermore, the main control box 1 is used to accommodate structures such as a motor, an encoder, a signal processing module, and an electrical connector. Figure 4 As shown, the main control box 1 includes a housing 11, a connecting portion 21 fixedly connected to the housing 11, a rotating portion 22 connected to one end of the housing 11 close to the driving box 2 and rotatable relative to the housing 11, and an elastic portion 23 located between the rotating portion 22 and the housing 11, and a signal processing module 15 accommodated in the housing. The housing 11 and the connecting portion 21 can be fixed by a snap connection, or by a threaded connection, etc. The connecting portion 21 is arranged in the rotating portion 22.

[0124] Further, the shell 11 includes a chassis 12 for being fixedly connected to the connecting portion 21 and a body 13 extending from the chassis 12 in a direction away from the connector 4. The shape of the chassis 12 may be circular or the like, and the body 13 may be rectangular or square or the like. When the shape of the body 13 is rectangular, the length of the body 13 may be smaller than the diameter of the chassis 12. The shape and size of the body 13 may be adjusted accordingly according to the size of the structure such as the signal processing module 15 accommodated in the body 13. It is understandable that the connecting portion 21 and the shell 11 enclose a storage space (not shown in the figure) for accommodating the structure such as the signal processing module 15, that is, the body 13 accommodates a part of the structure such as the signal processing module 15, and the connecting portion 21 accommodates another part of the structure such as the signal processing module 15.

[0125] Furthermore, if Figure 5 As shown, when the signal processing module 15 receives the image signal transmitted by the image acquisition unit 5 , it converts the image signal into a target signal and transmits the target signal to the image host 302 .

[0126] like Figure 6 As shown, in one embodiment, the signal processing module 15 may perform signal conversion as follows:

[0127] Step S11, converting the collected image signal into a low voltage differential signal;

[0128] Step S12, decoding the low voltage differential signal, and performing optical signal encoding on the decoded low voltage differential signal to obtain an optically encoded signal;

[0129] Step S13: convert the optical coding signal into an optical signal, so as to transmit the optical signal as the target signal to the image host.

[0130] In this embodiment, the image signal is usually a MIPI (Mobile Industry Processor Interface) signal, and its transmission distance is usually short. Therefore, it can be converted into a low-voltage differential signal with a long transmission distance and can be processed by the signal processing module 15, and then the low-voltage differential signal is converted into an optical signal, so that it can be transmitted over a long distance to the image host 302. In this way, the image signal acquired by the image acquisition unit 5 can be prevented from attenuating during the transmission process to the image host 302, thereby avoiding the distortion of the image displayed on the image display 303, thereby improving the image quality of the surgical area.

[0131] like Figure 7 As shown, in one embodiment, the signal processing module 15 may perform signal conversion as follows:

[0132] Step S21, converting the collected image signal into a low voltage differential signal;

[0133] Step S22, decoding the low voltage differential signal, and performing SDI signal encoding on the decoded low voltage differential signal to obtain an SDI encoded signal;

[0134] Step S23: convert the SDI encoded signal into an SDI signal, so as to transmit the SDI signal as the target signal to the image host.

[0135] In this embodiment, the image signal is usually a MIPI signal, and its transmission distance is usually short. Therefore, it can be converted into a low-voltage differential signal with a long transmission distance and can be processed by the signal processing module 15, and then the low-voltage differential signal is converted into an SDI (serial digital interface) signal, so that it can be transmitted over a long distance to the image host 302. In this way, the image signal acquired by the image acquisition unit 5 can be prevented from attenuating during the transmission process to the image host 302, thereby avoiding the distortion of the image displayed on the image display 303, thereby improving the image quality of the surgical area.

[0136] The transmission distance of the target signal is greater than the transmission distance of the image signal. In this way, the image signal acquired by the image acquisition unit 5 can be prevented from attenuating during transmission to the image host 302, thereby preventing the image displayed on the image display 303 from being distorted, thereby improving the image quality of the surgical area.

[0137] In one embodiment, the signal processing module 15 includes a first processing unit (not shown in the figure), a second processing unit (not shown in the figure) and a third processing unit (not shown in the figure) connected in sequence. The first processing unit is used to convert the image signal into a low-voltage differential signal and send the low-voltage differential signal to the second processing unit; the second processing unit is used to decode the received low-voltage differential signal and encode the decoded low-voltage differential signal into an optical signal to obtain an optical coding signal; the third processing unit is used to receive the optical coding signal transmitted by the second processing unit and convert the optical coding signal into an optical signal to transmit the optical signal as the target signal to the image host 302. It can be understood that after receiving the optical signal, the image host 302 converts the optical signal into an electrical signal for the next step of analysis and processing. This embodiment is applicable to the processing method conducted by optical cable. By converting the image signal into an optical signal and transmitting it to the image host 302 through an optical cable, signal attenuation during the transmission to the image host 302 can be avoided.

[0138] In another embodiment, the signal processing module 15 includes a first processing unit, a second processing unit and a third processing unit which are sequentially connected in the main control box, wherein the first processing unit 251 is used to convert the image signal into a low voltage differential signal and send the low voltage differential signal to the second processing unit 252; the second processing unit 252 is used to decode the received low voltage differential signal and perform SDI (serial digital interface) signal encoding on the decoded low voltage differential signal to obtain an SDI encoded signal; the third processing unit 253 is used to receive the SDI encoded signal transmitted by the second processing unit and convert the SDI encoded signal into an SDI signal so as to transmit the SDI signal as the target signal to the image host 302. At this time, the SDI signal can also be processed to increase the quality of the signal transmitted to the image host 302. It can be understood that this embodiment is applicable to the processing method conducted through a cable. By converting the image signal into the SDI signal and transmitting it to the image host 302 via a cable, signal attenuation during the transmission to the image host 302 can be avoided.

[0139] like Figure 8 As shown, the first processing unit includes a first PCB board 254 disposed in the main control box and a first chip (not shown in the figure) disposed on the first PCB board 254, the second processing unit includes a second PCB board 255 disposed in the main control box and a second chip (not shown in the figure) disposed on the second PCB board, the third processing unit includes a third PCB board 256 disposed in the main control box and a third chip (not shown in the figure) disposed on the third PCB board 256, and the first PCB board 254, the second PCB board 255 and the third PCB board 256 are stacked in sequence in a direction away from the image acquisition unit. It can be understood that the present invention is not limited to the number of processing units and PCB boards, and the specific number mainly depends on the structural size of the main control box. Specifically, according to the structural size of the main control box, the number of the processing unit and PCB board can be only one, and in other embodiments, it can also be two.

[0140] Furthermore, if Figure 4As shown, the rotating part 22 can be a hollow round shell structure, and the rotating part 22 is provided with a bearing part 221 protruding inwardly on the side away from the connector 4. The main control box 1 also includes a fixing part 24 for being carried on the bearing part 221, and the fixing part 24 is provided with one or more mounting parts 240 protruding inwardly along the circumferential direction, and the chassis 12 is provided with a plurality of matching parts 121 at the position corresponding to the fixing part 24. The mounting part 240 is used to cooperate with the matching part 121 so that the rotating part 22 can rotate between the fixing part 24 and the chassis 12. The mounting part 240 and the matching part 121 can be fixed by a snap connection, or by a threaded connection or the like. In this embodiment, the bearing part 221 can be a complete ring-shaped structure protruding along the periphery of the rotating part 22, or it can be a section or multiple sections of convex ridge structure protruding along the periphery of the rotating part 22. Correspondingly, the fixing portion 24 can be a complete ring-shaped structure of metal material, a complete ring-shaped structure of plastic material, or a ridge-shaped structure of other materials. During installation, the main body 13 passes through the rotating portion 22 until the bearing portion 221 contacts the chassis 12. Specifically, the stop wall (not shown in the figure) on the side of the rotating portion 22 close to the connector 4 contacts the contact wall (not shown in the figure) on the side of the chassis 12 away from the connector 4. At this time, the rotating portion 22 covers the connecting portion 21. That is, the rotating portion 22 can rotate relative to the chassis 12.

[0141] Further, in one embodiment, if Fig. 9As shown, the mounting portion 240 and the matching portion 121 are both hole-shaped structures, and the connecting portion 21 is also provided with a mounting hole 210 at a position corresponding to the mounting portion 240 and the matching portion 121. The main control box 1 may also include a stud (not shown in the figure), which passes through the mounting portion 240, the matching portion 121 and the mounting hole 210 in sequence and is fixed to the connecting portion 21, thereby achieving the fixation between the rotating portion 22, the shell 11 and the connecting portion 21. The connecting portion 21 may be provided with a positioning portion 211 protruding toward the shell 11, and the chassis 12 may be provided with a through groove 122 adapted to the positioning portion 211 along the periphery. Since the body 13 needs to accommodate a part of the structure such as the signal processing module 15, and the connecting portion 21 needs to accommodate another part of the structure such as the signal processing module 15, the directions of the accommodation space of the body 13 and the accommodation space of the connecting portion 21 need to be consistent. Through the guiding effect of the positioning portion 211, the operator can directly install it without having to find that the position does not match after the shell 11 is installed on the connecting portion 21, and the adjustment steps are required, thereby improving the installation efficiency. During installation, the positioning portion 211 can be inserted into the through groove 122, so that the position of the mounting portion 240 matches that of the matching portion 121. When the mounting portion 240 matches with the matching portion 121, the shell 11 is fixed to the connecting portion 21 in a predetermined direction.

[0142] Further, the elastic portion 23 is located between the bearing portion 221 and the chassis 12, and when the fixing portion 24 fixes the bearing portion 221 between the fixing portion 24 and the chassis 12, the side wall of the elastic portion 23 away from the connector 4 abuts against the bearing portion 221, and the side wall of the elastic portion 23 close to the connector 4 abuts against the chassis 12. It can be understood that the installation direction can be referenced to the length direction of the endoscope 100, and the installation direction can be a direction of stacking the structures in sequence toward the connector 4, or a solution of stacking the structures in sequence away from the connector 4.

[0143] Optionally, the side wall of the rotating part 22 is in a corrugated shape to increase the friction between the operator's hand and the rotating part 22, thereby facilitating the rotation of the rotating part 22 and avoiding slipping.

[0144] Optionally, a plurality of heat dissipation holes (not shown in the figure) are provided on the side wall of the rotating portion 22 to reduce the heat of structures such as the signal processing module 15 in the connecting portion 21 .

[0145] like Figure 4As shown, the driving box 2 includes a box body 31 connected to the main control box 1, an extension portion 32 extending from the periphery of the box body 31 toward the main control box 1, a base 33 disposed in the box body 31, a bracket 34 fixed on the base 33, and a control member 35 pivotally connected to the bracket 34. It can be understood that the box body 31 can be directly connected to the main control box 1 or indirectly connected to the main control box 1. In this embodiment, the box body 31 is indirectly connected to the main control box 1. Specifically, the box body 31 is connected to the rotating portion 22 of the main control box 1 through the extension portion 32.

[0146] Furthermore, if Fig. 9 As shown, the outer side wall of the connecting portion 21 is provided with a first protrusion 212 and a slider 213, and the positions of the two can be adjacent or not. The inner side wall of the extending portion 32 is provided with a second protrusion 321 adapted to the first protrusion 212, and a slide groove 322 is provided in the direction of the connector 4 at a position corresponding to the slide groove 213. The chassis 12 is provided with one or more convex ridges 123 protruding outward along the periphery. During installation, the slider 213 can be first slid into the slide groove 322, so that the connecting portion 21 can be guided to be fixed on the driving box 2 in a predetermined direction. Then, the first protrusion 212 is buckled with the second protrusion 321 to realize the fixed connection between the connecting portion 21 and the box body 31. After the first protrusion 212 is buckled with the second protrusion 321, the convex ridge 123 contacts the top wall 110 of the extending portion 32 facing the housing 11, thereby limiting the connecting portion 21 from continuing to move in the direction of the housing 11.

[0147] It is understandable that since the main control box 1 and the drive box 2 need to transmit signals, the matching of the electrical connector interface is also involved. Fig.10 As shown, the drive box also includes an electrical connector 39 having a plurality of contact pins 390 disposed in the box body. Fig.11 As shown, the signal processing module 15 is provided with an electrical connector seat 257 having a plurality of pin seats 258 on one side close to the image acquisition unit 5. The contact pins 390 of the electrical connector 39 are used to be inserted into the pin seats 258 of the electrical connector seat 257, so that the image signal acquired by the image acquisition unit 5 is transmitted to the main control box via the drive box. Figure 4As shown, the main control box is provided with a plug interface 120 on the side of the housing facing the drive box, and the box body is provided with a docking port 320 at a position corresponding to the plug interface 120. The contact pin 390 of the electrical connector 39 is used to sequentially pass through the docking port 320 and the plug interface 120 and be inserted into the needle seat 258 of the electrical connector seat 257, so that the image signal collected by the image acquisition unit 5 is transmitted to the main control box through the drive box. The shape of the plug interface 120 and / or the docking port 320 corresponds to the arrangement array of the multiple contact pins 390. The arrangement array of the multiple contact pins 390 can be rectangular, square, circular, cross-shaped, T-shaped, etc., and the shape of the plug interface 120 and / or the docking port 320 is a corresponding rectangular, square, circular, cross-shaped, T-shaped. It can be understood that the arrangement array of the multiple needle seats 258 on the electrical connector seat 257 is also a corresponding rectangular, square, circular, cross-shaped, T-shaped.

[0148] Therefore, the connecting part 21 needs to be fixed on the driving box 2 in a predetermined direction so that the interface of the electrical connector is correctly aligned, so that the operator can directly install it without having to install the connecting part 21 on the box body 31 and then find that the position does not match and needs to be adjusted, thereby improving installation efficiency.

[0149] Furthermore, the extension portion 32 is provided with a limiting groove 323 in the first direction. Fig.12 As shown, a protrusion 223 is convexly provided on the inner side wall of the rotating part 22. When the rotating part 22 rotates relative to the housing 11 in the first direction, the protrusion 223 is inserted into the limiting groove 323 and contacts the extension part 32 to fix the main control box 1 on the driving box 2; when the rotating part 22 rotates relative to the housing 11 in a second direction opposite to the first direction, the protrusion 223 is disengaged from the limiting groove 323 to separate the main control box 1 from the driving box 2. The first direction may be the direction in which the rotating part 22 rotates clockwise, and the second direction may be the direction in which the rotating part 22 rotates counterclockwise.

[0150] Furthermore, the housing 11 is provided with a conducting hole 124 , and the conducting hole 124 may be located at the top of the body 13 or at a position of the chassis 12 close to the body 13 .

[0151] like Fig.13As shown, the control member 35 includes a top abutting portion 38 away from one side of the main control box 1, a control portion 350 with one end extending out of the drive box 2 and located on one side of the main control box 1, and the other end connected to the top abutting portion 38 and pivotally connected to the bracket 34. The control portion 350 may further include an operating portion 35 extending out of the conducting hole 124 and located on one side of the main control box 1, and a reversing portion 37 with one end movably connected to the control portion 350 and the other end movably connected to the top abutting portion 38. The control portion 350 may be pivotally connected to the bracket 34, and the top abutting portion 38 and the operating portion 35 are not limited to being pivotally connected to the bracket 34.

[0152] The connector 4 has a fastener 41 corresponding to the position of the top abutting portion 38, and the fastener 41 is used to pass through the base 33 and snap with the base 33. When the operator pinches the operating portion 35, the operating portion 35 drives the reversing portion 37 to move, thereby driving the top abutting portion 38 to abut against the fastener 41, so that the top abutting portion 38 is separated from the base 33, thereby separating the drive box 2 from the connector 4. The two operating portions 35 are located on opposite sides of the length direction of the body 13. In this way, the span of the operator's hand operation is reduced, so that the two operating portions 35 can be pinched with one hand. It can be understood that in other embodiments, if the structure of the drive box 2 is relatively small, the reversing portion 37 can be selected not to be set; if the structure of the drive box 2 is relatively large, one or more reversing portions 37 can be selected to be set. The abutting portion 38 is located at a predetermined position of the bracket 34, the operating portion 35 is located at a target position of the bracket 34, and the reversing portion 37 is used to transmit the force of the operating portion 35 located at the target position to the abutting portion 38 located at the predetermined position. The predetermined position is usually a position specified based on structural limitations or design requirements, and the target position is a position adjusted to be ergonomic, so as to adapt to the operator's operating habits and improve operating comfort.

[0153] Furthermore, the operating part 35, the reversing part 37 and the supporting part 38 respectively have a first rotating shaft 361, a second rotating shaft 371 and a third rotating shaft 381 pivoted on the bracket 34, the first rotating shaft 361 is parallel to the base 33, the second rotating shaft 371 is perpendicular to the base 33, and the third rotating shaft 381 is parallel to the base 33.

[0154] like Fig.14As shown, the operating portion 35 includes a pressing portion 362 and a main drive shaft 363 arranged relative to the first rotating shaft 361, the reversing portion 37 includes an intermediate portion 375 pivoted on the second rotating shaft 371, a first movable end 374 with a first movable groove 372 arranged relative to the second rotating shaft 371 and a slave driving shaft 373, and the abutting portion 38 includes a second movable end 384 with a second movable groove 382 arranged relative to the third rotating shaft 381 and an abutting portion 383. Among them, one end of the intermediate portion 375 is connected to the slave driving shaft 373, and the other end is connected to the first movable end 374, the slave driving shaft 373 is parallel to the first movable end 374, the intermediate portion 375 is parallel to the base 33, and the intermediate portion 375 is used to rotate relative to the base 33 when the slave driving shaft 373 rotates inwardly relative to the second rotating shaft 371, so that the slave driving shaft 373 rotates inwardly relative to the second rotating shaft 371. That is, the shape of the reversing portion 37 is Z-shaped, and of course, other reasonable shapes may be used in other embodiments. Specifically, the first movable groove 372 is recessed at one end of the reversing portion 37 that is movably connected to the main drive shaft 363, and the second movable groove 382 is recessed at one end of the abutting portion 38 that is movably connected to the slave drive shaft 373. The main drive shaft 363 is used to be movably connected in the first movable groove 372, the slave drive shaft 373 is used to be movably connected in the second movable groove 382, ​​and the abutting portion 383 is used to abut against the fastener 41. It can be understood that the first movable groove 372 and / or the second movable groove 382 can be a closed groove or an open groove.

[0155] When the operator pinches the operating portion 35, the pressing portion 362 is subjected to an inward force, which drives the main driving shaft 363 to rotate outward relative to the first rotating shaft 361 and drives the first movable end 374 to rotate outward, so that the slave driving shaft 373 rotates inward relative to the second rotating shaft 371, and drives the second movable end 384 to rotate inward, so that the resistance portion 383 resists the fastener 41 outward relative to the third rotating shaft 381.

[0156] Furthermore, if Fig.15As shown, the connector 4 is provided with two oppositely arranged columns 42 in the direction of the drive box 2, and the line connecting the two columns 42 on the connector 4 is a limit line M, and the box body 31 is provided with a limit portion 310 in the direction of the connector 4. During installation, the limit portion 310 can be inserted between the two columns 42, and the two sides of the limit portion 310 can be respectively in contact with the two columns 42. In this way, the setting of the two columns 42 can guide the limit portion 310 to enter, and facilitate the installation between the drive box 2 and the connector 4. In addition, the box body 31 can also be limited to move relative to the connector 4 along the limit line M, thereby improving the installation tightness between the drive box 2 and the connector 4.

[0157] like Fig.16 As shown, the drive box 2 has a symmetric center line K and a center point O located on the symmetric center line K, the line connecting the predetermined position and the center point O is the first line AA, the line connecting the target position and the center point O is the second line BB, the angle between the first line AA and the symmetric center line K is an acute angle, and the second line BB is perpendicular to the symmetric center line K. The fastener 41 is located on the first line AA based on structural limitations. Correspondingly, if its operating part 35 is also located on the first line AA, due to the existence of other structures of the endoscope 100 (such as the X marked in the figure), the operator is usually accustomed to operating at the position of the second line BB, which is more in line with the operator's operating habits. Therefore, in this embodiment, by deflecting the position of the operating part 35 corresponding to the position of the fastener 41 from the position of the first line AA to the position of the second line BB, it is more convenient for the operator to operate, thereby improving the user experience.

[0158] In this embodiment, a control member 35 pivotally connected to the bracket 34 is arranged on the bracket 34 of the drive box 2, so that the abutting portion 38 of the control member 35 is away from the main control box 1, and one end of the control member 350 is extended out of the drive box 2 and located at one side of the main control box 1, and at the same time, the fastener 41 of the connector 4 passes through the base 33 and is locked with the base 33. In this way, when one end of the drive box 2 is subjected to a force, the abutting portion 38 is driven to abut against the fastener 41, so that the abutting portion 38 is separated from the base 33, thereby separating the drive box 2 from the connector 4. In this way, the operator can operate the control member 35 with one hand to realize the separation of the drive box 2 from the connector 4, thereby improving the operation experience of the operator.

[0159] This embodiment also provides a rotating portion 22 rotatable relative to the shell 11 of the main control box 1, and an extension portion 32 extending from the periphery of the box body 31 of the drive box 2 toward the main control box 1, so that when the rotating portion 22 rotates relative to the shell 11 in the first direction, it cooperates with the extension portion 32 to fix the main control box 1 on the drive box 2, and when the rotating portion 22 rotates relative to the shell 11 in a second direction opposite to the first direction, the rotating portion 22 separates from the extension portion 32, thereby separating the main control box 1 from the drive box 2. In this way, the main control box 1 is disassembled by rotation, and the endoscope 100 with the main control box 1 disassembled is sterilized, so that various structures in the main control box 1 of the endoscope 100 can be prevented from being damaged during the sterilization process, thereby ensuring the normal use of the endoscope 100.

[0160] like Fig.17 and Fig.18 As shown, in one embodiment, the endoscope 100' applicable to multi-hole surgery may include a main control box 1', a drive box 2' connected to the main control box 1', and an image acquisition unit 5' connected to the drive box 2'. The image acquisition unit 5' further includes a connecting rod 51' connected to the drive box 2 and passing through the connector 4', and an image acquisition unit 5' provided at the end of the connecting rod 51', the image acquisition unit 5' is used to collect image signals of the patient's lesion area, and the image signals may specifically include a target tissue image of the lesion area and an image of the operation process of the end effector performing the surgery.

[0161] like Fig.19 As shown, the main control box 1' is used to accommodate structures such as motors, encoders, signal processing modules and electrical connectors. The main control box 1' includes a shell (not shown in the figure), a signal processing module 15' and the like accommodated in the shell. The shell has a bottom shell 11' on the side close to the drive box 2', and one or more first matching parts 12' are provided on the bottom shell 11'. In one embodiment, the first matching part 12' is a through groove, and four through grooves are arranged on the bottom shell 11' to form a rectangular, square or circular shape. In other embodiments, the first matching part 12' can also be a through hole; the first matching part 12' can also be a snap-on structure protruding toward the drive box 2'.

[0162] like Figure 20 to Figure 22As shown, the driving box 2' comprises a box body 21', a first control member 24' disposed on the box body 21', a bracket 27' fixedly disposed in the box body 21', a support body 28' disposed on the bracket 27', and a box cover 29' connected to the support body 28'. A receiving space (not shown in the figure) is formed between the bracket 27' and the support body 28' to receive structures such as a driving shaft (not shown in the figure) and a reversing wheel (not shown in the figure).

[0163] Furthermore, the first control member 24' includes a moving body 240' supported on the support body 28' and movable relative to the support body 28', and a locking and pressing portion 250' connected to the moving body 240'. It is understandable that a receiving groove (not shown in the figure) is provided on the box body 21' for the locking and pressing portion 250' to be inserted into and facilitate the operator to perform a pressing operation. The locking and pressing portion 250' is used to push the moving body 240' to move in the first direction A when subjected to a pressing force.

[0164] The support body 28', the moving body 240', and the box cover body 29 are stacked in sequence in the box body 21', that is, the moving body 240' is located between the support body 28' and the box cover body 29. The box cover body 29, the support body 28', and the bracket 27' are fixedly connected by studs, and the support body 28', the moving body 240', and the box cover body 29 are fixed in the box body 21'. Of course, the box cover body 29, the support body 28', and the bracket 27' are not limited to being fixed by studs, and can also be fixedly matched by means of snaps or the like.

[0165] Furthermore, the box cover 29 is provided with first matching parts (not shown in the figure) in the same position, quantity and shape as the bottom shell 11'. Of course, in other embodiments, the first matching parts 12' on the box cover 29 may be in the same position as the first matching parts 12' on the bottom shell 11', but in different shapes and quantities. The box cover 29 may also only retain the frame part for connecting with the support body 28', and make the middle part of the box cover 29 a hollow structure.

[0166] Furthermore, if Fig.23As shown, the moving body 240' is provided with a second matching portion 241' protruding toward the main control box 1'. In one embodiment, the second matching portion 241' may be a snap-fit ​​structure, and specifically, the extension direction of the hook-shaped end thereof is a second direction B opposite to the first direction A. The moving body 240' is provided with a buckle portion 242' protruding toward the support body 28', and the extension direction of the hook-shaped end of the buckle portion 242' may be the same as the extension direction of the hook-shaped end of the second matching portion 241'. Of course, in other embodiments, the direction of the hook-shaped end of the buckle portion 242' may also be different from the extension direction of the hook-shaped end of the second matching portion 241'. For example, the extension direction of the hook-shaped end of the buckle portion 242' may be outward along the paper direction, or may be inward along the paper direction. In other embodiments, the second matching portion 241' may also be a magnet structure to be adsorbed on the first matching portion 12'. The number of the second matching portions 241' is the same as the number of the first matching portions 12', or is less than the number of the matching portions. However, there may be no corresponding relationship between the number of the locking portions 242 ′ and the number of the second matching portions 241 ′, that is, the two may be the same or different.

[0167] The second matching portion 241' is used to engage with the first matching portion 12' on the bottom shell 11', such as a slot, to limit the bottom shell 11' from moving away from the drive box 2'. The support body 28' is provided with a positioning groove 281' ( Fig.21 As shown in the figure, the buckling portion 242' is used to buckle with the positioning groove 281' to limit the movement of the bottom shell 11' towards the direction close to the drive box 2'. In other embodiments, the positioning groove 281' may not be provided, and the buckling portion 242' may directly buckle the edge portion of the support body 28'. In this embodiment, the positioning groove 281' is provided to avoid increasing the volume of the drive box 2'. It can be understood that regardless of whether the positioning groove 281' is provided on the support body 28', the buckling portion 242' can buckle the edge portion of the support body 28', so that the force between the second matching portion 241' and the first matching portion 12' can be increased, thereby preventing the bottom shell 11' from moving relative to the moving body 240', that is, the fixing strength between the main control box 1' and the drive box 2' can be increased, thereby preventing accidents caused by loosening of instruments during surgery.

[0168] It is understandable that the moving body 240' may be provided with only the second matching portion 241', or may be provided with both the second matching portion 241' and the buckling portion 242'. A reasonable arrangement may be made according to actual needs.

[0169] Furthermore, if Fig.23As shown, the locking pressing portion 250' further includes a button portion 251' connected to the moving body 240' and an elastic portion 252' connected to the button portion 251'. A receiving groove 282' for accommodating the elastic portion 252' is concavely provided on the supporting body 28'. One end of the elastic portion 252' is connected to the button portion 251', and the other end is connected to a groove wall 283' of the receiving groove 282'. The elastic portion 252' is used to elastically deform when the button portion 251' is pressed to push the moving body 240' to move in the first direction A, and elastically recover when the pressing force on the button portion 251' disappears to reset the moving body 240'.

[0170] When the button portion 251' is pressed, the button portion 251' pushes the moving body 240' to move along the supporting body 28' in the first direction A, so that the second matching portion 241' is separated from the first matching portion 12', thereby separating the driving box 2' from the main control box 1'. At this time, the elastic portion 252' is in an elastic contraction state under the pushing force of the button portion 251'. When the pressing force on the button portion 251' disappears, the first control member 24' is reset under the elastic recovery of the elastic portion 252'.

[0171] like Fig.24 and Fig.25 As shown, in another embodiment, the locking portion 250' further includes a rotating body 253' having a spiral groove 254' recessed therein, a convex ridge portion 256' protruding from the rotating body 253' and a rotating portion 257' connected to the rotating body 253', an elastic portion 258' connected to the moving body 240' at one end and to the rotating portion 257' at the other end, and a fixing portion 259' protruding from a side of the rotating body 253' away from the rotating portion 257'. The fixing portion 259' is used to enhance the strength of the locking portion 250'. Optionally, the rotating body 253' may be provided with a stop groove 255' communicating with the spiral groove 254' on one side of the rotating portion 257'.

[0172] The support body 28' is provided with a threaded portion 287' which cooperates with the convex ridge portion 256'. The first control member 24' further includes a connecting column 263' extending from the moving body 240' toward the locking portion 250'. The connecting column 263' is provided with a convex column 264'. The elastic portion 258' can also be connected to the connecting column 263'. That is, the elastic part 258' can be sleeved outside the connecting column 263', in which case one end of the elastic part 258' is connected to the moving body 240' and the other end is connected to the rotating part 257'; the elastic part 258' can also be arranged inside the connecting column 263', if the connecting column 263' is a hollow column, one end of the elastic part 258' can be connected to the moving body 240' and the other end is connected to the rotating part 257'; the elastic part 258' can also be arranged inside the connecting column 263', if the connecting column 263' is a blind hole column, one end of the elastic part 258' is connected to the connecting column 263' and the other end is connected to the rotating part 257'. The position of the elastic part 258' can be reasonably set according to actual needs, and is not limited to the above-mentioned several cases.

[0173] like Fig.26 As shown, when the rotating portion 257' rotates in the opening direction M, the ridge portion 256' moves in the threaded portion 287' in a direction away from the moving body 240', so that the convex cylinder 264' moves in the spiral groove 254' in a direction away from the rotating portion 257', thereby moving the moving body 240' in the first direction. Specifically, when the rotating portion 257' rotates in the opening direction M, the convex cylinder 264' moves along the spiral groove 254' into the stop groove 255' and abuts against the groove wall of the stop groove 255'. Optionally, the opening direction M can be clockwise; it can be arranged that after the rotating portion 257' rotates in the opening direction M by a predetermined angle such as 90°, the convex cylinder 264' is inserted into the stop groove 255'. Due to the arrangement of the stop groove 255' and the elastic part 258', when the convex cylinder 264' moves from the spiral groove 254' to the stop groove 255', the elastic part 258' undergoes elastic deformation, and elastically recovers when the convex cylinder 264' is in the stop groove 255', so that the convex cylinder 264' contacts the groove wall of the stop groove 255', thereby preventing the convex cylinder 264' from moving out of the stop groove 255'. In this way, the operator can feel the rebound force during operation, so as to know that the rotating part 257' has been rotated into place, and the operator does not need to confirm it with his eyes, thereby improving the user experience.

[0174] When the rotating portion 257' rotates in the locking direction N opposite to the opening direction M, the ridge portion 256' moves in the threaded portion 287' toward the moving body 240', causing the convex column 264' to move in the spiral groove 254' toward the rotating portion 257', thereby causing the moving body 240' to move in a second direction opposite to the first direction.

[0175] Furthermore, if Fig.23 As shown, the support body 28' is provided with a sliding groove 284' at one end close to the first direction A, and a butting portion 285' for moving along the sliding groove 284' toward the first direction A or the second direction B. The first control member 24' also includes an extension portion 261' extending from the moving body 240' toward the first direction A, and the extension portion 261' is used to be fixedly matched with the butting portion 285'. Specifically, in one embodiment, the butting portion 285' is provided with a groove 286' (such as a T-shaped groove or a circular groove, etc.) toward the direction of the connector 4', and the extension portion 261' is provided with a flange body 262' (such as a T-shaped groove or a circular groove, etc.) toward the direction of the connector 4' to match the groove 286'. Fig.21 As shown in Fig. 27 As shown, the box body 21' is provided with a through hole 20' for the abutting portion 285' to extend into, and when the moving body 240' moves along the supporting body 28' in the first direction A, the abutting portion 285' can extend out of the through hole. Of course, in other embodiments, when the initial installation is completed, one end of the abutting portion 285' can extend slightly out of the through hole, so that when the moving body 240' moves along the supporting body 28' in the first direction A, the abutting portion 285' can move along the through hole in the first direction A; when the thickness and other dimensions of the box body 21' are met, the abutting portion 285' can also not extend out of the through hole. If an embodiment is selected in which one end of the abutting portion 285' slightly extends out of the through hole when the initial installation is completed, then when the main control box 1' and the drive box 2' are installed, the fixing strength between the second matching portion 241' and the first matching portion 12' can be increased by pressing the abutting portion 285' from the through hole side, thereby enhancing the fixing strength between the main control box 1' and the drive box 2'.

[0176] When the locking portion 250 ′ is subjected to a force, the moving body 240 ′ moves along the supporting body 28 ′ toward the first direction A, and the flange body 262 ′ can drive the abutting portion 285 ′ to move toward the first direction A.

[0177] like Fig.28 and Fig.29As shown, in another embodiment, the surgical instrument 100 may further include a connector 4' connected to the driving box 2' and a second control member 22' disposed on the box body. That is, the connector 4' may be one of the structures of the surgical instrument 100, or may be a structure independent of the surgical instrument 100. Fig.29 As shown, the connector 4' is fixed with two fasteners 41' arranged opposite to each other. Of course, in other embodiments, the fasteners 41' may be only one or more. The connector 4' is provided with a stop wall 42' on the side close to the first direction A. Specifically, the stop wall 42' is protruded from the connector 4' toward the direction close to the drive box 2'. The height of the stop wall 42' may be lower than the height of the drive box 2', or higher than the height of the drive box 2', or the same as the height of the drive box 2'. This embodiment is not limited to the shape of the stop wall 42', so as not to affect the operation of the operator or the aesthetics of the drive box 2'.

[0178] Further, the fastener 41' may be a T-shaped or L-shaped snap-fit ​​structure with elasticity. It is understood that when the fastener 41' is a snap-fit ​​structure, its corresponding matching structure may be a snap-fit ​​structure or a hole-shaped structure that matches the structure of the second matching portion 241'. In other embodiments, the fastener 41' may also be a hole-shaped or groove-shaped structure, and its corresponding matching structure may be a snap-fit ​​structure.

[0179] In one embodiment, if Fig.21 As shown, the box cover 29 is provided with a fastening portion 291' protruding toward the direction of the support body 28', and a positioning hole 292' is provided on the fastening portion 291', so that the fastener 41' can be inserted to fix the drive box 2' with the connector 4'. In another embodiment, the box cover 29 is provided with a buckling portion (not shown) protruding toward the direction of the support body 28', so as to abut against the fastener 41' and fix the drive box 2' with the connector 4'. In other embodiments, the fastening portion 291' or the buckling portion can also be set at other reasonable positions on the drive box 2' as needed. The second control member 22' is used to abut against the fastener 41' when subjected to a force, so as to separate the drive box 2' from the connector 4'.

[0180] like Figure 30 to Figure 32As shown, the second control member 22' comprises a lever 220' pivotally connected to the bracket 27' and having a first end 221' and a second end 222', and a separation pressing portion 230' movably connected to the first end 221', wherein the second end 222' is used to abut against the fastener 41'. When the separation pressing portion 230' is subjected to a pressing force, the separation pressing portion 230' moves inward along the bracket 27', and drives the second end 222' of the lever 220' to abut against the fastener 41' outward, so that the fastener 41' is separated from the fastening portion 291' or the holding portion, thereby separating the drive box 2' from the connector 4'.

[0181] Further, the separation pressing part 230' includes a body 231', an operating part 233' connected to the outside of the body 231', and an elastic part 234' connected to the inside of the body 231' at one end and connected to the bracket 27' at the other end. It is understandable that a moving groove (not shown in the figure) is recessed on the bracket 27' to allow the operating part 233' to move inward or outward. When the operating part 233' contacts the groove wall 283' of the moving groove, the operating part 233' stops moving. The body 231' can be suspended relative to the bracket 27', or can be slidably connected to the bracket 27'. When the main body 231' is slidably connected with the bracket 27', the bracket 27' is provided with a slide rail at a position corresponding to the main body 231', and the main body 231' is correspondingly provided with a groove 286' or a convex ridge adapted to the slide rail. In this way, when the operating part 233' is subjected to pressing force, the separation pressing part 230' will not shake when moving relative to the bracket 27', thereby making the movement of the separation pressing part 230' more stable.

[0182] Furthermore, the first end 221' of the lever 220' is provided with a first convex column 223' protruding toward the connector 4', and the body 231' is provided with a movable groove 232' for movably connecting the first convex column 223'. The second end 222' of the lever 220' is provided with a second convex column 224' protruding toward the connector 4'. Fig.33 As shown, the bracket 27 ′ is provided with a limiting groove 271 ′ at a position corresponding to the second convex column 224 ′, and the limiting groove 271 ′ has a limiting wall 272 ′ at a side away from the body 231 ′.

[0183] When the operating part 233' is subjected to a pressing force, the operating part 233' pushes the body 231' to move inwards, causing the elastic part 234' to deform elastically, and driving the first convex column 223' in the movable groove 232' to move inwards. At this time, under the rotation of the pivot 225' of the lever 220', the second end 222' moves outwards and contacts the fastener 41'. When the pressing force on the operating part 233' disappears, due to the elastic recovery of the elastic part 234', the elastic part 234' pushes the body 231' to move outwards, driving the first convex column 223' in the movable groove 232' to move outwards. At this time, under the rotation of the pivot 225' of the lever 220', the second convex column 224' in the limiting groove 271' contacts the limiting wall 272', causing the separation pressing part 230' to stop moving.

[0184] In this embodiment, the moving groove and the limiting groove 271' can respectively limit the inward movement path of the separation pressing portion 230' and the outward movement path of the separation pressing portion 230', thereby achieving precise control of the separation pressing portion 230' and improving the operator's operating experience.

[0185] When installing the drive box 2', the support body 28' can be first fixed to the bracket 27', and then the buckling portion 242' on the movable body 240' is matched with the positioning groove 281' to make the movable body 240' supported on the support body 28', and then the second matching portion 241' on the connecting body is passed through the first matching portion 12' on the box cover body 29 or the hollow part of the box cover body 29, and finally the box cover body 29 and the support body 28' are fixed by a stud connection to complete the installation of the drive box 2'.

[0186] When the drive box 2' is installed, the second mating portion 241' can pass through the first mating portion 12' of the bottom shell 11' and contact the side 13' (of the bottom shell 11' away from the connector 4') of the bottom shell 11'. Fig.21 As shown), the driving box 2' and the main control box 1' are fixedly connected to each other, thereby completing the installation of the driving box 2' and the main control box 1'.

[0187] When the driver box 2' and the main control box 1' are installed, the fastener 41' of the connector 4' can be matched with the fastening portion 291' to achieve a fixed connection between the driver box 2' and the connector 4'. It can be understood that the driver box 2' is not limited to being installed with the main control box 1' first or with the connector 4' first, and the installation order of the driver box 2' and the main control box 1' or the connector 4' does not affect the implementation of the solution of the present invention.

[0188] In the solution of this embodiment, when the main control box 1', the driver box 2' and the connector 4' are assembled, due to the existence of the stop wall 42' on the connector 4', even if the locking pressing part 250' is subjected to a pressing force, the main control box 1' and the driver box 2' will not be separated. Therefore, the disassembly sequence between the three is: first, press the separation pressing part 230' to separate the fastener 41' from the fastening part 291', thereby separating the driver box 2' from the connector 4'. Then, press the locking pressing part 250' to separate the second matching part 241' from the first matching part 12', thereby separating the driver box 2' from the main control box 1'.

[0189] In this embodiment, a first matching portion 12' is provided on the main control box 1', a first control member 24' is provided on the box body of the drive box 2', and the second matching portion 241' of the first control member 24' is matched with the first matching portion, so that the first control member 24' moves in the first direction when subjected to an applied force, so that the second matching portion 241' is separated from the first matching portion 12', so that the drive box 2' is separated from the main control box 1'. In this way, by separating the drive box 2' from the main control box 1' and sterilizing the drive box 2', it is possible to avoid damage to the motor, sensor, encoder, electrical connector and other structures in the main control box 1' during the sterilization process, thereby improving the service life of the endoscope 100. Further, when subjected to an applied force, the second control member 22' separates the drive box 2' from the connector 4', and then the first control member 24' separates from the first matching portion 12' when subjected to an applied force, so that the drive box 2' is separated from the main control box 1'. In this way, the driving box 2' can be separated from the main control box 1' only after the driving box 2' is separated from the connector 4' and the first control component 24' is subjected to a force. This ensures that when the endoscope 100 performs a surgical operation during an operation, even if the first control component 24' is accidentally touched, the main control box 1' and the driving box 2' will not be separated, thereby improving the safety during the operation; or in the process of installing the endoscope 100 to the robotic arm 301, the risk of the main control box 1' falling off the driving box 2' due to an accidental touch operation is prevented, thereby improving the service life of the endoscope 100.

[0190] Furthermore, when the signal processing module 15' receives the image signal transmitted by the image acquisition unit 5', it converts the image signal into a target signal and transmits the target signal to the image host. The transmission distance of the target signal is greater than the transmission distance of the image signal. In this way, the image signal acquired by the image acquisition unit 5' can be prevented from being attenuated during the transmission to the image host 302, thereby preventing the image displayed on the image display 303 from being distorted, thereby improving the image quality of the surgical area.

[0191] In one embodiment, the signal processing module 15' includes a first processing unit (not shown in the figure), a second processing unit (not shown in the figure) and a third processing unit (not shown in the figure) which are sequentially connected in the main control box, wherein the first processing unit is used to convert the image signal into a low voltage differential signal and send the low voltage differential signal to the second processing unit; the second processing unit is used to decode the received low voltage differential signal and encode the decoded low voltage differential signal into an optical signal to obtain an optical coding signal; the third processing unit is used to receive the optical coding signal transmitted by the second processing unit and convert the optical coding signal into an optical signal to transmit the optical signal as the target signal to the image host. It can be understood that after receiving the optical signal, the image host converts the optical signal into an electrical signal for the next step of analysis and processing. This embodiment is applicable to the processing method conducted by optical cable. By converting the image signal into an optical signal and transmitting it to the image host through an optical cable, signal attenuation can be avoided during the transmission process to the image host.

[0192] In another embodiment, the signal processing module 15' includes a first processing unit, a second processing unit and a third processing unit which are sequentially connected in the main control box, wherein the first processing unit is used to convert the image signal into a low voltage differential signal and send the low voltage differential signal to the second processing unit; the second processing unit is used to decode the received low voltage differential signal and encode the decoded low voltage differential signal into an SDI signal to obtain an SDI encoded signal; the third processing unit is used to receive the SDI encoded signal transmitted by the second processing unit and convert the SDI encoded signal into an SDI signal to transmit the SDI signal as the target signal to the image host. At this time, the SDI signal can also be processed to increase the quality of the signal transmitted to the image host. It can be understood that the present embodiment is applicable to the processing method conducted by cable. By converting the image signal into the SDI signal and transmitting it to the image host via a cable, signal attenuation can be avoided during the transmission of the signal to the image host 302.

[0193] like Fig.34 As shown, the first processing unit includes a first PCB board 154' disposed in the main control box and a first chip (not shown in the figure) disposed on the first PCB board 154', the second processing unit includes a second PCB board 155' disposed in the main control box and a second chip (not shown in the figure) disposed on the second PCB board, the third processing unit includes a third PCB board 156' disposed in the main control box and a third chip (not shown in the figure) disposed on the third PCB board 156', the first PCB board 154', the second PCB board 155' and the third PCB board 156' are stacked in sequence in a direction away from the image acquisition unit. It can be understood that the present invention is not limited to the number of processing units and PCB boards, and the specific number mainly depends on the structural size of the main control box. Specifically, according to the structural size of the main control box, the number of the processing unit and PCB board can be only one, and in other embodiments, it can also be two, etc.

[0194] like Fig.21 and Fig.34As shown, the driving box also includes an electrical connector 31' having a plurality of contact pins 310' disposed in the box body, and an electrical connector seat 157' having a plurality of needle seats 158' is disposed on the side of the signal processing module 15' close to the image acquisition unit 5'. The contact pins 310' of the electrical connector 31' are used to be inserted into the needle seats 158' of the electrical connector seat 157', so that the image signal collected by the image acquisition unit 5' is transmitted to the main control box through the driving box. The bottom shell is provided with a plug interface 14', and the box body is provided with a docking interface 210' at a position corresponding to the plug interface 14'. The contact pins 310' of the electrical connector 31' are used to sequentially pass through the docking interface 210' and the plug interface 14' and be inserted into the needle seats 158' of the electrical connector seat 157', so that the image signal collected by the image acquisition unit 5' is transmitted to the main control box through the driving box. The shape of the plug port 14' and / or the docking port 210' corresponds to the arrangement of the plurality of contact pins 310'. The arrangement of the plurality of contact pins 310' may be a rectangle, square, circle, cross, T-shaped, etc., and the shape of the plug port 14' and / or the docking port 210' is a corresponding rectangle, square, circle, cross, T-shaped. It is understandable that the arrangement of the plurality of needle seats 158' on the electrical connector seat 157' is also a corresponding rectangle, square, circle, cross, T-shaped.

[0195] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. An endoscope, used to connect to an image host, characterized in that: The endoscope comprises: An image acquisition unit, used for acquiring image signals; A main control box connected to the image acquisition unit, wherein a signal processing module is disposed in the main control box, and the signal processing module is used to receive the image signal acquired by the image acquisition unit and convert the image signal into a target signal so as to transmit the target signal to the image host; A driving box connected to the main control box and the image acquisition unit respectively, used for being detachably connected to a connector having a fastener, wherein the driving box comprises a box body connected to the main control box, a base arranged in the box body, a bracket fixed on the base, and a control member pivotally connected to the bracket, wherein the control member comprises a top abutting portion away from one side of the main control box, and a control member having one end extending out of the driving box and located at one side of the main control box, and the other end connected to the top abutting portion and pivotally connected to the bracket; The control part includes an operating part extending out of the drive box and located on one side of the main control box, and a reversing part pivotally connected to the bracket, one end of the reversing part is movably connected to the operating part, and the other end is movably connected to the abutting part. The operating part is used to drive the reversing part to move when being operated, thereby driving the abutting part to contact the fastener, thereby separating the fastener from the base, and further separating the drive box from the connector.

2. The endoscope according to claim 1, wherein: The signal processing module is used to convert the image signal into a low voltage differential signal; decode the low voltage differential signal, perform optical signal encoding on the decoded low voltage differential signal to obtain an optical encoding signal; convert the optical encoding signal into an optical signal, so as to transmit the optical signal as the target signal to the image host; or The signal processing module is used to convert the image signal into a low-voltage differential signal; decode the low-voltage differential signal, and encode the decoded low-voltage differential signal into an SDI signal to obtain an SDI encoded signal; convert the SDI encoded signal into an SDI signal to transmit the SDI signal as the target signal to the image host.

3. The endoscope according to claim 2, characterized in that The signal processing module includes a first processing unit, a second processing unit and a third processing unit which are arranged in the main control box and connected in sequence. The first processing unit is used for converting the image signal into a low voltage differential signal, and sending the low voltage differential signal to the second processing unit; The second processing unit is used to decode the received low voltage differential signal, and perform optical signal encoding on the decoded low voltage differential signal to obtain an optically encoded signal; The third processing unit is used for receiving the optical coding signal transmitted by the second processing unit, and converting the optical coding signal into an optical signal, so as to transmit the optical signal as the target signal to the image host.

4. The endoscope according to claim 2, wherein: The signal processing module includes a first processing unit, a second processing unit and a third processing unit which are arranged in the main control box and connected in sequence. The first processing unit is used for converting the image signal into a low voltage differential signal, and sending the low voltage differential signal to the second processing unit; The second processing unit is used to decode the received low voltage differential signal, and perform SDI signal encoding on the decoded low voltage differential signal to obtain an SDI encoded signal; The third processing unit is used for receiving the SDI coded signal transmitted by the second processing unit, and converting the SDI coded signal into an SDI signal, so as to transmit the SDI signal as the target signal to the image host.

5. The endoscope according to claim 3 or 4, characterized in that: The first processing unit includes a first PCB board arranged in the main control box and a first chip arranged on the first PCB board, the second processing unit includes a second PCB board arranged in the main control box and a second chip arranged on the second PCB board, the third processing unit includes a third PCB board arranged in the main control box and a third chip arranged on the third PCB board, and the first PCB board, the second PCB board and the third PCB board are stacked in sequence in a direction away from the image acquisition part.

6. The endoscope according to claim 1, wherein: An electrical connector seat is provided on one side of the signal processing module close to the image acquisition unit. The drive box includes an electrical connector disposed in the box body. The electrical connector is detachably connected to the electrical connector seat so that the drive box is detachably connected to the main control box.

7. The endoscope according to claim 6, characterized in that The electrical connector seat includes a plurality of needle seats, and the electrical connector includes a plurality of contact pins, and the contact pins are used to be inserted into the needle seats so that the image signals collected by the image acquisition unit are transmitted to the main control box via the drive box.

8. The endoscope according to claim 7, characterized in that The main control box comprises a shell and a plug interface arranged on the side of the shell facing the drive box, and the box body is provided with a docking interface at a position corresponding to the plug interface. The contact pins of the electrical connector are used to sequentially pass through the docking port and the plugging port and be inserted into the pin seat of the electrical connector seat, so that the image signal collected by the image acquisition unit is transmitted to the main control box via the drive box.

9. The endoscope according to claim 8, characterized in that The shape of the insertion port and / or the docking port corresponds to the arrangement array of the plurality of contact pins.

10. The endoscope according to claim 1, wherein: The main control box includes a shell, and a rotating part connected to one end of the shell close to the driving box and rotatable relative to the shell. The driving box comprises a box body and an extending portion extending from the periphery of the box body toward the main control box. The rotating part is used to cooperate with the extending part to fix the main control box on the driving box when the rotating part rotates in a first direction relative to the shell; the rotating part is also used to separate from the extending part to separate the main control box from the driving box when the rotating part rotates in a second direction opposite to the first direction relative to the shell.

11. The endoscope according to claim 10, characterized in that The extending portion is provided with a limiting groove in the first direction, and the inner side wall of the rotating portion is provided with a protruding portion; The protrusion is used to engage in the limiting groove to fix the main control box on the drive box when the rotating part rotates in the first direction relative to the shell, and to disengage from the limiting groove when the rotating part rotates in a second direction opposite to the first direction relative to the shell, so as to separate the main control box from the drive box.

12. The endoscope according to claim 10, wherein: The main control box also includes a connecting portion arranged in the rotating portion, the shell includes a chassis for fixedly connecting with the connecting portion, the rotating portion is provided with a bearing portion protruding inwardly on a side away from the driving box, the main control box also includes a fixing portion for being carried on the bearing portion, the fixing portion is provided with a plurality of mounting portions protruding inwardly along the circumferential direction, and the chassis is provided with a plurality of matching portions at positions corresponding to the fixing portions. The mounting portion is used to cooperate with the matching portion so that the rotating portion can rotate between the fixing portion and the chassis.

13. The endoscope according to claim 12, wherein: The main control box further comprises an elastic portion disposed between the bearing portion and the chassis, wherein the elastic portion is used to abut against the bearing portion and the chassis respectively.

14. The endoscope according to claim 10, wherein: The main control box also includes a connecting part arranged in the rotating part, a first protrusion is protruding from the outer wall of the connecting part, and a second protrusion is protruding from the inner wall of the extending part, and the first protrusion is used to snap with the second protrusion to fix the connecting part to the box body.

15. The endoscope according to claim 14, characterized in that The shell includes a chassis for connecting to the connecting part, and the chassis has one or more ridges protruding outward along the periphery. The ridges are used to abut against the top wall of the extending part facing the shell after the first protrusion is snapped with the second protrusion, thereby limiting the connecting part from continuing to move toward the shell.

16. The endoscope according to claim 10, characterized in that The main control box also includes a connecting portion arranged in the rotating portion, and a slider is protruding from the outer wall of the connecting portion. The extending portion is recessed with a sliding groove in a direction away from the main control box at a position corresponding to the slider, and the slider is used to cooperate with the sliding groove to limit the connecting portion from rotating in the first direction or the second direction relative to the main control box.

17. The endoscope according to claim 10, wherein: The main control box also includes a connecting portion arranged in the rotating portion, and the connecting portion has a positioning portion protruding toward the shell; the shell includes a chassis for connecting to the connecting portion, and the chassis has a through groove recessed along the periphery, and the positioning portion is used to cooperate with the through groove to fix the shell and the connecting portion.

18. The endoscope according to claim 10, characterized in that The main control box also includes a connecting portion arranged in the rotating portion, the shell includes a chassis for connecting to the connecting portion, and a main body extending from the chassis away from the driving box, and the two operating portions are located on opposite sides of the main body.

19. The endoscope according to claim 10, wherein: The fastener is used to pass through the base and be snapped with the base.

20. The endoscope according to claim 1, wherein: The operating part includes a first rotating shaft pivoted on the bracket, a pressing part and a main driving shaft arranged relative to the first rotating shaft; the reversing part includes a second rotating shaft pivoted on the bracket, a slave driving shaft arranged relative to the second rotating shaft and a first movable end having a first movable groove; the abutting part includes a third rotating shaft pivoted on the bracket, an abutting part arranged relative to the third rotating shaft and a second movable end having a second movable groove; The main driving shaft is used to be movably connected in the first movable groove, and the slave driving shaft is used to be movably connected in the second movable groove; the abutting portion is used to abut against the fastener; The pressing portion is used to drive the main driving shaft to rotate outward relative to the first rotating shaft and drive the first movable end to rotate outward when subjected to a force, so that the slave driving shaft rotates inward relative to the second rotating shaft and drives the second movable end to rotate inward, thereby causing the interference portion to interfere with the fastener outward relative to the third rotating shaft.

21. The endoscope according to claim 20, characterized in that The reversing portion further comprises an intermediate portion pivotally connected to the second rotating shaft, one end of the intermediate portion is connected to the slave drive shaft, and the other end is connected to the first movable end, the slave drive shaft is parallel to the first movable end, and the intermediate portion is parallel to the base. The middle portion is used to rotate relative to the base when the slave driving shaft rotates inwardly relative to the second rotating shaft, so that the slave driving shaft rotates inwardly relative to the second rotating shaft.

22. The endoscope according to claim 20, characterized in that The first rotating shaft is parallel to the base, the second rotating shaft is perpendicular to the base, and the third rotating shaft is parallel to the base.

23. The endoscope according to claim 10, wherein: The drive box has a symmetry center line and a center point located on the symmetry center line, the line connecting the position of the top support portion projected to the base and the center point is the first line, the line connecting the position of the operating portion projected to the base and the center point is the second line, the angle between the first line and the symmetry center line is an acute angle, and the second line is perpendicular to the symmetry center line.

24. The endoscope according to claim 8, characterized in that The main control box further comprises a conducting hole arranged on the shell, and the conducting hole is used for allowing one end of the control part to extend out.

25. The endoscope according to claim 1, wherein: The connector is provided with two oppositely arranged columns protruding toward the direction of the drive box, and the line connecting the two columns on the connector is a limit line. The box body is provided with a limit portion protruding toward the direction of the connector, and the limit portion is used to be inserted between the two columns and interfere with the two columns to limit the movement of the box body relative to the connector along the limit line.

26. An endoscope, used to connect to an image host, characterized in that: The endoscope comprises: An image acquisition unit, used for acquiring image signals; A main control box connected to the image acquisition unit, wherein a signal processing module is disposed in the main control box, and the signal processing module is used to receive the image signal acquired by the image acquisition unit and convert the image signal into a target signal so as to transmit the target signal to the image host; The endoscope further comprises a driving box connected to the main control box and the image acquisition unit respectively. The main control box has a first matching portion; The driving box comprises a box body and a first control member arranged on the box body, wherein the first control member comprises a second matching portion for matching with the first matching portion; The first control member is used to move in a first direction when subjected to an applied force, so that the second matching portion is separated from the first matching portion, so that the drive box is separated from the main control box; The first control member further comprises a moving body provided on the box body and a locking portion connected to the moving body, wherein the second matching portion is protruded from the moving body toward the main control box; the moving body is used to move relative to the box body in the first direction when the locking portion is subjected to a force, so that the second matching portion is separated from the first matching portion, thereby separating the driving box from the main control box; The main control box includes a bottom shell provided with the first matching portion, and the first matching portion is a card slot; the second matching portion is used to pass through the first matching portion and snap with the side of the bottom shell away from the drive box to fix the drive box to the main control box; the second matching portion is also used to separate from the side when the moving body moves in the first direction, thereby separating the drive box from the main control box.

27. The endoscope according to claim 26, characterized in that The drive box also includes a support body fixedly arranged in the box body for carrying the moving body, the locking part includes a button part connected to the moving body and an elastic part, the elastic part is connected between the button part and the support body, the first control member is used to move along the first direction when the button part is subjected to pressing force, the elastic part is used to elastically deform when the first control member moves along the first direction, and elastically restore when the pressing force on the button part disappears to reset the first control member.

28. The endoscope according to claim 27, characterized in that The support body is concavely provided with a receiving groove for receiving the elastic part. One end of the elastic part is connected to the button part, and the other end is connected to the receiving groove.

29. The endoscope according to claim 26, characterized in that The drive box also includes a support body fixedly arranged in the box body for carrying the moving body, the moving body is movable relative to the support body, the locking part includes a rotating body and a rotating part connected to the rotating body, the rotating body is provided with a spiral groove, the first control part also includes a connecting column extending from the moving body to the locking part, a convex column is protruded on the connecting column, the convex column is located in the spiral groove, the rotating part is used to rotate and drive the convex column to move in the spiral groove, thereby driving the moving body to move relative to the support body.

30. The endoscope according to claim 29, wherein: A threaded portion is recessed on the support body, and the locking portion also includes a convex ridge portion convexly provided on the rotating body, the convex ridge portion is used to engage with the threaded portion, and when the rotating portion is used to rotate in the opening direction, the convex ridge portion moves in the threaded portion in a direction away from the movable body, causing the convex column to move in the spiral groove in a direction away from the rotating portion, thereby causing the movable body to move in the first direction; the rotating portion is also used to rotate in the locking direction, when the convex ridge portion moves in the threaded portion in a direction close to the movable body, causing the convex column to move in the spiral groove toward the rotating portion, thereby causing the movable body to move in a second direction opposite to the first direction.

31. The endoscope according to claim 29, wherein: The rotating body is also provided with a stop groove located on one side of the rotating part and connected to the spiral groove. The convex cylinder is used to move along the spiral groove into the stop groove and contact with the groove wall of the stop groove when the rotating part rotates in the locking direction, so as to prevent the convex cylinder from moving out of the stop groove.

32. The endoscope according to claim 31, characterized in that The locking portion also includes an elastic portion with one end connected to the moving body or the connecting column and the other end connected to the rotating portion; the elastic portion is used to elastically deform when the convex cylinder moves from the spiral groove to the stop groove, and elastically restore when the convex cylinder is located in the stop groove, so that the convex cylinder contacts the groove wall of the stop groove.

33. The endoscope according to claim 27 or 29, characterized in that: The endoscope also includes a connector for detachably connecting to the drive box, and the movable body is provided with a buckling portion protruding toward the connector, and the buckling portion is used to abut against the edge of the support body to prevent the bottom shell from moving relative to the movable body.

34. The endoscope according to claim 33, characterized in that The main control box includes a bottom shell provided with the first matching portion, which is a card slot; the support body is recessed with a positioning slot, and the second matching portion is used to snap with the card slot to limit the movement of the bottom shell away from the connector; the buckling portion is used to snap with the positioning slot to limit the movement of the bottom shell toward the connector.

35. The endoscope according to claim 27 or 29, characterized in that The endoscope also includes a connector for detachably connecting with the driving box, and the supporting body is provided with a sliding groove at one end close to the first direction; the first control member also includes a supporting portion for moving along the sliding groove to the first direction, and an extending portion extending from the movable body to the first direction, and the extending portion is fixedly matched with the supporting portion; the connector is provided with a stop wall on one side close to the first direction; the supporting portion is used to abut against the stop wall to prevent the movable body from moving when the driving box and the connector are not separated and when the first control member is subjected to pressing force.

36. The endoscope according to claim 35, characterized in that The box body is provided with a through hole at a position corresponding to the abutting portion, so that the abutting portion can extend out of the through hole when the moving body moves along the supporting body toward the first direction; or The box body is provided with a through hole corresponding to the position of the abutting portion, so that one end of the abutting portion extends out of the box body and moves along the through hole in the first direction when the moving body moves along the supporting body in the first direction.

37. The endoscope according to claim 35, characterized in that The abutting portion is provided with a groove toward the connector, and the extending portion is provided with a flange body that cooperates with the groove toward the connector. The flange body is used to drive the abutting portion to move toward the first direction when the moving body moves along the supporting body toward the first direction.

38. The endoscope according to claim 25, characterized in that The endoscope also includes a connector for detachably connecting to the drive box, and a second control member arranged on the box body, the connector having a fastener; the drive box also includes a bracket fixedly arranged in the box body, the second control member includes a lever pivotally connected to the bracket, and a separation pressing portion movably connected to the first end of the lever; the second end of the lever is used to contact the fastener; the separation pressing portion is used to drive the second end of the lever to contact the fastener outward when subjected to a pressing force, so as to separate the fastener from the drive box and the drive box from the connector.

39. The endoscope according to claim 38, characterized in that The separation pressing part comprises a body and an elastic part having one end connected to the inner side of the body and the other end connected to the bracket; a first protrusion is convexly provided at the first end of the lever toward the connector, and a movable groove for movably connecting the first protrusion is concavely provided on the body; The main body is used to elastically deform the elastic part when subjected to a pressing force, and drive the first protrusion in the movable groove to move inward, so that the second end moves outward to abut against the fastener.

40. The endoscope according to claim 39, wherein: The second end of the lever is provided with a second protrusion protruding toward the connector, and the bracket is provided with a limiting groove at a position corresponding to the second protrusion, and the limiting groove has a limiting wall on the side away from the main body. The second protrusion is used for contacting with the limiting wall to stop the movement of the separation pressing part when the pressing force applied to the main body disappears and the elastic part elastically recovers to push the main body to move outward and drives the first protrusion in the movable groove to move outward.

41. The endoscope according to claim 39, wherein: The separation pressing part also includes an operating part connected to the outer side of the body, and the operating part is used to push the body to move when subjected to a pressing force, so that the elastic part is elastically deformed and the first protrusion in the movable groove moves inward, thereby causing the second end to move outward to resist the fastener.

42. The endoscope according to claim 26, wherein: The endoscope also includes a connector for detachably connecting to the drive box, and the connector has a fastener that cooperates with the box body; the drive box also includes a support body fixed in the box body and a box cover body fixedly connected to the support body, the box cover body is provided with a fastening portion protruding in the direction of the support body, and the fastening portion is provided with a positioning hole for the fastener to be inserted into so that the drive box is fixedly connected to the connector.

43. The endoscope according to claim 42, characterized in that The first control member comprises a moving body which is carried on the supporting body and is movable relative to the supporting body, and the moving body is located between the supporting body and the box cover body.

44. The endoscope according to claim 26, characterized in that The endoscope also includes a connector for detachably connecting with the drive box, and a second control member arranged on the box body, the connector having a fastener; the second control member is used to resist the fastener when subjected to a force, thereby separating the drive box from the connector; the first control member is used to move in the first direction after the drive box is separated from the connector and when subjected to a force, so as to separate the second mating portion from the first mating portion, thereby separating the drive box from the main control box.

45. The endoscope according to claim 1, wherein: The endoscope further comprises a connecting rod connected to the driving box and passing through the connector, wherein the connecting rod is connected to the image acquisition part.

46. ​​The endoscope according to claim 26, wherein: The endoscope further includes a connector for detachably connecting to the driving box, and the endoscope further includes a connecting rod connected to the driving box and passing through the connector, wherein the connecting rod is connected to the image acquisition unit.

47. An image processing device, characterized in that: The image processing device includes an image host and an endoscope as described in any one of claims 1 to 46, and the image host is used to receive and process the signal transmitted by the endoscope.

48. A surgical robot, characterized in that: The surgical robot includes the image processing device as described in claim 47.

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