Endoscope and method of using same, surgical robot

Abstract

The present application relates to an endoscope, which comprises a mirror tube and a mirror head, the mirror head comprising a camera unit, a posture adjusting joint and a view angle adjusting joint; the camera unit comprises at least one lens, the lens is directed to the side direction of the camera unit, the proximal end of the camera unit is fixedly and rotatably assembled at the distal end of the posture adjusting joint through the view angle adjusting joint, the rotation axis of the view angle adjusting joint is perpendicular to the optical axis of the lens, and the proximal end of the posture adjusting joint is assembled at the distal end of the mirror tube, and the posture adjusting joint is configured to adjust the posture included angle between the optical axis of the lens and the axis of the mirror tube. The posture of the mirror head can be adjusted through the posture adjusting joint, the posture included angle between the optical axis of the lens on the camera unit and the axis of the mirror tube is controllably adjusted, the direction of the lens is switched from the side direction to the distal end direction, and then the pitch angle of the lens is adjusted in a fixed and rotatable manner through the view angle adjusting joint, so that the view angle can be more stably adjusted.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to endoscopes and their methods of use, and surgical robots. Background Technology

[0002] In recent years, with the widespread adoption of minimally invasive surgery, the supporting equipment for minimally invasive surgery has received increasing attention. As an indispensable visual imaging system, the endoscope is undoubtedly of paramount importance. Whether it is conventional minimally invasive surgery or minimally invasive robotic surgery, endoscopes are indispensable, highlighting their crucial role. Endoscopes can generally be divided into two categories: rigid endoscopes and flexible endoscopes. Flexible endoscopes mainly perform examinations, diagnoses, and treatments through the body's natural cavities, while rigid endoscopes are mainly used to enter sterile tissues and organs or to enter sterile cavities through surgical incisions.

[0003] Existing rigid endoscopes are generally divided into two types: optical endoscopes and electronic endoscopes. Optical endoscopes and electronic endoscopes have significant differences in structure. However, whether it is an optical endoscope or an electronic endoscope, most existing products are fixed-view endoscopes, such as 0° endoscopes, 12° endoscopes, 30° endoscopes, 75° endoscopes, etc. Endoscopes with different fixed viewpoints are usually used in different departments and for different surgeries. This requires advance planning of the selection of endoscopes during surgery based on specific surgical needs. Sometimes, different endoscopes may need to be changed during a single surgery, which adds a lot of uncertainty and risk to the surgery.

[0004] To address this issue, a few endoscope products have added a pitch and rotation joint to the endoscope head. However, because the pitch and rotation joint swings too much when adjusting the viewing angle, the field of vision changes drastically, causing dizziness for doctors and resulting in a poor experience, these types of endoscope products are not accepted by the market. Summary of the Invention

[0005] Therefore, it is necessary to provide an endoscope and its usage method, as well as a surgical robot, to address the problem of excessive swing amplitude and drastic changes in the field of view when the endoscope tip is tilted and rotated.

[0006] This invention provides an endoscope, the endoscope comprising:

[0007] Lens tube;

[0008] The lens head includes a camera unit, a posture adjustment joint, and a viewing angle adjustment joint. The camera unit includes at least one lens facing the side of the camera unit. The proximal end of the camera unit is rotatably mounted on the distal end of the posture adjustment joint via the viewing angle adjustment joint. The rotation axis of the viewing angle adjustment joint is perpendicular to the optical axis of the lens. The proximal end of the posture adjustment joint is mounted on the distal end of the lens tube. The posture adjustment joint is configured to adjust at least the posture angle between the optical axis of the lens and the axis of the lens tube.

[0009] In one embodiment, the attitude angle ranges from 0° to 90°.

[0010] In one embodiment, the direction of the camera unit from the proximal end to the distal end is the extension direction of the camera unit, the optical axis of the lens is perpendicular to the extension direction, and the rotation axis of the viewing angle adjustment joint is parallel to the extension direction.

[0011] In one embodiment, the attitude adjustment joint includes a first attitude adjustment segment and a second attitude adjustment segment. The proximal end of the camera unit is rotatably mounted on the distal end of the first attitude adjustment segment via the angle adjustment joint. The first attitude adjustment segment is configured to adjust the attitude angle. The proximal end of the first attitude adjustment segment is rotatably mounted on the distal end of the lens tube via the second attitude adjustment segment. The rotation axis of the second attitude adjustment segment coincides with the axis of the lens tube.

[0012] In one embodiment, the first posture adjustment segment is configured to adjust the rotation axis of the view angle adjustment joint and the rotation axis of the second posture adjustment segment to coincide when the posture angle is 0°, and to adjust the rotation axis of the view angle adjustment joint and the rotation axis of the second posture adjustment segment to be perpendicular when the posture angle is 90°.

[0013] In one embodiment, the first attitude adjustment segment includes at least three sequentially connected rotating segments, the rotation axis of which is perpendicular to the axis of the mirror tube.

[0014] In one embodiment, the rotating segment includes a proximal member and a distal member, which are rotatably connected by a pivot.

[0015] Alternatively, the rotating segment is a soft component having a cavity for filling with a filling material and a straight wall side and a folded side located on opposite sides. The soft component can be expanded or contracted by filling and discharging the filling material, and the folded side is configured to drive the rotating segment to rotate by folding in the contracted state and unfolding in the expanded state.

[0016] Alternatively, the rotating segment is a steering link, and adjacent steering links are rotatably connected;

[0017] Alternatively, the rotating segment is a steering gear, and adjacent steering gears rotate and mesh;

[0018] Alternatively, the rotating segment may be a steering cam, with adjacent steering cams rotating in coordination.

[0019] In one embodiment, the camera unit further includes at least one lighting element.

[0020] In one embodiment, the lighting element includes a light source and a light guide configured to conduct light emitted by the light source.

[0021] In one embodiment, the lens is disposed on the side of the camera unit; and / or, the illumination element is disposed on the side of the camera unit.

[0022] In one embodiment, there are two lenses, which are configured to be symmetrical about the axis of the lens tube when the angle of view is 90°.

[0023] And / or, there are four illumination elements, which are configured to be symmetrical about the central axis of the mirror tube when the orientation angle is 90°.

[0024] In one embodiment, the camera unit includes an image sensor, the lens is adapted to the optical path of the image sensor, and the center line of the photosensitive surface of the image sensor coincides with the center line of the camera unit.

[0025] In one embodiment, at least one attitude sensor is provided in both the camera unit and the lens tube, and the attitude sensor is configured to acquire the attitude angle.

[0026] In one embodiment, the endoscope tube is provided with a position recognition unit, which is configured to acquire position information of the endoscope mounted on the tamper card.

[0027] In one embodiment, the endoscope tube has a first identification position and a second identification position, the first identification position being located in the proximal direction of the second identification position, and the position identification unit is configured to identify first built-in information and second built-in information within the stamp card at the first identification position and the second identification position, as well as first external information and second external information outside the stamp card.

[0028] In one embodiment, the position recognition unit includes a first position recognition sensor located at the first recognition position and a second position recognition sensor located at the second recognition position. The first position recognition sensor is configured to acquire the first built-in information and the first external information, and the second position recognition sensor is configured to acquire the second built-in information and the second external information.

[0029] The present invention also provides a surgical robot, including the endoscope.

[0030] The present invention also provides a method of using the endoscope, comprising the following steps:

[0031] The endoscope's orientation angle is adjusted to 0° using the orientation adjustment joint. The endoscope is then inserted from the proximal end of the tamper and moved along the axis of the tamper until the endoscope tip is fully extended from the distal end of the tamper.

[0032] The endoscope's orientation angle is adjusted to 90° using the orientation adjustment joint.

[0033] The aforementioned endoscope, its usage method, and surgical robot, after being inserted into the patient's body through a tamper, can adjust the posture of the endoscope's head via posture adjustment joints, transforming the initial state into the application state. This primarily involves controlling the rotation of the camera unit relative to the endoscope tube, allowing for controllable adjustment of the posture angle between the optical axis of the lens and the axis of the endoscope tube. This changes the lens's orientation from a lateral direction to a distal direction. In the application state, the tilt angle of the lens is adjusted using the viewing angle adjustment joints in a fixed-axis rotation manner, enabling more stable viewing angle adjustments. Compared to adjusting the tilt angle using a serpentine joint-like rotation structure, this significantly improves the stability of tilt angle adjustment. Using this endoscope as the visual system of the laparoscopic surgical robot provides real-time, accurate, stable, and reliable visual images during surgery. Attached Figure Description

[0034] Figure 1 This is a partial structural diagram of the endoscope tube and endoscope head provided in one embodiment of the present invention;

[0035] Figure 2 A schematic diagram of the usage state of the posture adjustment joint of an endoscope provided in an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of a structure in which the rotating segment is a software component, according to one embodiment of the present invention.

[0037] Figure 4 For example Figure 3 The diagram shows the rotational state structure of the software component.

[0038] Figure 5 This is a partial structural diagram of the camera unit provided in one embodiment of the present invention;

[0039] Figure 6 An exploded view of the camera unit provided in one embodiment of the present invention;

[0040] Figure 7 This is a perspective sectional view of the camera unit provided in one embodiment of the present invention;

[0041] Figure 8 This is a partial structural schematic diagram of a surgical robot provided in one embodiment of the present invention;

[0042] Figure 9 A partial structural diagram of an endoscope mounted on a robotic arm and a tamper, according to an embodiment of the present invention;

[0043] Figure 10 This is a partial structural diagram of an endoscope mounted on a tamper card according to an embodiment of the present invention.

[0044] Icon labels:

[0045] 0001, Stamp card; 0002, Robotic arm; 0003, Handle;

[0046] 1000, end tube; 2000, end of end tube;

[0047] 1100, First identification position; 1200, Second identification position;

[0048] 2100, Camera Unit; 2200, Posture Adjustment Joint; 2300, Angle Adjustment Joint;

[0049] 2110 Lens; 2120 Light source; 2130 Light guide; 2140 Image sensor; 2150 Attitude sensor; 2160 Circuit board; 2170 Protective cover;

[0050] 2210. First attitude adjustment segment; 2220. Second attitude adjustment segment;

[0051] 2211. Rotating segment; 2212. Software. Detailed Implementation

[0052] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0053] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0054] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0055] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0056] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0057] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0058] To more clearly describe the structure of the endoscope, the term "distal" is defined herein as the end furthest from the operator during the surgical procedure, and "proximal" as the end closest to the operator during the surgical procedure. Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0059] See Figure 1 and Figure 2 As shown, one embodiment of the present invention provides an endoscope comprising a tube 1000 and a head end 2000. The head end 2000 includes a camera section 2100, a posture adjustment joint 2200, and a viewing angle adjustment joint 2300. The camera section 2100 includes at least one lens 2110, which faces the side of the camera section 2100. The proximal end of the camera section 2100 is rotatably mounted on the distal end of the posture adjustment joint 2200 via the viewing angle adjustment joint 2300. The rotation axis of the viewing angle adjustment joint 2300 is perpendicular to the optical axis of the lens 2110. The proximal end of the posture adjustment joint 2200 is mounted on the distal end of the tube 1000. The posture adjustment joint 2200 is configured to at least adjust the posture angle between the optical axis of the lens 2110 and the axis of the tube 1000.

[0060] The endoscope has a lens 2110 on the camera section 2100 at the endpiece head 2000 for acquiring image information. However, the lens 2110 is not oriented along the axis of the endpiece head 2000, but is configured to face the side of the camera section 2100. The fact that the axis of the lens 2110 is configured to face the side of the camera section 2100 does not mean that the lens 2110 must be located in the side of the camera section 2100. For example, the lens 2110 can be located at any position such as the side of the camera section 2100 or the distal end of the head, as long as the axis of the lens 2110 is oriented in the side of the camera section 2100. Therefore, the lens 2110 can be mounted on the camera section 2100 with a suitable mounting position and mounting structure to realize its image information acquisition function.

[0061] The endoscope head 2000 can rotate relative to the endoscope tube 1000 via the attitude adjustment joint 2200. In the initial state (non-application state), the attitude adjustment joint 2200 adjusts the extension direction of the camera section 2100 (the direction of the camera section 2100 from the proximal end to the distal end or from the distal end to the proximal end) to be parallel to the endoscope tube 1000, so that the endoscope tube 1000 and the endoscope head 2000 are in a roughly straight state, which is adapted to be assembled in the card 0001.

[0062] After the endoscope head 2000 is inserted into the patient's body through the tamper 0001, the attitude of the endoscope head 2000 can be adjusted by the attitude adjustment joint 2200 to convert the initial state into the application state. That is, the main control is to rotate the camera unit 2100 relative to the endoscope tube 1000, so that the attitude angle between the optical axis of the lens 2110 on the camera unit 2100 and the axis of the endoscope tube 1000 can be adjusted in a controllable manner, so that the orientation of the lens 2110 changes from the lateral direction to the distal direction. In the application state, the pitch angle of the lens 2110 can be adjusted by the viewing angle adjustment joint 2300 in a fixed-axis rotation manner, which can adjust the viewing angle more stably. Compared with the pitch angle adjustment by using a snake joint-like rotation structure, it obviously can greatly improve the stability of the pitch angle adjustment. Using this endoscope as the vision system of the laparoscopic surgical robot, it can provide real-time, realistic, stable and reliable visual images during the operation.

[0063] The viewing angle adjustment joint 2300 can use a rotational drive component, such as a motor, to achieve fixed-axis rotation of the camera unit 2100. Depending on the different characteristics of the drive component used on the viewing angle adjustment joint 2300, a drive component with higher rotational stability can be selected to improve the stability of the pitch angle adjustment of the camera unit 2100, providing the operator with a more stable field of view adjustment and assisting in the operation.

[0064] The orientation of the lens 2110 on the camera unit 2100 towards the side indicates that the optical axis of the lens 2110 can form a certain angle with the extension direction of the camera unit 2100 itself. This angle is not limited to 90°, and can be adjusted as needed within the range of 45° to 135°. For example, the optical axis of the lens 2110 can form 45°, 55°, 75°, 105°, 125°, 135°, etc. with the extension direction of the camera unit 2100. No specific limitation is made here. After the optical axis of the lens 2110 forms a predetermined angle with the extension direction of the camera unit 2100, the attitude adjustment joint 2200 can continue to adjust the attitude angle between the optical axis of the lens 2110 and the axis of the lens tube 1000 by adjusting the rotation angle of the camera unit 2100.

[0065] In order to accurately obtain the real-time adjustment of the attitude angle between the optical axis of the lens 2110 and the axis of the lens tube 1000, the attitude angle between the optical axis of the lens 2110 and the axis of the lens tube 1000 can also be detected in real time by a corresponding attitude sensor 2150 or other sensor device. In one embodiment, at least one attitude sensor 2150 is provided in both the camera unit 2100 and the lens tube 1000. For example, one attitude sensor 2150 can be provided on both the camera unit 2100 and the lens tube 1000. The two attitude sensors 2150 form a pair and are used to determine the relative positional relationship between the camera unit 2100 and the lens tube 1000. If they can be used together to obtain the attitude angle, the attitude accuracy of the end of the lens 2000 in the initial state and the application state after adjustment can be ensured, and the angle information of the current viewpoint can be provided in the application state. The operator can use the obtained attitude angle to accurately adjust the rotation state of the camera unit 2100 inserted into the patient's body from outside the patient's body.

[0066] In one embodiment, the direction from the proximal end to the distal end of the camera unit 2100 is the extension direction of the camera unit 2100, and the optical axis of the lens 2110 is perpendicular to the extension direction, that is, the optical axis of the lens 2110 forms a 90° angle with the extension direction of the camera unit 2100 itself. The range of the attitude angle can be 0° to 90°. When the attitude angle is 0°, it means that the endoscope tube 1000 and the endoscope head 2000 are in a straight state that can be fitted into the mounting card 0001. In addition, the rotation axis of the viewing angle adjustment joint 2300 is also configured to be parallel to the extension direction, thereby constituting the initial state of the endoscope. At this time, the fixed-axis rotation of the viewing angle adjustment joint 2300 can realize the adjustment of the pitch angle of the lens 2110. The viewing angle adjustment joint 2300 realizes at least -90° to +90° pitch angle adjustment, which can provide the operator with flexible pitch angle adjustment function.

[0067] The attitude adjustment joint 2200 can be configured not only to adjust the attitude angle between the optical axis of the lens 2110 and the axis of the lens tube 1000, but also to adjust the axial rotation direction of the optical axis of the lens 2110. In one embodiment, the attitude adjustment joint 2200 includes a first attitude adjustment segment 2210 and a second attitude adjustment segment 2220. The proximal end of the camera unit 2100 is rotatably mounted on the distal end of the first attitude adjustment segment 2210 via the viewing angle adjustment joint 2300. The first attitude adjustment segment 2210 is configured to adjust the attitude angle. The proximal end of the first attitude adjustment segment 2210 is rotatably mounted on the distal end of the lens tube 1000 via the second attitude adjustment segment 2220. The rotation axis of the second attitude adjustment segment 2220 coincides with the axis of the lens tube 1000.

[0068] When the rotation axis of the second attitude adjustment section 2220 coincides with the axis of the lens tube 1000, the first attitude adjustment section 2210 and the second attitude adjustment section 2220 have the basis to adjust the lens head end 2000 and the lens tube 1000 to a coaxial, straight state. In one embodiment, the first attitude adjustment section 2210 is configured to adjust the rotation axis of the viewing angle adjustment joint 2300 and the rotation axis of the second attitude adjustment section 2220 to coincide when the attitude angle is 0°. When the lens head end 2000 and the lens tube 1000 are adjusted to be in a coaxial and straight state, at the same time, when the angle of the posture is 90°, the rotation axis of the viewing angle adjustment joint 2300 and the rotation axis of the second posture adjustment section 2220 can be adjusted to be perpendicular to each other. After the lens head end 2000 is rotated and adjusted by the first posture adjustment section 2210, the camera part 2100 can still be kept from deviating from the axis of the lens tube 1000, which further improves the compatibility with the stamp card 0001.

[0069] The first attitude adjustment section 2210 serves as a joint structure for adjusting the rotation of the camera unit 2100. It can adopt any rotatable structural form. In one embodiment, the first attitude adjustment section 2210 includes at least three sequentially connected rotating segments 2211. The rotation axis of the rotating segments 2211 is perpendicular to the axis of the lens tube 1000. At this time, each rotating segment 2211 can form a fixed-axis rotation at a corresponding angle. Through the rotational coordination of multiple rotating segments 2211, the entire first attitude adjustment section 2210 can be flipped at an appropriate angle to adjust the attitude angle between the optical axis of the lens 2110 and the axis of the lens tube 1000.

[0070] In one embodiment, the rotating segment 2211 includes a proximal member and a distal member, which are rotatably connected by a pivot. The pivot connection allows the proximal and distal members to rotate at corresponding angles. Alternatively, see [reference needed]. Figure 3 and Figure 4 As shown, the rotating segment 2211 is a soft component 2212. The soft component 2212 has a cavity for filling with a filling material and a straight wall side and a folded side located on opposite sides. The soft component 2212 can be in an expanded or contracted state by filling and discharging the filling material. The filling material can be a gas or a liquid. When the filling material is discharged from the cavity, the soft component 2212 is in a contracted state, which can fold the folded side. When the cavity is filled with filling material, the folded side can be unfolded. The folded side is configured to drive the rotating segment 2211 to rotate by folding in the contracted state and unfolding in the expanded state.

[0071] In addition, the rotating segment 2211 can also adopt various structural forms such as linkage steering structure, gear steering structure or cam steering structure to achieve rotation as required. For example, the rotating segment 2211 can be a steering link, with adjacent steering links rotatably connected, and multiple steering links can be linked together. Due to the different lengths of the multiple steering links, angular displacement is generated, thereby achieving steering. Alternatively, the rotating segment 2211 can be a steering gear, with adjacent steering gears rotating and meshing. Or the rotating segment 2211 can also be a steering cam, with adjacent steering cams rotating and engaging. Those skilled in the art can choose a suitable steering structure according to their needs, and no limitation is made here.

[0072] See Figures 5 to 7 As shown, in one embodiment, the camera unit 2100 further includes at least one illumination element for intraoperative abdominal illumination. The illumination element can take various structural forms and be equipped with different numbers of illumination elements. In one embodiment, the illumination element includes a light source 2120 and a light guide 2130. The light guide 2130 is configured to conduct the light emitted by the light source 2120. The light source 2120 can be implemented using electrical components such as LEDs. In this case, the lens 2110 is disposed on the side of the camera unit 2100, and the illumination element is disposed on the side of the camera unit 2100, so that both the illumination element and the lens 2110 are located in the same direction of the camera unit 2100, allowing the illumination element to provide sufficient illumination for the lens 2110.

[0073] In one embodiment, there may be two lenses 2110 arranged along the extension direction of the camera unit 2100. One lens 2110 is located near the far end of the camera unit 2100, and the other lens 2110 is located near the near end of the camera unit 2100. The two lenses 2110 can simulate the binocular function of the human eye to achieve binocular image acquisition for realizing realistic 3D visual imaging. The two lenses 2110 are configured to be symmetrical with respect to the axis of the lens tube 1000 when the orientation angle is 90°. There may be four illumination elements, which are configured to be symmetrical with respect to the central axis of the lens tube 1000 when the orientation angle is 90°. The two lenses 2110 can be located between the four illumination elements to provide a surrounding illumination effect.

[0074] In one embodiment, the camera unit 2100 includes an image sensor 2140, and the lens 2110 is optically adapted to the image sensor 2140. The optical path adaptation between the lens 2110 and the image sensor 2140 can be achieved through direct or indirect connection. For example, the lens 2110 and the image sensor 2140 can be positioned using mating structural components to ensure that the lens 2110 and the image sensor 2140 meet the optical path adaptation requirements, thus forming a cohesive assembly. Furthermore, those skilled in the art... The operator can also choose other assembly methods according to the requirements, which are not limited here. The center line of the photosensitive surface of the image sensor 2140 coincides with the center line of the camera unit. Therefore, when the camera unit 2100 is rotated to the application state, the center line of the camera unit 2100 will also coincide with the rotation axis of the viewing angle adjustment joint 2300. When the viewing angle adjustment joint 2300 rotates along its rotation axis, the image sensor 2140 will also rotate along the center line of its photosensitive surface. This can prevent the image sensor 2140 from having a large displacement when the camera unit 2100 rotates along the axis, and improve the stability of the field of view.

[0075] The camera unit 2100 may have a housing for mounting electrical components such as an image sensor 2140, a lens 2110, a light source 2120, a light guide 2130, and an attitude sensor 2150. These components can be electrically assembled together on a circuit board 2160 located within the housing. The circuit board 2160 controls the functions between the corresponding electrical components. A protective cover 2170 can also be used to shield the lens 2110. The central axis of symmetry of the photosensitive surface of the image sensor 2140, the optical axis of the lens 2110, and the central axis of symmetry of the protective cover 2170 can be on the same axis. The light guide 2130 can be cylindrical, allowing the light source 2120 and the corresponding light guide 2130 to be on the same axis.

[0076] To prevent damage to the endoscope and potential danger caused by premature posture adjustment of the endoscope tip 2000 before it is fully extended from the tamper 0001 during insertion into the patient's body, it is necessary to control the timing of the endoscope tip 2000's posture adjustment during this process. Specifically, the endoscope tip 2000 should be appropriately adjusted when it is positioned correctly on the tamper 0001. The determination of the endoscope tip 2000's position on the tamper 0001 can be achieved using any type of position recognition component. In one embodiment, the endoscope tube 1000 is equipped with a position recognition unit configured to acquire the position information of the endoscope mounted on the tamper 0001.

[0077] In one embodiment, the endoscope tube 1000 has a first identification position 1100 and a second identification position 1200. The first identification position 1100 and the second identification position 1200 can be located in suitable areas on the endoscope tube 1000, such as in the distal region of the endoscope tube 1000, which is close to the end of the endoscope body 2000. This allows for more accurate identification of the position information of the end of the endoscope body 2000 relative to the stamp card 0001. The first identification position 1100 is located in the proximal direction of the second identification position 1200, that is, the first identification position 1100 is close to the first posture adjustment section 2210, and the second identification position 1200 is far from the first posture adjustment section 2210. For locations further away, the position recognition unit is configured to identify first and second built-in information of the first recognition position 1100 and the second recognition position 1200 within the stamp card 0001, thereby determining whether any position of the first recognition position 1100 and the second recognition position 1200 on the endoscope tube 1000 is within the stamp card 0001. Simultaneously, it can identify first and second external information of the first recognition position 1100 and the second recognition position 1200 outside the stamp card 0001, thereby determining whether any position of the first recognition position 1100 and the second recognition position 1200 on the endoscope tube 1000 is outside the stamp card 0001.

[0078] When the endoscope tip 2000 is in its initial state, i.e., the optical axis of the lens 2110 is perpendicular to the axis of the endoscope tube 1000, the endoscope can be adjusted to a straight state using the attitude adjustment joint 2200. This means that the endoscope tube 1000 and the endoscope tip 2000 are in a straight state. This straight state is the same as the shape of a typical rigid endoscope, which facilitates the smooth entry of the camera unit 2100 and the attitude adjustment joint 2200 into the tamper 0001 and the patient's body. When the laparoscopic surgical robot system recognizes that the endoscope has reached the appropriate position, the endoscope tip 2000 can adjust its attitude to the application state through the attitude adjustment joint 2200. This application state means that the camera unit 2100 has rotated 90° from the initial state, i.e., the optical axis of the lens 2110 is parallel to the axis of the endoscope tube 1000. When the endoscope is in use, the operator can control the viewing angle adjustment joint 2300 to rotate the camera unit 2100 on a fixed axis, so that the orientation of the lens 2110 can be adjusted, thereby achieving the adjustment of the viewing angle.

[0079] In one embodiment, the position recognition unit includes a first position recognition sensor located at the first recognition position 1100 and a second position recognition sensor located at the second recognition position 1200. The first and second position recognition sensors can be implemented in various structural forms, such as mechanical buttons, magnetic induction, photoelectric detection, etc., which are not limited here. After the first and second position recognition sensors are located at the first recognition position 1100 and the second recognition position 1200, the current position of the first and second recognition positions on the stamp card 0001 can be indirectly determined by directly using the judgment of the current position of the first and second position recognition sensors. Therefore, the first position recognition sensor can be configured to directly acquire the first built-in information and the first external information, and the second position recognition sensor can be configured to directly acquire the second built-in information and the second external information.

[0080] When the first built-in information and the second external information are obtained, it indicates that the lens head 2000 has entered the stamp card 0001. When the first external information and the second external information are obtained, it indicates that the lens head 2000 has completely extended out of the stamp card 0001. Similarly, the position of the lens head 2000 on the stamp card 0001 can be determined by the obtained position information being any pair of the first built-in information, the first external information, the second built-in information, and the second external information. This includes, but is not limited to, determining whether the lens head 2000 is inside or outside the stamp card 0001. This is not limited here.

[0081] See Figures 8 to 10As shown, the present invention also provides a surgical robot, including the endoscope. This surgical robot can be a laparoscopic surgical robot. Since the specific structure, functional principles, and technical effects of the endoscope have been detailed above, they will not be repeated here. Any technical details regarding the endoscope can be found in the preceding description.

[0082] The present invention also provides a method of using the endoscope, comprising the following steps: adjusting the attitude angle of the endoscope to 0° using the attitude adjustment joint 2200; inserting the endoscope into the proximal end of the locator 0001; and moving the endoscope along the axial direction of the locator 0001 until the endoscope head 2000 is completely extended from the distal end of the locator 0001; and adjusting the attitude angle of the endoscope to 90° using the attitude adjustment joint 2200. Furthermore, in one embodiment, the camera unit 2100 can be rotated using the viewing angle adjustment joint 2300 to adjust the orientation of the lens 2110.

[0083] During preoperative preparation, the robotic arm 0002 of the laparoscopic surgical robot can be used to hold the endoscope, controlling the endoscope tip 2000 and part of the endoscope tube 1000 to pass through the chuck 0001, enter the abdominal cavity through the abdominal wall, and reach the appropriate position. The operator can adjust the posture of the endoscope tip 2000 through the operating end of the laparoscopic robot or the endoscope handle 0003. Specifically, the posture adjustment joint 2200 controls the camera unit 2100 to switch from the initial state to the application state, making the optical axis of the lens 2110 parallel to the axis of the endoscope tube 1000, or even on the same axis. The camera unit 2100 can continue to rotate along the axis of the endoscope tube 1000 by the posture adjustment joint 2200 to adjust the horizontal angle of the image. After the posture adjustment is completed, the endoscope enters the application state, at which time the endoscope's field of view is 0° by default.

[0084] It is important to note that before inserting the endoscope into the trocar 0001, the endoscope's posture needs to be adjusted to a straight position. In one embodiment, the endoscope's posture can be identified by the posture sensor 2150 on the endoscope tube 1000 and the camera unit 2100. After confirming that the endoscope's posture is straight, the endoscope's posture adjustment joint 2200 is locked to ensure that the endoscope's posture does not change. At this point, the robotic arm 0002 of the laparoscopic surgical robot can be used to control the endoscope to insert into the trocar 0001. The endoscope then enters the patient's abdominal cavity through the trocar 0001. During the process of the endoscope entering the patient's abdominal cavity, the endoscope also needs to monitor its position on the trocar 0001 in real time. In one embodiment, the position recognition unit can identify whether the endoscope tip 2000 has entered the trocar 0001 and whether the endoscope tip 2000 has completely extended out of the trocar 0001. After determining that the lens head 2000 has fully extended from the latch 0001, the attitude adjustment joint 2200 can be unlocked. The attitude adjustment joint 2200 is used to adjust the attitude of the front end of the lens body so that the optical axis of the lens 2110 is parallel to the axis of the lens tube 1000. After the attitude adjustment is completed, the attitude adjustment joint 2200 is locked again.

[0085] Before withdrawing the endoscope from the tamper 0001, it is necessary to ensure that the posture adjustment joint 2200 has not entered the tamper 0001 to avoid accidents during the posture adjustment of the endoscope head 2000. In one embodiment, the position recognition unit can also determine the current position of the posture adjustment joint 2200 relative to the tamper 0001, and then determine whether the position is suitable for withdrawal. For example, when the second recognition position 1200 is inside the tamper 0001 and the first recognition position 1100 is outside the tamper 0001, it can be determined that the endoscope is suitable for withdrawal. At this time, the posture adjustment joint 2200 is unlocked, and the posture of the endoscope head 2000 is adjusted to the initial state using the posture adjustment joint 2200 to restore the straight state when the endoscope entered. After confirming that the endoscope head 2000 has returned to the initial state, the robotic arm 0002 of the laparoscopic surgery robot can be used to control the endoscope to withdraw from the tamper 0001.

[0086] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0087] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An endoscope, characterized in that, The endoscope includes: Lens tube; The lens head includes a camera unit, a posture adjustment joint, and a viewing angle adjustment joint. The camera unit includes at least one lens facing the side of the camera unit. The proximal end of the camera unit is directly connected to the viewing angle adjustment joint, and the proximal end of the camera unit is rotatably mounted on the distal end of the posture adjustment joint via the viewing angle adjustment joint. The rotation axis of the viewing angle adjustment joint is perpendicular to the optical axis of the lens. The proximal end of the posture adjustment joint is mounted on the distal end of the lens tube. The posture adjustment joint is configured to adjust at least the posture angle between the optical axis of the lens and the axis of the lens tube.

2. The endoscope according to claim 1, characterized in that, The range of the attitude angle is 0° to 90°.

3. The endoscope according to claim 1, characterized in that, The direction of the camera unit from the near end to the far end is the extension direction of the camera unit, the optical axis of the lens is perpendicular to the extension direction, and the rotation axis of the viewing angle adjustment joint is parallel to the extension direction.

4. The endoscope according to claim 1, characterized in that, The attitude adjustment joint includes a first attitude adjustment section and a second attitude adjustment section. The proximal end of the camera unit is rotatably mounted on the distal end of the first attitude adjustment section via the angle adjustment joint. The first attitude adjustment section is configured to adjust the attitude angle. The proximal end of the first attitude adjustment section is rotatably mounted on the distal end of the lens tube via the second attitude adjustment section. The rotation axis of the second attitude adjustment section coincides with the axis of the lens tube.

5. The endoscope according to claim 4, characterized in that, The first attitude adjustment segment is configured to adjust the rotation axis of the view angle adjustment joint and the rotation axis of the second attitude adjustment segment to coincide when the attitude angle is 0°, and to adjust the rotation axis of the view angle adjustment joint and the rotation axis of the second attitude adjustment segment to be perpendicular when the attitude angle is 90°.

6. The endoscope according to claim 4, characterized in that, The first attitude adjustment section includes at least three sequentially connected rotating segments, the rotation axis of which is perpendicular to the axis of the endoscope tube.

7. The endoscope according to claim 6, characterized in that, The rotating segment includes a proximal end member and a distal end member, which are rotatably connected by a rotating shaft; Alternatively, the rotating segment is a soft component having a cavity for filling with a filling material and a straight wall side and a folded side located on opposite sides. The soft component can be expanded or contracted by filling and discharging the filling material, and the folded side is configured to drive the rotating segment to rotate by folding in the contracted state and unfolding in the expanded state. Alternatively, the rotating segment is a steering link, and adjacent steering links are rotatably connected; Alternatively, the rotating segment is a steering gear, and adjacent steering gears rotate and mesh; Alternatively, the rotating segment may be a steering cam, with adjacent steering cams rotating in coordination.

8. The endoscope according to claim 1, characterized in that, The camera unit also includes at least one lighting element.

9. The endoscope according to claim 8, characterized in that, The lighting element includes a light source and a light guide, the light guide being configured to conduct light emitted by the light source.

10. The endoscope according to claim 8, characterized in that, The lens is disposed on the side of the camera unit; and / or the lighting element is disposed on the side of the camera unit.

11. The endoscope according to claim 10, characterized in that, There are two lenses, and the two lenses are configured to be symmetrical with respect to the axis of the lens tube when the included angle is 90°. And / or, there are four illumination elements, which are configured to be symmetrical about the central axis of the mirror tube when the orientation angle is 90°.

12. The endoscope according to claim 1, characterized in that, The camera unit includes an image sensor, the lens is adapted to the optical path of the image sensor, and the center line of the photosensitive surface of the image sensor coincides with the center line of the camera unit.

13. The endoscope according to claim 1, characterized in that, At least one attitude sensor is provided in both the camera unit and the lens tube, and the attitude sensor is configured to acquire the attitude angle.

14. The endoscope according to any one of claims 1-13, characterized in that, The endoscope tube is provided with a position recognition unit, which is configured to obtain the position information of the endoscope mounted on the stamp card.

15. The endoscope according to claim 14, characterized in that, The endoscope tube has a first identification position and a second identification position. The first identification position is located in the proximal direction of the second identification position. The position identification part is configured to identify first built-in information and second built-in information within the stamp card at the first identification position and the second identification position, as well as first external information and second external information outside the stamp card.

16. The endoscope according to claim 15, characterized in that, The position recognition unit includes a first position recognition sensor located at the first recognition position and a second position recognition sensor located at the second recognition position. The first position recognition sensor is configured to acquire the first built-in information and the first external information, and the second position recognition sensor is configured to acquire the second built-in information and the second external information.

17. A surgical robot, characterized in that, Including the endoscope as described in any one of claims 1-16.

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