A surgical device comprising an endoscope and a microscope

Abstract

The present invention relates to a surgical device comprising an endoscope and a microscope, and includes a body, a first support device, a second support device, an endoscope device, a microscope device, and an image display device; the first support device and the second support device are respectively installed on both sides of the top of the body, the endoscope device is installed on the first support device, the microscope device is installed on the second support device, and the image display device is installed on the body; wherein, the first support device includes a horizontally rotating arm, a pitching swing arm, and a universal connecting arm connected in sequence. The present invention can adjust the horizontal position of the endoscope device by the rotation of the horizontally rotating arm on the body, adjust the pitching angle of the endoscope device through the pitching swing arm, and can perform universal rotation on the endoscope device through the universal connecting arm, and finally realize that the endoscope device can freely adjust the distance, height, and angle according to actual needs, with flexible adjustment and improved surgical efficiency.

Description

Technical Field

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

[0002] Endoscopes (hereinafter referred to as "endoscopes") and microscopes are commonly used instrument devices in the current medical field. Given that traditional endoscopes and microscopes are independent devices, when applying the two to the same surgery, it is not only restricted by the space of the operating room, but also there are many inconveniences in the signals, image display and storage of the two devices during the operation, and the collation and editing of the postoperative surgical data. The prior art provides a surgical device that integrates an endoscope and a microscope.

[0003] However, whether it is the surgical device integrating the endoscope and the microscope or the independent devices of the endoscope and the microscope, during the surgery, both the endoscope and the microscope need to adjust the position and / or angle by means of translation, rotation, lifting, etc. to ensure the smooth progress of the surgery. However, the existing endoscope devices and microscope devices are difficult to achieve the above adjustments, or the adjustments are not flexible enough, reducing the surgical efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide a surgical device comprising an endoscope and a microscope to solve the problem that the position and angle adjustment of traditional endoscope devices and microscope devices are inconvenient and reduce the surgical efficiency.

[0005] To solve the above problems, the present invention first provides a surgical device comprising an endoscope and a microscope, including a body, a first support device, a second support device, an endoscope device, a microscope device and an image display device; the first support device is installed on one side of the opposite sides of the top of the body, the second support device is installed on the other side of the opposite sides of the top of the body, the endoscope device is installed on the first support device, the microscope device is installed on the second support device, and the image display device is installed on the body; wherein, the first support device includes a horizontally rotating arm, a pitching swing arm and a universal connecting arm connected in sequence; one end of the horizontally rotating arm is connected to the top of the body and can rotate on the body in the horizontal direction; one end of the pitching swing arm is connected to the horizontally rotating arm and can rotate around the horizontally rotating arm in the horizontal direction, and the pitching swing arm can swing in the vertical direction around the end connected to the horizontally rotating arm; the upper end of the universal connecting arm is installed on the other end of the pitching swing arm in a universally rotatable manner, the lower end of the universal connecting arm is installed with the endoscope device, and the endoscope can rotate universally at the lower end of the universal connecting arm.

[0006] By adopting the above technical scheme, the horizontal position of the endoscope device can be adjusted by rotating the horizontal rotating arm on the body, the pitch angle of the endoscope device can be adjusted by the pitch swing arm, and the endoscope device can be universally rotated by the universal connecting arm. Finally, the endoscope device can be freely adjusted in distance, height and angle according to actual needs, with flexible adjustment to improve surgical efficiency.

[0007] Furthermore, the horizontal rotating arm includes a first shell assembly, a first bearing assembly, a second bearing assembly, a first vertical rotating shaft, a second vertical rotating shaft and a first support seat; the first bearing assembly and the second bearing assembly are both located in the first shell assembly, and are fixedly installed at the opposite ends of the first shell assembly in a one-to-one manner; the first vertical rotating shaft is passed through the first bearing assembly and is fixedly connected to the first support seat, the second vertical rotating shaft is passed through the second bearing assembly and is fixedly connected to one end of the pitch swing arm, and the first support seat is fixedly installed on the top of the machine body.

[0008] By adopting the above technical solution, the horizontal rotation of the horizontal rotating arm relative to the body is realized by the cooperation of the first vertical rotating shaft and the first bearing assembly, and the relative horizontal rotation between the pitch swing arm and the horizontal rotating arm is realized by the cooperation of the second vertical rotating shaft and the second bearing assembly. The structure is simple and easy to operate.

[0009] Further, the first shell assembly includes a first mounting shell, a first mounting seat and a second mounting seat; the first mounting shell is hollow inside and open at both ends, the first mounting seat and the second mounting seat are hollow inside and open at one end, the open end of the first mounting shell is connected to the open first mounting seat, and the open end of the first mounting shell is connected to the open second mounting seat; the first mounting seat is hollow inside and has first bearing mounting holes on both sides of the upper and lower opposite sides, the first bearing assembly includes two first bearings installed in a one-to-one correspondence with the two first bearing mounting holes, the upper and lower ends of the first vertical rotating shaft are respectively extended from the two first bearing mounting holes, wherein the lower end is connected to the first support seat; the second mounting seat is hollow inside and has second bearing mounting holes on both sides of the upper and lower opposite sides, the second bearing assembly includes two second bearings installed in a one-to-one correspondence with the two second bearing mounting holes, the upper and lower ends of the second vertical rotating shaft are respectively extended from the two second bearing mounting holes, and wherein the upper or lower end of the pitch swing arm is connected.

[0010] By adopting the above technical solution, the first housing assembly is designed as a split structure consisting of a first mounting shell, a first mounting seat and a second mounting seat, which facilitates the assembly of internal components of the first housing assembly and subsequent disassembly and maintenance.

[0011] Further, a first driving component, a first transmission component, a second transmission component, a first braking component and a second braking component are installed in the first housing assembly; the first driving component is respectively connected to one end of the first transmission component and one end of the second transmission component, the other end of the first transmission component is connected to the first braking component, and the other end of the second transmission component is connected to the second braking component; the first driving component can act between a first locking state and a first unlocking state. When acting from the first unlocking state to the first locking state, the first transmission component drives the first braking component to act, the first braking component locks the relative rotation of the first vertical rotating shaft and the first housing assembly, the second transmission component drives the second braking component to act, and the second braking component locks the relative rotation of the second vertical rotating shaft and the first housing assembly; when acting from the first locking state to the first unlocking state, the first transmission component drives the first braking component to act to release the restriction on the relative rotation of the first vertical rotating shaft and the first housing assembly by the first braking component, and the second transmission component drives the second braking component to act to release the restriction on the relative rotation of the second vertical rotating shaft and the first housing assembly by the second braking component.

[0012] With the above technical solution, the first driving component can simultaneously drive the first braking component and the second braking component to perform rotational braking on both ends of the horizontal rotating arm, simplify the driving and transmission structure, and can maintain stability after the horizontal rotating arm is adjusted, ensuring the accuracy of the operation.

[0013] Further, the first driving component includes a first driving motor body, a first output shaft and a second output shaft, and the first output shaft and the second output shaft are respectively connected to opposite sides of the first driving motor; the first transmission assembly includes a first shaft connecting piece, a first connecting rod, a first hinge, a first arc-shaped piece and a first locking nut connected in sequence in a direction away from the first output shaft. One end of the first shaft connecting piece is fixedly connected to the first output shaft, and the other end is provided with a first internal thread. One end of the first connecting rod is provided with a first external thread adapted to the first internal thread. The first braking assembly includes a first clamping arm and a second clamping arm; the first hinge includes a first leaf, a second leaf, a first leaf shaft, a second leaf shaft and a third leaf shaft. One side of the first leaf is connected to one side of the second leaf through the first leaf shaft. The other side of the first leaf is rotatably mounted at one end of the first clamping arm through the second leaf shaft. The other side of the second leaf is rotatably mounted at one end of the second clamping arm through the third leaf shaft. A first arc surface on one side of the first arc-shaped piece is in close fit with the first leaf shaft. The first locking nut presses against the other side of the first arc-shaped piece. The other end of the first connecting rod passes through the first leaf shaft and is threadedly connected to the first locking nut; the first clamping arm and the second clamping arm are respectively located on both sides of the first vertical rotating shaft. The other ends of the first clamping arm and the second clamping arm are hinged and matched through a first hinge shaft; the second transmission assembly includes a second shaft connecting piece, a second connecting rod, a second hinge, a second arc-shaped piece and a second locking nut connected in sequence in a direction away from the second output shaft. One end of the second shaft connecting piece is fixedly connected to the second output shaft, and the other end is provided with a second internal thread. One end of the second connecting rod is provided with a second external thread adapted to the second internal thread. The second braking assembly includes a third clamping arm and a fourth clamping arm; the second hinge includes a third leaf, a fourth leaf, a fourth leaf shaft, a fifth leaf shaft and a sixth leaf shaft. One side of the third leaf is connected to one side of the fourth leaf through the fourth leaf shaft. The other side of the third leaf is rotatably mounted at one end of the third clamping arm through the fifth leaf shaft. The other side of the fourth leaf is rotatably mounted at one end of the fourth clamping arm through the sixth leaf shaft. A second arc surface on one side of the second arc-shaped piece is in close fit with the fourth leaf shaft. The second locking nut presses against the other side of the second arc-shaped piece. The other end of the second connecting rod is threadedly connected to the second locking nut; the third clamping arm and the fourth clamping arm are respectively located on both sides of the second vertical rotating shaft. The other ends of the first clamping arm and the second clamping arm are hinged and matched through a second hinge shaft;Wherein, the spiral directions of the first internal thread and the second internal thread are opposite, and when the first driving motor body drives the first connecting rod and the second connecting rod to rotate, the linear motion of the first connecting rod drives the first leaf and the second leaf to rotate relatively, so that one end of the first clamping arm and one end of the second clamping arm are relatively close to or far away from each other, and the linear motion of the second connecting rod drives the third leaf and the fourth leaf to rotate relatively, so that one end of the third clamping arm and one end of the fourth clamping arm are relatively close to or far away from each other. ;

[0014] By adopting the above technical solution, the first connecting rod is used to drive the opening and closing of the first hinge to achieve the clamping or loosening of the first clamping arm and the second clamping arm, and the second connecting rod is used to drive the opening and closing of the second hinge to achieve the clamping or loosening of the third clamping arm and the fourth clamping arm, thereby achieving braking. The structure is ingenious, the braking or releasing process is rapid, and the braking effect is stable.

[0015] Further, two first elastic members are provided in the first shell component, one of the two first elastic members is respectively connected to the inner wall of the first shell component and the end of the first clamp arm away from the first hinge shaft, and the other of the two first elastic members is respectively connected to the inner wall of the first shell component and the end of the second clamp arm away from the first hinge shaft; and / or, two second elastic members are provided in the first shell component, one of the two second elastic members is respectively connected to the inner wall of the first shell component and the end of the third clamp arm away from the second hinge shaft, and the other of the two second elastic members is respectively connected to the inner wall of the first shell component and the end of the fourth clamp arm away from the second hinge shaft.

[0016] By adopting the above technical scheme, the elasticity of the two first elastic members themselves can be used to apply pressure to the first clamp arm and the second clamp arm respectively, thereby improving the clamping force between the first clamp arm and the second clamp arm and the first vertical rotating shaft. The elasticity of the two second elastic members themselves can be used to apply pressure to the third clamp arm and the fourth clamp arm respectively, thereby improving the clamping force between the third clamp arm and the fourth clamp arm and the second vertical rotating shaft, thereby further ensuring the braking effect and ensuring the stability of the endoscope device after adjustment.

[0017] Further, the first clamping arm is provided with a plurality of first clamping ribs on a side facing the first vertical rotating shaft, the second clamping arm is provided with a plurality of second clamping ribs on a side facing the first vertical rotating shaft, and the first vertical rotating shaft is provided with first annular grooves matching the first clamping ribs and the second clamping ribs at intervals along its axial direction; and / or, the third clamping arm is provided with a plurality of third clamping ribs on a side facing the second vertical rotating shaft, the fourth clamping arm is provided with a plurality of fourth clamping ribs on a side facing the second vertical rotating shaft, and the second vertical rotating shaft is provided with second annular grooves matching the third clamping ribs and the fourth clamping ribs at intervals along its axial direction.

[0018] With the above technical solution, the cooperation between the rib and the annular groove is utilized to increase the friction and clamping force between the clamping arm and the vertical rotating shaft, further ensuring the braking effect and guaranteeing the stability of the endoscopic device after adjustment.

[0019] Further, the pitching swing arm includes a second support seat, a second housing assembly, a third bearing assembly, a horizontal rotating shaft and an elastic connecting member; the third bearing assembly is installed at one end of the second housing assembly close to the horizontal rotating arm, and the horizontal rotating shaft is disposed through the third bearing assembly; one of the opposite ends of the second support seat in the vertical direction is connected to the horizontal rotating arm and can rotate around the horizontal rotating arm in the horizontal direction, and the other end is connected to the horizontal rotating shaft and rotates synchronously; one end of the elastic connecting member is movably connected to the second support seat and can rotate relative to the second support seat, and the other end of the elastic connecting member is hinged to the second housing assembly.

[0020] With the above technical solution, the pitching of the pitching swing arm is realized through the third bearing assembly and the horizontal rotating shaft, and the elastic connecting member is used to balance the self-gravity of the pitching swing arm to ensure the stability of the pitching swing arm after adjustment, and the structure is simple and easy to adjust.

[0021] Further, the second support seat includes a support seat body, a U-shaped member, a locking bolt, a fixing pin and a sliding shaft; the support seat body includes a first U-shaped portion and a second U-shaped portion, the first U-shaped portion includes two first side walls and a first connecting wall connected between the two first side walls, the second U-shaped portion includes two second side walls and a second connecting wall connected between the two second side walls, the two first side walls are respectively connected to the opposite ends of the horizontal rotating shaft, the first connecting wall is connected to the horizontal rotating arm and can rotate in the horizontal direction on the horizontal rotating arm, the two second side walls are connected to the first connecting wall, and a strip-shaped hole is formed in the second side wall in the vertical direction; the U-shaped member is located between the two second side walls, the U-shaped member includes two third side walls and a third connecting wall connected between the two third side walls, and one end of the elastic connecting member is located between the two third side walls; the sliding shaft is disposed through the second side wall, the U-shaped member and the elastic connecting member, and the opposite ends of the sliding shaft are respectively slidably installed in the two strip-shaped holes; the lower end of the locking bolt sequentially passes through the second connecting wall and the third connecting wall and abuts against one end of the elastic connecting member, the locking bolt is threadedly connected to the second connecting wall, and the fixing pin is inserted into the lower end of the locking bolt and is in limit fit with the second connecting wall.

[0022] By adopting the above technical solution, during the swinging process of the pitch swing arm, one end of the elastic connecting member can drive the U-shaped member to slide up and down in the second U-shaped part, thereby adjusting the position of one end of the elastic connecting member to ensure the gravity balancing effect of the elastic connecting member on the pitch swing arm and ensure the structural stability.

[0023] Furthermore, the second shell assembly includes a second mounting shell, a third mounting seat and a fourth mounting seat; the second mounting shell is hollow inside and open at both ends, the third mounting seat and the fourth mounting seat are hollow inside and open at one end, the open end of the second mounting shell is connected to the open end of the third mounting seat, and the open end of the second mounting shell is connected to the open end of the fourth mounting seat; third bearing mounting holes are provided on both sides of the third mounting seat, and the third bearing assembly includes two third bearings installed in the two third bearing mounting holes in a one-to-one manner, and the opposite ends of the horizontal rotating shaft are connected to the two third bearings in a one-to-one manner, and extend out from the two third bearing mounting holes respectively, and are connected to the second support seat; the fourth mounting seat is connected to the upper end of the universal connecting arm.

[0024] By adopting the above technical solution, the second shell assembly is designed as a detachable split structure consisting of a second mounting shell, a third mounting seat and a fourth mounting seat, which facilitates the installation of internal components of the second shell assembly and subsequent disassembly and maintenance.

[0025] Furthermore, a second driving component, a third transmission component and a fourth transmission component are installed in the second mounting shell, a third brake component is installed in the third mounting seat, and a fourth brake component is installed in the fourth mounting seat. An opening is provided at the bottom of the fourth mounting seat for the upper end of the universal connecting arm to extend into, and the upper end of the universal connecting arm is connected to the fourth brake component through the opening; the second driving component is respectively connected to one end of the third transmission component and one end of the fourth transmission component, the other end of the third transmission component is connected to the third brake component, and the other end of the fourth transmission component is connected to the fourth brake assembly; the second driving component can move between a second locked state and a second unlocked state, by When the second unlocking state moves to the second locking state, the third transmission assembly drives the third brake assembly to move, and the third brake assembly locks the relative rotation between the horizontal rotating shaft and the second mounting shell, and the fourth transmission assembly drives the fourth brake assembly to move, and the fourth brake assembly locks the universal rotation of the upper end of the universal connecting arm; when the second locking state moves to the second unlocking state, the third transmission assembly drives the third brake assembly to move, and the third brake assembly releases the restriction on the relative rotation between the horizontal rotating shaft and the second mounting shell, and the fourth transmission assembly drives the fourth brake assembly to move, and the fourth brake assembly releases the restriction on the universal rotation of the upper end of the universal connecting arm.

[0026] With the above technical solution, the second driving component can drive the third braking component and the fourth braking component to act simultaneously, thereby braking the rotation of the pivoting end of the pitching swing arm and the upper end of the universal connecting arm respectively. It has multiple functions in one body, simplifies the driving and transmission structures, and can maintain the structural stability after the pitching swing arm is adjusted in pitch and the upper end of the universal connecting arm is adjusted universally, thereby ensuring the accuracy of the operation.

[0027] Further, the second driving component includes a second driving motor body, a third output shaft and a fourth output shaft, and the third output shaft and the fourth output shaft are respectively located on opposite sides of the second driving motor; the third transmission component includes a third shaft connecting piece, a third connecting rod, a third hinge, a third arc-shaped piece and a third locking nut connected in sequence in a direction away from the third output shaft. One end of the third shaft connecting piece is fixedly connected to the third output shaft, and the other end is provided with a third internal thread. One end of the third connecting rod is provided with a third external thread adapted to the third internal thread; the third braking component includes a fifth clamping arm and a sixth clamping arm, and the fifth clamping arm and the sixth clamping arm are respectively located above and below the horizontal rotating shaft. One end of the fifth clamping arm and one end of the sixth clamping arm are hinged and matched through a third hinge shaft; the third hinge includes a fifth blade, a sixth blade, a seventh blade shaft, an eighth blade shaft and a ninth blade shaft. One side of the fifth blade is connected to one side of the sixth blade through the seventh blade shaft, and the other side of the fifth blade is rotatably installed inside the fifth clamping arm through the eighth blade shaft. The other side of the sixth blade is rotatably installed inside the sixth clamping arm through the ninth blade shaft. The third arc surface of the third arc-shaped piece is in close contact with the seventh blade shaft, and the third locking nut presses against one side of the third arc-shaped piece away from the third arc surface. The other end of the third connecting rod is threadedly connected to the third locking nut; the fourth transmission component includes a fourth shaft connecting piece, a fourth connecting rod, a fourth arc-shaped piece, a fourth hinge, a fifth arc-shaped piece, a third elastic piece and a threaded disc arranged in sequence in a direction away from the fourth output shaft. One end of the fourth shaft connecting piece is connected to the fourth output shaft, and the other end is provided with a fourth internal thread. One end of the fourth connecting rod is provided with a fourth external thread adapted to the fourth internal thread. The other end of the fourth connecting rod sequentially passes through the fourth arc-shaped piece, the fourth hinge, the fifth arc-shaped piece and the third elastic piece and is connected to the threaded disc. The threaded disc is threadedly connected to the fourth mounting seat; the fourth braking component includes a first ball socket locking piece and a second ball socket locking piece. The upper end of the universal connecting arm is provided with a first universal ball head located between the first ball socket locking piece and the second ball socket locking piece, and the first universal ball head can be locked by the first ball socket locking piece and the second ball socket locking piece; the fourth hinge includes a seventh blade, an eighth blade, a tenth blade shaft and an eleventh blade shaft. One side of the seventh blade is rotatably connected to one side of the eighth blade through the tenth blade shaft, and the other side of the seventh blade is rotatably installed on the fourth mounting seat through the eleventh blade shaft. The other side of the eighth blade is rotatably installed in an arc-shaped groove at the upper end of the first ball socket locking piece. The fourth arc surface of the fourth arc-shaped piece is in close contact with the tenth blade shaft, and the fifth arc surface of the fifth arc-shaped piece is in close contact with the tenth blade shaft under the pressure of the third elastic piece. The threaded disc is threadedly connected to the fourth mounting seat;Wherein, the third internal thread and the fourth internal thread have opposite spiral directions, and when the second drive motor body drives the third shaft connecting member and the fourth shaft connecting member to rotate, the linear motion of the third connecting rod drives the fifth leaf and the sixth leaf to rotate relatively, so that the other end of the fifth clamp arm and the other end of the sixth clamp arm are relatively close to or away from each other, and the linear motion of the fourth connecting rod drives the seventh leaf and the eighth leaf to rotate relatively, so that the first ball and socket locking member and the second ball and socket locking member clamp the first universal ball head or release the clamping of the first universal ball head. ;

[0028] By adopting the above technical solution, the opening and closing of the third hinge drives the fifth clamping arm to clamp the horizontal rotating shaft or release the clamping of the horizontal rotating shaft, and the opening and closing of the fourth hinge drives the first ball and socket locking member and the second ball and socket locking member to clamp the first universal ball head or release the clamping of the first universal ball head. The structure is ingenious, the braking or releasing process is rapid, and the braking effect is stable.

[0029] Furthermore, two fourth elastic members are provided in the third mounting seat, one of the two fourth elastic members is respectively connected to the third mounting seat and the end of the fifth clamping arm away from the horizontal rotation axis, and the other of the two fourth elastic members is respectively connected to the third mounting seat and the end of the sixth clamping arm away from the horizontal rotation axis.

[0030] By adopting the above technical solution, the elasticity of the two fourth elastic members can be used to apply pressure to the fifth clamping arm and the sixth clamping arm respectively, thereby increasing the clamping force between the fifth clamping arm and the sixth clamping arm and the horizontal rotation axis.

[0031] Furthermore, the fifth clamping arm is provided with a plurality of fifth clamping ribs on the side facing the horizontal rotating shaft, the sixth clamping arm is provided with a plurality of sixth clamping ribs on the side facing the horizontal rotating shaft, and the horizontal rotating shaft is provided with third annular grooves matched with the fifth clamping ribs and the sixth clamping ribs at intervals along its axial direction.

[0032] By adopting the above technical solution, the friction and clamping force between the clamping arm and the horizontal rotating shaft are improved by utilizing the cooperation between the ribs and the annular grooves, thereby further ensuring the braking effect.

[0033] Furthermore, the universal connecting arm includes a first universal ball head, a support rod assembly, a fifth mounting seat and a second universal ball head; the first universal ball head can be universally rotatably installed at one end of the pitch swing arm, and the first universal ball head includes a first ball head body and a first ball head connecting rod that are integrally connected; the support rod assembly is respectively connected to the ball head connecting rod and the fifth mounting seat; the second universal ball head includes a second ball head body and a second ball head connecting rod that are integrally connected, the second ball head body and the second ball head connecting rod, the second ball head body can be universally rotatably installed in the fifth mounting seat, the second ball head connecting rod is connected to a clamp, and the endoscope device is mounted on the clamp.

[0034] By adopting the above technical solution, the first universal ball head and the second universal ball head are used to realize the universal rotation adjustment of the universal connecting arm, which is convenient for adjusting the position of the endoscope device in a small range, is simple to operate, and further facilitates the operation.

[0035] Further, when the pitch swing arm includes a fourth brake assembly, and the fourth brake assembly includes a first ball socket locking piece and a second ball socket locking piece; the first universal ball head is provided with a first through hole that penetrates the first ball head body and the first ball head connecting rod; the support rod assembly includes a support rod body and a force transmission rod, a second through hole is provided in the support rod body, the force transmission rod is penetrated through the first through hole and the second through hole, one end of the force transmission rod is exposed to the first ball head body, and is abutted against the side of the first ball socket locking piece facing the first ball head body, and the other end of the force transmission rod is exposed to the end of the support rod body away from the first ball head body; a locking block is installed in the fifth mounting seat, one side of the locking block is abutted against the other end of the force transmission rod, and the other side is provided with a curved surface with the same curvature radius as the second ball head body; when the first ball socket locking piece moves toward the second ball socket locking piece to lock the universal rotation of the first ball head body, the force transmission rod drives the locking block to lock the universal rotation of the second ball head body.

[0036] By adopting the above technical solution, the pitch swing arm structure is optimized so that the fourth brake assembly can brake the universal rotation of the first universal ball head at the upper end of the pitch swing arm, and can also realize the universal rotation of the second universal ball head at the lower end of the swing arm through the force transmission rod and the locking block, thereby simplifying the brake structure and realizing multi-purpose integration. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0038] Figure 1 Schematic structural diagram of a surgical device including an endoscope and a microscope provided by an embodiment of the present invention;

[0039] Figure 2 Schematic structural diagram of a first support device of a surgical device including an endoscope and a microscope provided by an embodiment of the present invention;

[0040] Figure 3 Another schematic structural diagram of a first support device of a surgical device including an endoscope and a microscope provided by an embodiment of the present invention;

[0041] Figure 4 Schematic structural diagram of a horizontal rotating arm of a first support device provided by an embodiment of the present invention;

[0042] Figure 5 Schematic structural diagram after splitting the first mounting shell of the horizontal rotating arm of the first support device provided by an embodiment of the present invention from the first mounting seat and the second mounting seat;

[0043] Figure 6 Schematic internal structure diagram of a first housing assembly of a first support device provided by an embodiment of the present invention;

[0044] Figure 7 Schematic structural diagram of a first transmission component and a first braking component of a first support device provided by an embodiment of the present invention;

[0045] Figure 8 Exploded view of a second transmission component and a second braking component of a first support device provided by an embodiment of the present invention;

[0046] Figure 9 Schematic structural diagram of a first vertical rotating shaft / second vertical rotating shaft of a first support device provided by an embodiment of the present invention;

[0047] Figure 10 Schematic structural diagram of a first mounting seat / second mounting seat of a first support device provided by an embodiment of the present invention and its internal components;

[0048] Figure 11 Schematic structural diagram of a pitching swing arm of a first support device provided by an embodiment of the present invention;

[0049] Figure 12 Exploded view of a pitching swing arm of a first support device provided by an embodiment of the present invention;

[0050] Figure 13 Exploded view of a third transmission component and a third braking component of a pitching swing arm provided by an embodiment of the present invention;

[0051] Figure 14Explosion diagram of the fourth transmission component and the fourth braking component of the pitching swing arm provided by the embodiment of the present invention;

[0052] Figure 15 Schematic structural diagram of the second support seat and the elastic connecting member of the pitching swing arm provided by the embodiment of the present invention;

[0053] Figure 16 Explosion diagram of the second support seat of the pitching swing arm provided by the embodiment of the present invention;

[0054] Figure 17 Schematic structural diagram of the first ball socket locking member of the fourth braking component provided by the embodiment of the present invention;

[0055] Figure 18 Schematic structural diagram (I) of the universal connecting arm provided by the embodiment of the present invention;

[0056] Figure 19 Schematic structural diagram (II) of the universal connecting arm provided by the embodiment of the present invention;

[0057] Figure 20 Explosion diagram of the universal connecting arm provided by the embodiment of the present invention;

[0058] Figure 21 Schematic structural diagram of the first universal ball head of the universal connecting arm provided by the embodiment of the present invention.

[0059] Explanation of reference numerals:

[0060] 1 - Body; 2 - First support device; 3 - Second support device; 4 - Endoscope device; 5 - Microscope device; 6 - Image display device;

[0061] 21 - Horizontal rotating arm;

[0062] 211 - First housing assembly; 2111 - First mounting shell; 2112 - First mounting seat; 21121 - First bearing mounting hole; 2113 - Second mounting seat; 21131 - Second bearing mounting hole;

[0063] 212 - First bearing assembly; 2121 - First bearing;

[0064] 213 - Second bearing assembly; 2131 - Second bearing;

[0065] 214 - First vertical rotating shaft; 2141 - First annular groove;

[0066] 215 - Second vertical rotating shaft; 2151 - Second annular groove;

[0067] 216 - First support seat;

[0068] 217 - First driving component; 2171 - First driving motor body; 2172 - First output shaft; 2173 - Second output shaft;

[0069] 218 - First transmission assembly; 2181 - First shaft connecting piece; 2182 - First connecting rod; 2183 - First hinge; 21831 - First leaf; 21832 - Second leaf; 21833 - First leaf shaft; 21834 - Second leaf shaft; 21835 - Third leaf shaft; 2184 - First arc-shaped piece; 2185 - First locking nut;

[0070] 219 - Second transmission assembly; 2191 - Second shaft connecting piece; 2192 - Second connecting rod; 2193 - Second hinge; 21931 - Third leaf; 21932 - Fourth leaf; 21933 - Fourth leaf shaft; 21934 - Fifth leaf shaft; 21935 - Sixth leaf shaft; 2194 - Second arc-shaped piece; 2195 - Second locking nut;

[0071] 2110 - First braking assembly; 21101 - First clamping arm; 211011 - First clamping rib; 21102 - Second clamping arm; 211021 - Second clamping rib; 21103 - First hinge shaft;

[0072] 2120 - Second braking assembly; 21201 - Third clamping arm; 212011 - Third clamping rib; 21202 - Fourth clamping arm; 212021 - Fourth clamping rib; 21203 - Second hinge shaft;

[0073] 2130 - First elastic piece; 2140 - Second elastic piece;

[0074] 22 - Pitching swing arm;

[0075] 221 - Second support seat; 2211 - Support seat body; 22111 - First U-shaped part; 221111 - First side wall; 221112 - First connecting wall; 22112 - Second U-shaped part; 221121 - Second side wall; 221122 - Second connecting wall; 221123 - Slotted hole; 2212 - U-shaped piece; 22121 - Third side wall; 22122 - Third connecting wall; 2213 - Locking bolt; 2214 - Fixed pin; 2215 - Sliding shaft;

[0076] 222 - Second housing assembly; 2221 - Second mounting shell; 2222 - Third mounting seat; 22221 - Third bearing mounting hole; 2223 - Fourth mounting seat; 22231 - Opening;

[0077] 223 - Third bearing assembly; 2231 - Third bearing;

[0078] 224 - Horizontal rotating shaft; 2241 - Third annular groove;

[0079] 225 - Elastic connecting member;

[0080] 226 - Second driving component; 2261 - Second driving motor body; 2262 - Third output shaft; 2263 - Fourth output shaft;

[0081] 227 - Third transmission component; 2271 - Third shaft connecting member; 2272 - Third connecting rod; 2273 - Third hinge; 22731 - Fifth leaf; 22732 - Sixth leaf; 22733 - Seventh leaf shaft; 22734 - Eighth leaf shaft; 22735 - Ninth leaf shaft; 2274 - Third arc-shaped member;

[0082] 228 - Fourth transmission component; 2281 - Fourth shaft connecting member; 2282 - Fourth connecting rod; 2283 - Fourth arc-shaped member; 2284 - Fourth hinge; 22841 - Seventh leaf; 22842 - Eighth leaf; 22843 - Tenth leaf shaft; 22844 - Eleventh leaf shaft; 2285 - Fifth arc-shaped member; 2286 - Third elastic member; 2287 - Threaded disc;

[0083] 229 - Third braking component; 2291 - Fifth clamping arm; 22911 - Fifth clamping rib; 2292 - Sixth clamping arm; 2293 - Third hinge shaft;

[0084] 2210 - Fourth braking component; 22101 - First ball-and-socket locking member; 221011 - Arc-shaped groove; 22102 - Second ball-and-socket locking member;

[0085] 2220 - Fourth elastic member;

[0086] 23 - Universal connecting arm;

[0087] 231 - First universal ball head; 2311 - First ball head body; 2312 - First ball head connecting rod; 2313 - First through hole;

[0088] 232 - Support rod assembly; 2321 - Support rod body; 23211 - Second through hole; 2322 - Force transmission rod;

[0089] 233 - Fifth mounting seat;

[0090] 234 - Second universal ball head; 2341 - Second ball head body; 2342 - Second ball head connecting rod;

[0091] 235 - Locking block;

[0092] 24 - Fixture. Detailed implementation manner

[0093] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe in detail the specific embodiments of the present invention with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0094] Based on the problems that the angle and position adjustment of traditional endoscopic devices and microscope devices are inconvenient, affecting the surgical efficiency, this embodiment provides a surgical device including an endoscope and a microscope, aiming to solve the above technical problems by improving the support device of the surgical device integrating the existing endoscope and microscope into one.

[0095] Combined with the attached Figure 1 As shown, the surgical device including an endoscope and a microscope provided in this embodiment mainly includes a body 1, a first support device 2, a second support device 3, an endoscope device 4, a microscope device 5, and an image display device 6; among them, the working principles such as the circuit control of the body 1, the endoscope device 4, the microscope device 5, and the image display device 6 in this embodiment will not be described. Specifically, reference can be made to the patent application with the prior application number 202011184883.8 by the applicant, or other surgical devices integrating an endoscope and a microscope into one. This embodiment mainly improves the mechanical structure of the surgical device including an endoscope and a microscope, so only this part will be described specifically.

[0096] Among the above functional devices, the first support device 2 of this embodiment is installed on one side of the opposite sides of the top of the body 1, the second support device 3 of this embodiment is installed on the other side of the opposite sides of the top of the body 1, the endoscope device 4 of this embodiment is installed on the first support device 2, the microscope device 5 of this embodiment is installed on the second support device 3, and the image display device 6 of this embodiment is installed on the body 1.

[0097] Combined with the attached Figure 2 As shown, the first support device 2 of this embodiment includes a horizontally rotating arm 21, a pitching swing arm 22, and a universal connecting arm 23 connected in sequence; specifically, one end of the horizontally rotating arm 21 of this embodiment is connected to the top of the body 1 and can rotate on the body 1 in the horizontal direction. The pitching swing arm 22 of this embodiment is located below the horizontally rotating arm 21. One end of the pitching swing arm 22 is connected to the lower side of one end of the horizontally rotating arm 21 and can rotate around the horizontally rotating arm 21 in the horizontal direction. The pitching swing arm 22 can swing in the vertical direction around the end connected to the horizontally rotating arm 21. The upper end of the universal connecting arm 23 of this embodiment is installed on the other end of the pitching swing arm 22 in a universally rotatable manner, and the lower end of the universal connecting arm 23 is installed with an endoscope device 4, and the endoscope can rotate universally at the lower end of the universal connecting arm 23.

[0098] Combined with the attached Figure 3As shown, the pitching swing arm 22 of this embodiment can also be located above the horizontal rotating arm 21 of this embodiment, that is, one end of the pitching swing arm 22 is connected to the upper side of one end of the horizontal rotating arm 21. Figure 2 And Figure 3 The two installation positions of the pitching swing arm 22 in Figure 2 are only improvements in the installation positions of the structures of the pitching swing arm 22 and the horizontal rotating arm 21. Therefore, the following description of this embodiment is directed to

[0099] Through the above-mentioned first support device 2, the horizontal position of the endoscope device 4 can be adjusted by the rotation of its horizontal rotating arm 21 on the body 1. The pitching angle of the endoscope device 4 can be adjusted by the pitching swing arm 22, and the endoscope device 4 can be rotated in all directions through the universal connecting arm 23. Finally, the endoscope device 4 can be adjusted freely in terms of distance, height, and angle according to actual needs, with flexible adjustment and improved surgical efficiency.

[0100] The structure of the second support device 3 of this embodiment can be different from that of the first support device 2 of this embodiment, that is, the second support device 3 can be an existing adjustable support structure, such as Figure 1 shown in

[0101] Conversely, the second support device 3 can also have the same structure as the first support device 2 of this embodiment, and this embodiment does not describe its structure. Figure 3 Combined with Figure 4 and Figure 5 shown, the horizontal rotating arm 21 of this embodiment includes a first housing assembly 211, a first bearing assembly 212, a second bearing assembly 213, a first vertical rotating shaft 214, a second vertical rotating shaft 215, and a first support base 216. Among them, the first bearing assembly 212 and the second bearing assembly 213 of this embodiment are both located inside the first housing assembly 211. The first bearing assembly 212 and the second bearing assembly 213 are fixedly installed at opposite ends of the first housing assembly 211 in a one-to-one correspondence. The first vertical rotating shaft 214 of this embodiment passes through the first bearing assembly 212 and is fixedly connected to the first support base 216. The second vertical rotating shaft 215 of this embodiment passes through the second bearing assembly 213 and is fixedly connected to one end of the pitching swing arm 22. The first support base 216 of this embodiment is fixedly installed on the top of the body 1. With such a setting, the horizontal rotation of the horizontal rotating arm 21 relative to the body 1 is realized by the cooperation of the first vertical rotating shaft 214 and the first bearing assembly 212, and the relative horizontal rotation between the pitching swing arm 22 and the horizontal rotating arm 21 is realized by the cooperation of the second vertical rotating shaft 215 and the second bearing assembly 213. It not only has a simple structure but also is convenient to operate.

[0102] Optionally, the first housing assembly 211 of this embodiment includes a first mounting shell 2111, a first mounting base 2112, and a second mounting base 2113. Among them, the interior of the first mounting shell 2111 of this embodiment is hollow and open at both left and right ends. The interiors of the first mounting base 2112 and the second mounting base 2113 of this embodiment are hollow and open at one end. The open end of the first mounting shell 2111 is docked with the open end of the first mounting base 2112, and the open end of the other end of the first mounting shell 2111 is docked with the open end of the second mounting base 2113. The connection between the first mounting shell 2111 and the first mounting base 2112 and the second mounting base 2113 is a detachable connection, such as a bolt connection.

[0103] Combined with the attached Figure 5 and the attached Figure 10 As shown, the interior of the first mounting base 2112 of this embodiment is hollow and both upper and lower opposite sides are provided with first bearing 2121 mounting holes 21121. Correspondingly, the first bearing assembly 212 of this embodiment includes two first bearings 2121 respectively and correspondingly mounted in the two first bearing 2121 mounting holes 21121. The outer ring of the first bearing 2121 is connected to the first bearing 2121 mounting hole 21121. The end of the first vertical rotating shaft 214 is connected to the inner ring of the first bearing 2121. The upper and lower ends of the first vertical rotating shaft 214 respectively extend out from the two first bearing 2121 mounting holes 21121, and the lower end of the first vertical rotating shaft 214 is connected to the first support base 216.

[0104] Similarly, the interior of the second mounting base 2113 of this embodiment is hollow and both upper and lower opposite sides are provided with second bearing 2131 mounting holes 21131. Correspondingly, the second bearing assembly 213 of this embodiment includes two second bearings 2131 respectively and correspondingly mounted in the two second bearing 2131 mounting holes 21131. Both the second bearing 2131 and the above-mentioned first bearing 2121 can be sliding bearings 2215. The outer ring of the second bearing 2131 is connected to the second bearing 2131 mounting hole 21131. The upper and lower ends of the second vertical rotating shaft 215 respectively extend out from the two second bearing 2131 mounting holes 21131. The end of the second vertical rotating shaft 215 is connected to the inner ring of the second bearing 2131, and the upper end or the lower end of the second vertical rotating shaft 215 extends out of the second bearing 2131 hole and is connected to the pitching swing arm 22 (that is Figure 2 and the attached Figure 3 the two states where the pitching swing arm 22 shown respectively is in different positions on the horizontal rotating arm 21).

[0105] During assembly, first install the first bearing assembly 212, the second bearing assembly 213, and the following first braking assembly 2110 and second braking assembly 2120 on the first mounting seat 2112 and the second mounting seat 2113 respectively, and then install the following first driving component 217, first transmission assembly 218, and second transmission assembly 219 in the first housing 2111. That is, in this embodiment, the first housing assembly 211 is designed as a split structure composed of the first housing 2111, the first mounting seat 2112, and the second mounting seat 2113, which facilitates the assembly of the internal components of the first housing assembly 211 and subsequent disassembly and maintenance.

[0106] Combined with the attached Figure 5 As shown, in order to achieve the stability of the horizontal rotating arm 21 in this embodiment after rotation adjustment, a first driving component 217, a first transmission assembly 218, a second transmission assembly 219, a first braking assembly 2110, and a second braking assembly 2120 are installed in the first housing assembly 211. Among them, one end of the first driving component 217 in this embodiment is respectively connected to one end of the first transmission assembly 218 and one end of the second transmission assembly 219, the other end of the first transmission assembly 218 is connected to the first braking assembly 2110, and the other end of the second transmission assembly 219 is connected to the second braking assembly 2120.

[0107] The first driving component 217 in this embodiment can act between a first locked state and a first unlocked state. During the process of acting from the first unlocked state to the first locked state, the first transmission assembly 218 drives the first braking assembly 2110 to act, and the first braking assembly 2110 locks the relative rotation of the first vertical rotating shaft 214 and the first housing assembly 211. The second transmission assembly 219 drives the second braking assembly 2120 to act, and the second braking assembly 2120 locks the relative rotation of the second vertical rotating shaft 215 and the first housing assembly 211. During the process of acting from the first locked state to the first unlocked state, the first transmission assembly 218 drives the first braking assembly 2110 to act to release the relative rotation restriction of the first braking assembly 2110 on the first vertical rotating shaft 214 and the first housing assembly 211, and the second transmission assembly 219 drives the second braking assembly 2120 to act to release the relative rotation restriction of the second braking assembly 2120 on the second vertical rotating shaft 215 and the first housing assembly 211. This structural design can simultaneously drive the first braking assembly 2110 and the second braking assembly 2120 to perform rotational braking on both ends of the horizontal rotating arm 21 through the first driving component 217, simplify the driving and transmission structure, and can maintain stability after the horizontal rotating arm 21 is adjusted, ensuring the accuracy of the operation.

[0108] Combined with the attached Figure 5 、attached Figure 6 and attached Figure 7As shown in the figure, the first driving component 217 of this embodiment includes a first driving motor body 2171, a first output shaft 2172, and a second output shaft 2173. The first output shaft 2172 and the second output shaft 2173 are respectively connected to opposite sides of the first driving motor body 2171. The torque output of the driving motor body drives the first output shaft 2172 and the second output shaft 2173 of this embodiment to rotate synchronously.

[0109] The first transmission component 218 of this embodiment includes a first shaft connecting piece 2181, a first connecting rod 2182, a first hinge 2183, a first arc-shaped piece 2184, and a first locking nut 2185 that are sequentially connected in a direction away from the first output shaft 2172. Among them, one end of the first shaft connecting piece 2181 of this embodiment is fixedly connected to the first output shaft 2172, and the other end is provided with a first internal thread. One end of the first connecting rod 2182 of this embodiment is provided with a first external thread adapted to the first internal thread. During the rotation of the first shaft connecting piece 2181 of this embodiment, the first external thread of the first connecting rod 2182 moves linearly along the first internal thread, thereby causing the first connecting rod 2182 to perform a linear motion to drive the first braking component 2110 of this embodiment.

[0110] Combined with the attached Figure 7 As shown in the figure, in order to convert the linear motion of the first connecting rod 2182 of this embodiment into the braking or release of the first braking component 2110, the first braking component 2110 of this embodiment is designed to include a first clamping arm 21101 and a second clamping arm 21102. The first hinge 2183 of this embodiment includes a first leaf 21831, a second leaf 21832, a first leaf shaft 21833, a second leaf shaft 21834, and a third leaf shaft 21835. One side of the first leaf 21831 is connected to one side of the second leaf 21832 through the first leaf shaft 21833. The other side of the first leaf 21831 is rotatably installed at one end of the first clamping arm 21101 through the second leaf shaft 21834. The other side of the second leaf 21832 is rotatably installed at one end of the second clamping arm 21102 through the third leaf shaft 21835. The first arc surface on one side of the first arc-shaped piece 2184 is in close fit with the first leaf shaft 21833. The first locking nut 2185 presses on the other side of the first arc-shaped piece 2184. The other end of the first connecting rod 2182 passes through the first leaf shaft 21833 and the first arc-shaped piece 2184 and is threadedly connected to the first locking nut 2185. The first clamping arm 21101 and the second clamping arm 21102 are respectively located on both sides of the first vertical rotating shaft 214. The other end of the first clamping arm 21101 and the other end of the second clamping arm 21102 are hinged and matched through a first hinge shaft 21103.

[0111] Similarly, combined with the attached Figure 8As shown, the second transmission assembly 219 of this embodiment includes a second shaft connecting member 2191, a second connecting rod 2192, a second hinge 2193, a second arc-shaped member 2194, and a second locking nut 2195 that are sequentially connected in a direction away from the second output shaft 2173. One end of the second shaft connecting member 2191 is fixedly connected to the second output shaft 2173, and the other end is provided with a second internal thread. One end of the second connecting rod 2192 is provided with a second external thread adapted to the second internal thread. Correspondingly, the second braking assembly 2120 of this embodiment includes a third clamping arm 21201 and a fourth clamping arm 21202. The second hinge 2193 of this embodiment includes a third leaf 21931, a fourth leaf 21932, a fourth leaf shaft 21933, a fifth leaf shaft 21934, and a sixth leaf shaft 21935. One side of the third leaf 21931 is connected to one side of the fourth leaf 21932 through the fourth leaf shaft 21933. The other side of the third leaf 21931 is rotatably mounted on one end of the third clamping arm 21201 through the fifth leaf shaft 21934. The other side of the fourth leaf 21932 is rotatably mounted on one end of the fourth clamping arm 21202 through the sixth leaf shaft 21935. The second arc surface on one side of the second arc-shaped member 2194 is in close fit with the fourth leaf shaft 21933. The second locking nut 2195 presses against the other side of the second arc-shaped member 2194. The other end of the second connecting rod 2192 is threadedly connected to the second locking nut 2195. The third clamping arm 21201 and the fourth clamping arm 21202 are respectively located on both sides of the second vertical rotating shaft 215. The other ends of the first clamping arm 21101 and the second clamping arm 21102 are hinged and matched through the second hinge shaft 21203. It should be noted that the first transmission assembly 218 and the second transmission assembly 219 of this embodiment have the same structure and are symmetrically arranged in space. The first braking assembly 2110 and the second braking assembly 2120 have the same structure and are symmetrically arranged in space. Therefore, the structural schematic diagram of the second transmission assembly 219 and the second braking assembly 2120 can be referred to Figure 7 , and the exploded view of the first transmission assembly 218 and the first braking assembly 2110 can be referred to Figure 8 .

[0112] To achieve the simultaneous operation of a first driving component 217 driving two transmission components and two braking components, in this embodiment, the spiral directions of the above-mentioned first internal thread and second internal thread are designed to be opposite. In this way, when the first driving motor body 2171 drives the first connecting rod 2182 and the second connecting rod 2192 to rotate, the first connecting rod 2182 moves linearly under the rotational action of the first shaft connecting member 2181, and then drives the first page shaft 21833 of this embodiment to move linearly. The linear movement of the first page shaft 21833 drives the first page piece 21831 and the second page piece 21832 to rotate relative to each other, so that one end of the first clamping arm 21101 and one end of the second clamping arm 21102 approach or move away from each other relatively, realizing the clamping or releasing of the first vertical rotating shaft 214. The second connecting rod 2192 of this embodiment moves linearly under the rotational action of the second shaft connecting member 2191. The linear movement of the second connecting rod 2192 drives the fourth page shaft 21933 to move linearly, and then drives the third page piece 21931 and the fourth page piece 21932 of this embodiment to rotate relative to each other, so that one end of the third clamping arm 21201 and one end of the fourth clamping arm 21202 approach or move away from each other relatively, realizing the clamping or releasing of the second vertical rotating shaft 215. That is, in this embodiment, the opening and closing of the first hinge 2183 driven by the first connecting rod 2182 are used to realize the clamping or relaxation of the first clamping arm 21101 and the second clamping arm 21102, and the opening and closing of the second hinge 2193 driven by the second connecting rod 2192 are used to realize the clamping or relaxation of the third clamping arm 21201 and the fourth clamping arm 21202, thereby realizing braking. The structure is ingenious, the braking or braking release process is rapid, and the braking effect is stable.

[0113] In addition, as shown in the attached Figure 10 figures, this embodiment also has two first elastic members 2130 provided in the first housing assembly 211. One of the two first elastic members 2130 is respectively connected to the inner wall of the first housing assembly 211 and the end of the first clamping arm 21101 away from the first hinge shaft 21103, and the other of the two first elastic members 2130 is respectively connected to the inner wall of the first housing assembly 211 and the end of the second clamping arm 21102 away from the first hinge shaft 21103; and, two second elastic members 2140 are provided in the first housing assembly 211 of this embodiment. One of the two second elastic members 2140 is respectively connected to the inner wall of the first housing assembly 211 and the end of the third clamping arm 21201 away from the second hinge shaft 21203, and the other of the two second elastic members 2140 is respectively connected to the inner wall of the first housing assembly 211 and the end of the fourth clamping arm 21202 away from the second hinge shaft 21203.

[0114] The first elastic member 2130 and the second elastic member 2140 in this embodiment can both be springs. Such a setting can utilize the elasticity of the two springs to apply pressure to the first clamping arm 21101 and the second clamping arm 21102 respectively, improving the clamping force between the first clamping arm 21101 and the second clamping arm 21102 and the first vertical rotating shaft 214. By using the elasticity of the two second elastic members 2140, pressure is applied to the third clamping arm 21201 and the fourth clamping arm 21202 respectively, improving the clamping force between the third clamping arm 21201 and the fourth clamping arm 21202 and the second vertical rotating shaft 215, further ensuring the braking effect and guaranteeing the stability of the adjusted endoscope device 4.

[0115] Combined with the attached Figure 7 and 8 figure, in this embodiment, a plurality of first clamping ribs 211011 are provided on the side of the first clamping arm 21101 facing the first vertical rotating shaft 214, and a plurality of second clamping ribs 211021 are provided on the side of the second clamping arm 21102 facing the first vertical rotating shaft 214. Correspondingly, combined with the attached Figure 9 figure shown, the first vertical rotating shaft 214 of this embodiment is provided with a first annular groove 2141 adapted to the first clamping ribs 211011 and the second clamping ribs 211021 at intervals along its axial direction; similarly, a plurality of third clamping ribs 212011 are provided on the side of the third clamping arm 21201 facing the second vertical rotating shaft 215, and a plurality of fourth clamping ribs 212021 are provided on the side of the fourth clamping arm 21202 facing the second vertical rotating shaft 215. The second vertical rotating shaft 215 is provided with a second annular groove 2151 adapted to the third clamping ribs 212011 and the fourth clamping ribs 212021 at intervals along its axial direction. This structural design makes full use of the cooperation between the ribs and the annular grooves, improving the friction and clamping force between the clamping arm and the vertical rotating shaft, further ensuring the braking effect and guaranteeing the stability of the adjusted endoscope device 4.

[0116] Combined with the attached Figure 11 and the attached Figure 12As shown in the figure, the pitching swing arm 22 of this embodiment includes a second support seat 221, a second housing assembly 222, a third bearing assembly 223, a horizontal rotating shaft 224, and an elastic connecting member 225. Among them, the third bearing assembly 223 of this embodiment is installed at one end of the second housing assembly 222 close to the horizontal rotating arm 21, and the horizontal rotating shaft 224 of this embodiment passes through the third bearing assembly 223. One end of the second support seat 221 of this embodiment is connected to the horizontal rotating arm 21 at the relative two ends in the vertical direction, and is inserted and matched with the above-mentioned second vertical rotating shaft 215, so that the second support seat 221 and the second housing assembly 222 thereon can rotate around the horizontal rotating arm 21 in the horizontal direction. The other end of the second support seat 221 of this embodiment is connected to the horizontal rotating shaft 224 and rotates synchronously, thereby realizing the pitching of the second housing assembly 222. One end of the elastic connecting member 225 is movably connected to the second support seat 221 and can rotate relative to the second support seat 221. The other end of the elastic connecting member 225 is hinged to the second housing assembly 222. The elastic connecting member 225 is used to balance the self-gravity of the pitching swing arm 22, ensuring the stability of the adjusted pitching swing arm 22. The structure is simple and easy to adjust.

[0117] Optionally, similar to the above-mentioned first housing assembly 211, the second housing assembly 222 of this embodiment includes a second mounting shell 2221, a third mounting seat 2222, and a fourth mounting seat 2223. Among them, the inside of the second mounting shell 2221 is hollow and both ends are open. The inside of the third mounting seat 2222 and the fourth mounting seat 2223 is hollow and one end is open. One open end of the second mounting shell 2221 is butt-jointed with the open end of the third mounting seat 2222, and the butt-joint method can be a detachable connection method such as a bolt. The other open end of the second mounting shell 2221 is butt-jointed with the open end of the fourth mounting seat 2223, and the butt-joint method can also be a detachable connection method such as a bolt. On both sides of the third mounting seat 2222 of this embodiment, there are third bearing 2231 mounting holes 22221. The third bearing assembly 223 includes two third bearings 2231 respectively installed in the two third bearing 2231 mounting holes 22221. The relative ends of the horizontal rotating shaft 224 are respectively connected to the two third bearings 2231 in a one-to-one correspondence, and respectively extend out from the two third bearing 2231 mounting holes 22221 and are connected to the second support seat 221, so that the second support seat 221 and the horizontal rotating shaft 224 of this embodiment can rotate synchronously. The fourth mounting seat 2223 of this embodiment is connected to the upper end of the universal connecting arm 23.

[0118] In this embodiment, the second housing assembly 222 is designed as a detachable split structure composed of a second mounting shell 2221, a third mounting seat 2222, and a fourth mounting seat 2223, which is convenient for the installation of the internal components of the second housing assembly 222 and subsequent disassembly and maintenance.

[0119] To achieve the braking of the horizontal rotating shaft 224 and the upper end of the universal connecting arm 23, a second driving component 226, a third transmission assembly 227, and a fourth transmission assembly 228 are installed in the second mounting shell 2221 of this embodiment. A third braking component 229 is installed in the third mounting seat 2222, and a fourth braking component 2210 is installed in the fourth mounting seat 2223. An opening 22231 for the upper end of the universal connecting arm 23 to extend into is provided at the bottom of the fourth mounting seat 2223, and the upper end of the universal connecting arm 23 is connected to the fourth braking component 2210 through the opening 22231.

[0120] Specifically, the second driving component 226 of this embodiment is respectively connected to one end of the third transmission assembly 227 and one end of the fourth transmission assembly 228. The other end of the third transmission assembly 227 is connected to the third braking component 229, and the other end of the fourth transmission assembly 228 is connected to the fourth braking component 2210. The second driving component 226 can act between a second locked state and a second unlocked state. When acting from the second unlocked state to the second locked state, the third transmission assembly 227 drives the third braking component 229 to act. The third braking component 229 locks the relative rotation of the horizontal rotating shaft 224 and the second mounting shell 2221. The fourth transmission assembly 228 drives the fourth braking component 2210 to act, and the fourth braking component 2210 locks the universal rotation of the upper end of the universal connecting arm 23. When acting from the second locked state to the second unlocked state, the third transmission assembly 227 drives the third braking component 229 to act. The third braking component 229 releases the restriction on the relative rotation of the horizontal rotating shaft 224 and the second mounting shell 2221. The fourth transmission assembly 228 drives the fourth braking component 2210 to act, and the fourth braking component 2210 releases the restriction on the universal rotation of the upper end of the universal connecting arm 23.

[0121] This structural design can drive the third braking component 229 and the fourth braking component 2210 to act simultaneously through the second driving component 226, thereby braking the pivoting end of the pitching swing arm 22 and the upper end of the universal connecting arm 23 respectively. It has multiple functions in one body, simplifies the driving and transmission structure, and can maintain the stability of the structure after the pitching adjustment of the pitching swing arm 22 and the universal adjustment of the upper end of the universal connecting arm 23, thereby ensuring the accuracy of the operation.

[0122] Combined with the attached Figure 12 and the attached Figure 13As shown, the second driving component 226 of this embodiment includes a second driving motor body 2261, a third output shaft 2262, and a fourth output shaft 2263. The third output shaft 2262 and the fourth output shaft 2263 are respectively located on opposite sides of the second driving motor. The third transmission assembly 227 includes a third shaft connecting piece 2271, a third connecting rod 2272, a third hinge 2273, a third arc-shaped piece 2274, and a third locking nut (not shown in the figure) connected in sequence along the direction away from the third output shaft 2262. One end of the third shaft connecting piece 2271 is fixedly connected to the third output shaft 2262, and the other end is provided with a third internal thread. One end of the third connecting rod 2272 is provided with a third external thread adapted to the third internal thread. During the rotation of the third shaft connecting piece 2271, the cooperation of the third internal thread and the third external thread can drive the third connecting rod 2272 of this embodiment to move linearly.

[0123] The third braking assembly 229 of this embodiment includes a fifth clamping arm 2291 and a sixth clamping arm 2292. The fifth clamping arm 2291 and the sixth clamping arm 2292 are respectively located on the upper and lower sides of the horizontal rotating shaft 224. One end of the fifth clamping arm 2291 and one end of the sixth clamping arm 2292 are hinged and cooperated through a third hinge shaft 2293. The third hinge 2273 of this embodiment includes a fifth blade 22731, a sixth blade 22732, a seventh blade shaft 22733, an eighth blade shaft 22734, and a ninth blade shaft 22735. One side of the fifth blade 22731 is connected to one side of the sixth blade 22732 through the seventh blade shaft 22733. The other side of the fifth blade 22731 is rotatably installed inside the fifth clamping arm 2291 through the eighth blade shaft 22734. The other side of the sixth blade 22732 is rotatably installed inside the sixth clamping arm 2292 through the ninth blade shaft 22735. The third arc surface of the third arc-shaped piece 2274 is in close contact with the seventh blade shaft 22733. The third locking nut is pressed against the side of the third arc-shaped piece 2274 away from the third arc surface. The other end of the third connecting rod 2272 is threadedly connected to the third locking nut.

[0124] Combined with the attached Figure 12 and the attached Figure 14As shown, the fourth transmission component 228 of this embodiment includes a fourth shaft connecting member 2281, a fourth connecting rod 2282, a fourth arc-shaped member 2283, a fourth hinge 2284, a fifth arc-shaped member 2285, a third elastic member 2286, and a threaded disc 2287 arranged in sequence along the direction away from the fourth output shaft 2263. One end of the fourth shaft connecting member 2281 is connected to the fourth output shaft 2263, and the other end is provided with a fourth internal thread. One end of the fourth connecting rod 2282 is provided with a fourth external thread adapted to the fourth internal thread. The fourth connecting rod 2282 moves linearly under the rotation of the fourth shaft connecting member 2281. The other end of the fourth connecting rod 2282 of this embodiment sequentially passes through the fourth arc-shaped member 2283, the fourth hinge 2284, the fifth arc-shaped member 2285, and the third elastic member 2286, and is connected to the threaded disc 2287. The threaded disc 2287 is threadedly connected to the fourth mounting seat 2223, so that the end of the fourth connecting rod 2282 away from the fourth shaft connecting member 2281 is fixedly locked.

[0125] The fourth braking component 2210 of this embodiment includes a first ball socket locking member 22101 and a second ball socket locking member 22102. The upper end of the universal connecting arm 23 is provided with a first universal ball head 231 located between the first ball socket locking member 22101 and the second ball socket locking member 22102. Figure 14 and Figure 17 As shown, both the first ball socket locking member 22101 and the second ball socket locking member 22102 of this embodiment are provided with a curved surface groove having the same curvature as the first universal ball head 231, so that the first universal ball head 231 can be locked by the first ball socket locking member 22101 and the second ball socket locking member 22102; The fourth hinge 2284 includes a seventh blade 22841, an eighth blade 22842, a tenth shaft 22843, and an eleventh shaft 22844. One side of the seventh blade 22841 is rotatably connected to one side of the eighth blade 22842 through the tenth shaft 22843. The other side of the seventh blade 22841 is rotatably mounted on the fourth mounting seat 2223 through the eleventh shaft 22844. The other side of the eighth blade 22842 is rotatably mounted in the arc-shaped groove 221011 at the upper end of the first ball socket locking member 22101. The fourth arc surface of the fourth arc-shaped member 2283 is in close contact with the tenth shaft 22843. The fifth arc surface of the fifth arc-shaped member 2285 is in close contact with the tenth shaft 22843 under the pressure of the third elastic member 2286. The threaded disc 2287 is threadedly connected to the fourth mounting seat 2223.

[0126] Among them, the third internal thread of the third connecting rod 2272 and the fourth internal thread of the fourth connecting rod 2282 have opposite spiral directions. When the second driving motor body 2261 of this embodiment drives the third shaft connecting member 2271 and the fourth shaft connecting member 2281 to rotate, the third connecting rod 2272 and the fourth connecting rod 2282 move linearly in opposite directions. The linear movement of the third connecting rod 2272 drives the seventh page shaft 22733 to move linearly, causing the fifth page piece 22731 and the sixth page piece 22732 to rotate relative to each other, and further causing the other ends of the fifth clamping arm 2291 and the sixth clamping arm 2292 to approach or move away from each other, so as to lock or unlock the horizontal rotating shaft 224. At the same time, the linear movement of the fourth connecting rod 2282 in this embodiment drives the tenth page shaft 22843 to move linearly, and further causes the seventh page piece 22841 and the eighth page piece 22842 to rotate relative to each other, so that the first ball socket locking member 22101 and the second ball socket locking member 22102 clamp the first universal ball head 231 or release the clamping of the first universal ball head 231.

[0127] The above structure uses the opening and closing of the third hinge 2273 to drive the fifth clamping arm 2291 to clamp or release the clamping of the horizontal rotating shaft 224, and uses the opening and closing of the fourth hinge 2284 to drive the first ball socket locking member 22101 and the second ball socket locking member 22102 to clamp or release the clamping of the first universal ball head 231. The structure is ingenious, the braking or braking release process is rapid, and the braking effect is stable.

[0128] Similarly, combined with the attached Figure 12 As shown, in order to improve the braking effect, two fourth elastic members 2220 are provided in the third mounting seat 2222 in this embodiment. One of the two fourth elastic members 2220 is respectively connected to the third mounting seat 2222 and the end of the fifth clamping arm 2291 away from the horizontal rotating shaft 224, and the other of the two fourth elastic members 2220 is respectively connected to the third mounting seat 2222 and the end of the sixth clamping arm 2292 away from the horizontal rotating shaft 224. By using the elasticity of the two fourth elastic members 2220 themselves, pressure can be applied to the fifth clamping arm 2291 and the sixth clamping arm 2292 respectively, improving the clamping force between the fifth clamping arm 2291 and the sixth clamping arm 2292 and the horizontal rotating shaft 224.

[0129] In addition, combined with the attached Figure 13As shown, in this embodiment, a plurality of fifth clamping ribs 22911 are provided on the side of the fifth clamping arm 2291 facing the horizontal rotating shaft 224, and a plurality of sixth clamping ribs (not shown in the figure) are provided on the side of the sixth clamping arm 2292 facing the horizontal rotating shaft 224. The horizontal rotating shaft 224 is provided with third annular grooves 2241 adapted to the fifth clamping ribs 22911 and the sixth clamping ribs at intervals along its axial direction. By using the cooperation between the ribs and the annular grooves, the friction and clamping force between the clamping arm and the horizontal rotating shaft 224 are improved, further ensuring the braking effect.

[0130] Combined with the attached Figure 15 and the attached Figure 16 As shown, the second support base 221 of this embodiment includes a support base body 2211, a U-shaped member 2212, a locking bolt 2213, a fixing pin 2214 and a sliding shaft 2215; the support base body 2211 includes a first U-shaped portion 22111 and a second U-shaped portion 22112. The first U-shaped portion 22111 includes two first side walls 221111 and a first connecting wall 221112 connected between the two first side walls 221111. The second U-shaped portion 22112 includes two second side walls 221121 and a second connecting wall 221122 connected between the two second side walls 221121. The second side wall 221121 is provided with a strip-shaped hole 221123 in the vertical direction. The two first side walls 221111 are respectively connected to the opposite ends of the horizontal rotating shaft 224. The first connecting wall 221112 is connected to the horizontal rotating arm 21 and can rotate horizontally on the horizontal rotating arm 21. The two second side walls 221121 are connected to the first connecting wall 221112; the U-shaped member 2212 is located between the two second side walls 221121. The U-shaped member 2212 includes two third side walls 22121 and a third connecting wall 22122 connected between the two third side walls 22121. One end of the elastic connecting member 225 is located between the two third side walls 22121; the sliding shaft 2215 passes through the second side wall 221121, the U-shaped member 2212 and the elastic connecting member 225. The opposite ends of the sliding shaft 2215 are respectively slidably installed in the two strip-shaped holes 221123; the lower end of the locking bolt 2213 sequentially passes through the second connecting wall 221122 and the third connecting wall 22122 and abuts against one end of the elastic connecting member 225. The locking bolt 2213 is threadedly connected to the second connecting wall 221122. The fixing pin 2214 is inserted into the lower end of the locking bolt 2213 and is in limit fit with the second connecting wall 221122.

[0131] During the swinging process of the pitching swing arm 22 of the second support base 221 with the above structure, one end of its elastic connecting member 225 can drive the U-shaped member 2212 to slide up and down in the second U-shaped portion 22112, thereby adjusting the position of one end of the elastic connecting member 225, ensuring the gravity balance effect of the elastic connecting member 225 on the pitching swing arm 22 and ensuring the structural stability.

[0132] Combined with the attached Figure 18 and the attached Figure 19 As shown, the universal connecting arm 23 of this embodiment includes a first universal ball head 231, a support rod assembly 232, a fifth mounting seat 233, and a second universal ball head 234; the first universal ball head 231 is rotatably mounted at one end of the pitching swing arm 22, and the first universal ball head 231 includes a first ball head body 2311 and a first ball head connecting rod 2312 that are integrally connected; the support rod assembly 232 is respectively connected to the ball head connecting rod and the fifth mounting seat 233; the second universal ball head 234 includes a second ball head body 2341 and a second ball head connecting rod 2342 that are integrally connected, the second ball head body 2341 is rotatably mounted in the fifth mounting seat 233, and the second ball head connecting rod 2342 is connected with a clamp 24, and the endoscope device 4 is mounted on the clamp 24. With such a setting, the universal rotation adjustment of the universal connecting arm 23 can be realized by using the first universal ball head 231 and the second universal ball head 234, which is convenient for making a small-range adjustment of the position of the endoscope device 4, the operation is simple, and it is further beneficial to the operation.

[0133] In addition, this embodiment further improves the structure of the universal connecting arm 23, so that the fourth braking assembly 2210 of this embodiment can simultaneously brake the universal rotation of the upper and lower ends of the universal connecting arm 23.

[0134] Combined with the attached Figure 20 and the attached Figure 21As shown, the first universal ball head 231 of the present embodiment is provided with a first through hole 2313 that passes through the first ball head body 2311 and the first ball head connecting rod 2312; the support rod assembly 232 of the present embodiment includes a support rod body 2321 and a force transmission rod 2322, the support rod body 2321 is provided with a second through hole 23211, the force transmission rod 2322 is penetrated through the first through hole 2313 and the second through hole 23211, one end of the force transmission rod 2322 is exposed to the first ball head body 2311, and is against the side of the first ball socket locking member 22101 facing the first ball head body 2311, and the other end of the force transmission rod 2322 is exposed to the end of the support rod body 2321 away from the first ball head body 2311; a lock is installed in the fifth mounting seat 233 The tightening block 235, one side of the locking block 235 is abutted against the other end of the force transmission rod 2322, and the other side is provided with a curved surface with the same curvature radius as the second ball head body 2341; when the first ball socket locking piece 22101 of this embodiment moves toward the second ball socket locking piece 22102 to lock the universal rotation of the first ball head body 2311, the force transmission rod 2322 drives the locking block 235 to lock the universal rotation of the second ball head body 2341, so that the fourth brake assembly 2210 can brake the universal rotation of the first universal ball head 231 at the upper end of the pitch swing arm 22, and can also realize the universal rotation of the second universal ball head 234 at the lower end of the swing arm through the force transmission rod 2322 and the locking block 235, thereby simplifying the braking structure and realizing multi-purpose integration.

[0135] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

[0136] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0137] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0138] The foregoing description of the disclosed embodiments enables those skilled in the art to practice or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A surgical device comprising an endoscope and a microscope, characterized in that, It includes a body (1), a first support device (2), a second support device (3), an endoscope device (4), a microscope device (5) and an image display device (6); The first support device (2) is installed on one side of the opposite sides of the top of the body (1), the second support device (3) is installed on the other side of the opposite sides of the top of the body (1), the endoscope device (4) is installed on the first support device (2), the microscope device (5) is installed on the second support device (3), and the image display device (6) is installed on the body (1); Among them, the first support device (2) includes a horizontally rotating arm (21), a pitching swing arm (22) and a universal connecting arm (23) connected in sequence; one end of the horizontally rotating arm (21) is connected to the top of the body (1) and can rotate on the body (1) in the horizontal direction; one end of the pitching swing arm (22) is connected to the horizontally rotating arm (21) and can rotate around the horizontally rotating arm (21) in the horizontal direction, and the pitching swing arm (22) can swing in the vertical direction around the end connected to the horizontally rotating arm (21); the upper end of the universal connecting arm (23) is installed on the other end of the pitching swing arm (22) in a universally rotatable manner, and the lower end of the universal connecting arm (23) is installed with the endoscope device (4), and the endoscope can rotate universally at the lower end of the universal connecting arm (23); The universal connecting arm (23) includes a first universal ball head (231), a support rod assembly (232), a fifth mounting seat (233) and a second universal ball head (234); The first universal ball head (231) is installed on one end of the pitching swing arm (22) in a universally rotatable manner, and the first universal ball head (231) includes a first ball head body (2311) and a first ball head connecting rod (2312) integrally connected; The support rod assembly (232) is respectively connected to the first ball head connecting rod (2312) and the fifth mounting seat (233); The second universal ball head (234) includes a second ball head body (2341) and a second ball head connecting rod (2342) integrally connected, the second ball head body (2341) is installed in the fifth mounting seat (233) in a universally rotatable manner, the second ball head connecting rod (2342) is connected with a clamp (24), and the endoscope device (4) is installed on the clamp (24); The pitching swing arm (22) includes a fourth braking assembly (2210), and the fourth braking assembly (2210) includes a first ball socket locking member (22101) and a second ball socket locking member (22102); The first universal ball head (231) is provided with a first through hole (2313) penetrating through the first ball head body (2311) and the first ball head connecting rod (2312); The support rod assembly (232) comprises a support rod body (2321) and a force transmission rod (2322); a second through hole (23211) is provided in the support rod body (2321); the force transmission rod (2322) is passed through the first through hole (2313) and the second through hole (23211); one end of the force transmission rod (2322) is exposed from the first ball head body (2311) and abuts against a side of the first ball and socket locking member (22101) facing the first ball head body (2311); the other end of the force transmission rod (2322) is exposed from an end of the support rod body (2321) facing away from the first ball head body (2311); A locking block (235) is installed in the fifth mounting seat (233); one side of the locking block (235) abuts against the other end of the force transmission rod (2322), and the other side is provided with a curved surface having the same curvature radius as that of the second ball head body (2341); When the first ball and socket locking member (22101) moves toward the second ball and socket locking member (22102) to lock the universal rotation of the first ball head body (2311), the force transmission rod (2322) drives the locking block (235) to lock the universal rotation of the second ball head body (2341).

2. The surgical device comprising an endoscope and a microscope according to claim 1, characterized in that, The horizontal rotating arm (21) comprises a first housing assembly (211), a first bearing assembly (212), a second bearing assembly (213), a first vertical rotating shaft (214), a second vertical rotating shaft (215) and a first supporting seat (216); The first bearing assembly (212) and the second bearing assembly (213) are both located in the first housing assembly (211), and are fixedly mounted at opposite ends of the first housing assembly (211) in a one-to-one correspondence; The first vertical rotating shaft (214) is inserted into the first bearing assembly (212) and is fixedly connected to the first support seat (216); the second vertical rotating shaft (215) is inserted into the second bearing assembly (213) and is fixedly connected to one end of the pitch swing arm (22); and the first support seat (216) is fixedly mounted on the top of the machine body (1).

3. The surgical device comprising an endoscope and a microscope according to claim 2, wherein, The first housing component (211) comprises a first mounting shell (2111), a first mounting seat (2112) and a second mounting seat (2113); The first mounting shell (2111) is hollow inside and open at both ends; the first mounting seat (2112) and the second mounting seat (2113) are hollow inside and open at one end; the first mounting shell (2111) is open at one end and butts with the first mounting seat (2112); the first mounting shell (2111) is open at the other end and butts with the second mounting seat (2113); The first mounting base (2112) is hollow inside, and first bearing (2121) mounting holes (21121) are provided on both the upper and lower opposite sides. The first bearing assembly (212) includes two first bearings (2121) respectively and correspondingly mounted in the two first bearing (2121) mounting holes (21121). The upper and lower ends of the first vertical rotating shaft (214) respectively extend out of the two first bearing (2121) mounting holes (21121), wherein the lower end is connected to the first support base (216). The second mounting base (2113) is hollow inside, and second bearing (2131) mounting holes 21131 are provided on both the upper and lower opposite sides. The second bearing assembly (213) includes two second bearings (2131) respectively and correspondingly mounted in the two second bearing (2131) mounting holes 21131. The upper and lower ends of the second vertical rotating shaft (215) respectively extend out of the two second bearing (2131) mounting holes 21131, and the upper end or the lower end is connected to the pitching swing arm (22).

4. The surgical device comprising an endoscope and a microscope according to claim 2 or 3, characterized in that, A first driving component (217), a first transmission component (218), a second transmission component (219), a first braking component (2110) and a second braking component (2120) are installed in the first housing assembly (211). The first driving component (217) is respectively connected to one end of the first transmission component (218) and one end of the second transmission component (219). The other end of the first transmission component (218) is connected to the first braking component (2110), and the other end of the second transmission component (219) is connected to the second braking component (2120). The first driving component (217) can act between a first locked state and a first unlocked state. When acting from the first unlocked state to the first locked state, the first transmission component (218) drives the first braking component (2110) to act, and the first braking component (2110) locks the relative rotation between the first vertical rotating shaft (214) and the first housing assembly (211). The second transmission component (219) drives the second braking component (2120) to act, and the second braking component (2120) locks the relative rotation between the second vertical rotating shaft (215) and the first housing assembly (211). When acting from the first locked state to the first unlocked state, the first transmission component (218) drives the first braking component (2110) to act to release the restriction on the relative rotation between the first vertical rotating shaft (214) and the first housing assembly (211) by the first braking component (2110). The second transmission component (219) drives the second braking component (2120) to act to release the restriction on the relative rotation between the second vertical rotating shaft (215) and the first housing assembly (211) by the second braking component (2120).

5. The surgical device comprising an endoscope and a microscope according to claim 4, characterized in that, The first driving component (217) includes a first driving motor body (217), a first output shaft (2172) and a second output shaft (2173), and the first output shaft (2172) and the second output shaft (2173) are respectively connected to opposite sides of the first driving motor; The first transmission component (218) includes a first shaft connecting member (2181), a first connecting rod (2182), a first hinge (2183), a first arc-shaped member (2184) and a first locking nut (2185) connected in sequence along a direction away from the first output shaft (2172). One end of the first shaft connecting member (2181) is fixedly connected to the first output shaft (2172), and the other end is provided with a first internal thread. One end of the first connecting rod (2182) is provided with a first external thread adapted to the first internal thread. The first braking component (2110) includes a first clamping arm (21101) and a second clamping arm (21102); The first hinge (2183) includes a first leaf (21831), a second leaf (21832), a first leaf shaft (21833), a second leaf shaft (21834) and a third leaf shaft (21835). One side of the first leaf (21831) is connected to one side of the second leaf (21832) through the first leaf shaft (21833). The other side of the first leaf (21831) is rotatably mounted at one end of the first clamping arm (21101) through the second leaf shaft (21834). The other side of the second leaf (21832) is rotatably mounted at one end of the second clamping arm (21102) through the third leaf shaft (21835). A first arc surface on one side of the first arc-shaped member (2184) is in close fit with the first leaf shaft (21833). The first locking nut (2185) presses against the other side of the first arc-shaped member (2184). The other end of the first connecting rod (2182) passes through the first leaf shaft (21833) and is threadedly connected to the first locking nut (2185). The first clamping arm (21101) and the second clamping arm (21102) are respectively located on both sides of the first vertical rotating shaft (214). The other ends of the first clamping arm (21101) and the second clamping arm (21102) are hinged and matched through a first hinge shaft (21103); The second transmission component (219) includes a second shaft connecting member (2191), a second connecting rod (2192), a second hinge (2193), a second arc-shaped member (2194) and a second locking nut (2195) connected in sequence along a direction away from the second output shaft (2173). One end of the second shaft connecting member (2191) is fixedly connected to the second output shaft (2173), and the other end is provided with a second internal thread. One end of the second connecting rod (2192) is provided with a second external thread adapted to the second internal thread. The second braking component (2120) includes a third clamping arm (21201) and a fourth clamping arm (21202); The second hinge (2193) comprises a third page (21931), a fourth page (21932), a fourth page axis (21933), a fifth page axis (21934) and a sixth page axis (21935); one side of the third page (21931) is connected to one side of the fourth page (21932) via the fourth page axis (21933); the other side of the third page (21931) is rotatably mounted on one end of the third clamping arm (21201) via the fifth page axis (21934); the other side of the fourth page (21932) is rotatably mounted on the fourth clamping arm (21201) via the sixth page axis (21935). At one end of the clamp arm (21202), the second arc surface on one side of the second arc-shaped member (2194) is tightly fitted with the fourth page shaft (21933), the second locking nut (2195) is pressed against the other side of the second arc-shaped member (2194), and the other end of the second connecting rod (2192) is threadedly connected with the second locking nut (2195); the third clamp arm (21201) and the fourth clamp arm (21202) are respectively located on both sides of the second vertical rotating shaft (215), and the other end of the first clamp arm (21101) and the other end of the second clamp arm (21102) are hingedly matched through a second hinge shaft (21203); The spiral directions of the first internal thread and the second internal thread are opposite, and when the first driving motor body (217) drives the first connecting rod (2182) and the second connecting rod (2192) to rotate, the linear motion of the first connecting rod (2182) drives the first leaf (21831) and the second leaf (21832) to rotate relative to each other, so that one end of the first clamping arm (21101) and one end of the second clamping arm (21102) are relatively close to or far away from each other, and the linear motion of the second connecting rod (2192) drives the third leaf (21931) and the fourth leaf (21932) to rotate relative to each other, so that one end of the third clamping arm (21201) and one end of the fourth clamping arm (21202) are relatively close to or far away from each other.

6. The surgical device comprising an endoscope and a microscope according to claim 5, characterized in that, Two first elastic members (2130) are provided in the first shell component (211), one of the two first elastic members (2130) is respectively connected to the inner wall of the first shell component (211) and one end of the first clamping arm (21101) facing away from the first hinge shaft (21103), and the other of the two first elastic members (2130) is respectively connected to the inner wall of the first shell component (211) and one end of the second clamping arm (21102) facing away from the first hinge shaft (21103); And / or, two second elastic members (2140) are provided inside the first housing assembly (211). One of the two second elastic members (2140) is respectively connected to the inner wall of the first housing assembly (211) and one end of the third clamping arm (21201) facing away from the second hinge shaft (21203), and the other of the two second elastic members (2140) is respectively connected to the inner wall of the first housing assembly (211) and one end of the fourth clamping arm (21202) facing away from the second hinge shaft (21203).

7. The surgical device comprising an endoscope and a microscope according to claim 5, characterized in that, On a side of the first clamping arm (21101) facing the first vertical rotating shaft (214), a plurality of first clamping ribs (211011) are provided. On a side of the second clamping arm (21102) facing the first vertical rotating shaft (214), a plurality of second clamping ribs (211021) are provided. The first vertical rotating shaft (214) is provided with a first annular groove (2141) adapted to the first clamping ribs (211011) and the second clamping ribs (211021) at intervals along its axial direction; And / or, on a side of the third clamping arm (21201) facing the second vertical rotating shaft (215), a plurality of third clamping ribs (212011) are provided. On a side of the fourth clamping arm (21202) facing the second vertical rotating shaft (215), a plurality of fourth clamping ribs (212021) are provided. The second vertical rotating shaft (215) is provided with a second annular groove (2151) adapted to the third clamping ribs (212011) and the fourth clamping ribs (212021) at intervals along its axial direction.

8. The surgical device comprising an endoscope and a microscope according to claim 1, characterized in that, The pitching swing arm (22) includes a second support seat (221), a second housing assembly (222), a third bearing assembly (223), a horizontal rotating shaft (224) and an elastic connecting member (225); The third bearing assembly (223) is installed at one end of the second housing assembly (222) close to the horizontal rotating arm (21), and the horizontal rotating shaft (224) is inserted into the third bearing assembly (223); One end of the second support seat (221) at opposite ends in the vertical direction is connected to the horizontal rotating arm (21) and can rotate around the horizontal rotating arm (21) in the horizontal direction, and the other end is connected to the horizontal rotating shaft (224) and rotates synchronously; One end of the elastic connecting member (225) is movably connected to the second support seat (221) and can rotate relative to the second support seat (221), and the other end of the elastic connecting member (225) is hinged to the second housing assembly (222).

9. The surgical device comprising an endoscope and a microscope according to claim 8, wherein, The second support seat (221) includes a support seat body (2211), a U-shaped member (2212), a locking bolt (2213), a fixing pin (2214) and a sliding shaft (2215); The support base body (2211) includes a first U-shaped portion (22111) and a second U-shaped portion (22112). The first U-shaped portion (22111) includes two first side walls (221111) and a first connecting wall (221112) connected between the two first side walls (221111). The second U-shaped portion (22112) includes two second side walls (221121) and a second connecting wall (221122) connected between the two second side walls (221121). The two first side walls (221111) are respectively and correspondingly connected to the opposite ends of the horizontal rotating shaft (224). The first connecting wall (221112) is connected to the horizontal rotating arm (21) and can rotate horizontally on the horizontal rotating arm (21). The two second side walls (221121) are connected to the first connecting wall (221112), and a strip-shaped hole (221123) is vertically formed in the second side wall (221121). The U-shaped member (2212) is located between the two second side walls (221121). The U-shaped member (2212) includes two third side walls (22121) and a third connecting wall (22122) connected between the two third side walls (22121). One end of the elastic connecting member (225) is located between the two third side walls (22121). The sliding shaft (2215) passes through the second side wall (221121), the U-shaped member (2212) and the elastic connecting member (225). The opposite ends of the sliding shaft (2215) are respectively and slidably installed in the two strip-shaped holes (221123). The lower end of the locking bolt (2213) sequentially passes through the second connecting wall (221122) and the third connecting wall (22122) and abuts against one end of the elastic connecting member (225). The locking bolt (2213) is threadedly connected to the second connecting wall (221122). The fixing pin (2214) is inserted into the lower end of the locking bolt (2213) and is in limit fit with the second connecting wall (221122).

10. The surgical device comprising an endoscope and a microscope according to claim 8, characterized in that, The second housing assembly (222) includes a second mounting shell (2221), a third mounting seat (2222) and a fourth mounting seat (2223). The interior of the second mounting shell (2221) is hollow and both ends are open. The interiors of the third mounting seat (2222) and the fourth mounting seat (2223) are hollow and one end is open. One open end of the second mounting shell (2221) is butt-jointed with the open end of the third mounting seat (2222), and the other open end of the second mounting shell (2221) is butt-jointed with the open end of the fourth mounting seat (2223). Both sides of the third mounting seat (2222) are provided with third bearing mounting holes (22221). The third bearing assembly (223) includes two third bearings (2231) respectively mounted in the two third bearing mounting holes (22221). The opposite ends of the horizontal rotating shaft (224) are respectively connected to the two third bearings (2231), extend out of the two third bearing mounting holes (22221) respectively, and are connected to the second support seat (221). The fourth mounting seat (2223) is connected to the upper end of the universal connecting arm (23).

11. The surgical device comprising an endoscope and a microscope according to claim 10, characterized in that, A second driving component (226), a third transmission component (227) and a fourth transmission component (228) are installed in the second mounting shell (2221). A third braking component (229) is installed in the third mounting seat (2222). A fourth braking component (2210) is installed in the fourth mounting seat (2223). An opening (22231) for the upper end of the universal connecting arm (23) to extend into is provided at the bottom of the fourth mounting seat (2223). The upper end of the universal connecting arm (23) is connected to the fourth braking component (2210) through the opening (22231). The second driving component (226) is respectively connected to one end of the third transmission component (227) and one end of the fourth transmission component (228). The other end of the third transmission component (227) is connected to the third braking component (229). The other end of the fourth transmission component (228) is connected to the fourth braking component (2210). The second driving component (226) can act between a second locked state and a second unlocked state. When acting from the second unlocked state to the second locked state, the third transmission component (227) drives the third braking component (229) to act. The third braking component (229) locks the relative rotation between the horizontal rotating shaft (224) and the second mounting shell (2221). The fourth transmission component (228) drives the fourth braking component (2210) to act. The fourth braking component (2210) locks the universal rotation of the upper end of the universal connecting arm (23). When acting from the second locked state to the second unlocked state, the third transmission component (227) drives the third braking component (229) to act. The third braking component (229) releases the relative rotation restriction between the horizontal rotating shaft (224) and the second mounting shell (2221). The fourth transmission component (228) drives the fourth braking component (2210) to act. The fourth braking component (2210) releases the universal rotation restriction of the upper end of the universal connecting arm (23).

12. The surgical device comprising an endoscope and a microscope according to claim 11, characterized in that, The second driving component (226) includes a second driving motor body (2261), a third output shaft (2262) and a fourth output shaft (2263). The third output shaft (2262) and the fourth output shaft (2263) are respectively located on the opposite sides of the second driving motor. The third transmission assembly (227) comprises a third shaft connecting member (2271), a third connecting rod (2272), a third hinge (2273), a third arc-shaped member (2274), and a third locking nut which are sequentially connected in a direction away from the third output shaft (2262); one end of the third shaft connecting member (2271) is fixedly connected to the third output shaft (2262), and the other end is provided with a third internal thread; one end of the third connecting rod (2272) is provided with a third external thread matched with the third internal thread; The third brake assembly (229) comprises a fifth clamp arm (2291) and a sixth clamp arm (2292), wherein the fifth clamp arm (2291) and the sixth clamp arm (2292) are respectively located at the upper and lower sides of the horizontal rotation shaft (224), and one end of the fifth clamp arm (2291) and one end of the sixth clamp arm (2292) are hingedly matched via a third hinge shaft (2293); The third hinge (2273) comprises a fifth page (22731), a sixth page (22732), a seventh page axis (22733), an eighth page axis (22734) and a ninth page axis (22735); one side of the fifth page (22731) is connected to one side of the sixth page (22732) via the seventh page axis (22733); the other side of the fifth page (22731) is rotatably mounted on the fifth page (22731) via the eighth page axis (22734). On the inner side of the clamp arm (2291), the other side of the sixth page plate (22732) is rotatably mounted on the inner side of the sixth clamp arm (2292) through the ninth page shaft (22735), the third arc surface of the third arc-shaped member (2274) is tightly fitted with the seventh page shaft (22733), the third locking nut is pressed against the side of the third arc-shaped member (2274) away from the third arc surface, and the other end of the third connecting rod (2272) is threadedly connected with the third locking nut; The fourth transmission assembly (228) comprises a fourth shaft connecting member (2281), a fourth connecting rod (2282), a fourth arc-shaped member (2283), a fourth hinge (2284), a fifth arc-shaped member (2285), a third elastic member (2286) and a threaded disk (2287) which are sequentially arranged in a direction away from the fourth output shaft (2263); one end of the fourth shaft connecting member (2281) is connected to the fourth output shaft (2263), and the other end is provided with a fourth internal thread; one end of the fourth connecting rod (2282) is provided with a fourth external thread matched with the fourth internal thread; the other end of the fourth connecting rod (2282) passes through the fourth arc-shaped member (2283), the fourth hinge (2284), the fifth arc-shaped member (2285) and the third elastic member (2286) in sequence, and is connected to the threaded disk (2287); the threaded disk (2287) is threadedly connected to the fourth mounting seat (2223); The fourth brake assembly (2210) comprises a first ball and socket locking member (22101) and a second ball and socket locking member (22102); the upper end of the universal connecting arm (23) is provided with a first universal ball head (231) located between the first ball and socket locking member (22101) and the second ball and socket locking member (22102); the first universal ball head (231) can be locked by the first ball and socket locking member (22101) and the second ball and socket locking member (22102); The fourth hinge (2284) comprises a seventh page (22841), an eighth page (22842), a tenth page axis (22843) and an eleventh page axis (22844); one side of the seventh page (22841) is rotatably connected to one side of the eighth page (22842) via the tenth page axis (22843); the other side of the seventh page (22841) is rotatably mounted on the fourth mounting seat (2223) via the eleventh page axis (22844); The other side of the page (22842) can be rotatably mounted in the arc groove (221011) at the upper end of the first ball and socket locking member (22101), the fourth arc surface of the fourth arc member (2283) is tightly fitted with the tenth page shaft (22843), the fifth arc surface of the fifth arc member (2285) is tightly fitted with the tenth page shaft (22843) under the pressure of the third elastic member (2286), and the threaded disk (2287) is threadedly connected to the fourth mounting seat (2223); The third internal thread and the fourth internal thread have opposite spiral directions. When the second drive motor body (2261) drives the third shaft connecting member (2271) and the fourth shaft connecting member (2281) to rotate, the linear motion of the third connecting rod (2272) drives the fifth leaf (22731) and the sixth leaf (22732) to rotate relative to each other, so that the other end of the fifth clamping arm (2291) and the other end of the sixth clamping arm (2292) are relatively close to or away from each other, and the linear motion of the fourth connecting rod (2282) drives the seventh leaf (22841) and the eighth leaf (22842) to rotate relative to each other, so that the first ball and socket locking member (22101) and the second ball and socket locking member (22102) clamp the first universal ball head (231) or release the clamping of the first universal ball head (231).

13. The surgical device comprising an endoscope and a microscope according to claim 12, characterized in that, Two fourth elastic members (2220) are provided in the third mounting seat (2222), one of the two fourth elastic members (2220) is respectively connected to the third mounting seat (2222) and one end of the fifth clamping arm (2291) away from the horizontal rotation axis (224), and the other of the two fourth elastic members (2220) is respectively connected to the third mounting seat (2222) and one end of the sixth clamping arm (2292) away from the horizontal rotation axis (224).

14. The surgical device comprising an endoscope and a microscope according to claim 13, wherein, On one side of the fifth clamping arm (2291) facing the horizontal rotating shaft (224), a plurality of fifth clamping ribs (22911) are provided. On one side of the sixth clamping arm (2292) facing the horizontal rotating shaft (224), a plurality of sixth clamping ribs are provided. Along the axial direction of the horizontal rotating shaft (224), third annular grooves (2241) adapted to the fifth clamping ribs (22911) and the sixth clamping ribs are provided at intervals.

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