Endoscope tip actuator of endoscopic surgery robot

Abstract

The application provides an endoscope end execution mechanism of an endoscopic surgery robot, which comprises a base for bearing and having a bearing surface, the set position of the bearing surface being adjustable along a vertical direction; a cantilever configured to have a supporting end mounted on the bearing surface and a loading end capable of rotating around the vertical direction; a functional assembly mounted on the loading end, having a supporting seat and a functional module arranged on the supporting seat, the supporting seat having an assembly position for fixing an endoscope handle and being capable of switching between a fixed mode and an open mode, in the application, a doctor adjusts and locks the positions of the base, the cantilever and the U-shaped supporting seat according to the positions of a patient and a hospital bed, so that the robot arm can be placed at the most reasonable position, the operation convenience of the endoscope and auxiliary instruments can be ensured, and finally the surgery can be conveniently and smoothly performed, the working strength is reduced, and the success rate of the surgery is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an endoscope end execution mechanism of an endoscopic surgery robot. BACKGROUND

[0002] ERCP is a very mature endoscopic minimally invasive treatment of biliary and pancreatic system diseases, also known as endoscopic retrograde cholangiopancreatography. ERCP can be used for diagnosis and treatment of gallstones, bile obstruction, cholangitis, bile duct tumor, pancreatic tumor and other diseases. In the process of operation, a duodenoscope is inserted into the descending part of the patient's duodenum, a contrast catheter is inserted into the biopsy channel to the opening of the duodenal papilla, then contrast agent is injected, and the specific situation of the pancreatic and biliary ducts is observed under x-ray film to determine whether there is a lesion, and then the corresponding operation is performed.

[0003] ERCP surgery has the advantages of small trauma, short operation time, fewer complications, high safety, etc. This operation is a minimally invasive surgery, which has very small surgical trauma and does not cause too much pain to the patient, and the postoperative recovery is also relatively fast. However, part of the ERCP surgery process needs to be completed under the assistance of X-ray, and the surgeon needs to be exposed to X-ray. At present, the ERCP surgery in China is completed by manual operation of the surgeon and his team, and the operator needs to wear heavy anti-radiation clothing during the operation, and the exposed arm part cannot be protected from radiation. Long-term surgical radiation can cause serious radiation damage to the operator. In addition, long-term standing surgery has high working intensity and is easy to cause fatigue, which affects the accuracy of the operation.

[0004] In order to alleviate the working environment of the interventional surgery doctor, it is urgent to develop a surgical robot to replace the doctor to complete the operation, so as to solve the problem of low success rate of the operation caused by hand tremor of the doctor during operation.

[0005] Patent document CN210409202U discloses a practical ERCP postoperative nasobiliary duct external fixation device, relates to the technical field of medical devices, and specifically discloses a practical ERCP postoperative nasobiliary duct external fixation device, which comprises a fixator, support rods are arranged on the two sides of the fixator, bolts are arranged on the sides of the support rods away from the fixator, the support rods are fixedly connected with the fixator through the bolts, a movable door is hingedly connected to one side of the fixator, and a rotating catheter support clamp is fixedly connected to the side of the fixator away from the movable door. A sliding groove is formed in the interior of the rotating catheter support clamp, but the design still needs the doctor to operate on site during the operation, and further improvement is needed. SUMMARY

[0006] In view of the defects in the prior art, the purpose of the present application is to provide an endoscope end execution mechanism of an endoscopic surgery robot.

[0007] An endoscope end executing mechanism of an endoscopic surgery robot is provided according to the present application, comprising:

[0008] a base for bearing and having a bearing surface, a set position of the bearing surface being adjustable along a vertical direction;

[0009] a cantilever configured to have a support end mounted on the bearing surface and a loading end capable of rotating around the vertical direction;

[0010] a functional assembly mounted on the loading end, having a support seat and a functional module arranged on the support seat, the support seat having an assembly site for fixing an endoscope handle and being capable of switching between a fixed mode and an open mode, the functional module having any one or more of the following functional components:

[0011] a posture driving component for driving the endoscope tip posture to swing;

[0012] a suction and jet control component for driving the endoscope tip to perform suction and jet operation;

[0013] a cantilever control component for controlling the switching of the cantilever between the braking and rotatable states.

[0014] Preferably, the assembly site is configured to have a support housing provided on the support seat and a flip cover, one side of the flip cover being hinged to one side of the support housing;

[0015] When in the open mode, the endoscope handle can be placed on or taken out of the support housing, and the other side of the flip cover can be rotated around the hinged end and locked on the other side of the support housing during the conversion from the open mode to the fixed mode, at this time, the endoscope handle cannot be taken out of the assembly site, wherein the locking mode adopts any one of the following structures:

[0016] a slot elastic clamping;

[0017] a lock catch;

[0018] an elastic extrusion clamping;

[0019] a latch lock.

[0020] Preferably, the posture driving component comprises a posture driving motor, a connecting block and a forceps lifter sleeve;

[0021] The posture driving motor is mounted on the support seat, and the posture driving motor has a push rod capable of driving the connecting block to drive the forceps lifter sleeve to rotate around the shaft and thus realize the swing of the endoscope tip posture.

[0022] Preferably, the suction jet control component comprises a housing, a first motor and a second motor arranged inside the housing, and a first button and a second button arranged on the handle of the endoscope;

[0023] The housing is mounted on the support base, and the first motor and the second motor have a first push rod and a second push rod that can move between a first position and a second position, wherein:

[0024] In the first position, the first push rod and the second push rod are respectively separated from the first button and the second button;

[0025] In the second position, the first push rod and the second push rod press the first button and the second button respectively.

[0026] Preferably, the functional assembly comprises a carrier, one side of the carrier is provided with a connecting rod for connecting the loading end, the other side of the carrier extends a first carrier arm and a second carrier arm arranged at intervals, and the two ends of the support base are respectively connected to the first carrier arm and the second carrier arm.

[0027] Preferably, the carrier has a wire channel inside;

[0028] The first carrier arm has a groove matching the end of the handle of the endoscope.

[0029] Preferably, the cantilever control component comprises a first handle and a second handle respectively extending from the first carrier arm and the second carrier arm, and the first handle and the second handle are both provided with a cantilever control assembly, the cantilever control assembly comprises:

[0030] A handle shell having an operation hole;

[0031] A pair of light sensors arranged inside the handle shell;

[0032] A sensor stopper having a sensing end and an operating end, the sensing end is mounted inside the handle shell and gap-fitted with the pair of light sensors, and the operating end passes through the operation hole and extends to the outside of the handle shell, wherein the operation hole does not allow the sensing end to pass through;

[0033] A button shell connected to the other end of the sensor stopper and provided with a spring between the handle shell, the spring is sleeved on the sensor stopper, when the button shell is pressed, the sensor stopper can be driven to move close to the pair of light sensors, and when the pressure is removed or under the driving of the spring force, the sensor stopper moves away from the pair of light sensors.

[0034] Preferably, the cantilever is a multi-link articulated structure, two adjacent links are connected by a joint shaft, and the support end has a rotating shaft with a braking and rotating state, and the position of the loading end can be manually adjusted around the rotating shaft in the rotating state.

[0035] In the braking state, the joints other than the rotating shaft can be adjusted.

[0036] Preferably, the support end further comprises a first fixed seat, a second fixed seat, a damper, and a brake.

[0037] The lower part of the first fixed seat is mounted on the bearing surface, the bottom end of the second fixed seat is mounted on the upper part of the first fixed seat, the rotating shaft is located inside the second fixed seat and is mounted on the first fixed seat by the damper and the brake, the top of the rotating shaft is rotatably connected with the end of one link through a bearing, and a positioning pin is arranged on the rotating shaft.

[0038] Preferably, the bottom of the base has a caster, and the caster has a rollable rolling mode and a non-rollable braking mode.

[0039] Compared with the prior art, the present application has the following advantages:

[0040] 1. In the present application, the doctor can place the robot arm in the most reasonable position by adjusting and locking the positions of the base, the cantilever, and the U-shaped support seat according to the positions of the patient and the bed, which can ensure the convenience of the operation of the endoscope and auxiliary instruments, and finally make the operation convenient and smooth, reduce the work intensity, and improve the success rate of the operation.

[0041] 2. The control mode of the present application completely replicates the actual operation of the doctor, and the doctor can adapt to the control mode after a little learning process, which reduces the number of medical operation personnel, improves the operation comfort of the doctor, reduces the operation intensity of the doctor, and avoids the harm of radiation to the operation personnel.

[0042] 3. The present application adopts a movable base structure, uses the rotating adjustment of the cantilever and the vertical adjustment of the bearing surface to realize the adjustment and positioning of the space position of the U-shaped support seat, and after positioning, the U-shaped support seat is in a locked state due to the damping effect of each joint, which ensures the stability of the operation process.

[0043] 4、The structure of the U-shaped support seat in the application realizes internal wiring, and can conveniently fix and disassemble the endoscope handle, and can realize the function of most operations through remote control, greatly improving the automatic control operation. BRIEF DESCRIPTION OF DRAWINGS

[0044] Other features, objects, and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments, read in conjunction with the accompanying drawings:

[0045] Figure 1 is a schematic view of the three-dimensional structure of the application;

[0046] Figure 2 is a schematic view of the three-dimensional structure of the functional assembly in the application, wherein the endoscope handle is not installed into the support shell, and the flip cover is in the buckled state;

[0047] Figure 3 is a schematic view of the three-dimensional structure of the functional assembly in the application, wherein the endoscope handle is installed into the support shell, and the flip cover is in the buckled state;

[0048] Figure 4 is a schematic view of the three-dimensional structure of the functional assembly in the application, wherein the endoscope handle is not installed into the support shell, and the flip cover is in the buckled state; Figure 3 is a schematic view of the structure of the circular area in the application;

[0049] Figure 5 is a schematic view of the structure of the attitude driving part in the application;

[0050] Figure 6 is a schematic view of the structure of the application from the top;

[0051] Figure 7 is a schematic view of the three-dimensional structure of the functional assembly in the application, wherein the flip cover is in the open state, and the cantilever control part is disassembled;

[0052] Figure 8 is a schematic view of the three-dimensional structure of the functional assembly in the application, wherein the flip cover is in the buckled state, and the endoscope handle is not marked;

[0053] Figure 9 is a schematic view of the three-dimensional structure of the functional assembly in the application, wherein the flip cover is in the open state, and the endoscope handle is not marked;

[0054] Figure 10 is a schematic view of the three-dimensional structure of the functional assembly in the application, wherein the flip cover is in the buckled state, the endoscope handle is not marked, and the second cover plate has been installed;

[0055] Figure 11 is a schematic view of the structure of the cantilever in the application;

[0056] Figure 12It is the structure schematic view of cantilever in the application, wherein the component connected with the second fixed base is exploded view;

[0057] Figure 13 It is the internal section structure schematic view of the second fixed base in the application;

[0058] Figure 14 It is the structure schematic view when the application is applied.

[0059] It is shown in the figure that:

[0060] Base 1 Locking plate edge 3123

[0061] Carrying surface 11 Attitude driving motor 32

[0062] Caster 12 Motor positioning shaft 321

[0063] Cantilever 2 Output button 322

[0064] First connecting rod 201 Retracting button 323

[0065] Second joint 2011 Connecting block 33

[0066] Second connecting rod 202 Cover shell 34

[0067] Third joint 2021 First push rod 341

[0068] Third connecting rod 203 Second push rod 342

[0069] Fourth joint 2031 Carrying part 35

[0070] Fourth connecting rod 204 Connecting rod 351

[0071] Rotating shaft 21 First carrying arm 352

[0072] Positioning pin 211 Groove 3521

[0073] Shaft head 212 Second carrying arm 353

[0074] First fixed base 22 First cover plate 354

[0075] Second fixed base 23 Second cover plate 355

[0076] Rotary positioning block 231 First handle 361

[0077] First joint 232 Second handle 362

[0078] Joint expansion sleeve 2321 Handle shell 363

[0079] Damper 24 Operating hole 3631

[0080] Damping orifice 241, through-beam photoelectric sensor 364

[0081] Brake 25 Sensor baffle 365

[0082] Brake expansion sleeve 251, button housing 366

[0083] Bearing 26, Sensor Mount 367

[0084] Functional Component 3 Cap 368

[0085] Support base 31, Spring 369

[0086] Support housing 311 Endoscope handle 4

[0087] Slot 3111 Lifting clamp sleeve 41

[0088] Semi-flared structure 3112 First button 42

[0089] Flip cover 312 Second button 43

[0090] Locking plate 3121, turntable 44

[0091] spring pin 3122 Detailed Implementation

[0092] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0093] Example 1:

[0094] This invention provides an endoscopic end-effector for an endoscopic surgical robot, such as... Figure 1 As shown, it includes a base 1, a cantilever 2, and a functional component 3. The base 1 is used to support and has a support surface 11. The set position of the support surface 11 can be adjusted in the vertical direction. Specifically, the support surface 11 is preferably moved in the vertical direction by a motor drive to adjust its up and down position.

[0095] The cantilever 2 is configured to have a support end mounted on the bearing surface 11 and a loading end that can rotate about the vertical direction, and the loading end can be adjusted to the required position according to the needs of the operation.

[0096] The functional assembly 3 is installed on the loading end, has a support seat 31 and a functional module arranged on the support seat 31, the support seat 31 has an assembly position for fixing the endoscope handle 4 and can be switched between a fixed mode and an open mode, and the functional module comprises the following functional components:

[0097] A posture driving component is used for driving the endoscope tip to swing, and assisting surgery.

[0098] A suction and jet control component is used for driving the endoscope tip to perform a suction and jet operation, including realizing water jetting of the endoscope tip, and can also realize internal liquid extraction of a surgical site.

[0099] A cantilever control component is used for controlling switching of the cantilever 2 between a braking state and a rotatable state, and can realize the rotatable state of the cantilever 2 or control the cantilever 2 to be in the braking state. The cantilever 2 is a joint structure connected by multiple connecting rods, and the first end and the last end of two adjacent connecting rods are connected by a joint shaft. The rotating shaft 21 of the support end has the two states of the braking state and the rotatable state, the position of the loading end can be manually adjusted around the rotating shaft 21 in the rotatable state, and the other joints except the rotating shaft 21 can be adjusted in the braking state.

[0100] Specifically, the bottom of the base 1 is provided with a foot wheel 12, which has a rollable rolling mode and a non-rollable braking mode.

[0101] The surgical robot in the application can replace the doctor to complete most of the surgical work, especially when X-ray assistance is required. The doctor can basically control the surgical robot to perform surgery through remote operation or remote control. The harm caused by long-term radiation to the operator during ERCP surgery is solved, the surgical risk caused by hand tremor during operation is avoided, the work intensity is reduced, and the success rate of surgery is improved.

[0102] Embodiment 2:

[0103] This embodiment is a preferred example of embodiment 1.

[0104] In this embodiment, as shown in Figure 2 The functional assembly 3 comprises a carrier 35, one side of the carrier 35 is provided with a connecting rod 351 for connecting the loading end, the other side of the carrier 35 extends out a first carrier arm 352 and a second carrier arm 353 arranged at intervals, and the two ends of the support seat 31 are connected to the first carrier arm 352 and the second carrier arm 353 by welding. In actual application, a detachable connection mode can also be used according to actual needs to meet the needs of actual scenes.

[0105] The carrier 35 is preferably in a U-shaped structure, and has a wire channel 351 inside for the cable to pass through, avoiding the cable from being exposed, and facilitating the appearance and avoiding the interference of the operation of each component.

[0106] The side wall of the first carrier arm 352 and the second carrier arm 353 each has a detachable first cover plate 354, and the carrier 35 has a detachable second cover plate 355 on both sides of the connecting rod 351, which can be used for installing and maintaining the circuit when being detached.

[0107] The first carrier arm 352 has a groove 3521 matching the end of the endoscope handle 4, which can match the shape of the endoscope handle 4 and limit the position of the endoscope handle 4, making the endoscope handle 4 more stable and not shaking.

[0108] The assembly position is configured to have a support shell 311 arranged on the support seat 31 and a flip cover 312, one side of the flip cover 312 is hinged to one side of the support shell 311, and the other side of the flip cover 312 can rotate freely around the hinge end. When in the open mode, the endoscope handle 4 can be placed on the support shell 311 or taken out from the support shell 311. During the conversion from the open mode to the fixed mode, the other side of the flip cover 312 can rotate around the hinge end and be locked on the other side of the support shell 311. At this time, the endoscope handle 4 cannot be taken out from the assembly position, and the flip cover 312 can tightly hold the endoscope handle 4 when being locked on the support shell 311, ensuring that the endoscope handle 4 does not move during the operation. The support shell 311 and the flip cover 312 are in a conical structure when being clamped, and the small end is opposite to the groove 3521. The small end of the support shell 311 is a half-horn structure 3112.

[0109] In this embodiment, the clamping and locking mode of the support shell 311 and the flip cover 312 is preferably a structure of elastic clamping on the groove table. Specifically, as shown in Figure 2 、 Figure 3 The support shell 311 has a clamping groove 3111, and the side of the flip cover 312 away from the hinge end has a locking plate 3121. The middle part of the locking plate 3121 is hinged to the flip cover 312, the upper part of the locking plate 3121 is elastically matched with the support shell 311 through a spring pin 3122, and the lower part of the locking plate 3121 is in an arc structure. The edge of the arc structure matches the clamping groove 3111. When the upper part of the locking plate 3121 is pressed, the edge of the lower part of the locking plate 3121 is separated from the clamping groove 3111, and at this time the flip cover 312 can be opened. When the upper part of the locking plate 3121 is released, the lower edge 3123 of the locking plate of the lower part of the locking plate 3121 is inserted into the clamping groove 3111 under the action of the elasticity of the spring pin 3122, and at this time the flip cover 312 cannot be opened and is in the fixed mode.

[0110] Further, the support shell 311 and the flip cover 312 can be engaged in various ways such as a lock, an elastic extrusion engagement, a latch lock, and the like, which will not be described herein.

[0111] In the embodiment, the posture driving component includes a posture driving motor 32, a connecting block 33, and a forceps lifting sleeve 41. The posture driving motor 32 is mounted on the support base 31, and a motor positioning shaft 321 is arranged on the support base 31. The posture driving motor 32 is positioned on the support base 31 through the motor positioning shaft 321. A push rod 321 of the posture driving motor 32 can drive the connecting block 33 to drive the forceps lifting sleeve 41 to rotate around the shaft, thereby realizing the swing of the end of the endoscope. The bottom of the forceps lifting sleeve 41 is connected to a rotating disc 44 on the handle 4 of the endoscope. The connecting block 33 drives the forceps lifting sleeve 41 to drive the rotating disc 44 to rotate around the axis of the rotating disc 44, thereby realizing the swing of the end of the endoscope.

[0112] It should be noted that the posture driving motor 32 has an output button 322 and a retraction button 323. The push rod 321 can be manually operated to be pushed out and retracted through the output button 322 and the retraction button 323, thereby realizing the swing of the end of the endoscope.

[0113] The suction and jet control component includes a cover 34, a first motor and a second motor arranged inside the cover 34, and a first button 42 and a second button 43 arranged on the handle 4 of the endoscope. The cover 34 is mounted on the support base 31. The first push rod 341 and the second push rod 342 of the first motor and the second motor can move between a first position and a second position. In the first position, the first push rod 341 is separated from the first button 42, and the second push rod 342 is separated from the second button 43. In the second position, the first push rod 341 presses the first button 42, and in the second position, the second push rod 342 presses the second button 43. The automatic control operation of the first button 42 and the second button 43 can be realized by controlling the action of the first motor and the second motor. After the first button 42 is pressed, the operation control of the water or water vapor jet at the end of the endoscope can be realized. After the second button 43 is pressed, the control of the suction operation at the end of the endoscope can be realized.

[0114] The cantilever control component includes a first handle 361 and a second handle 362 respectively extending from a first bearing arm 352 and a second bearing arm 353. The first handle 361 and the second handle 362 are each provided with a cantilever control assembly. The cantilever control assembly includes a handle shell 363, a light barrier photosensor 364, a sensor baffle 365, and a button shell 366. The handle shell 363 has an operation hole 3631. The light barrier photosensor 364 is arranged inside the handle shell 363 and is fixed through a sensor fixing seat 367 inside the handle shell 363. The end of the handle shell 363 is sealed with a cover 368.

[0115] The sensor baffle 365 has a sensing end and an operating end, the sensing end is installed inside the handle shell 363 and gap-fitted with the photoelectric sensor 364, the operating end passes through the operating hole 3631 and extends to the outside of the handle shell 363, wherein the operating hole 3631 does not allow the sensing end to pass, the button shell 366 is connected to the other end of the sensor baffle 365 and is provided with a spring 369 between the handle shell 363, the spring 369 is sleeved on the sensor baffle 365, the spring 369 is always in a compressed state, the button shell 366 is in a pop-up state, and the distance between the sensor baffle 365 and the photoelectric sensor 364 can be adjusted when the button shell 366 is pressed, the sensor baffle 365 can be driven to move close to the photoelectric sensor 364 when the button shell 366 is pressed, and the sensor baffle 365 can move away from the photoelectric sensor 364 when the pressure is removed or under the driving of the spring 369.

[0116] It should be noted that the control of the cantilever 2 can be realized by operating the button shell 366, and the button shell 366 is arranged on the first handle 361 and the second handle 362 respectively, so as to prevent misoperation, and only when the two button shells 366 are pressed at the same time, the cantilever 2 can be adjusted to a rotatable state, and the adjustment of the cantilever 2 is realized.

[0117] In the embodiment, the supporting end further comprises a first fixing seat 22, a second fixing seat 23, a damper 24 and a brake 25, the lower part of the first fixing seat 22 is detachably installed on the bearing surface 11, the bottom end of the second fixing seat 23 is detachably installed on the upper part of the first fixing seat 22, the rotating shaft 21 is located inside the second fixing seat 23 and is installed on the first fixing seat 22 through the damper 24 and the brake 25 at the bottom, specifically, the damper 24 and the brake 25 are sequentially installed on the first fixing seat 22 from bottom to top and are located inside the second fixing seat 23, the damper 24 has a damping hole 241 in the center, the brake 25 has a brake sleeve 251 in the inside, the bottom of the rotating shaft 21 has a shaft head 212 matching the damping hole 241, the bottom of the rotating shaft 21 passes through the brake sleeve 251 and the shaft head 212 is installed into the damping hole 241, when the button shells 366 on the first handle 361 and the second handle 362 are pressed, the brake sleeve 251 in the inside of the brake 25 is locked to hold the rotating shaft 21, so that the rotating shaft 21 is braked and cannot rotate, when the button shell 366 is released, the brake sleeve 251 releases the rotating shaft 21, so that the rotating shaft 21 can rotate, but due to the matching of the damping hole 241 and the shaft head 211, the rotating shaft 21 has certain damping when rotating, avoiding that the joint rotates too flexibly.

[0118] The top of the rotating shaft 21 is rotatably engaged with one end of the first connecting rod 201 connected thereto via a bearing 26, forming a first joint 232. A joint expansion sleeve 2321 is provided on the first joint 232, which rotatably engages with the top of the rotating shaft 21, serving as a limiting and damping mechanism. The other end of the first connecting rod 201 rotatably engages with one end of the second connecting rod 202, forming a second joint 2011. The other end of the second connecting rod 202 rotatably engages with one end of the third connecting rod 203, forming a third joint 2021. The other end of the third connecting rod 203 rotatably engages with a fourth connecting rod 202... The rod 204 rotates to form the fourth joint 2031. The connecting rod 351 is installed on the fourth joint 204. The second joint 2011, the third joint 2021, and the fourth joint 2031 can rotate freely under the drive of external force. The rotating shaft 21 is provided with a positioning pin 211. The positioning pin 211 cooperates with the rotating positioning block 231 located inside the second fixed seat 23 to ensure that the positioning pin 211 is restricted by the rotating positioning block 231 when the rotating shaft 21 rotates, so that the rotating shaft 21 can only rotate within a set angle when it is rotatable, and cannot achieve 360° rotation.

[0119] The working principle of this invention is as follows:

[0120] During surgery, medical staff push the base 1 to the vicinity of the bed and patient, brake the casters 12, and then manually press the two button housings 366 to adjust the position of the cantilever 2 and the U-shaped support 35. After adjustment, release the button housings 366 to fix the support 35 in a suitable position for surgery, so that subsequent intubation and surgery can be performed.

[0121] When X-ray irradiation is required, doctors can remotely control the movements of the first motor, the second motor, and the posture drive motor 32 via a smart terminal to meet the needs of remote surgery, thereby reducing radiation and protecting the health of medical staff.

[0122] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0123] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. An endoscope surgery robot endoscope end effector, characterized by, include: The base (1) is used to support and has a support surface (11), the position of which can be adjusted in the vertical direction; The cantilever (2) is configured to have a support end mounted on the bearing surface (11) and a loading end capable of rotating about the vertical direction; Functional component (3), mounted on the loading end, has a support base (31) and a functional module arranged on the support base (31), the support base (31) having a mounting position for fixing the endoscope handle (4) and being able to switch between a fixed mode and an open mode, the functional module having any of the following functional components: An attitude driving component is used to drive the endoscope tip to oscillate. Suction and jet control unit, used to drive the suction and jet operation at the endoscope tip; A cantilever control component is used to control the switching of the cantilever (2) between braking and rotatable states; Used in ERCP procedures; The functional component (3) includes a carrier (35), one side of which is provided with a connecting rod (351) for connecting the loading end, and the other side of the carrier (35) extends a first carrier arm (352) and a second carrier arm (353) arranged at intervals. The two ends of the support base (31) are respectively connected to the first carrier arm (352) and the second carrier arm (353).

2. The endoscopic end-effector of the endoscopic surgical robot according to claim 1, characterized in that, The assembly position is configured to have a support housing (311) disposed on a support base (31) and a flip cover (312), one side of the flip cover (312) being hinged to one side of the support housing (311); When in the open mode, the endoscope handle (4) can be placed on or removed from the support housing (311). During the transition from the open mode to the fixed mode, the other side of the flip cover (312) can rotate around the hinge end and lock onto the other side of the support housing (311). At this time, the endoscope handle (4) cannot be removed from the mounting position. The locking method adopts any of the following structures: The slot platform has a flexible locking mechanism; Lock; Elastic compression engagement; Locked by a latch.

3. The endoscopic end-effector of the endoscopic surgical robot according to claim 1, characterized in that, The attitude drive component includes an attitude drive motor (32), a connecting block (33), and a clamping sleeve (41). The attitude drive motor (32) is mounted on the support base (31). The push rod (321) of the attitude drive motor (32) can drive the connecting block (33) to drive the lifting clamp sleeve (41) to rotate around the axis, thereby realizing the swing of the endoscope end attitude.

4. The endoscopic end-effector of the endoscopic surgical robot according to claim 1, characterized in that, The suction and jet control component includes a housing (34), a first motor and a second motor arranged inside the housing (34), and a first button (42) and a second button (43) arranged on the endoscope handle (4). The cover (34) is mounted on the support base (31). The first push rod (341) and the second push rod (342) of the first motor and the second motor can move between the first position and the second position, wherein: In the first position, the first push rod (341) and the second push rod (342) are disengaged from the first button (42) and the second button (43) respectively; In the second position, the first push rod (341) and the second push rod (342) press the first button (42) and the second button (43) respectively.

5. The endoscopic end-effector of the endoscopic surgical robot according to claim 1, characterized in that, The carrier (35) has a wiring channel (351) inside. The first support arm (352) has a groove (3521) that matches the end of the endoscope handle (4).

6. The endoscopic end-effector of the endoscopic surgical robot according to claim 1, characterized in that, The cantilever control component includes a first handle (361) and a second handle (362) extending from the first support arm (352) and the second support arm (353), respectively. Both the first handle (361) and the second handle (362) are equipped with cantilever control components, which include: The handle housing (363) has an operating hole (3631). A through-beam photoelectric sensor (364) is arranged inside the handle housing (363); The sensor baffle (365) has a sensing end and an operating end. The sensing end is installed inside the handle housing (363) and is in clearance fit with the through-beam photoelectric sensor (364). The operating end passes through the operating hole (3631) and extends to the outside of the handle housing (363), wherein the operating hole (3631) does not allow the sensing end to pass through. A spring (367) is provided between the other end of the button housing (366) and the handle housing (363). The spring (367) is fitted onto the sensor baffle (365). When the button housing (366) is pressed, the sensor baffle (365) is driven to move closer to the through-beam photoelectric sensor (364). When the pressure is removed or driven by the elastic force of the spring (367), the sensor baffle (365) moves away from the through-beam photoelectric sensor (364).

7. The endoscopic end-effector of the endoscopic surgical robot according to claim 1, characterized in that, The cantilever (2) is a joint structure with multiple links connected. The ends of two adjacent links are connected by a joint shaft. The pivot (21) of the support end has two states: braking and rotation. In the rotational state, the position of the loading end can be manually adjusted by rotating around the pivot (21). In the braking state, all joints except the pivot (21) can be adjusted.

8. The endoscopic end-effector of the endoscopic surgical robot according to claim 7, characterized in that, The support end also includes a first fixed seat (22), a second fixed seat (23), a damper (24), and a brake (25); The lower part of the first fixed seat (22) is mounted on the bearing surface (11), and the bottom end of the second fixed seat (23) is mounted on the upper part of the first fixed seat (22). The rotating shaft (21) is located inside the second fixed seat (23) and its bottom is mounted on the first fixed seat (22) through a damper (24) and a brake (25). The top of the rotating shaft (21) is rotatably engaged with the end of one of the connecting rods through a bearing. A positioning pin (211) is provided on the rotating shaft (21). The positioning pin (211) cooperates with the rotating positioning block (231) located inside the second fixed seat (23) to enable the rotating shaft (21) to rotate within a set angle when it is in a rotatable state because the positioning pin (211) is restricted by the rotating positioning block (231).

9. The endoscopic end-effector of the endoscopic surgical robot according to claim 1, characterized in that, The base (1) has casters (12) at its bottom, which have a rolling mode and a non-rolling braking mode.

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