Endoscope transmission device and surgical robot

Abstract

The application discloses an endoscope transmission device and a surgical robot, wherein the endoscope transmission device comprises a clamping assembly for connecting a transmission box and an endoscope assembly; and a release assembly coupled with the clamping assembly to quickly separate the endoscope assembly from the transmission box.In the embodiment of the application, the above endoscope transmission device and surgical robot are adopted, the quick installation of the endoscope assembly is realized through the cooperation of the butt joint plate and the fixing plate, the manual quick replacement of the endoscope assembly is realized through the release assembly, the use efficiency of the endoscope assembly by doctors is improved, and the disassembly and disinfection of the endoscope assembly are facilitated.When the butt joint plate is clamped with the fixing plate, the movement of the endoscope assembly along the axial direction thereof is limited, and the rotation of the endoscope assembly relative to the fixing plate is limited, so that the positioning accuracy is ensured, that is, the transmission accuracy of the endoscope assembly is ensured.

Description

Technical Field

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

[0002] Minimally invasive surgery refers to a surgical procedure performed within the human body using modern medical instruments such as laparoscopes and thoracoscopes, as well as related equipment. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery. However, the limitations of incision size make the operation significantly more difficult. Furthermore, the fatigue and tremors of the surgeon during prolonged procedures are amplified, which has become a key factor hindering the development of minimally invasive surgical techniques. With the development of robotics, a new technology in the field of minimally invasive medicine has emerged that overcomes these shortcomings while inheriting their advantages: minimally invasive surgical robotics.

[0003] A typical minimally invasive surgical robot consists of a doctor's console, a patient-side cart, and a display device. The surgeon operates an input device at the doctor's console and transmits this input to the patient-side cart, which is connected to the remotely operated surgical instruments. Based on the surgeon's input at the doctor's console, the surgical instruments are remotely operated from the patient-side cart to perform surgery, creating a master-slave control relationship between the doctor's console and the surgical instruments on the patient-side cart. The patient-side cart typically consists of multiple instrument-holding arms and a scope-holding arm. The scope-holding arm is equipped with an endoscope transmission box for gripping and moving the endoscope, providing the surgeon with appropriate monitoring images during surgery.

[0004] Chinese utility model patent application CN216317970U discloses an endoscope rotation adjustment device for a surgical robot, which includes at least a driving wheel, a driven wheel, a movable limiting mechanism and a mounting seat, wherein the driven wheel is fixedly connected to the endoscope through a clamping structure, the endoscope clamping structure includes a sleeve and a locking mechanism, the sleeve is detachably connected to the endoscope through the locking mechanism, the sleeve is sleeved on the outer wall of the endoscope, and the locking mechanism includes a locking assembly and an annular clamping assembly with at least one opening. When the locking assembly moves from the release position to the locking position, the inner diameter of the annular clamping assembly gradually decreases until it clamps the endoscope.

[0005] However, since the endoscope in the above scheme is clamped by a component similar to a clamp, on the one hand, the force of the clamp clamping the endoscope is not constant, and the clamping effect is difficult to ensure, which can easily lead to movement of the endoscope's translational motion axis. Moreover, due to the flexibility of the clamp, it cannot be guaranteed that the axis of the endoscope is along the sleeve axis (i.e., the translational motion axis) when clamped. If it is not along the motion axis, it will affect the control accuracy of the endoscope (or make the endoscope difficult to control); on the other hand, the endoscope and the clamping structure need to be disassembled and disinfected frequently, and the above scheme is not very convenient when disassembling the endoscope, which makes it inconvenient to disinfect the endoscope and the clamping structure. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the present invention provides an endoscope transmission device and a surgical robot that are easy to disassemble and have a stable fixing effect on the endoscope.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions.

[0008] First, the present application provides an endoscope transmission device, comprising a transmission box, an endoscope assembly, and a clamping assembly for connecting the transmission box and the endoscope assembly, and a release assembly, wherein the release assembly can be coupled with the clamping assembly to quickly detach the endoscope assembly from the transmission box, and a drive assembly is provided in the transmission box for driving the endoscope assembly to move;

[0009] The clamping assembly can limit the displacement of the endoscope assembly in its own axial and radial directions.

[0010] It is further defined that the above-mentioned endoscope transmission device, wherein the clamping assembly includes a fixing plate fixedly arranged on the endoscope assembly and a docking plate connected to the driving assembly, the fixing plate can be clamped with the docking plate and the two can be separated from each other under the action of the release assembly.

[0011] It is further defined that in the above-mentioned endoscope transmission device, a card pin is fixedly provided on the fixing plate, and a card slot capable of engaging with the card pin is provided on the docking plate.

[0012] It is further defined that in the above-mentioned endoscope transmission device, a positioning column is fixedly provided on the fixing plate, and a positioning hole capable of being plugged into the positioning column is provided on the docking plate.

[0013] It is further defined that the above-mentioned endoscope transmission device, wherein the driving assembly includes a driving shaft and a transmission gear shaft rotatably disposed in the transmission box and gear-engaged with each other;

[0014] Wherein, the driving shaft is externally connected to a power device, and the transmission gear shaft and the endoscope assembly are located on the same axis and are fixedly connected to the docking plate.

[0015] It is further defined that the above-mentioned endoscope transmission device, wherein the release assembly includes a release push hole arranged on the transmission box and a release button that can elastically slide in the release push hole, and a push plate is fixed on the release button that can push the card pin along the direction of the card pin to disengage from the card slot.

[0016] It is further defined that in the above-mentioned endoscope transmission device, an indicator groove is provided on the release button, and an angle indicator point cooperating with the indicator groove is provided on the endoscope assembly.

[0017] It is further defined that the above-mentioned endoscope transmission device, wherein the endoscope assembly includes an operating end and an endoscope body connected to the operating end;

[0018] Wherein, the fixing plate of the clamping assembly is fixedly arranged on the end surface of the operating end close to the transmission box.

[0019] It is further defined that the above-mentioned endoscope transmission device, wherein the transmission box includes a base plate and an upper cover mounted on the base plate, the operating end is arranged on a side of the upper cover away from the base plate, and the endoscope body extends to the opposite side of the transmission box relative to the operating end;

[0020] Wherein, the release button of the release assembly is located on the side of the upper cover away from the bottom plate, and the push plate of the release assembly is located in the transmission box.

[0021] Secondly, the present application provides a surgical robot, including a slave hand and a slave hand, wherein the slave hand includes a tool holding arm and a mirror holding arm, and the mirror holding arm is equipped with any of the above-mentioned endoscope transmission devices.

[0022] The present invention has at least the following beneficial effects:

[0023] 1. The endoscope assembly can be quickly installed through the snap-on assembly, and quickly detached through the release assembly, which means that the endoscope assembly can be manually quickly replaced, which not only improves the doctor's efficiency in using the endoscope assembly, but also facilitates the disassembly and disinfection of the endoscope assembly;

[0024] 2. When the docking plate is engaged with the fixed plate, the movement of the endoscope assembly along its own axis is restricted, and its rotation relative to the fixed plate is restricted, thereby ensuring its positioning accuracy, that is, ensuring the transmission accuracy of the endoscope assembly;

[0025] 3. The user manually pushes the release button to drive the push plate to squeeze the card pin, thereby releasing the card pin from the card slot. During the process of pushing the release button, the release button accumulates elastic potential energy. After the docking plate and the fixing plate are separated, the user releases the release button and the release button automatically resets under the action of its own elastic potential energy.

[0026] 4. The indicator groove on the release button and the angle indicator point on the endoscope assembly can realize the visual presentation of the angle of the endoscope assembly, so that the user can better control the working status of the endoscope assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic structural diagram of an endoscope transmission device according to an embodiment of the present application;

[0028] Figure 2 This is a schematic exploded view of the structure of the endoscope transmission device according to an embodiment of the present application;

[0029] Figure 3 This is a schematic structural diagram of the "endoscope assembly 100" portion of an embodiment of the present application;

[0030] Figure 4 This is a structural diagram of the "fixed plate 320" according to an embodiment of the present application;

[0031] Figure 5 This is a schematic cross-sectional view of the structure of the transmission box 200 according to an embodiment of the present application;

[0032] Figure 6 This is an enlarged schematic diagram of the structure of the "release component 400" of the embodiment of the present application;

[0033] Figure 7 This is a schematic exploded view of the structure of the transmission box 200 according to an embodiment of the present application;

[0034] Figure 8 This is a schematic structural diagram of the "upper cover 210" according to an embodiment of the present application;

[0035] Figure 9 This is a structural diagram of the "docking plate 310" according to an embodiment of the present application;

[0036] Figure 10 This is a schematic exploded view of the structure of the “release assembly 400” portion of an embodiment of the present application;

[0037] Figure 11 This is a schematic structural diagram of the “release button 410” according to an embodiment of the present application;

[0038] Figure 12 This is a schematic structural diagram of the "driving component 500" and "unlocking component 600" parts of an embodiment of the present application;

[0039] Figure 13 This is an exploded schematic diagram of the structure of the "driving assembly 500" and the "unlocking assembly 600" of the embodiment of the present application;

[0040] Figure 14 This is a structural diagram of the "support frame 510" according to an embodiment of the present application;

[0041] Figure 15 This is a structural diagram of the "bottom plate 220" according to an embodiment of the present application;

[0042] Figure 16 This is a structural diagram of the "unlock button 620" according to an embodiment of the present application;

[0043] Figure 17 This is a structural diagram of the "transmission gear shaft 520" in an embodiment of the present application.

[0044] Reference numerals

[0045] 100-endoscope assembly, 110-operating end, 111-first fixing hole, 120-gripping groove, 130-function button, 140-endoscope body, 200-transmission box, 210-upper cover, 211-release push hole, 212-mounting hole, 213-button mounting hole, 214-third card pin, 215-third positioning column, 220-bottom plate, 221-third positioning hole, 222-fixing groove, 223-driven shaft hole, 224-second raised seat, 225-second raised portion, 226-active Axis hole, 227-third card slot, 228-second card slot, 229-second positioning hole, 300-card assembly, 310-docking plate, 311-second through hole, 312-first card slot, 313-first positioning hole, 314-first protrusion, 315-first protrusion seat, 316-first screw hole, 320-fixing plate, 321-first through hole, 322-second fixing hole, 323-first positioning column, 324-first card pin, 400-release assembly, 410-release button, 411-button main Body, 412-indicating groove, 413-limiting column, 414-step portion, 415-first fixing screw hole, 420-push plate, 421-push plate body, 422-limiting groove, 423-second fixing screw hole, 430-fixing bolt, 440-reset spring, 500-driving assembly, 510-support frame, 511-bracket body, 512-fourth through hole, 513-axis mounting hole, 514-second card pin, 515-second positioning column, 520-transmission gear shaft, 521-rotating shaft body, 522-from Driving gear, 523-third through hole, 524-second screw hole, 525-recess, 526-raised column, 530-connecting screw, 540-magnetic steel mounting portion, 550-driving gear, 560-driving shaft, 570-first driven bearing, 580-second driven bearing, 600-unlocking assembly, 610-compression spring, 620-unlocking button, 621-button body, 622-slide plate, 623-guide groove, 624-guide block, 625-end plate, 630-button mounting seat, 640-pressing slide groove. DETAILED DESCRIPTION

[0046] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0047] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0048] The following describes in detail the endoscope transmission device and surgical robot provided in the embodiments of the present application through specific embodiments and their application scenarios in combination with the accompanying drawings.

[0049] like Figures 1 to 17 As shown, an embodiment of the present application provides an endoscope transmission device, including a transmission box 200, on which an endoscope assembly 100 is connected via a snap-on assembly 300, and a drive assembly 500 is provided in the transmission box 200 that has an external power device and can be coupled with the endoscope assembly 100.

[0050] The endoscope assembly 100 includes an operating end 110 and an endoscope body 140 connected to the operating end 110. The clamping assembly 300 includes a fixing plate 320 fixedly provided on the operating end 110 and a docking plate 310 provided on the transmission box 200 and capable of being clamped with the fixing plate 320. The docking plate 310 is coupled with the driving assembly 500. When the docking plate 310 is clamped with the fixing plate 320, the movement of the endoscope assembly 100 along the translation direction (i.e., the direction of its own axis) is restricted, and its rotation relative to the fixing plate 320 is restricted, thereby ensuring its positioning accuracy.

[0051] In a preferred embodiment, as Figures 1 to 3 As shown, the endoscope body 140 is arranged at one end of the operating end 110, and a plurality of first fixing holes 111 are provided in a circular array about the endoscope body 140 on the end surface of the operating end 110 close to the endoscope body 140. The operating end 110 is provided with a gripping groove 120 for the doctor to hold and a function button 130 for command input.

[0052] like Figure 4 As shown, a plurality of second fixing holes 322 are provided on the fixing plate 320 at positions corresponding to the plurality of first fixing holes 111 , and the fixing plate 320 and the operating end 110 are fixedly connected by bolts through the first fixing holes 111 and the second fixing holes 322 .

[0053] In a preferred embodiment, as Figures 1 to 2As shown, the operating end 110 is arranged on the side of the transmission box 200 relative to the docking plate 310, the driving assembly 500 is arranged in the transmission box 200, and the endoscope body 140 passes through the transmission box 200 and can be coupled with the driving assembly 500 through the docking plate 310.

[0054] It is understandable that the arrangement of the endoscope assembly 100 is not limited to the one described above. For example, the operating end 110 is arranged on the side of the transmission box 200 with respect to the docking plate 310, and the endoscope body 140 can be arranged to extend toward the side away from the transmission box 200 rather than through the transmission box 200, as long as the fixing relationship of the clamping assembly 300 to the endoscope assembly 100 and the driving relationship of the driving assembly 500 to the endoscope assembly 100 can be ensured.

[0055] In a preferred embodiment, as Figure 4 As shown, a first through hole 321 is provided on the fixing plate 320 for the endoscope body 140 to pass through, and a first clamping pin 324 and a first positioning column 323 are fixed on the end face of the fixing plate 320 away from the operating end 110, and the first clamping pin 324 and the first positioning column 323 are symmetrical about the first through hole 321.

[0056] like Figure 9 As shown, a second through hole 311 is provided on the docking plate 310 for the endoscope body 140 to pass through, and a first card slot 312 and a first positioning hole 313 are provided on the end face of the docking plate 310 close to the operating end 110, wherein the first card slot 312 can be engaged with the first card pin 324, and the first positioning hole 313 can be plugged into the first positioning column 323 for positioning.

[0057] When the docking plate 310 and the fixed plate 320 are clamped together, the first positioning column 323 is inserted into the first positioning hole 313 to guide and position them, and the first clamping pin 324 extends into the first clamping groove 312 to realize the clamping of the two. It can be understood that the number and position of the first clamping pin 324 and the first positioning column 323 are not limited to the above one. The symmetrical arrangement of the first clamping pin 324 and the first positioning column 323 is to ensure uniform stress between the docking plate 310 and the fixed plate 320. In order to ensure a better connection effect between the two, the number of the first positioning columns 323 and the first positioning hole 313 can be increased, or the number of the first clamping pin 324 and the first clamping groove 312 can be increased.

[0058] In a preferred embodiment, the transmission box 200 is further provided with a release assembly 400 for quickly separating the docking plate 310 and the fixing plate 320. Figure 5-8As shown in Figures 10-11, the transmission box 200 includes a base plate 220 and an upper cover 210 installed on the base plate 220. The release assembly 400 includes a release push hole 211 that is set through the upper cover 210 and a release button 410 that can elastically slide in the release push hole 211. A push plate 420 is fixed on the release button 410 and is located inside the transmission box 200 and can resist the first card pin 324.

[0059] The transmission box 200 also includes a mounting through hole 212 provided on the upper cover 210, and the docking plate 310 is rotatably provided in the first slot 312. When the docking plate 310 is engaged with the fixing plate 320, that is, the first card pin 324 extends into the interior of the transmission box 200 through the first slot 312 and is engaged with the first slot 312, the push plate 420 does not conflict with or just conflicts with the first card pin 324, and the release button 410 does not accumulate elastic potential energy. When the docking plate 310 and the fixing plate 320 are released, When engaged, the doctor manually pushes the release button 410 to drive the push plate 420 to squeeze the first engaging pin 324, so that the first engaging pin 324 is released from the engagement with the first engaging slot 312. At this time, the docking plate 310 and the fixing plate 320 can be directly disengaged. In the process of the doctor manually pushing the release button 410, the release button 410 accumulates elastic potential energy. After the docking plate 310 and the fixing plate 320 are disengaged, the doctor releases the release button 410 and the release button 410 will automatically reset under the action of its own elastic potential energy.

[0060] In the embodiment of the present application, the above-mentioned endoscope transmission device is adopted, and the rapid installation of the endoscope assembly 100 is achieved through the cooperation of the docking plate 310 and the fixing plate 320. At the same time, the rapid detachment of the endoscope assembly 100 is achieved through the release assembly 400, that is, the manual quick replacement of the endoscope assembly 100 is achieved, which improves the doctor's efficiency in using the endoscope assembly 100 and facilitates the disassembly and disinfection of the endoscope assembly 100.

[0061] It can be understood that the setting form of the clamping component 300 is not limited to the above-mentioned one. For example, the installation positions of the docking plate 310 and the fixing plate 320 can be interchanged, that is, the transmission box 200 actively clamps the operating end 110. At this time, the release component 400 needs to be set on the endoscope component 100 to unlock and release the clamping between the transmission box 200 and the endoscope component 100.

[0062] In a preferred embodiment, as Figure 10-11 As shown, the release button 410 includes a push button body 411 and a step portion 414 fixedly arranged on the side of the push button body 411 close to the base plate 220. The step portion 414 is slidably arranged in the release push hole 211 and a step structure matching the step portion 414 is provided in the release push hole 211. The size of the push button body 411 is larger than the size of the release push hole 211 and is used for direct pushing by the doctor.

[0063] The step portion 414 is provided with a first fixing screw hole 415 and a limiting column 413 on the end surface of the side away from the push button body 411. The push plate 420 includes a push plate body 421 and a second fixing screw hole 423 and a limiting groove 422 provided on the push plate body 421. The second fixing screw hole 423 corresponds to the position of the first fixing screw hole 415. The limiting column 413 is plugged into the limiting groove 422. The release assembly 400 also includes a fixing bolt 430 and a return spring 440. The fixing bolt 430 passes through the first fixing screw hole 415 and the second fixing screw hole 441. 23 fixes the release button 410 and the push plate 420, and one end of the fixing bolt 430 is connected to the return spring 440, and the other end is connected to the connection end inside the transmission box 200. It can be understood that the connection end inside the transmission box 200 is located in the opposite direction of the release button 410 sliding to release the docking plate 310 and the fixed plate 320. The return spring 440 does not accumulate elastic potential energy in the initial state, thereby ensuring that the release button 410 accumulates elastic potential energy when sliding to release the docking plate 310 and the fixed plate 320 to achieve the reset of the release button 410.

[0064] It is understandable that the setting method of the release component 400 is not limited to the above-mentioned one. When the clamping structure between the docking plate 310 and the fixed plate 320 adopts other forms, the structure of the release component 400 also needs to be changed accordingly. For example, when the number of first clamping pins 324 increases, the release component 400 needs to release multiple first clamping pins 324 at the same time. At the same time, the release button 410 and the push plate 420 can be set as a whole. The split structure of the above-mentioned scheme is for the convenience of its installation. The setting position of the reset spring 440 can also be adjusted based on the overall layout. For example, it can be directly set in the release push hole 211 and connected to the release button 410, as long as the reset of the release button 410 can be guaranteed.

[0065] Of course, the release component 400 can also be further set as an electric structure, for example, the release button 410 is set as an electric push-up mechanism to realize the automatic release of the endoscope component 100, and a magnetic part is set on the first card pin 324 of the card component 300, and the release component 400 is set as an electromagnetic element. By controlling the magnetism of the electromagnetic element to control its attraction or repulsion on the magnetic part on the first card pin 324, the card connection relationship of the first card pin 324 in the first card slot 312 is controlled.

[0066] In a preferred embodiment, as Figure 1 、 10-11, an indicator groove 412 is provided on the end face of the push button body 411 away from the step portion 414. The indicator groove 412 is used to indicate the angle of the endoscope assembly 100. The endoscope assembly 100 is provided with ±30° indicator points. When the ±30° indicator points are aligned with the indicator groove 412, it indicates that the state of the endoscope assembly 100 at this time is ±30°.

[0067] It can be understood that the indicator groove 412 mainly serves the indicating function. On the premise of ensuring its indicating performance, there is no specific restriction on its structure and form. The angle range of the indicator point on the endoscope assembly 100 is formulated based on the actual rotatable range of the equipment, and no specific restriction is made here.

[0068] In a preferred embodiment, as Figure 7 、 12 -13, the driving assembly 500 includes a driving shaft 560 and a transmission gear shaft 520 that are rotatably arranged between the upper cover 210 and the bottom plate 220 and are gear-driven. The driving shaft 560 is externally connected to a power device, and the transmission gear shaft 520 is fixedly connected to the docking plate 310.

[0069] like Figure 9 As shown, a first protrusion seat 315 is fixed on the end surface of the docking plate 310 away from the operating end 110, a first protrusion 314 is fixed on the inner wall of the second through hole 311, and a first screw hole 316 is also provided on the inner wall of the second through hole 311. Figure 17 As shown, the transmission gear shaft 520 includes a rotating shaft body 521 and a third through hole 523 that is arranged through the rotating shaft body 521. A second screw hole 524 is provided on the inner wall of the third through hole 523. A recessed portion 525 that can cooperate with the first protrusion 314 is also provided between the inner wall of the third through hole 523 and the outer circular surface of the rotating shaft body 521. The driving assembly 500 also includes a connecting screw 530 for connecting the transmission gear shaft 520 and the docking plate 310. Specifically, when the docking plate 310 is fixed to the transmission gear shaft 520, the first protrusion 314 is embedded in the recessed portion 525, and the second screw hole 524 corresponds to the first screw hole 316. The connecting screw 530 is threadedly connected to the second screw hole 524 and the first screw hole 316 to achieve a fixed connection between the docking plate 310 and the transmission gear shaft 520.

[0070] It can be understood that the fixed connection method between the docking plate 310 and the transmission gear shaft 520 is not limited to the above-mentioned one. For example, the docking plate 310 can be directly welded to the transmission gear shaft 520, but the coaxiality of the docking plate 310 and the transmission gear shaft 520 needs to be ensured. As long as the coupling relationship between the docking plate 310 and the drive assembly 500 can be achieved and the transmission accuracy is guaranteed, the specific structure will not be elaborated here.

[0071] In a preferred embodiment, the drive assembly 500 also includes a driven shaft hole 223 that is set through the base plate 220, and a second protrusion seat 224 is fixedly provided on the end surface of the base plate 220 close to the upper cover 210 at a position corresponding to the driven shaft hole 223, and a second protrusion 225 is fixedly provided on the inner wall of the driven shaft hole 223. A support frame 510 is also clamped on the base plate 220, and a fourth through hole 512 is set through the support frame 510. A first driven bearing 570 is installed in the fourth through hole 512, and a second driven bearing 580 is installed in the driven shaft hole 223 at a position corresponding to the second protrusion 225. The two ends of the transmission gear shaft 520 are respectively connected to the first driven bearing 570 and the second driven bearing 580.

[0072] A magnetic steel mounting portion 540 is fixedly provided on the end surface of the base plate 220 close to the operating end 110, and a protruding column 526 is provided on the end surface of the rotating shaft 521 away from the docking plate 310. The protruding column 526 can extend to the side of the transmission box 200 away from the operating end 110, and can be used by the doctor to manually rotate the transmission gear shaft 520.

[0073] In a preferred embodiment, the support frame 510 includes a support body 511, and a fourth through hole 512 is arranged through the fourth through hole 512. A plurality of second card pins 514 and second positioning columns 515 are fixedly arranged in a circular array about the fourth through hole 512 on the end face of the support body 511 close to the base plate 220. A second card slot 228 and a second positioning hole 229 are provided on the base plate 220 at corresponding positions of the second card pin 514 and the second positioning column 515, wherein the second card pin 514 can be engaged with the second card slot 228, and the second positioning column 515 can be inserted into the second positioning hole 229 to realize the guided positioning of the support frame 510.

[0074] The bottom plate 220 is provided with a driving shaft hole 226 , and the bracket body 511 is provided with a shaft mounting hole 513 corresponding to the driving shaft hole 226 . The driving shaft 560 is rotatably disposed in the driving shaft hole 226 and the shaft mounting hole 513 .

[0075] A driving gear 550 is fixed on the driving shaft 560, and a driven gear 522 engaged with the driving gear 550 is fixed on the rotating shaft 521. One end of the driving shaft 560 extends to the outside of the transmission box 200 and is connected to the power device. When the power device drives the driving shaft 560 to rotate, the transmission gear shaft 520 is engaged and transmitted through the driving gear 550 and the driven gear 522. The rotation of the transmission gear shaft 520 drives the docking plate 310 to rotate, thereby driving the fixed plate 320 engaged with the docking plate 310 to rotate, thereby realizing the rotation control of the endoscope assembly 100.

[0076] In a preferred embodiment, as Figure 8As shown, a plurality of third locking pins 214 and third positioning columns 215 are fixedly provided along the edge of the end surface of the upper cover 210 away from the operating end 110, as shown in FIG. Figure 15 As shown, a third positioning hole 221 and a third slot 227 are provided on the base plate 220 at corresponding positions of the third card pin 214 and the third positioning column 215, wherein the third card pin 214 can be engaged with the third slot 227, and the third positioning column 215 can be inserted into the third positioning hole 221 to realize positioning guidance between the upper cover 210 and the base plate 220.

[0077] In a preferred embodiment, as Figure 7 、 12 -13, it also includes an unlocking component 600 for quickly removing the transmission box 200 from the driving seat. The unlocking component 600 includes two fixing grooves 222 that are through and symmetrically arranged on the base plate 220. The clamping structure on the driving seat is clamped and fixed by the fixing grooves 222. The unlocking component 600 also includes a plurality of button mounting seats 630 fixedly arranged on the end face of the base plate 220 close to the operating end 110. Specifically, the button mounting seats 630 are symmetrically provided in two groups on the base plate 220. Each group of button mounting seats 630 includes three in a linear array, and the array directions of the two groups of button mounting seats 630 are parallel.

[0078] A pressing groove 640 is provided on the end face of the button mounting seat 630 close to the symmetry axis of the two groups of button mounting seats 630. Unlocking buttons 620 are elastically slidably provided in the pressing grooves 640 on the two groups of button mounting seats 630. The unlocking buttons 620 can be coupled with the clamping structure on the driving seat. When the clamping structure on the driving seat is clamped with the transmission box 200 through the fixing groove 222, pressing the unlocking buttons 620 on both sides can squeeze the clamping structure on the driving seat to unlock the driving seat and the transmission box 200.

[0079] It can be understood that the setting method of the pressing groove 640 is not limited to the above-mentioned one. The button mounting seat 630 is only for providing a setting base for the pressing groove 640. As long as it can meet the sliding guidance of the unlocking button 620, the structure of the button mounting seat 630 and the pressing groove 640 can adopt other guiding structures.

[0080] In a preferred embodiment, as Figure 16 As shown, the unlock button 620 includes a button body 621 and a slide plate 622 fixedly connected to the button body 621, and the upper cover 210, as shown in FIG. Figure 8 As shown, two button mounting holes 213 are formed on both side walls of the upper cover 210 at positions corresponding to the two button bodies 621 , and the button bodies 621 can be embedded in the button mounting holes 213 at corresponding positions.

[0081] The two unlocking buttons 620 are arranged symmetrically around the center, and an end plate 625 is fixedly provided on the end of the slide 622 away from the button body 621. A guide groove 623 that passes through the end plate 625 is provided on the end surface of the slide 622 away from the bottom plate 220, and a guide block 624 is fixed on the end surface of the slide 622 close to the bottom plate 220.

[0082] It can be understood that there is a height difference between the guide groove 623 and the guide block 624. Since the two unlocking buttons 620 are arranged symmetrically with respect to the center, the two guide grooves 623 and guide blocks 624 are staggered. The guide block 624 on one of the unlocking buttons 620 can slide in the guide groove 623 on the other unlocking button 620. Since there is a height difference between the guide groove 623 and the guide block 624, the two guide grooves 623 and guide block 624 will not interfere with each other when the unlocking button 620 moves.

[0083] like Figure 13 As shown, a compression spring mounting hole is provided on the end surface of the button body 621 close to the button mounting seat 630, and a compression spring 610 is fixed between the two button bodies 621. The two ends of the compression spring 610 are movably arranged in the two compression spring mounting holes.

[0084] In an embodiment of the present application, the above-mentioned endoscope transmission device is adopted, and the driving component 500 is used to transmit the rotational power of the driving seat to the endoscope component 100 to realize the rotational movement of the endoscope component 100, and the unlocking component 600 is used to quickly remove the transmission box 200 from the driving seat.

[0085] An embodiment of the present application provides a minimally invasive surgical robot, including a master hand (also called a doctor's console) and a slave hand (also called a patient-side trolley). The master hand includes a base, a master hand robotic arm and a display. The slave hand includes multiple robotic arms and a mirror holding arm, and the mirror holding arm is equipped with the above-mentioned endoscope transmission device.

[0086] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising 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, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0087] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. An endoscope transmission device, comprising a transmission box and an endoscope assembly, characterized in that: It also includes a clamping assembly and a releasing assembly for connecting the transmission box and the endoscope assembly. The clamping assembly includes a fixing plate fixedly arranged on the endoscope assembly and a docking plate connected to the drive assembly in the transmission box, the fixing plate is provided with a clamping pin and a positioning column, and the docking plate is provided with a clamping groove corresponding to the clamping pin and a positioning hole corresponding to the positioning column; the clamping assembly can limit the displacement of the endoscope assembly in its own axial and radial directions; The release assembly can be coupled to the clamping assembly to enable the endoscope assembly to quickly detach from the transmission box, and the transmission box is provided with a driving assembly for driving the endoscope assembly to move; The release assembly includes a release push hole provided on the transmission box and a release button that can slide elastically in the release push hole. A push plate is fixed to the release button and can push the card pin along the direction in which the card pin is separated from the card slot; pushing the release button drives the push plate to squeeze the card pin, thereby releasing the card pin from the card slot, and the docking plate and the fixed plate are separated; after releasing the release button, the release button automatically resets under the action of its own elastic potential energy.

2. The endoscope transmission device according to claim 1, characterized in that: The fixing plate can be engaged with the docking plate and the two can be separated from each other under the action of the release assembly.

3. The endoscope transmission device according to claim 2, characterized in that: The driving assembly includes a driving shaft and a transmission gear shaft which are rotatably arranged in the transmission box and are gear-engaged with each other; Wherein, the driving shaft is externally connected to a power device, and the transmission gear shaft and the endoscope assembly are located on the same axis and are fixedly connected to the docking plate.

4. The endoscope transmission device according to claim 1, wherein: The release button is provided with an indicator groove, and the endoscope assembly is provided with an angle indicator point that matches the indicator groove.

5. The endoscope transmission device according to any one of claims 1 to 4, characterized in that: The endoscope assembly includes an operating end and an endoscope body connected to the operating end; Wherein, the fixing plate of the clamping assembly is fixedly arranged on the end surface of the operating end close to the transmission box.

6. The endoscope transmission device according to claim 5, characterized in that: The transmission box includes a bottom plate and an upper cover mounted on the bottom plate, the operating end is arranged on a side of the upper cover away from the bottom plate, and the endoscope body extends to the opposite side of the transmission box relative to the operating end; Wherein, the release button of the release assembly is located on the side of the upper cover away from the bottom plate, and the push plate of the release assembly is located in the transmission box.

7. A surgical robot, characterized in that: The invention comprises a slave hand, wherein the slave hand comprises a tool holding arm and a mirror holding arm, and the mirror holding arm is equipped with the endoscope transmission device according to any one of claims 1 to 6.

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