Endoscope drive box and surgical robot

Abstract

The present application relates to a kind of endoscope transmission box and surgical robot, endoscope transmission box is suitable for the torque of a power motor is transmitted to the handle of endoscope, transmission box includes: shell;And the transmission assembly placed in shell;Transmission assembly includes: power shaft, configured to be able to be coupled with the output shaft of power motor, to realize being driven rotation by power motor;Driven shaft, with power shaft transmission connection;Driven shaft is configured to be able to be transmission connection with the handle of endoscope;And brake mechanism, for braking driven shaft, brake mechanism includes: brake shaft, configured to be able to be coupled with the output shaft of a brake motor;And brake component, with brake shaft transmission setting, to realize by brake shaft drive in the brake position of stopping driven shaft rotation and the release position of allowing driven shaft rotation between action.The application scheme, operator can detect whether the power motor and the power shaft of transmission box are complete in situ The joint is completed, to ensure that the power of power motor can be transmitted to endoscope end.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an endoscope transmission box and a surgical robot. BACKGROUND

[0002] With the continuous development of medical devices, computer technology and control technology, minimally invasive surgery has been more and more widely used for its small surgical trauma, short recovery time and less pain to patients. The minimally invasive surgical robot can avoid the operation limitations such as hand tremor during filtering operation due to its high dexterity, high control precision and intuitive surgical image, and is widely used in abdominal, pelvic and thoracic surgical areas.

[0003] At present, the minimally invasive surgical robot includes a master part and a slave part, the master part includes a master control arm for a doctor to operate, and the slave part includes a slave control arm. During the operation, the doctor operates the master control arm of the master part, the master control arm collects the operation signal of the doctor and generates a control signal for the slave control arm of the slave part after processing by a control system, and the slave control arm of the slave part performs the operation under the control of the control signal. During the robot operation, the slave control arm clamps a surgical instrument and a 3D endoscope, the surgical instrument enters the patient's body through a stab card inserted into the incision on the patient's body surface, and the 3D endoscope provides a monitoring image in the patient's body. The slave control arm includes a mirror holding arm, and an endoscope joint is installed on the mirror holding arm for clamping and moving the 3D endoscope, so as to provide a suitable view angle for the doctor during the operation.

[0004] The endoscope joint usually includes an adapter part adapted to engage with the handle of the endoscope and a transmission box for engaging with the power box on the mirror holding arm. The transmission box transmits the power output by the power box to the handle of the endoscope connected with the adapter part. In the prior art, the operator usually judges the engagement result of the transmission box and the power box by visual observation after the engagement, which has great uncertainty. SUMMARY

[0005] Therefore, the present application provides an endoscope transmission box capable of judging whether the power shaft of the transmission box and the power motor are clamped completely on site and a surgical robot equipped with the endoscope transmission box.

[0006] In a first aspect, the present application provides an endoscope transmission box suitable for transmitting torque of a power motor to a handle of an endoscope, the transmission box comprising: a housing; and a transmission assembly disposed in the housing; the transmission assembly comprising: a power shaft configured to be coupled with an output shaft of the power motor to be driven to rotate by the power motor; a driven shaft in transmission connection with the power shaft; the driven shaft being configured to be in transmission connection with the handle of the endoscope to transmit torque of the power shaft to the handle of the endoscope through the driven shaft; and a brake mechanism for braking the driven shaft, the brake mechanism comprising: a brake shaft configured to be coupled with an output shaft of a brake motor to be driven to rotate by the brake motor; and a brake component in transmission arrangement with the brake shaft to be driven by the brake shaft to act between a brake position for stopping rotation of the driven shaft and a release position for allowing rotation of the driven shaft.

[0007] The present application can detect whether the power motor and the power shaft of the transmission box are coupled on site, so as to ensure that the power of the power motor can be transmitted to the endoscope.

[0008] In a specific embodiment, the transmission assembly comprises: a protrusion fixedly arranged with the driven shaft, and the brake component abuts against the protrusion when in the brake position.

[0009] In a specific embodiment, the protrusion and the driven shaft are an integral component.

[0010] In a specific embodiment, the transmission assembly comprises: a driven wheel fixedly sleeved on the driven shaft; and a power wheel fixedly sleeved on the power shaft, the power wheel being in transmission arrangement with the driven wheel.

[0011] In a specific embodiment, the driven wheel and the power wheel are gear components and are in meshing engagement with each other.

[0012] In a specific embodiment, the brake component is fixedly arranged on the brake shaft to rotate with the brake shaft.

[0013] In a specific embodiment, the brake component comprises a cam.

[0014] In a specific embodiment, the transmission assembly comprises a constraint mechanism capable of constraining the brake component to rotate only between the first limit position and the second limit position.

[0015] In one specific embodiment, the constraint mechanism comprises: a first stop block, the brake component abutting against the first stop block when in the first limit position; and a second stop block, the brake component abutting against the second stop block when in the second limit position.

[0016] In one specific embodiment, the housing comprises: a bottom plate, the bottom plate being provided with a plurality of pairs of interfaces, one end of the brake shaft facing one of the pairs of interfaces, and one end of the power shaft facing another of the pairs of interfaces; and an upper shell, located on the upper side of the bottom plate.

[0017] In one specific embodiment, the transmission assembly comprises: an intermediate support, fixedly arranged in the housing; and the brake shaft, rotationally supported on the intermediate support.

[0018] In one specific embodiment, the endoscope transmission box further comprises: a locking mechanism, configured to lock and unlock the transmission box to / from a power box carrying the power motor and the brake motor, the locking mechanism being arranged on the intermediate support and comprising an unlocking component capable of being operated by a user.

[0019] In a second aspect, the present application provides a surgical robot, comprising a master part and a slave part, the master part being configured to be operated by a doctor and collect operation signals of the doctor to generate control signals transmitted to the slave part, the slave part being configured to perform a surgical operation under control of the control signals, the slave part comprising a tool holding arm and a mirror holding arm, and the mirror holding arm being provided with the endoscope transmission box of the technical solution of the first aspect or any one of the specific embodiments.

[0020] Other advantages of the present application will be described in detail in the following specific embodiments section in combination with the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 Structure schematic diagram of an endoscope joint for a surgical robot according to an embodiment of the present application;

[0022] Figure 2 Structure schematic diagram of an endoscope joint for a surgical robot according to an embodiment of the present application; Figure 1 Structure schematic diagram of an endoscope joint for a surgical robot according to an embodiment of the present application;

[0023] Figure 3 Structure schematic diagram of an endoscope joint for a surgical robot according to an embodiment of the present application; Figure 1 Structure schematic diagram of an endoscope joint for a surgical robot according to an embodiment of the present application;

[0024] Figure 4 Structure schematic diagram of an endoscope joint for a surgical robot according to an embodiment of the present application; Figure 1 Structure schematic diagram of an endoscope joint for a surgical robot according to an embodiment of the present application;

[0025] Figure 5 Structure schematic diagram of an endoscope joint for a surgical robot according to an embodiment of the present application;Figure 4 Enlarged view at B;

[0026] Figure 6 Structure diagram of the sleeve according to an embodiment of the present application;

[0027] Figure 7 Structure diagram of the sleeve and the handle of the endoscope according to an embodiment of the present application;

[0028] Figure 8 Structure diagram of the locking mechanism according to an embodiment of the present application;

[0029] Figure 9 Structure diagram of the locking mechanism according to an embodiment of the present application; Figure 8 Structure diagram of the locking mechanism according to an embodiment of the present application;

[0030] Figure 10 Structure diagram of the locking mechanism according to an embodiment of the present application; Figure 8 Structure diagram of the locking mechanism according to an embodiment of the present application;

[0031] Figure 11 Structure diagram of the transmission assembly according to an embodiment of the present application;

[0032] Figure 12 Structure diagram of the transmission assembly according to an embodiment of the present application; Figure 11 Structure diagram of the transmission assembly according to an embodiment of the present application;

[0033] Figure 13 Structure diagram of the power gear, the driven gear and the brake component mounted on the bottom plate according to an embodiment of the present application;

[0034] Figure 14 Structure diagram of the power gear, the driven gear and the brake component mounted on the bottom plate according to an embodiment of the present application; Figure 13 Structure diagram of the power gear, the driven gear and the brake component mounted on the bottom plate according to an embodiment of the present application;

[0035] Figure 15 Structure diagram of the power gear, the driven gear, the brake component and the sleeve according to an embodiment of the present application.

[0036] Wherein: 100, endoscope joint; 1, adapter part; 2, transmission box; 11, sleeve; 21, outer shell; 22, transmission assembly;

[0037] 111, barrel side wall; 12, inner cavity; 121, opening; 112, first end; 113, second end; 114, positioning protrusion;

[0038] 115, first part; 1151, outer peripheral surface; 1152, radial step surface; 1153, annular groove; 1154, retaining ring;

[0039] 116, second part; 1161, inner wall surface;

[0040] 117, notch; 211, bottom plate; 2112, first stopper; 2113, second stopper; 2111, protrusion;

[0041] 2121, first housing; 2122, second housing; 212, upper housing; 213, insertion port;

[0042] 221, intermediate support; 23, locking mechanism; 231, trigger plate; 232, buckle; 233, spring; 2311, sliding groove; 2211, guide rail; 2312, protrusion;

[0043] 222, bearing; 2221, first end face; 2222, second end face; 2223, shaft hole;

[0044] 223, pressing plate; 224, driving gear; 225, driven gear; 226, brake mechanism; 227, driving shaft; 228, driven shaft; 2261, brake shaft; 2263, protrusion; 2262, brake component;

[0045] 24, cleaning port; 25, cleaning port; 26, PCB board; 261, first operation key; 262, second operation key; 27, signal probe; 28, information chip; 29, magnet;

[0046] 500, endoscope handle; 501, outer contour surface; 502, key portion. Embodiments

[0047] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

[0048] In the description of the present application, the indicated orientation or positional relationship at various places is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0049] The terms used herein are merely used to describe specific embodiments, and are not intended to limit the present disclosure. The terms "include", "contain" and the like used herein indicate the presence of the described features and / or components, but do not exclude the presence or addition of one or more other features or components.

[0050] It is to be understood that when a component is referred to as being "connected to" or "connected with" another component, it can be directly connected to the other component or intervening components can be present. When a component is referred to as being "disposed on" or "disposed with" another component, it can be directly on the other component or intervening components can be present. "A plurality" as used herein means one or more than one. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0051] The application provides a surgical robot, which comprises a master hand part and a slave hand part. A doctor controls the slave operating arm of the slave hand part indirectly by manipulating the master control arm of the master hand part, specifically, the master control arm collects the operation signal of the doctor, generates the control signal of the slave operating arm of the slave hand part after processing by a control system, and executes a surgical operation by the slave hand part. The master hand part and the slave hand part of the surgical robot can be placed in the same space; or can be located at different space positions respectively, and data transmission between the two can be realized by wired or wireless mode. In the process of robot surgery, the slave operating arm clamps a surgical instrument and a 3D endoscope, the surgical instrument enters the patient's body through the stab card inserted into the incision on the patient's body surface, and the 3D endoscope provides a monitoring image in the patient's body. The slave operating arm comprises a mirror holding arm, and an endoscope joint is installed on the mirror holding arm, which is used to clamp and move the 3D endoscope, so as to provide a suitable visual angle for the doctor during surgery. The application also provides an endoscope joint, which is adapted to the endoscope and meets the needs of the movement function of the endoscope.

[0052] Please refer to Figures 1-5 which shows a structural schematic diagram of an endoscope joint. The endoscope joint 100 mainly comprises an adapter part 1 adapted to be connected with the handle of an endoscope and a transmission box 2. The adapter part 1 mainly comprises a sleeve 11. The transmission box 2 mainly comprises a shell 21 and a transmission assembly 22 arranged in the shell 21.

[0053] As shown in Figure 3 , the shell 21 comprises a bottom plate 211 and an upper shell 212 composed of a first shell body 2121 and a second shell body 2122 which are connected with each other. The bottom plate 211 and the upper shell 212 can be fixedly assembled together by means of a threaded connecting piece or the like.

[0054] The connecting part of the first shell body 2121 and the second shell body 2122 forms a placing port 213. A part of the sleeve 11 can be inserted into the interior of the shell 21 through the placing port 213.

[0055] The transmission assembly 22 comprises an intermediate support 221 which is fixedly supported on the bottom plate 211. Some components constituting the transmission assembly 22 will be assembled on the intermediate support 221.

[0056] The transmission housing 2 also includes a locking mechanism 23. This locking mechanism 23 is used to lock the endoscope connector 100 to and unlock it from the power housing carrying the power motor. In this example, the locking mechanism 23 is mounted on the intermediate support 221.

[0057] like Figure 6 As shown, this illustrates a specific structure of a sleeve 11. The sleeve 11 has a cylindrical sidewall 111, the inner side of which defines an inner cavity 12. The cylindrical sidewall 111 has a first end 112 and a second end 113 that are spaced apart from each other. A plurality of positioning protrusions 114 are provided at the first end 112. The inner cavity 12 has an opening 121 located at the second end 113, through which the handle of the endoscope can be inserted into the inner cavity 12.

[0058] The cylinder sidewall 111 is axially divided into a first portion 115 adjacent to the first end 112 and a second portion 116 adjacent to the second end 113. The first portion 115 is tapered and configured to be inserted into the housing 21 of the transmission box 2. (See attached image.) Figure 4 , 5 As shown. The second part 116 is cylindrical and is configured to allow the endoscope handle to be inserted and fixedly engaged with the endoscope handle. The second part 116 is also provided with a notch 117, which is configured to expose the button part of the handle when the endoscope handle is in the second part 116.

[0059] See Figure 7 As shown, this example illustrates a schematic diagram of the engagement between a sleeve 11 and an endoscope handle 500. In this example, the outer contour surface 501 of the endoscope handle 500 is not a regular arc surface, but an irregular curved surface; when the handle 500 is inserted into the inner cavity 12 of the sleeve 11, there are three points a, b, and c on the outer contour surface 501 that abut against the inner wall surface 1161 of the second part 116. This sleeve design can easily induce strain in the second part 116 of the sleeve 11; that is, the second part 116 undergoes elastic deformation when the endoscope handle 500 is fully inserted into the second part 116. This elastic deformation can be continuously maintained when the endoscope handle 500 is located in the inner cavity 12, thereby using the force generated by the elastic deformation to fix the endoscope handle 500 in the sleeve 11, thus transferring torque from the sleeve 11 to the endoscope handle 500. At the same time, the button portion 502 of the endoscope handle 500 protrudes from the notch 117. In order to match the button portion 502, the notch 117 is configured to match the size of the button portion 502, so that the edge of the notch 117 abuts against the button portion 502 when the endoscope handle 500 is fully inserted into the second part 116.

[0060] In the present solution, the sleeve, especially the second part and the design of the notch, make the notch abut against the button part of the endoscope, which can also play a role in positioning. The sleeve, especially the part corresponding to the second part, can be made of materials such as plastic, metal, etc. that can produce elastic deformation under stress and maintain a certain strength when elastically deformed.

[0061] Referring to Figure 8 、 9 and 10, which show a schematic diagram of a locking mechanism. The locking mechanism 23 includes a pair of front and rear trigger plates 231, two pairs of buckles 232 in linkage relationship with the pair of trigger plates 231, and springs 233 between each buckle 232 and the intermediate support 221. Each pair of buckles 232 includes one buckle 232 arranged left and right. The two pairs of buckles 232 are arranged front and rear on the front and rear sides of the intermediate support 221; the pair of buckles 232 on the front side is in transmission with the trigger plate 231 on the front side, and the pair of buckles 232 on the rear side is in transmission with the trigger plate 231 on the rear side. The two ends of each trigger plate 231 abut against one side of a buckle 232, and at the same time, the other side of the buckle 232 abuts against the corresponding spring 223. Each trigger plate 231 is provided with a sliding groove 2311, and the intermediate support 221 is provided with a pair of guide rails 2211. The pair of guide rails 2211 cooperates with the sliding grooves 2311 of the pair of trigger plates 231.

[0062] In the locking mechanism 23, the two pairs of buckles 232 are pressed against the buckles 232 by the four springs 223, so that each buckle 232 has a certain elastic potential energy; the intermediate support 221 has guide rails 2211, and the trigger plates 231 also correspondingly have sliding grooves 2311, which make the trigger plates 231 move linearly on the intermediate support 221 according to a fixed track. The sliding groove 2311 of each trigger plate 231 is provided with a protrusion 2312 at the bottom, and the bottom plate 211 is also provided with a protrusion 2111 at the corresponding position (see Figure 11 、 12 , 13 and 14), the cooperation of the two sets of protrusions limits the movement range of the trigger plate 231. The operator can pinch the trigger plate 231 to compress the spring 233 and accumulate elastic potential energy to complete the clamping with the power box; when removing, the operator only needs to pinch the trigger plate 231 to swing the buckle 232 to the vicinity of the limit position to remove it; releasing the trigger plate 231, the elastic potential energy accumulated by the spring 233 will lift the buckle 232 to the protrusion 2111 of the trigger plate 231, thereby realizing the cycle and sustainability of the movement process.

[0063] It should be noted that in other embodiments, the locking mechanism can also adopt other structural solutions, as long as it can lock the endoscope joint and the power box together and unlock them from the power box.

[0064] Referring to Figure 4 , 5 , 11 and 12, which show a schematic view of the structure of the intermediate support, the bottom plate and the transmission assembly. The upper side of the intermediate support 221 is provided with a bearing 222 and a pressing plate 223. The bearing 222 has a first end face 2221 and a second end face 2222 opposite to each other, and a shaft hole 2223 passing through the first end face 2221 and the second end face 2222. The pressing plate 223 is located on the upper side of the first end face 2221, and the pressing plate 223 can press the bearing 222 on the intermediate support 221 in the axial direction from the upper side of the bearing 222. The second end face 2222 of the bearing 222 abuts against the upper side surface of the intermediate support 221. The shaft hole 2223 is opposite to the inlet 213; the first part 115 of the sleeve 11 can be partially supported in the shaft hole 2223 of the bearing 222.

[0065] Referring to Figure 13 and 14 , which show a schematic view of part of the structure of the transmission assembly. The transmission assembly 22 includes a power shaft 227, a power gear 224 fixedly arranged on the power shaft 227, a driven shaft 228, and a driven gear 225 fixedly arranged on the driven shaft 228. The power shaft 227 and the driven shaft 228 are both rotatably supported on the bottom plate 211 and the intermediate support 221. The driven gear 225 is engaged with the power gear 224. The power gear 224 is configured to be driven to rotate by a power motor in the power box, so as to drive the driven gear 225 to rotate. The power shaft 227 is configured to be coupled with an output shaft (not shown in the figure) of a power motor, so as to be driven to rotate by the power motor. The sleeve 11 is fixedly arranged with the driven shaft 228, so as to transmit the torque of the power shaft 227 to the sleeve 11 through the driven shaft 228.

[0066] In other embodiments, the driven gear and the power gear can be cancelled, and a scheme of using a winch member sleeved on the power shaft and the driven shaft is used instead, and the two winch members are connected through a cable transmission; this can also achieve the transmission of the torque from the power shaft to the driven shaft, and then to the sleeve.

[0067] Continuing to refer to Figure 4 and 5 , which show a schematic view of the transmission relationship between the sleeve and the transmission assembly. The first end part 112 of the sleeve 12 is fixedly connected with the driven gear 225, so as to transmit the torque of the power gear 224 to the sleeve 12 through the driven gear 225. In this example, the first end part 112 of the sleeve 12 is detachably fixedly connected with the driven gear 225; the user can replace the sleeve of the corresponding endoscope according to the structure of the handle of the endoscope.

[0068] Continuing to refer to Figure 13 , 14As shown in Figure 15, the transmission assembly 22 further includes a braking mechanism 226 for braking the driven shaft 228. The braking mechanism 226 includes: a brake shaft 2261 configured to connect to the output shaft (not shown) of a brake motor for rotation by the brake motor; and a braking member 2262 fixedly mounted on the brake shaft 2261, which is actuated by the brake shaft 2261 between a braking position that prevents rotation of the driven shaft 228 and a release position that allows rotation of the driven shaft 228. In this example, the braking member 226 is preferably a cam member. A protrusion 2263 is also integrally provided on the driven shaft 228. The braking member 2262 abuts against the protrusion 2263 when in the braking position.

[0069] To restrict the rotation of the braking component 2262, the transmission assembly 22 is further provided with a constraint mechanism that restricts the braking component 2262 to rotate only between a first limit position and a second limit position. In this example, the constraint mechanism includes a first stop 2112 and a second stop 2113 disposed on the base plate 211; the braking component 2262 abuts against the first stop 2112 when in the first limit position; and the braking component 2112 abuts against the second stop 2113 when in the second limit position. When the braking component 2262 is in the first limit position, it will move away from the protrusion 2263, meaning that the driven shaft 228 and the driven gear 225 thereon can rotate freely, while when the braking component 2262 is in the second limit position, it abuts against the protrusion 2253, preventing the driven shaft 228 and the driven gear 225 thereon from rotating.

[0070] like Figure 2 As shown, the base plate 211 is provided with a first pair of interfaces 2114 and a second pair of interfaces 2115. One end of the brake shaft 2261 is directly opposite the interface 2114, and one end of the power shaft 227 is directly opposite the other interface 2115.

[0071] Before the power motor drives the endoscope to rotate, the output shaft of the power motor must be properly engaged with the shaft of the power shaft 227. Therefore, a test procedure needs to be performed on the endoscope connector 100 to ensure that the power from the power motor can be transmitted to the endoscope. The braking mechanism 226 is designed to perform this test procedure, which is as follows: First, the brake motor (not shown in the figure) is controlled to drive the braking component 2262, and the power motor is controlled to drive the power gear 224 to rotate forward simultaneously (the "forward rotation" direction is...). Figure 15When the power motor is driven to rotate in the R1 direction, the brake component 2262 will stop at the second limit position; when the power gear 224 is driven to rotate in the positive direction, the driven gear 225 will rotate in the R2 direction opposite to the R1 direction until the protrusion 2263 on the driven shaft 228 hits the brake component 2262 to stop, at which time the brake component 2262 and the power gear 224 cannot rotate in the positive direction due to the abutment of the brake component 2262 and the protrusion 2263, which indicates that the clamping is completed; conversely, it indicates that the clamping of the output shaft of the power motor and the power shaft 227 is not completed; secondly, after confirming that the clamping of the power motor and the power gear 224 is completed, the power motor is driven to rotate the power gear 224 in the reverse direction by a certain angle, and then the brake motor is driven to rotate the brake component 2262 in the reverse direction until it hits the first stop block 2112 to stop; at this time, the detection process is completed, and the clamping of the output shaft of the power motor and the power shaft 227 is completed. Subsequently, the handle of the endoscope can be inserted into the sleeve 11 from the opening 121, and when the sleeve 11 and the handle of the endoscope are completely positioned, the operator can realize the rotation of the endoscope at any position on the doctor operation platform.

[0072] Continuing to refer to Figure 4 and 5 which shows a schematic view of the installation of the first part 115 of the sleeve 11 to the transmission box 2. The first part 115 of the sleeve 11 is inserted into the shaft hole 2223 of the bearing 222 through the insertion port 213, and part of the cylinder side wall of the first part 115 will be located inside the shaft hole 2223. The plurality of positioning protrusions 114 on the first end 112 of the sleeve 11 will be inserted into the plurality of insertion slots (not shown in the figure) on the driven gear 225, respectively.

[0073] The first part 115 has an outer peripheral surface 1151, and the outer peripheral surface 1151 has a radial step surface 1152. The radial step surface 1152 abuts against the first end surface 2221 of the bearing 222.

[0074] The outer peripheral surface 1151 further has an annular groove 1153 on the lower side of the radial step surface 1152. An elastic retainer ring 1154 is arranged at the annular groove 1153, and the retainer ring 1154 abuts against the second end surface 2222 of the bearing 222.

[0075] The abutment of the radial stepped surface 1152 and the first end surface 2221 of the bearing 222, the pressing of the bearing 222 on the intermediate support 221 in the axial direction by the pressing plate 223 from the upper side of the bearing 222, and the abutment of the retainer 1154 and the second end surface 2222 of the bearing 222 can ensure the stability of the sleeve 11 and the installation of the driven gear 225, thereby avoiding the free movement of the sleeve 11 in the up-down direction. Among them, the abutment installation of the radial stepped surface 1152 and the first end surface 2221 of the bearing 222 and the abutment installation of the retainer 1154 and the second end surface 2222 of the bearing 222 can tightly press the sleeve 11 on the bearing 222, and the pressing plate 223 on the outer side of the upper end of the bearing 222 can ensure that the bearing 222 is tightly installed on the intermediate support 221, and only the inner ring of the bearing 222 can rotate freely.

[0076] When installing the sleeve 11 and the transmission assembly 22, the bearing 222 can be installed on the sleeve 11 first, and then the retainer 1154 is installed, and then the two are installed on the intermediate support 221, and then the pressing plate 223, the first housing 2121 and the second housing 2122 are installed; when disassembling, the steps are opposite.

[0077] Continue as shown in Figure 1 , the first housing 2121 is provided with a pair of cylindrical through hole structure cleaning ports 24; as shown in Figure 8 、 9 and 10, a pair of stepped hole type cleaning ports 25 are arranged on the intermediate support 221. A pair of cleaning ports 24 and a pair of cleaning ports 25 are in fluid communication, and a pair of cleaning ports 24 are configured to be in fluid communication with a liquid supply source (not shown in the figure); through these cleaning ports, the liquid supply source can be connected externally, and the inside of the endoscope joint 100 can be cleaned and disinfected, so that the endoscope joint can be reused, thereby reducing the cost of the operation.

[0078] Continue as shown in Figure 1 、 2 , 3, 11 and 12, the transmission box 2 further comprises an operation panel, which can be operated by the operator on site to send operation instructions to the power box (not shown in the figure) carrying the power motor.

[0079] The operation panel comprises a PCB 26, a first operation key 261, a second operation key 262 and a signal probe 27 for signal connection with the power cartridge. The two operation keys are distributed on the outer side wall of the part of the second shell 2122 exposed when the transmission cartridge is coupled with the power cartridge, and both of the operation keys are exposed outside the end of the second shell 2122. The signal probe 27 is electrically connected with the PCB 26 by means of soldering wire or plug-in. The operation instructions of the first operation key 261 and the second operation key 262 can be transmitted to the signal probe 27 via the PCB 26 and output to the power cartridge end. In order to enable the PCB 26 to be involved in water, the outer surface of the PCB 26 in this example is provided with a waterproof layer.

[0080] The first operation key 261 is configured to send a first instruction for switching the 0° / 30° view angle of the endoscope to the power cartridge after being triggered. This function is mainly to realize the adaptation of the endoscope with 0° and 30° view angles,

[0081] The second operation key 262 is configured to send a second instruction for driving the endoscope to rotate to the power cartridge after being triggered. The second instruction is set to drive the endoscope to rotate a fixed angle; wherein the value of the fixed angle is θ, θ*n=180, n is a positive integer less than or equal to 6; for example, the fixed angle can be set to 30° or 60° or 90°, etc.

[0082] The two keys provided in this example can be used to switch the view angle of the endoscope when different view angle endoscopes are inserted, and can also be used to rotate the view field by 180° when the endoscope with 30° view angle is used (when the view angle is 0°, pressing the rotation key has no effect). Of course, in other embodiments, three or more operation keys can be provided to facilitate the operator to realize better operation of the connector or the endoscope.

[0083] In the outer shell 21 of the transmission cartridge 2, an information storage component such as an information chip 28 is also provided, which stores information such as the model of the endoscope connector and the number of uses, which can be read by a reading mechanism on the power cartridge.

[0084] The transmission cartridge component 2 is also provided with a docking detection component, which is used to judge whether the endoscope connector 100 exists or not, i.e. to judge whether the endoscope connector 100 is installed on the power cartridge. A typical setting scheme of the docking detection component is shown in Figure 13 The docking detection component comprises a magnet 29 arranged on the bottom plate 211; in order to match the design scheme of the magnet 28, a Hall sensor (not shown in the figure) capable of identifying the magnet 29 is provided on the power cartridge, and the power cartridge can judge whether the endoscope connector is installed on the power cartridge through the Hall sensor; of course, in addition to this, other ways can also be used to judge the existence of the endoscope connector, such as a docking detection component containing an RFID radio frequency chip, etc.

[0085] The endoscope joint 100 of the present application, in the working process, the power motor in the power box drives the power shaft 227 to rotate, the power gear 224 meshes with the driven gear 225, thereby transmitting power to the driven gear 225, and the driven gear 225 is coupled with the sleeve 11, so the sleeve 11 also rotates together; the handle of the endoscope is clamped into the sleeve 11, and the sleeve 11 is elastically deformed when the handle of the endoscope is located in the inner cavity 12, so as to fix the handle of the endoscope in the sleeve 11, and the torque will be further transferred from the sleeve 11 to the handle of the endoscope, that is, the handle of the endoscope also rotates with the sleeve 11, so as to achieve the purpose of controlling the power motor to control the rotation of the endoscope; the up and down movement of the endoscope is realized by controlling the up and down movement of the power box by the mechanical arm, which will not be described here.

[0086] In summary, in the present application, the sleeve is directly connected to the handle of the endoscope by using the clamping mode, without releasing device, simple to use, long service life, the sleeve can be applied to most endoscopes on the market, and since the sleeve is detachable, the user can also replace the sleeve of the corresponding size according to the structure of the handle of different endoscopes, so that the endoscope joint of the present application can meet the installation requirements of various types of endoscopes, and has a wide range of applications.

[0087] The above embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as a limitation on the scope of the patent. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. An endoscope drive box adapted to transmit torque from a power motor to a handle of an endoscope, the drive box comprising: A housing; and a transmission assembly disposed in the housing; wherein the transmission assembly comprises: a power shaft configured to be coupled with an output shaft of the power motor to be driven to rotate by the power motor; a driven shaft in transmission connection with the power shaft, the driven shaft being configured to be in transmission connection with a handle of the endoscope to transfer torque of the power shaft to the handle of the endoscope through the driven shaft; and a brake mechanism for braking the driven shaft, the brake mechanism comprising: a brake shaft configured to be coupled with an output shaft of a brake motor to be driven to rotate by the brake motor; and a brake component in transmission arrangement with the brake shaft to be driven by the brake shaft to act between a braking position for stopping rotation of the driven shaft and a releasing position for allowing rotation of the driven shaft; wherein the brake mechanism is configured to perform the following clamping detection procedure: controlling the brake motor and the power motor to rotate until the brake component is in the braking position; detecting whether rotation of the power motor is braked; determining whether the output shaft of the power motor and the power shaft are clamped.

2. The endoscope drive box of claim 1, wherein, The transmission assembly comprises a protrusion fixedly arranged with the driven shaft, and the brake component abuts against the protrusion when in the braking position.

3. The endoscope drive box of claim 2, wherein, The protrusion and the driven shaft are an integral component.

4. The endoscope drive box of claim 1, wherein, The transmission assembly comprises a driven wheel fixedly sleeved on the driven shaft, and a power wheel fixedly sleeved on the power shaft, the power wheel being in transmission arrangement with the driven wheel.

5. The endoscope drive box of claim 4, wherein, The driven wheel and the power wheel are both gear members and mesh with each other.

6. The endoscope drive box of claim 1, wherein, The brake component is fixedly arranged on the brake shaft to rotate with the brake shaft.

7. The endoscope drive box of claim 6, wherein, The brake component comprises a cam.

8. The endoscope drive box of claim 6, wherein, The transmission assembly comprises a constraint mechanism capable of constraining the brake component to rotate only between a first limiting position and a second limiting position.

9. The endoscope drive box of claim 8, wherein, The constraint mechanism comprises a first stop block against which the brake component abuts when in the first limiting position, and a second stop block against which the brake component abuts when in the second limiting position.

10. The endoscope drive box of claim 1, wherein, The housing comprises a bottom plate provided with a plurality of mating interfaces, one end of the brake shaft facing one of the mating interfaces, and one end of the power shaft facing another of the mating interfaces; and an upper shell located on the upper side of the bottom plate.

11. The endoscope drive box of claim 10, wherein, The transmission assembly comprises an intermediate support fixedly arranged in the housing, and the brake shaft is rotationally supported on the intermediate support.

12. The endoscope drive box of claim 11, wherein, Further comprising: a locking mechanism for locking and unlocking the transmission box to and from a power box carrying the power motor and the brake motor, the locking mechanism being arranged on the intermediate support and comprising an unlocking component capable of being operated by a user.

13. A surgical robot comprising a master hand portion configured to be operated by a doctor and to pick up an operation signal of the doctor to generate a control signal transmitted to a slave hand portion, and the slave hand portion configured to perform a surgical operation under control of the control signal, characterized in that, The handle part comprises a tool holding arm and a mirror holding arm, and the mirror holding arm is provided with the endoscope transmission box according to any one of claims 1 to 12.

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