Endoscope trolley and medical robot

Abstract

The present invention provides an endoscope trolley and a medical robot. The endoscope trolley includes a trolley body, a first telescopic arm and a second telescopic arm. The trolley body includes a base and a workbench. The workbench can be raised and lowered on the base. The first telescopic arm can be rotatably installed on the workbench. The second telescopic arm is fixedly installed on the workbench. The lengths of the first telescopic arm and the second telescopic arm can be adjusted. The first telescopic arm is used to install an endoscope drive device and an endoscope instrument switching device, and the second telescopic arm is used to install an endoscope conveying device. The endoscope trolley provided by the present invention can realize the switching and conveying of endoscope instruments and the bending, rotation and advance and retreat of the endoscope through the endoscope instrument switching device, the endoscope instrument conveying device, the endoscope drive device and the endoscope conveying device. It has rich operating functions and can effectively reduce the physical exertion of the operator.

Description

Technical Field

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

[0002] Endoscope is a commonly used medical device. It can enter the body through the mouth or other natural cavities to observe and perform surgical treatment on the stomach, esophagus, duodenum and other tissues and organs of the human body. Since the operation of the endoscope is difficult, it needs to be operated while standing all the time, and requires the cooperation of multiple people, which is a great test of the operator's physical strength and skills. Especially during ERCP surgery, medical staff have to wear lead clothes weighing more than ten kilograms and work under radiation, which also poses a great threat to their health. Therefore, there is an urgent need for a simple and reliable endoscope robot that can greatly reduce the physical burden of medical staff and reduce the number of medical teams.

[0003] Patent CN112353496A discloses a flexible endoscope control robot, which realizes the electric control operation of the transportation, bending and rotation of the endoscope and the transportation and bending of the endoscopic instrument by cooperating with the endoscope main operation robot and the instrument operation robot, which increases the space requirement and also has the problem of being unable to switch and operate a variety of endoscopic instruments for surgery. Therefore, the endoscope device does not reduce the doctor's workload during the operation very well, but instead increases the physical burden due to frequent disassembly and assembly of instruments. Summary of the invention

[0004] The present invention provides an endoscope trolley and a medical robot, which are used to solve the defects of the prior art that the workload of endoscope operation is large and causes heavy physical burden, and can improve the accuracy and efficiency of surgical operation.

[0005] The present invention provides an endoscope trolley, comprising a trolley body, a first telescopic arm and a second telescopic arm, the trolley body comprising a base and a workbench, the workbench being liftably mounted on the base, the first telescopic arm being rotatably mounted on the workbench, the second telescopic arm being fixedly mounted on the workbench, the lengths of the first telescopic arm and the second telescopic arm both being adjustable; the first telescopic arm being used for mounting an endoscope driving device and an endoscope instrument switching device, the second telescopic arm being used for mounting an endoscope conveying device.

[0006] The present invention also provides a medical robot, comprising an endoscopic instrument switching device, an endoscopic instrument conveying device, an endoscope driving device, an endoscope conveying device and the endoscope trolley as described above, wherein the endoscopic instrument switching device, the endoscopic instrument conveying device and the endoscope driving device are all installed on the first telescopic arm, and the endoscope conveying device is installed on the second telescopic arm.

[0007] The endoscope trolley and medical robot provided by the present invention can realize the switching and transportation of endoscopic instruments and the bending, rotation and advance and retreat of the endoscope through the endoscopic instrument switching device, the endoscopic instrument conveying device, the endoscope driving device and the endoscope conveying device. It has rich operating functions and can effectively reduce the physical exertion of the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0009] Figure 1 It is a schematic diagram of the use of the endoscope trolley provided by the present invention;

[0010] Figure 2 It is a schematic diagram of the internal structure of the endoscope trolley provided by the present invention;

[0011] Figure 3 It is a schematic diagram of the installation structure of the first telescopic arm provided by the present invention;

[0012] Figure 4 is a schematic diagram of the internal structure of the second telescopic arm provided by the present invention;

[0013] Figure 5 is a usage state diagram of the medical robot provided by the present invention;

[0014] Figure 6 It is a partial structural schematic diagram of the medical robot provided by the present invention;

[0015] Figure 7 It is a structural schematic diagram of the endoscope instrument switching device provided by the present invention;

[0016] Figure 8 is a schematic diagram of the application of the endoscope instrument switching device provided by the present invention;

[0017] Fig. 9 This is one of the structural schematic diagrams of the instrument clamping unit provided by the present invention;

[0018] Fig.10 This is the second structural schematic diagram of the instrument clamping unit provided by the present invention;

[0019] Fig.11 This is the third structural schematic diagram of the instrument clamping unit provided by the present invention;

[0020] Fig.12 This is the fourth structural schematic diagram of the instrument clamping unit provided by the present invention;

[0021] Fig.13 This is the fifth structural schematic diagram of the instrument clamping unit provided by the present invention;

[0022] Fig.14 yes Fig.13 One of the schematic diagrams of the internal structure of the instrument clamping unit shown;

[0023] Fig.15 It is a structural schematic diagram of the pipeline clamping mechanism provided by the present invention;

[0024] Fig.16 is a cross-sectional view of the pipeline clamping unit provided by the present invention in a natural state;

[0025] Fig.17 is a cross-sectional view of the pipeline clamping unit provided by the present invention in a conveying state;

[0026] Fig.18 This is one of the schematic diagrams of the cooperation between the pipeline clamping unit and the moving assembly provided by the present invention;

[0027] Fig.19 This is the second schematic diagram of the cooperation between the pipeline clamping unit and the moving assembly provided by the present invention;

[0028] Fig. 20 This is the second schematic diagram of the internal structure of the pipeline clamping unit provided by the present invention;

[0029] Fig.21 This is one of the schematic diagrams of the coordination of the instrument clamping mechanism, the instrument switching mechanism and the pipeline clamping mechanism provided by the present invention;

[0030] Fig. 22 This is the second schematic diagram of the coordination of the instrument clamping mechanism, the instrument switching mechanism and the pipeline clamping mechanism provided by the present invention;

[0031] Fig.23 It is a structural schematic diagram of the quick-connect assembly provided by the present invention;

[0032] Fig.24 is an exploded schematic diagram of the endoscopic instrument delivery device provided by the present invention;

[0033] Fig.25 It is a schematic diagram of the structure of the endoscopic instrument delivery device provided by the present invention after the cover is removed;

[0034] Fig.26 It is a schematic diagram of the cooperation between the roller assembly provided by the present invention and the endoscope instrument;

[0035] Fig. 27 It is a structural schematic diagram of the clutch assembly provided by the present invention;

[0036] Fig.28 It is a schematic diagram of the cooperation between the displacement compensation unit and the driven shaft provided by the present invention;

[0037] Fig.29 It is a schematic diagram of the cooperation between the forward and backward driving assembly and the driving wheel provided by the present invention;

[0038] Fig.30 is an installation side view of the detection assembly provided by the present invention;

[0039] Fig.31 It is a three-dimensional schematic diagram of the installation of the detection component provided by the present invention;

[0040] Fig.32 It is a schematic diagram of the cooperation between the locking assembly and the transmission mechanism provided by the present invention;

[0041] Fig.33 is a stereoscopic diagram of the endoscope driving device provided by the present invention;

[0042] Fig.34 is an internal structural diagram of the endoscope driving device provided by the present invention;

[0043] Fig.35 It is a schematic diagram of the internal structure of the rotating cabin provided by the present invention;

[0044] Fig.36 It is a schematic diagram of the cooperation between the rotary drive mechanism and the support seat provided by the present invention;

[0045] Fig.37 It is a partial structural schematic diagram of the endoscope driving device provided by the present invention;

[0046] Fig.38 is a schematic diagram of the rotation of the rolling body provided by the present invention;

[0047] Fig.39 This is one of the structural schematic diagrams of the clutch mechanism provided by the present invention;

[0048] Fig.40 This is the second structural schematic diagram of the clutch mechanism provided by the present invention;

[0049] Fig.41 is a structural schematic diagram of the bending drive mechanism provided by the present invention;

[0050] Fig.42 is a side view of the endoscope driving device provided by the present invention;

[0051] Fig.43 is a stereoscopic diagram of an endoscope delivery device provided by the present invention;

[0052] Fig.44 It is a structural schematic diagram of the driving mechanism and the supporting seat provided by the present invention;

[0053] Fig.45 It is a cross-sectional view of the matching structure of the driving mechanism and the supporting seat provided by the present invention;

[0054] Fig.46 It is a schematic diagram of the internal structure of the endoscope delivery device provided by the present invention;

[0055] Fig.47 is a partial cross-sectional view of the conveying drive assembly provided by the present invention;

[0056] Fig.48 It is one of the internal structure schematic diagrams of the conveying mechanism provided by the present invention;

[0057] Fig.49 yes Fig.48 a side view of the conveying mechanism shown;

[0058] Fig.50 yes Fig.48 The second schematic diagram of the internal structure of the conveying mechanism shown;

[0059] Fig.51 is a structural schematic diagram of a first transmission unit provided by the present invention;

[0060] Fig.52 It is a structural schematic diagram of the support base provided by the present invention; DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] Combine the following Figure 1-Figure 6 A schematic structural diagram of the endoscope trolley of the present invention is described.

[0063] like Figure 1 and Figure 2As shown, an endoscope trolley includes a trolley body 6100, a first telescopic arm 6200 and a second telescopic arm 6300. The trolley body 6100 includes a base 6110 and a workbench 6120. The base 6110 is used to provide support for the entire endoscope trolley. The workbench 6120 is installed on the base 6110 in a liftable manner. The first telescopic arm 6200 is rotatably installed on the workbench 6120, and the second telescopic arm 6300 is fixedly installed on the workbench 6120. Among them, the lengths of the first telescopic arm 6200 and the second telescopic arm 6300 can be adjusted. The first telescopic arm 6200 is used to install the endoscope driving device 3000 and the endoscope instrument switching device 1000, and the second telescopic arm is used to install the endoscope conveying device 5000.

[0064] Specifically, the endoscope driving device 3000 is mounted on the mounting seat of the first telescopic arm 6200 through a fastening structure, and the endoscope instrument switching device 1000 can be quickly clamped on the clamping socket 6230 of the first telescopic arm 6200. The endoscope conveying device 5000 is mounted on the mounting seat of the second extension arm through a fastening structure.

[0065] The trolley body 6100 is provided with a main control board, which is a circuit board or a control box. The workbench 6120 is provided with a control panel 6121, which is in communication with the main control board. The control panel 6121 can control the extension and retraction of the first telescopic arm 6200 and the second telescopic arm 6300, the rotation of the first telescopic arm 6200 relative to the trolley body 6100, and the height adjustment of the trolley body 6100. Figure 1 As shown, the top of the workbench 6120 is provided with an inclined plane, and the inclined plane is perpendicular to the line of sight of the operator when he lowers his head to operate, so that the operator can check the control panel 6121 to make various adjustments to the endoscope trolley. An emergency stop switch 6122 is provided on one side of the control panel 6121, and the emergency stop switch 6122 realizes emergency braking when triggered.

[0066] The workbench 6120 is also provided with a trolley handle 6123. Figure 1 As shown, the trolley handle 6123 extends along the width direction of the workbench 6120 to provide a holding position for the operator to move the endoscope trolley.

[0067] like Figure 2As shown, a support portion 6111, a trolley guide rail 6112, a lifting drive 6113 and a trolley slider 6114 are provided inside the base 6110. The trolley guide rail 6112 is fixed to the support portion 6111 and extends in the vertical direction. The trolley slider 6114 can be slidably mounted on the trolley guide rail 6112, and the lifting drive 6113 is mounted on the support portion 6111, and the driving end of the lifting drive 6113 is connected to the trolley slider 6114. The lifting drive 6113 is a linear drive mechanism such as an electric push rod and a linear cylinder. Optionally, the lifting drive 6113 includes a rotary drive 6211 and a screw nut or includes a rotary drive 6211 and a gear rack. Under the action of the rotary drive 6211, a transmission mechanism such as a screw nut or a gear rack converts the rotary motion into a linear motion. The workbench 6120 is fixedly mounted on the trolley slider 6114. Under the action of the lifting drive 6113, the trolley slider 6114 moves along the trolley guide rail 6112 and drives the workbench 6120 to rise and fall, thereby adjusting the height of the first telescopic arm 6200 and the second telescopic arm 6300 to adapt to the patient's surgical site.

[0068] Specifically, the workbench 6120 includes a structural frame and an adapter frame 6116. The structural frame is a shell structure that is sleeved on the outside of the base 6110 and can slide relative to the base 6110. The adapter frame 6116 is arranged inside the structural frame. A plurality of trolley guide rails 6112 are arranged in parallel, and a trolley slider 6114 is slidably installed on each trolley guide rail 6112. The driving end of the lifting drive 6113 is fixedly connected to the middle of the adapter frame 6116, and both sides of the adapter frame 6116 are connected to the structural frame. The trolley slider 6114 and the adapter frame are fixedly installed on the structural frame. Under the action of the lifting drive 6113, the adapter frame 6116 drives the structural frame to slide up and down along the trolley guide rail 6112.

[0069] The structural frame is mounted outside the base 6110 to prevent the internal structure from being exposed during lifting and adjustment. Casters 6117 are provided at the bottom of the base 6110. Optionally, the casters 6117 are lockable universal wheels, which are convenient for movement and can be locked after being moved into place, thereby stabilizing the endoscope trolley in the target position and preventing the movement of the endoscope trolley during operation from affecting the operation of medical staff.

[0070] Among them, the base 6110 is a square columnar shell. Of course, the base 6110 can also be a cylindrical shell.

[0071] like Figure 3 As shown, a support cylinder 6210 is provided on the top of the workbench 6120, and the first telescopic arm 6200 is fixedly mounted on the support cylinder 6210. A rotary drive 6211 is provided in the support cylinder 6210, and the rotary drive 6211 is transmission-connected with the support cylinder 6210. Driven by the rotary drive 6211, the support cylinder 6210 rotates relative to the workbench 6120, thereby driving the first telescopic arm 6200 to rotate.

[0072] In a specific embodiment, a transmission gear 6212 is installed at the driving end of the rotation drive 6211, a first bearing 6213 and an internal gear 6214 are installed in the workbench 6120, the first bearing 6213 and the internal gear 6214 are respectively fixedly installed on the structural frame of the workbench 6120, the transmission gear 6212 is meshed with the internal gear 6214, and the support tube 6210 is fixed to the inner ring end face of the first bearing 6213.

[0073] like Figure 2 and Figure 3 As shown, the support cylinder 6210 is arranged on the top of the structural frame and moves synchronously with the structural frame. Under the action of the rotary drive 6211, the transmission gear 6212 rotates and moves circumferentially in the inner gear 6214, thereby driving the support cylinder 6210 to rotate, so that the rotary drive 6211 drives the first telescopic arm 6200 to rotate around the axis of the first bearing 6213. This embodiment makes the rotation of the support cylinder 6210 smoother by providing the first bearing 6213.

[0074] like Figure 3 As shown, the endoscope trolley also includes a rotation detection component 6215, and the rotation detection component 6215 includes a magnet and a magnetic sensor. The magnet is installed on the axis of the lower end surface of the transmission gear 6212, and the magnetic sensor is fixedly installed on the support tube 6210 through a bracket, and the change of the magnetic field of the magnet is detected by the magnetic sensor. The rotation detection component 6215 is connected to the main control board for communication, and the rotation angle of the support tube 6210 is determined by the main control board, and then the rotation angle of the first telescopic arm 6200 is determined. It should be noted that the rotation detection component 6215 can also use sensors such as gyroscopes, as long as the detection value can ultimately determine the rotation angle of the first telescopic arm 6200, and this embodiment of the present invention does not make specific limitations on this.

[0075] like Figure 4 As shown, the first telescopic arm 6200 includes a first fixed arm, a first telescopic drive and a first movable arm. The first fixed arm and the first telescopic drive are both installed on the support tube 6210. The first movable arm is inserted in the first fixed arm and connected to the driving end of the first telescopic drive.

[0076] Specifically, the first fixed arm is a hollow structure, and the driving shaft of the first telescopic drive is located inside the first fixed arm. The first telescopic drive is an electric push rod or other linear motion mechanism. The first fixed arm can be a square column or a round column. A first roller is arranged between the first movable arm and the first fixed arm. Specifically, the outer wall of the first movable arm contacts the first roller, and the first roller is rotatably embedded in the first fixed arm.

[0077] like Figure 4As shown, the first rollers are arranged in two rows along the telescopic direction of the first movable arm, and the two rows of first rollers are arranged on opposite sides of the first movable arm. When the driving end of the first telescopic drive drives the first movable arm to move, the first rollers rotate accordingly, which is used to achieve smooth movement of the first movable arm, and can also provide support for the cooperation between the first movable arm and the first fixed arm, thereby improving the structural strength.

[0078] Optionally, the first fixed arm is a square column with a square hole inside, and correspondingly, the first movable arm is a square column.

[0079] like Figure 2 As shown, the first telescopic arm 6200 is provided with a clamping socket 6230, and the endoscope instrument switching device 1000 can be quickly clamped on the clamping socket 6230 through a quick-connect assembly. Optionally, the clamping socket 6230 is arranged at the end of the first telescopic arm 6200.

[0080] In an optional embodiment, if Figure 4 As shown, the second telescopic arm 6300 includes a second fixed arm 6221 , a second telescopic drive 6222 and a second movable arm 6223 .

[0081] Optionally, a second roller 6224 is provided between the second movable arm 6223 and the second fixed arm 6221. The structure of the second telescopic arm 6300 provided in this embodiment is the same as that of the first telescopic arm 6200, and will not be described in detail. The only difference is that the second fixed arm 6221 and the second telescopic drive 6222 are both fixedly mounted on the structural frame of the workbench 6120. Specifically, the second fixed arm 6221 is fixedly mounted on the outer side wall of the structural frame. The second telescopic drive 6222 is fixedly mounted in the structural frame, and the drive shaft of the second telescopic drive 6222 is located inside the second fixed arm 6221. In another embodiment, the second telescopic arm 6300 adopts other forms of telescopic arm structures, which are not specifically limited in this embodiment of the present invention.

[0082] When in use, the endoscope delivery device 5000 is mounted on the second telescopic arm 6300 by means of fasteners, and the relative position of the endoscope delivery device 5000 and the patient is adjusted by telescopic drive to facilitate subsequent surgical operations.

[0083] The present invention also provides a medical robot, such as Figure 5 and Figure 6 As shown, it includes the endoscope trolley as described above, the endoscope instrument switching device 1000, the endoscope instrument conveying device 2000, the endoscope driving device 3000 and the endoscope conveying device 5000. The endoscope instrument switching device, the endoscope instrument conveying device 2000 and the endoscope driving device 3000 are all installed on the first telescopic arm 6200, and the endoscope conveying device 5000 is installed on the second telescopic arm 6300.

[0084] Specifically, the endoscope driving device 3000 is detachably mounted on the first telescopic arm 6200 via a fastener. The endoscope conveying device 5000 is detachably mounted on the second telescopic arm 6300 via another fastener. The endoscope instrument switching device 1000 is detachably clamped to the clamping socket 6230 via a quick-connect assembly 1222.

[0085] Further, the instrument support seat 1210 is detachably clamped to the clamping socket 6230 through the quick-connect assembly 1222, that is, the endoscope instrument switching device is installed on the side of the first telescopic arm 6200. The second housing 2250 is detachably mounted on the endoscope driving device 3000 through fasteners, and the docking head 2112 docks with the clamp channel of the endoscope placed in the groove 3310. The support seat 3100 is installed on the table of the first fixed arm of the first telescopic arm 6200. The first support seat 5300 is installed on the second telescopic arm 6300.

[0086] The medical robot provided by the present invention switches the endoscopic instrument 100 through the endoscopic instrument switching device 1000, and conveys the endoscopic instrument switched by the endoscopic instrument switching device 1000 forward or backward through the endoscopic instrument conveying device 2000, thereby entering the endoscopic forceps channel placed in the endoscope driving device 3000, realizing the rotation and bending operation of the endoscope under the action of the endoscope driving device 3000, and realizing the advancement or retreat of the endoscope under the action of the endoscope conveying device 5000.

[0087] On the basis of the above embodiments, in order to simplify wiring and avoid line entanglement, the medical robot further includes an optoelectronic connection device 7000, which includes a combination end connector, a control end connector and an image end connector.

[0088] Specifically, the combination end connector of the optoelectronic connection device 7000 is docked with the socket on the endoscope drive device 3000, the control end connector of the optoelectronic connection device 7000 is docked with the I / O interface on the trolley body 6100, and the image end connector of the optoelectronic connection device 7000 is docked with the connection port on the external image processing device 9020.

[0089] like Figure 5 As shown, in order to facilitate viewing of various collected data of the medical robot, the medical robot also includes a display screen 9010, and the detection data of each detection element, control parameters and images taken by the endoscope can be displayed on the display screen 9010.

[0090] When using, Figure 5As shown, the endoscopic instrument 100 is installed on the endoscopic instrument switching device 1000. Optionally, the endoscopic instrument includes an electric knife 110, which is connected to a high-frequency electric knife controller 9030. The endoscope 200 is inserted into the groove 3310 of the endoscope drive device 3000. The operating part of the endoscope is provided with an accessory device interface component and an optoelectronic communication component. The exposed end face of the accessory device interface component is provided with a clamp channel interface and an external water vapor suction interface, and the operating part is provided with a clamp channel and a water vapor suction tube that are docked with the aforementioned structure. Among them, the number of the clamp channel interface and the water vapor suction interface can be one or more, which are set according to specific needs. The optoelectronic communication component is located on the side of the endoscope, specifically, as Figure 5 As shown, the endoscope is respectively connected to the fluid control device 9040, the suction device 9042 and the water bag 9043 through the gas-liquid delivery device 9041.

[0091] like Figure 5 As shown, the medical robot also includes a control platform 8000, which is used to realize remote control of endoscopic instruments and various actions of the endoscope.

[0092] The control platform 8000 may be integrated with the trolley body 6100. Preferably, the control platform 8000 is an operator independent of the trolley body 6100, such as Figure 5 As shown, the control platform 8000 is provided with an operating handle and operating buttons. Specifically, the control platform 8000 includes an endoscope control unit, an instrument control unit and a gas-liquid control unit. The endoscope control unit is used to control the endoscope conveying device 5000 to realize the conveyance of the endoscope insertion portion, and to control the endoscope driving device 3000 to realize operations such as bending and rotating the endoscope. The instrument control unit is used to control the endoscope instrument switching device 1000 to realize the switching, rotation, opening and closing of the endoscope instrument, and to control the endoscope instrument conveying device 2000 to realize the advance and retreat of the endoscope instrument. The gas-liquid control unit is used to control the fluid conveying control device of the peripheral to realize the actions of air supply, water supply, suction, and attached water supply.

[0093] Combine the following Figure 7-Figure 23 The endoscope instrument switching device 1000 of the present invention will be described.

[0094] like Figure 7 and Figure 8As shown, the endoscopic instrument switching device 1000 includes an instrument clamping mechanism 1100, an instrument switching mechanism 1200 and a pipeline clamping mechanism 1300. Among them, the instrument clamping mechanism 1100 is used to clamp the operating part of the endoscopic instrument, and the pipeline clamping mechanism 1300 is used to clamp the insertion part of the endoscopic instrument. The instrument switching mechanism 1200 is used to dock the insertion part of the target endoscopic instrument with the endoscopic instrument conveying device 2000. The endoscopic instrument conveying device 2000 is used to convey the docked insertion part of the endoscopic instrument to realize the advancement or retreat of the endoscopic instrument.

[0095] Among them, Figure 7 As shown, the instrument clamping mechanism 1100 includes a mounting platform 1101 and a plurality of instrument clamping units 1102 mounted on the mounting platform 1101. The instrument switching mechanism 1200 includes an instrument support seat 1210 and a moving assembly 1240. Fig.15 As shown, the pipeline clamping mechanism 1300 includes a mounting rod 1310 and a plurality of pipeline clamping units 1330 arranged on the mounting rod 1310. It should be noted that the number of pipeline clamping units 1330 is consistent with the number of instrument clamping units 1102. Each pipeline clamping unit 1330 clamps a corresponding delivery pipeline of an endoscopic instrument. Alternatively, the number of pipeline clamping units 1330 is less than the number of instrument clamping units 1102. During assembly, only the insertion portion of the endoscopic instrument involved in this operation is clamped on the pipeline clamping unit 1330, and the extra instrument clamping unit 1102 is used to inject water for the endoscopic instrument on the side or as a spare instrument clamping unit. The mounting platform 1101 is connected to the instrument support seat 1210, and the mounting rod 1310 is installed on the instrument support seat 1210 through the moving assembly 1240. The endoscopic instrument conveying device 2000 is provided with a guide tube, which is used to dock with the pipeline clamping unit 1330.

[0096] When in use, the endoscope instrument switching device 1000 and the endoscope instrument conveying device 2000 are respectively fixed on the trolley arm of the trolley, and the overall positions of the instrument support seat 1210 and the endoscope instrument conveying device 2000 are relatively fixed. The pipeline clamping mechanism 1300 is adjusted by means of the endoscope switching mechanism, or the instrument clamping mechanism 1100 and the pipeline clamping mechanism 1300 are adjusted simultaneously, so that the pipeline clamping unit 1330 corresponding to the target instrument is docked with the endoscope instrument conveying device 2000.

[0097] In an optional embodiment, the mounting platform 1101 is directly fixed to the instrument support seat 1210, and only the mounting rod 1310 is movably mounted on the instrument support seat 1210 through the moving assembly 1240. Under the action of the moving assembly 1240, the pipeline clamping unit 1330 can be moved close to or away from the endoscopic instrument delivery device 2000, and the pipeline clamping unit 1330 aligned with the endoscopic instrument delivery device 2000 can be adjusted laterally, thereby switching the endoscopic instrument docked with the endoscopic instrument delivery device 2000. In another optional embodiment, the mounting platform 1101 and the mounting rod 1310 are both mounted on the moving assembly 1240, and the moving assembly 1240 is mounted on the instrument support seat 1210. With the help of the moving assembly 1240, the instrument clamping unit 1102 and the pipeline clamping unit 1330 are simultaneously driven to move, and the endoscopic instrument docked with the endoscopic instrument delivery device 2000 can also be switched.

[0098] It should be noted that, in one embodiment, the moving assembly 1240 includes at least two dimensions of freedom of movement. For example, the moving assembly 1240 can achieve movement in two perpendicular directions. In another embodiment, the moving assembly 1240 can also have only one direction of freedom of movement. In this case, the endoscopic instrument can be switched by cooperating with the endoscopic instrument delivery device 2000 that can move in the other direction.

[0099] The endoscopic instrument switching device 1000 provided in an embodiment of the present invention is provided with a plurality of instrument clamping units 1102 and a plurality of pipeline clamping units 1330 for clamping different types of endoscopic instruments. The endoscopic instruments are switched with the help of a moving component 1240 so that the target instrument enters the endoscopic instrument delivery device 2000. The entire switching process does not require manual operation, thereby reducing the workload of doctors.

[0100] Specifically, Figures 9 to 14 As shown, each instrument clamping unit 1102 includes an instrument clamping seat, an instrument handle fixed clamping assembly and an instrument handle movable clamping assembly, the instrument handle fixed clamping assembly is fixed to the instrument clamping seat, and the instrument handle movable clamping assembly can be movably mounted on the instrument clamping seat. The instrument clamping seat can be detachably mounted on the mounting table 1101. Common endoscopic instruments such as injection needles 120, syringes 130, scalpels, surgical forceps, etc. are all handle push-pull structures, so the instrument handle part of the endoscopic instrument is fixed by the instrument handle fixed clamping assembly, and the other part moves with the instrument handle movable clamping assembly, which can simulate the push-pull action of human hands. The instrument clamping mechanism 1100 replaces the human hand to operate various endoscopic instruments by the mutual cooperation of the instrument handle fixed clamping assembly and the instrument handle movable clamping assembly.

[0101] Different endoscopic instruments use instrument clamping units 1102 adapted thereto. Each instrument clamping unit 1102 can be detachably mounted on the mounting table 1101 so that the instrument clamping unit 1102 can be replaced according to the endoscopic instruments required for the operation. Specifically, the instrument clamping unit 1102 includes one or more of a first instrument clamping unit 1110, a second instrument clamping unit 1120, and a third instrument clamping unit 1130. The first instrument clamping unit 1110 is used to mount endoscopic instruments that are operated by push-pull, and the second instrument clamping unit 1120 is used to clamp endoscopic instruments that are operated by push-pull and rotation. The third instrument clamping unit 1130 has a flexible mechanism that can eliminate the idle travel generated during the movement of the instrument handle, and is used to clamp endoscopic instruments that will generate idle travel.

[0102] The first instrument clamping unit 1110 is used to clamp the electrosurgical knife 110 or an endoscopic instrument similar to the electrosurgical knife 110. Figures 9 to 11 As shown, the first instrument clamping unit 1110 includes a first instrument clamping seat 1111, a first instrument handle fixed clamping assembly 1112 and a first instrument handle movable clamping assembly 1113. The first instrument clamping seat 1111 is mounted on the mounting platform by screws or other structural members. The first instrument handle fixed clamping assembly 1112 is a limiting structure for limiting the freedom of movement of the endoscope instrument.

[0103] like Fig. 9 As shown, in a specific embodiment, the first instrument handle fixing clamping assembly 1112 is a columnar protrusion protruding from the first instrument mounting seat, and the fixing portion of the electrosurgical knife 110 is sleeved on the columnar protrusion to limit its movement. Fig.10 As shown, in another specific embodiment, the first instrument handle fixing clamping assembly 1112 is a limiting groove, and the injection needle 120 and other cylindrical structures are inserted into the limiting groove for fixing. Fig.11 As shown, the endoscopic instrument is a syringe 130, and the first instrument handle fixed clamping assembly 1112 is two clamping arms protruding from the first instrument mounting seat, a slot is set between each clamping arm, and a support ear is protruding from the end of the barrel of the syringe 130, and the support ear is clamped in the slot for limiting.

[0104] The first instrument handle moving clamping assembly 1113 includes a first slide and a first sliding drive. The first slide can be slidably mounted on the first instrument clamping seat 1111. The first sliding drive is installed in the first instrument clamping seat 1111 and connected to the first slide. Optionally, the first sliding drive is an electric push rod or a linear motion mechanism such as a gear rack or a screw nut connected to a rotary drive. Fig. 9 As shown, in a specific embodiment, two limit blocks are convexly provided on the first slide as a limit mechanism, and the moving part of the electric knife 110 is sleeved on the limit blocks. Fig.10As shown, in another specific embodiment, a limiting groove is provided on the first slide seat as a limiting structure for an endoscopic instrument such as an injection needle 120. Fig.11 As shown, in another specific embodiment, a T-shaped slot is provided on the first slide, and an end cap is provided at the end of the piston rod of an endoscopic instrument such as a syringe 130, and the end cap and a part of the rod body are inserted into the T-shaped slot. When the first slide moves, the piston rod moves along the barrel to simulate the injection action of the syringe 130. Under the action of the first sliding drive, the first slide moves forward and backward along the first instrument clamping seat 1111, thereby driving the handle moving part of the endoscopic instrument forward and backward, simulating the push-pull operation of a human hand.

[0105] It should be noted that, depending on the different endoscopic instruments, the first slide is arranged at the front side or the rear side of the first instrument handle fixed clamping assembly 1112, and the limiting structure arranged on the first slide can be a limiting block or a limiting groove, and the number is one or more. Fig. 9 As shown, two limit blocks are provided on the first slide seat, and the distance between the two limit blocks is determined according to the specifications of the endoscope instrument.

[0106] The second instrument clamping unit 1120 is used to clamp the endoscopic instrument that needs to be rotated. Fig.12 As shown, the second instrument clamping unit 1120 includes a rotating assembly 1121, a second instrument clamping seat 1122, a second instrument handle fixed clamping assembly 1123, and a second instrument handle movable clamping assembly 1124. The rotating assembly 1121 is mounted on the mounting platform 1101, the output end of the rotating assembly 1121 is connected to the second instrument clamping seat 1122, the second instrument handle fixed clamping assembly 1123 is fixed to the second instrument clamping seat 1122, and the second instrument handle movable clamping assembly 1124 is movably mounted on the second instrument clamping seat 1122.

[0107] The rotating assembly 1121 includes a rotating drive and a rotating seat. The rotating seat is installed on the mounting table by screws or a quick-install mechanism. The rotating drive is installed on the rotating seat, and the driving end of the rotating drive is connected to the second instrument clamping seat 1122. Optionally, the rotating drive is a rotating motor or other mechanical structure that can achieve rotation. The specific structure and matching relationship of the second instrument clamping seat 1122, the second instrument handle fixed clamping assembly 1123 and the second instrument handle movable clamping assembly 1124 are similar to those of the first instrument clamping seat 1111, the first instrument handle fixed clamping assembly 1112 and the first instrument handle movable clamping assembly 1113, and are not repeated here. Under the action of the rotating drive, the second instrument clamping seat 1122 rotates accordingly, driving the second instrument handle fixed clamping assembly 1123 and the second instrument handle movable clamping assembly 1124 installed on the second instrument clamping seat 1122 to rotate, thereby driving the endoscopic instrument to rotate, simulating the rotation operation of the endoscopic instrument by human hands.

[0108] like Fig.13 and Fig.14 As shown, the third instrument clamping unit 1130 includes a backlash compensation component 1150, a third instrument clamping seat 1131, a third instrument handle fixed clamping component 1132, and a third instrument handle movable clamping component 1133. The third instrument clamping seat 1131 is detachably mounted on the mounting table. The third instrument handle fixed clamping component 1132 is fixed to the third instrument clamping seat 1131, and the third instrument handle movable clamping component 1133 is movably mounted on the third instrument clamping seat 1131 through the backlash compensation component 1150.

[0109] The third instrument handle fixing clamping assembly 1132 is similar to the first instrument handle fixing clamping assembly 1112. Fig.14 As shown, in a specific embodiment, the third instrument handle fixed clamping assembly 1132 is a limit block protruding from the third instrument clamping seat 1131. The idle compensation assembly 1150 includes a compensation frame 1151 and a first elastic member 1152, and the third instrument handle movable clamping assembly 1133 includes a third slide 1134 and a third sliding drive 1135. One end of the first elastic member 1152 is fixedly connected to the compensation frame 1151, and the other end is fixedly connected to the third slide 1134. Both the third slide 1134 and the compensation frame 1151 can be slidably mounted on the third instrument clamping seat 1131, and form a storage cavity, and the first elastic member 1152 is accommodated in the storage cavity. The driving shaft of the third sliding drive 1135 is connected to the compensation frame 1151.

[0110] Under the action of the third sliding drive 1135, the compensation frame 1151 moves left and right, and the third slide 1134 moves synchronously with the compensation frame 1151 under the action of the first elastic member 1152. If there is an idle stroke, the first elastic member 1152 drives the third slide 1134 to move slightly to compensate for the idle stroke. For example, the head end of the endoscopic instrument extends out of the endoscope tube. During use, the head end is retracted due to the bending of the endoscope. Under the action of the first elastic member 1152, the third slide 1134 moves left or right to make the head end extend out of the endoscope tube again. In this way, the first elastic member 1152 simulates a human hand to ensure that a force is always applied to the endoscopic instrument during operation to compensate for the idle stroke in real time.

[0111] Optionally, the first elastic member 1152 is a spring. Fig.14 As shown, the compensation frame 1151 can be slidably mounted on the third instrument clamping seat 1131, and mounting grooves are respectively provided on both sides thereof. The third slide seat 1134 is sleeved outside the compensation frame 1151 and forms a storage cavity with the mounting grooves. With the help of the left and right first elastic members 1152, the third slide seat 1134 is subjected to balanced force and moves more smoothly.

[0112] like Figure 15 to Figure 16As shown, the pipeline clamping unit 1330 includes a housing 1331, a chuck 1333 and an elastic reset member 1336. The chuck 1333 can be movably inserted into the housing 1331, and the elastic reset member 1336 is sleeved on the chuck 1333. One end of the elastic reset member 1336 is connected to the chuck 1333, and the other end is connected to the housing 1331. The chuck 1333 is provided with a central through hole 1334, and the central through hole 1334 is used for the instrument pipeline to pass through. One end of the chuck 1333 is provided with a docking joint, which is convenient for matching with the docking joint of the endoscopic instrument delivery device 2000. The other end of the chuck 1333 is provided with a claw 1335, and one end of the housing 1331 corresponding to the claw 1335 is provided with a tapered opening whose radial opening gradually decreases in the housing 1331. In the natural state, the clamping claw 1335 is clamped in the tapered mouth; in the conveying state, the docking head abuts against the docking head of the endoscopic instrument conveying device, and the clamping claw 1335 moves to the large end of the tapered mouth.

[0113] like Fig.16 and Fig.17 As shown, a sliding boss is provided in the middle of the chuck 1333, and the outer end surface of the sliding boss abuts against the inner wall of the shell 1331, and a first mounting cavity 1337 is formed between the side of the sliding boss and the inner wall of the shell 1331. The elastic reset member 1336 is sleeved on the chuck 1333 and accommodated in the first mounting cavity 1337. Optionally, the elastic reset member 1336 is a spring. A spherical protrusion 1332 is provided in the middle of the outer wall of the shell 1331, and the spherical protrusion 1332 is clamped in the second clamping groove, and can achieve universal follow-up within a certain range, thereby eliminating the influence of matching deviation. The claw 1335 has a wedge-shaped tail wing, and the wedge-shaped tail wing moves with the chuck 1333 in the tapered mouth. The chuck 1333 is provided with a spherical end of the butt joint.

[0114] like Fig.16 As shown, when the pipeline clamping unit 1330 is in a natural state, the clamp head 1333 reaches the right dead point under the elastic force of the elastic reset member 1336. At this time, the wedge-shaped tail of the claw 1335 is squeezed by the tapered opening on the housing 1331 and retracted toward the axis, so that the instrument pipeline in the central through hole 1334 is subjected to a large clamping force without axial displacement. Fig.17 As shown, when the instrument pipeline is in the conveying state, after the docking joint of the chuck 1333 is docked with the endoscopic instrument conveying device 2000, the chuck 1333 is pushed to move to the left, and at the same time the elastic reset member 1336 is compressed, and the wedge-shaped tail wing of the claw 1335 leaves the tapered mouth of the shell 1331. At this time, the pressure of the claw 1335 on the instrument pipeline in the central through hole 1334 is relatively small, so the instrument pipeline can move along its axial direction in the central through hole 1334 and will not slide naturally.

[0115] The pipeline clamping unit 1330 further includes an auxiliary elastic ring 1338 , which is sleeved on the periphery of the clamping claw 1335 .

[0116] The claw 1335 has a certain flexibility, such as Fig.16 and Fig.17 As shown, the claw 1335 is sleeved with an auxiliary elastic ring 1338, which can be retracted toward the axial direction to clamp the instrument pipeline. The auxiliary elastic ring 1338 can prevent the endoscope instrument from sliding when the pipeline clamping unit 1330 is in the conveying state and the endoscope instrument pipeline is not subjected to other clamping forces.

[0117] like Fig.16 As shown, when the pipeline clamping unit 1330 is in a natural state, the clamp head 1333 reaches the right dead point under the elastic force of the elastic reset member 1336. At this time, the wedge-shaped tail of the claw 1335 is squeezed by the conical opening on the housing 1331 and is compressed toward the axis under the pressure of the auxiliary elastic ring 1338, so that the instrument pipeline in the central through hole 1334 is subjected to a large clamping force without axial displacement. Fig.17 As shown, when the instrument pipeline is in the conveying state, after the docking joint of the chuck 1333 is docked with the endoscopic instrument conveying device 2000, the chuck 1333 is pushed to move to the left, and at the same time the elastic reset member 1336 is compressed, and the wedge-shaped tail wing of the claw 1335 leaves the tapered mouth of the shell 1331. At this time, the claw 1335 is only affected by the contraction force of the auxiliary elastic ring 1338, and the pressure on the instrument pipeline located in the central through hole 1334 is relatively small. Therefore, the instrument pipeline can move along its axial direction in the central through hole 1334 and will not slide naturally.

[0118] Among them, Fig.15 As shown, the pipeline clamping mechanism further includes a clamping unit mounting frame 1320 , and the pipeline clamping unit 1330 is detachably mounted on the mounting rod 1310 through the clamping unit mounting frame 1320 .

[0119] Specifically, the clamping unit mounting frame 1320 is provided with a first card slot and a second card slot, the first card slot is used to be mounted on the mounting rod 1310, and the second card slot is used to mount the pipeline clamping unit 1330. With the help of the first card slot and the second card slot, the pipeline clamping unit 1330 can be plugged and installed on the mounting rod 1310 for replacement or disinfection. Of course, the pipeline clamping unit 1330 can also be a disposable item and discarded as medical waste after use. In one embodiment, the clamping unit mounting frame 1320 and the mounting rod 1310 are an integrated structure, and the second card slot is directly provided on the mounting rod 1310, and the pipeline clamping unit 1330 is mounted on the mounting rod 1310 through the second card slot. Specifically, the second card slot is a spherical slot, and the spherical protrusion 1332 on the housing 1331 is accommodated in the spherical slot. Optionally, the clamping unit mounting frame 1320 is fixedly mounted on the mounting rod 1310 by screws, and the pipeline clamping unit is detachably mounted on the clamping unit mounting frame 1320 .

[0120] In another specific embodiment, Figures 18 to 20 As shown, the pipeline clamping unit 1330 includes a housing 1331, a fixed axis roller 1341, a movable axis roller 1345, a slider 1346 and an elastic adjustment member 1349. The fixed axis roller 1341 is rotatably mounted in the housing 1331. The movable axis roller 1345 is rotatably mounted on the slider 1346, and the slider 1346 is slidably mounted on the housing 1331. One end of the elastic adjustment member 1349 abuts against the slider 1346, and the other end of the elastic adjustment member abuts against the housing 1331.

[0121] The fixed-axis roller 1341 includes a fixed axis 1342 and a first roller 1343 sleeved on the fixed axis 1342. In one embodiment, the fixed axis 1342 is fixed in the housing 1331, and the first roller 1343 is rotatably sleeved on the fixed axis 1342. In another embodiment, the fixed axis 1342 is rotatably installed in the housing 1331, and the first roller 1343 is fixedly sleeved on the fixed axis 1342. The movable-axis roller 1345 includes a movable axis 1347 and a second roller 1348 sleeved on the movable axis 1347. In one embodiment, the movable axis 1347 is rotatably installed on the slider 1346, and the second roller 1348 is fixedly sleeved on the movable axis 1347. In another embodiment, the movable axis 1347 is inserted and fixed to the slider 1346, and the second roller 1348 is rotatably sleeved on the movable axis 1347. The first roller 1343 and the second roller 1348 are respectively provided with grooves adapted to the outer peripheral size of the endoscope instrument. The first roller 1343 and the second roller 1348 are matched with each other to form a channel for accommodating the endoscope instrument. The elastic adjustment member 1349 is a spring or an elastic rubber pad. One end of the elastic adjustment member 1349 is connected to the inner wall of the housing 1331, and the other end of the elastic adjustment member 1349 is connected to the slider 1346, so as to dynamically adjust the distance between the second roller 1348 and the first roller 1343 to clamp the endoscope instrument pipeline.

[0122] In order to detect the moving length of the instrument pipeline, a detection element 1350 for detecting the number of rotations of the first roller 1343 is provided on the fixed-axis roller 1341, and the stroke of the endoscopic instrument is determined according to the detection result of the detection element 1350. Specifically, the detection element 1350 includes a magnetic sensor installed in the housing 1331 and a magnetic member fixedly installed on the fixed-axis roller 1341. The number of rotations of the first roller 1343 is obtained by the magnetic sensor, and the conveying length of the endoscopic instrument is determined in combination with the size of the first roller 1343. Of course, the detection element 1350 can also be a speed detection element or other detection elements, as long as the conveying length of the endoscopic instrument can be determined.

[0123] In the pipeline clamping unit 1330 provided in this embodiment, the instrument pipeline passes through between the first roller 1343 and the second roller 1348 in the housing 1331 to form a closed structure to reduce external contamination.

[0124] The instrument support seat 1210 is used to support the entire instrument switching device and is used to connect to the trolley. Fig.21 and Fig. 22 As shown, the endoscope instrument switching device 1000 also includes a quick-connect assembly 1222. Fig.23As shown, the quick-connect assembly 1222 includes a base 1221, an unlocking rod 1231, a push rod 1232, a buckle 1233 and a tension spring 1234. The base 1221 is fixedly mounted on the instrument support base 1210. The unlocking rod 1231 is rotatably mounted on the base 1221. One end of the push rod 1232 is rotatably connected to the unlocking rod 1231, and the other end of the push rod 1232 is rotatably connected to the buckle 1233. The buckle 1233 is rotatably mounted on the base 1221, and the tension spring 1234 is installed in the base 1221 and one end is connected to the buckle 1233.

[0125] Specifically, the buckle 1233 includes two buckles, each buckle 1233 includes a connecting portion and a buckle portion, the connecting portion is connected to the buckle portion and forms an obtuse angle. The buckle portion is used to cooperate with the clamping socket 6230. The connection between the buckle portion and the connecting portion serves as the rotation point of the buckle 1233. The tension spring 1234 is connected to the connecting portion of the buckle 1233. Fig.23 As shown, the connecting portion of each buckle 1233 is connected to the top rod 1232 .

[0126] Push the unlocking rod 1231 upwards, and the unlocking rod 1231 pushes the top rod 1232 to move downward. Under the thrust of the top rod 1232, the buckle part of the buckle 1233 shrinks inwards. When the plug of the base 1221 is inserted into the clamping socket 6230, the unlocking rod 1231 is released, and the buckle 1233 is stretched outwards by the tension of the tension spring 1234, thereby clamping with the corresponding clamping hole on the clamping socket 6230.

[0127] In another embodiment, the quick-connect assembly 1222 includes a tension spring 1234 and a buckle 1233, and the unlocking rod 1231 is not provided. The buckle 1233 is retracted into the housing 1331 by means of the plug-in and pull-out force. The tension spring 1234 is installed in the base 1221, and one end of the tension spring 1234 is connected to the buckle 1233. During clamping, when the plug of the base 1221 is inserted into the clamping socket 6230, the buckle 1233 is squeezed and retracted inward. When inserted into place, the buckle 1233 is stretched outward under the action of the tension spring 1234 and is clamped into the clamping hole on the clamping socket 6230. The quick-connect assembly 1222 provided in this embodiment does not need to be provided with the unlocking rod 1231, and can be directly inserted into the clamping socket 6230 during clamping to achieve quick docking. Of course, other structural forms of the quick-connect assembly 1222 can also be used, as long as the base 1221 can be firmly mounted on the first telescopic arm.

[0128] The moving assembly 1240 is used to carry the instrument clamping mechanism 1100 and the pipeline clamping mechanism 1300 and drive them to move horizontally and vertically in a horizontal plane.

[0129] In a specific embodiment, Fig.21As shown, the moving assembly 1240 includes a transverse driving unit 1241, a transverse bearing structure 1242, a roller 1243, a longitudinal driving unit 1244 and a longitudinal bearing structure 1245. The transverse driving unit 1241 is installed on the instrument support seat 1210, and the driving end of the transverse driving unit 1241 is connected to the transverse bearing structure 1242 to drive the transverse bearing structure 1242 to move horizontally left and right. The longitudinal bearing structure 1245, the longitudinal driving unit 1244 and the roller 1243 are all installed on the transverse bearing structure 1242 as longitudinal driving assemblies, and the longitudinal driving assembly moves horizontally with the transverse bearing structure 1242 under the action of the transverse driving unit 1241. The longitudinal bearing structure 1245 moves longitudinally along the sliding track formed by the roller 1243 under the action of the longitudinal driving unit 1244. In this embodiment, the roller 1243 serves as the sliding track of the longitudinal bearing structure 1245 to improve the stability and smoothness of the sliding. The mounting platform 1101 in the instrument clamping mechanism 1100 and the mounting rod 1310 in the pipeline clamping mechanism 1300 are fixed to the longitudinal bearing structure 1245, and the driving end of the longitudinal driving unit 1244 is connected to the longitudinal bearing structure 1245 to drive the longitudinal bearing structure 1245 to move forward and backward longitudinally, thereby driving the instrument clamping mechanism 1100 and the pipeline clamping mechanism 1300 to move forward and backward. Optionally, the longitudinal driving unit 1244 and the transverse driving unit 1241 can be a standard slide, an electric push rod, or a screw nut or a gear rack connected to a rotary drive.

[0130] In another specific embodiment, Fig. 22 As shown, the instrument clamping mechanism 1100 is fixedly mounted on the instrument support seat 1210. The pipeline clamping mechanism 1300 is mounted on the instrument support seat 1210 and can move laterally and longitudinally relative to the instrument support seat 1210. The instrument support seat 1210 is provided with a transverse driving unit 1241, a transverse track 1246, a longitudinal driving unit 1244 and a longitudinal track 1247. Optionally, the transverse driving unit 1241 includes a transverse rotating motor and a gear rack transmission assembly 1249, and the gear rack transmission assembly 1249 includes a transmission gear and a transmission rack. Fig.18 As shown, the transverse rotation motor is fixed to the transverse track 1246, the transmission gear is connected to the output shaft of the transverse rotation motor, the transmission gear is meshed with the transmission rack, and the transmission rack is movably installed on the transverse track 1246. The transmission rack is fixedly connected to the mounting rod 1310. Under the action of the transverse rotation motor, the transmission gear rotates and drives the transmission rack to move laterally, thereby adjusting the position of the pipeline clamping unit 1330, so that the pipeline clamping unit 1330 corresponding to the target pipeline is docked with the endoscope instrument conveying device 2000. The transverse track 1246 is movably installed on the longitudinal track 1247. Specifically, as shown in FIG. Fig.18As shown, the longitudinal track 1247 is provided with a slide bar for guidance. The longitudinal drive unit 1244 is similar to the transverse drive unit 1241. The longitudinal drive unit 1244 is used to drive the transverse track 1246 to move forward and backward along the longitudinal track 1247, thereby driving the pipeline clamping unit 1330 to approach or move away from the endoscope instrument conveying device 2000. Among them, the transverse drive unit 1241 and the longitudinal drive unit 1244 are both installed in the instrument support seat 1210 to achieve concealment.

[0131] In another specific embodiment, Fig.24 As shown, the instrument clamping mechanism 1100 is fixedly mounted on the instrument support seat 1210. The pipeline clamping mechanism 1300 is mounted on the instrument support seat 1210 through the moving assembly 1240 and can move horizontally and vertically relative to the instrument support seat 1210. Fig.19 As shown, the moving assembly 1240 uses a synchronous belt drive assembly 1248 to achieve lateral movement, and a gear rack drive assembly 1249 to achieve longitudinal movement. Specifically, the moving assembly 1240 includes a transverse track 1246, a transverse drive unit 1241, a longitudinal track 1247 and a longitudinal drive unit 1244. The transverse drive unit 1241 includes a synchronous belt and a synchronous belt drive unit connected to the synchronous belt. A sliding block is fixedly installed on the synchronous belt, and the sliding block moves with the synchronous belt. A plurality of pipeline clamping units 1330 are arranged in parallel on the mounting rod 1310, and the mounting rod 1310 is fixed to the sliding block. In order to achieve stable operation of the sliding block, a sliding bar is provided in the transverse track 1246, and the sliding block can be slidably mounted on the sliding bar. The number of sliding bars can be multiple, and the plurality of sliding bars are arranged in parallel. The synchronous belt drive unit is installed on the transverse track 1246 and is used to drive the synchronous belt to rotate, thereby driving the pipeline clamping unit 1330 to move horizontally. The longitudinal drive unit 1244 includes a longitudinal rotation motor and a gear rack transmission assembly 1249, and the gear rack transmission assembly 1249 includes a transmission gear and a transmission rack. The longitudinal rotation motor is fixedly installed on the transverse track 1246, and the motor shaft of the longitudinal rotation motor is connected to the transmission gear, and the transmission gear is meshed with the transmission rack. The longitudinal track 1247 is fixedly installed in the instrument support seat 1210, and the transmission gear is rotatably installed in the transverse track 1246. A sliding rod is also provided in the longitudinal track 1247, and the transverse track 1246 is slidably sleeved on the sliding rod. Under the action of the longitudinal rotation motor, the transmission gear rotates, driving the transverse track 1246 to move forward and backward in the longitudinal direction, so that the pipeline clamping unit 1330 is close to or away from the endoscope instrument conveying device 2000.

[0132] Of course, the moving assembly 1240 may also use a screw nut for lateral and / or longitudinal transmission, which is not specifically limited in this embodiment of the present invention.

[0133] In addition, the endoscopic instrument switching device 1000 also includes an instrument controller, which is respectively communicated with the instrument clamping mechanism 1100, the instrument switching mechanism 1200, the pipeline clamping mechanism 1300, and the endoscopic instrument conveying device 2000 to control the drive within the corresponding mechanism and receive the detection information fed back by the detection element 1350.

[0134] Specifically, before the endoscopic instrument switching device 1000 is put into operation, the operating handles of the endoscopic instruments are clamped onto the instrument clamping unit 1102 one by one, and then the pipelines of the endoscopic instruments are inserted into the corresponding pipeline clamping units 1330, and the instrument controller is started.

[0135] For the target instrument clamped on the instrument clamping unit 1102, the instrument controller first controls the lateral drive unit 1241 to start, driving the pipeline clamping mechanism 1300 to move horizontally, and aligning the axis of the corresponding pipeline clamping unit 1330 with the axis of the guide tube of the endoscope instrument delivery device 2000. Then, the instrument controller controls the longitudinal drive unit 1244 to start, driving the pipeline clamping mechanism 1300 to move longitudinally, until the clamp 1333 of the pipeline clamping unit 1330 hits the guide tube entrance of the endoscope instrument delivery device 2000. At this time, the chuck 1333 is pushed to move toward the inside of the housing 1331, and the elastic reset member 1336 is compressed, and the tail of the claw 1335 leaves the tapered mouth of the housing 1331. At this time, the claw 1335 is only affected by the contraction force of the auxiliary elastic ring 1338, and the pressure on the endoscopic instrument pipeline located in the central through hole 1334 is relatively small. The endoscopic instrument is transported into the matching endoscopic forceps channel by the roller assembly inside the endoscopic instrument delivery device 2000. Based on the information obtained by the detection component in the endoscopic instrument delivery device 2000, when the head end of the endoscopic instrument moves to the preset position of the forceps channel, the driving mechanism in the instrument delivery structure is controlled to stop working, and the entire medical robot is converted to manual mode. The endoscopic instrument is controlled by the matching control platform to slowly extend the forceps channel and perform corresponding operations. After the use of the endoscopic instrument is over, the control platform controls the head end of the endoscopic instrument to retract. When the head end of the endoscopic instrument retracts to the passive unit in the endoscopic instrument conveying device 2000, the instrument controller controls the start of the longitudinal drive unit 1244 based on the trigger signal of the position sensor in the endoscopic instrument conveying device 2000 and the length information fed back by the displacement sensor, thereby driving the pipeline clamping mechanism 1300 to move longitudinally and retract. After reaching the specified position, the transverse drive unit 1241 is controlled to start, thereby driving the pipeline clamping mechanism 1300 to move laterally and retract to the origin.

[0136] If the endoscope instrument needs to be switched, the operation button on the control platform is clicked to trigger the operation signal for switching the instrument. After the longitudinal movement of the aforementioned instrument is completed and returned to the origin, the lateral drive unit 1241 is controlled to directly align the axis of the corresponding pipeline clamping unit 1330 with the axis of the guide tube of the endoscope instrument conveying device 2000, and then the longitudinal drive device is started to repeat the aforementioned action.

[0137] After the operation is completed, the endoscopic instrument is disassembled and discarded, and the pipeline clamping unit 1330 and the conveying mechanism of the endoscopic instrument conveying device 2000 are disassembled and discarded or disinfected.

[0138] Combine the following Figure 24-Figure 32 The structure of an endoscopic instrument delivery device 2000 of the present invention will be described.

[0139] like Figure 24 to Figure 26 As shown, the present invention provides an endoscopic instrument delivery device 2000, which includes a delivery mechanism 2100 and a drive mechanism 2200. Fig.24 and Fig.26 As shown, the transmission mechanism 2100 includes a roller assembly 2120 and a first shell 2140 . The roller assembly 2120 includes a driving wheel 2121 and a driven wheel 2122 . The driving wheel 2121 and the driven wheel 2122 are both installed inside the first shell 2140 .

[0140] like Fig.25 As shown, the driving mechanism 2200 includes a second housing 2250, an advance and retreat driving assembly 2220 and a clutch assembly 2230. The advance and retreat driving assembly 2220 and the clutch assembly 2230 are both mounted on the second housing 2250, and the first housing 2140 and the second housing 2250 are detachably connected. The advance and retreat driving assembly 2220 is connected to the driving wheel 2121 to drive the driving wheel 2121 to rotate, and the clutch assembly 2230 is used to drive the driven wheel 2122 to approach the driving wheel 2121 to transport the endoscopic instrument 100 or to move away from the driving wheel 2121 to separate the roller assembly 2120 and the endoscopic instrument 100.

[0141] like Fig.24As shown, the second housing 2250 includes a cover 2251 and a cover 2252, and the cover 2251 and the cover 2252 are connected together to form a housing for installing the forward and backward drive assembly 2220 and the clutch assembly 2230. The first housing 2140 is installed at one end of the second housing 2250 for easy disassembly. In one embodiment, one of the first housing 2140 and the second housing 2250 is provided with a buckle, and the other is provided with a clamping hole, and the buckle is clamped in the clamping hole, so as to connect the first housing 2140 and the second housing 2250 together. In another embodiment, the first housing 2140 and the second housing 2250 are connected by a locking assembly 2260. When the locking assembly 2260 is in an unlocked state, the first housing 2140 and the second housing 2250 are separated, so as to facilitate the cleaning of the conveying mechanism 2100. When the locking assembly 2260 is in a locked state, the first shell 2140 and the second shell 2250 are limited and fixed together to achieve the connection between the driving mechanism 2200 and the roller assembly 2120.

[0142] The driving wheel 2121 and the driven wheel 2122 are arranged in pairs, and only one pair or multiple pairs may be arranged, which is not specifically limited in the present invention. Fig.26 As shown, the roller assembly 2120 includes two driving wheels 2121 and two driven wheels 2122 .

[0143] When the first housing 2140 is connected to the second housing 2250, the driving end of the forward and backward driving assembly 2220 is connected to the driving wheel 2121 to drive the driving wheel 2121 to rotate, and the clutch assembly 2230 is connected to the driven wheel 2122 to drive the driven wheel 2122 to approach or move away from the driving wheel 2121. Specifically, the endoscopic instrument 100 is inserted into the first housing 2140 and passes between the driving wheel 2121 and the driven wheel 2122. To reduce the passing resistance, when the endoscopic instrument 100 is pushed in or pulled out, the clutch assembly 2230 drives the driven wheel 2122 away from the driving wheel 2121. When the endoscopic instrument 100 enters a specific position in the first housing 2140, the clutch assembly 2230 is controlled to drive the driven wheel 2122 to approach the driving wheel 2121 to clamp the endoscopic instrument 100, so that the endoscopic instrument 100 is transported forward with the movement of the driving wheel 2121 and the driven wheel 2122.

[0144] The endoscopic instrument conveying device 2000 provided by the present invention comprises a conveying mechanism 2100 including a first housing 2140, and a driving mechanism 2200 including a second housing 2250. The first housing 2140 and the second housing 2250 are separately arranged and detachably connected together. When washing and disinfecting, the first housing 2140 is disassembled from the second housing 2250 to facilitate washing and disinfection. In addition, the driving mechanism 2200 comprises a clutch assembly 2230, and the clutch assembly 2230 can drive the driven wheel 2122 to approach or move away from the driving wheel 2121, thereby adjusting the gap between the driving wheel 2121 and the driven wheel 2122, adapting to endoscopic instruments 100 of different sizes, improving versatility, and also adjusting the driven wheel 2122 according to the operation of the endoscopic instrument 100, so as to reduce the resistance when the endoscopic instrument 100 is drawn out or passes through between the driving wheel 2121 and the driven wheel 2122, thereby realizing the automatic entry and exit of the endoscopic instrument 100.

[0145] In a specific embodiment of the present invention, Fig. 27 As shown, the clutch assembly 2230 includes a clutch power unit 2231, a clutch controller 2233, a clutch slider 2232 and a driven shaft 2234. The driven shaft 2234 is connected to the clutch slider 2232, and the driven shaft 2234 passes through the second housing 2250 and is inserted into the driven wheel 2122. The clutch power unit 2231 is connected to the clutch controller 2233, and the output end of the clutch power unit 2231 is connected to the clutch slider 2232.

[0146] like Fig. 27 As shown, the clutch power unit 2231 is connected to the clutch controller 2233. Under the action of the clutch controller 2233, the clutch power unit 2231 outputs power to drive the clutch slider 2232 to move, thereby driving the driven shaft 2234 connected to the clutch slider 2232 to move, and then driving the driven wheel 2122 to move, so that the driven wheel 2122 approaches or moves away from the driving wheel 2121.

[0147] When the endoscope instrument 100 is inserted into the roller assembly 2120 and inserted to the preset position, the clutch controller 2233 controls the driven wheel 2122 to approach the driving wheel 2121 according to the in-position information, so as to clamp the endoscope instrument 100 so as to drive the endoscope instrument 100 to be transported forward under the action of the roller assembly 2120. When the endoscope instrument 100 is withdrawn outward, the clutch controller 2233 controls the driven wheel 2122 to move away from the driving wheel 2121 according to the withdrawal signal, so as to reduce the withdrawal resistance of the endoscope instrument 100.

[0148] Specifically, the clutch power unit 2231 is an electric push rod or a rotary motor connected to a linear motion mechanism through a reduction gearbox. The clutch controller 2233 is a circuit board. A driven shaft 2234 is provided on the clutch slider 2232, and the driven shaft 2234 is inserted in the driven wheel 2122 so that the driven wheel 2122 moves forward and backward with the clutch slider 2232. A first travel switch 2235 and a second travel switch 2236 are provided on the clutch controller 2233. A travel switch trigger 2237 is fixedly connected to the clutch slider 2232. Under the action of the clutch power unit 2231, the travel switch trigger 2237 triggers the first travel switch 2235 or the second travel switch 2236, and the clutch controller 2233 controls the clutch power unit 2231 to stop driving according to the trigger signal, thereby limiting the front and rear limit positions of the clutch slider 2232.

[0149] During use, if Fig. 27 As shown, when the clutch power unit 2231 pushes the clutch slider 2232 to drive the driven wheel 2122 to move in the direction A, the first travel switch 2235 and the second travel switch 2236 are not triggered during the movement, until the travel switch trigger 2237 triggers the first travel switch 2235, the clutch power unit 2231 stops working under the control of the clutch controller 2233, and the clutch controller 2233 controls the clutch power unit 2231 to reverse the positive and negative poles. When the clutch power unit 2231 drives the clutch slider 2232 to move, thereby driving the driven wheel 2122 to move in the opposite direction of the direction A, the first travel switch 2235 and the second travel switch 2236 are not triggered during the movement, until the travel switch trigger 2237 triggers the second travel switch 2236, the clutch power unit 2231 stops working under the control of the clutch controller 2233, and the clutch controller 2233 controls the clutch power unit 2231 to reverse the positive and negative poles. In another optional embodiment, the clutch power unit 2231 directly communicates with the first travel switch 2235 and the second travel switch 2236 , and stops outputting power according to trigger signals of the first travel switch 2235 and the second travel switch 2236 .

[0150] It should be noted that the driven shaft 2234 can be directly fixed to the clutch slider 2232 to move back and forth between the two extreme positions with the clutch slider 2232, or stay at the target position with the clutch slider 2232 under the control of the clutch power unit 2231. For example, the clutch power unit 2231 is provided with a force sensor on the driven shaft 2234, and the clutch power unit 2231 stops driving when the feedback force detected by the force sensor reaches a preset value. In addition, the driven shaft 2234 can also be connected to the clutch slider 2232 through the displacement compensation unit 2240 to adapt to endoscopic instruments 100 of different specifications. Fig.26 and Fig. 27As shown, there are two driven wheels 2122, and two driven shafts 2234 are both installed on the clutch slider 2232. Under the action of the clutch power unit 2231, the two driven wheels 2122 move synchronously.

[0151] In an optional embodiment, a force feedback unit is provided on the clutch slider 2232, and whether the endoscopic instrument 100 enters the transmission mechanism 2100 is determined by detecting the force applied to the clutch slider 2232. The force feedback unit may be a strain gauge or a pressure sensor. Specifically, a plate body parallel to the end face of the clutch slider 2232 is provided on the mounting seat of the clutch power unit 2231. When the endoscopic instrument 100 is inserted, the clutch slider 2232 is subjected to the reverse thrust of the endoscopic instrument 100 on the driven wheel 2122, and a large force is generated between the clutch slider 2232 and the plate body. If the endoscopic instrument 100 is not inserted, there is no obvious force between the clutch slider 2232 and the plate body.

[0152] The endoscopic instrument delivery device 2000 provided in an embodiment of the present invention drives the clutch slider 2232 to move forward and backward by setting a clutch power unit 2231, thereby driving the driven wheel 2122 connected to the clutch slider 2232 to move closer to or away from the driving wheel 2121. While ensuring the smooth delivery of the instrument pipeline, it can also reduce the resistance during the insertion and withdrawal of the instrument pipeline by controlling the movement of the driven wheel 2122.

[0153] Based on the above embodiments, Fig. 27 and Fig.28 As shown, the clutch assembly 2230 also includes a displacement compensation unit 2240, and the displacement compensation unit 2240 includes a first bottom plate 2241, a movable slider 2242 and a second elastic member 2243. The first bottom plate 2241 is fixedly mounted on the clutch slider 2232, and the movable slider 2242 is slidably mounted on the first bottom plate 2241. One end of the second elastic member 2243 is connected to the first bottom plate 2241, and the other end is connected to the movable slider 2242. The driven shaft 2234 is fixed to the movable slider 2242.

[0154] Specifically, the first bottom plate 2241 is an L-shaped plate, one plate of the L-shaped plate is fixed to the clutch slider 2232, and the other plate is used as a baffle to install the second elastic member 2243. Fig.28As shown, the first bottom plate 2241 includes a vertically connected horizontal plate and a vertical plate, a guide rail 2244 is arranged on the horizontal plate, and the vertical plate is used to install the second elastic member 2243. The movable slider 2242 is provided with a slide groove, and the first bottom plate 2241 is provided with a guide rail 2244, and the slide groove is clamped on the guide rail 2244 and can slide along the guide rail 2244. One end of the driven shaft 2234 is fixed to the movable slider 2242, and the other end is connected to the driving wheel 2121. The second elastic member 2243 is a spring or other elastic structural member. One end of the second elastic member 2243 is connected to the movable slider 2242, and the other end is connected to the first bottom plate 2241. Under the action of the clutch drive unit, the first bottom plate 2241 and the clutch slider 2232 move forward and backward together, so that the driven wheel 2122 moves forward and backward.

[0155] Specifically, the cross section of the driven shaft 2234 is hexagonal, and correspondingly, the driving wheel 2121 is provided with a hexagonal hole to cooperate with the driven shaft 2234. Of course, the cross section of the driven shaft 2234 can also be a non-circular shape such as a quadrilateral or pentagon, which is not specifically limited in this embodiment of the present invention.

[0156] When the outer diameter of the endoscopic instrument 100 changes, the gap between the driven wheel 2122 and the driving wheel 2121 needs to be adjusted. The position of the driven wheel 2122 defined by the clutch drive unit under the action of the first travel switch 2235 and the second travel switch 2236 is fixed and cannot adapt to the change in the outer diameter of the instrument pipeline. The travel compensation unit provided in this embodiment adjusts the gap between the driven wheel 2122 and the driving wheel 2121 by means of the telescopic adjustment of the second elastic member 2243, which can not only meet the installation needs of instrument pipelines with different outer diameters, but also prevent the roller assembly 2120 from being too loose or too tight.

[0157] like Fig.29 As shown, the forward and backward driving assembly 2220 includes a forward and backward power unit 2221, a gear set 2222 and a driving shaft 2223. The driving end of the forward and backward power unit 2221 is connected to the input gear of the gear set 2222. The driving shaft 2223 is sleeved with an advance and retreat transmission gear 2224, and the output gear of the gear set 2222 is connected to the advance and retreat transmission gear 2224. The driving shaft 2223 passes through the second housing 2250 and is plugged into the driving wheel 2121. Among them, the extension direction of the driving shaft of the forward and backward power unit 2221 is perpendicular to the axis of the advance and retreat transmission gear 2224.

[0158] Specifically, the advance and retreat power unit 2221 includes a rotary motor and a bevel gear mounted on the motor shaft of the rotary motor. The gear set 2222 includes a transmission rod, a first advance and retreat transmission gear 2224 and a second advance and retreat transmission gear 2224. The first advance and retreat transmission gear 2224 and the second advance and retreat transmission gear 2224 are respectively sleeved and fixed on the opposite ends of the transmission rod. The extension direction of the transmission rod is perpendicular to the extension direction of the motor shaft. The second advance and retreat transmission gear 2224 meshes with the advance and retreat transmission gear 2224. Under the drive of the rotary motor, the first advance and retreat transmission gear 2224 drives the transmission rod to rotate, so that the second advance and retreat transmission gear 2224 drives the advance and retreat transmission gear 2224 to rotate, thereby driving the driving wheel 2121 to rotate.

[0159] like Fig.26 and Fig.29 As shown, there are two driving wheels 2121, and two driving shafts 2223 are correspondingly provided, each driving shaft 2223 is installed with an advance and retreat transmission gear 2224, and each advance and retreat transmission gear 2224 is meshed with the second advance and retreat transmission gear 2224 of the gear set 2222. Under the drive of the advance and retreat power unit 2221, the two driving wheels 2121 move synchronously.

[0160] In the endoscopic instrument delivery device 2000 provided in an embodiment of the present invention, the advance and retreat drive unit is connected to the driving wheel 2121 through a gear set 2222, and the output force direction of the advance and retreat drive unit is changed by the gear set 2222, so that the positions of the advance and retreat power unit 2221 and the gear set 2222 can be arranged conveniently according to needs, so that space utilization is more reasonable and the structure is more compact.

[0161] like Fig.30 and Fig.31 As shown, the endoscopic instrument delivery device 2000 also includes a detection component, which includes a passive unit 2130 and a detection unit. The passive unit 2130 includes an active roller 2131 and a driven roller 2132. The detection unit includes a position sensor and a displacement sensor. The active roller 2131 is rotatably mounted in the first housing 2140, and the driven roller 2132 is accommodated in the first housing 2140 and can move in the first housing 2140. The position sensor is used to generate a trigger signal when the endoscopic instrument is inserted or withdrawn between the active roller and the driven roller, and the displacement sensor is used to detect the length of the endoscopic instrument moving forward or backward.

[0162] Specifically, the position sensor is a touch switch 2212, and the displacement sensor includes a magnetic sensor 2211 and a magnetic member 2133. The magnetic member 2133 is installed on the active roller 2131, and the magnetic sensor 2211 is used to detect the number of rotations of the active roller 2131, and then calculate the forward or backward length of the endoscopic instrument. The touch switch 2212 is used to be triggered by the driven roller 2132 when the endoscopic instrument passes between the active roller 2131 and the driven roller 2132.

[0163] like Fig.31 As shown, the driving roller 2131 and the driven roller 2132 are arranged vertically up and down. The driven roller 2132 is installed in the first housing 2140 and can move in the first housing 2140. When the endoscopic instrument passes between the driving roller 2131 and the driven roller 2132, the driving roller 2131 is driven and the driven roller 2132 is pushed upward, so that the channel between the driving roller 2131 and the driven roller 2132 is opened to ensure that the endoscopic instrument can pass through. When the driven roller 2132 moves upward, the touch switch 2212 is triggered. According to the control signal of the touch switch 2212, the clutch assembly 2230 is controlled to drive the driven wheel 2122 away from the driving wheel 2121 or confirm that the driven wheel 2122 and the driving wheel 2121 are in a state of being away from each other, so as to reduce the resistance of the endoscopic instrument to enter. A magnetic member 2133 is installed on the active roller 2131 , and a magnetic sensor 2211 is installed in the first housing 2140 to detect changes in the magnetic field of the magnetic member 2133 , and determine the travel distance of the endoscope instrument according to the changes in the magnetic field.

[0164] Specifically, Fig.30 As shown, a mounting cavity 2135 is provided in the first housing 2140, and the driving roller 2131 and the driven roller 2132 are both located in the mounting cavity 2135. The width of the mounting cavity 2135 is substantially consistent with the width of the driving roller 2131 and the driven roller 2132, so as to ensure that the driving roller 2131 and the driven roller 2132 can rotate in the mounting cavity 2135. A trigger member 2134 is provided above the driven roller 2132, and the trigger member 2134 can be slidably installed in the mounting cavity 2135. Optionally, the trigger member 2134 is a T-block, and the horizontal plate of the T-block can be slidably inserted in the mounting cavity 2135, and the vertical plate of the T-block extends from the mounting cavity 2135 to trigger the touch switch 2212. When the endoscopic instrument is inserted, the driven roller 2132 moves upward, pushing the trigger member 2134 to move upward to trigger the touch switch 2212. After the endoscope instrument is withdrawn, the driven roller 2132 moves downward, and the trigger block moves away from the touch switch 2212 under the action of gravity.

[0165] The passive units 2130 are all installed in the first housing 2140, and the magnetic member 2133 and the trigger member 2134 are installed in the first housing 2140. The touch switch 2212 and the magnetic sensor 2211 can be arranged in the first housing 2140 or on the second housing 2250.

[0166] Preferably, the touch switch 2212 and the magnetic sensor 2211 are both disposed on the second housing 2250, so that the non-electrical components in the first housing 2140 can be directly disinfected, making disinfection more convenient. Fig.24 As shown, the first housing 2140 is provided with an extension hole 2136, and the trigger end of the trigger member 2134 is arranged corresponding to the extension hole 2136. When the first housing 2140 and the second housing 2250 are docked, the trigger member 2134 extends from the extension hole 2136 and can contact the touch switch 2212 on the second housing 2250.

[0167] It should be noted that the detection unit may also use other forms of position sensors and displacement sensors. For example, the position sensor uses a photoelectric switch, the displacement sensor uses a visual detection unit, and a cursor is set corresponding to the endoscopic instrument. The visual detection unit detects the cursor on the endoscopic instrument to determine the advance and retreat speed and insertion speed of the endoscopic instrument, thereby realizing the detection function.

[0168] It can be understood that the active roller 2131 and the driven roller 2132 are respectively provided with grooves, and the shape of the grooves is adapted to the shape of the endoscope instrument. After the active roller 2131 and the driven roller 2132 cooperate, the two grooves are clamped on the opposite sides of the endoscope instrument to prevent the endoscope instrument from tilting. Optionally, the active roller 2131 and the driven roller 2132 can also be arranged horizontally in the left and right directions, and correspondingly, the arrangement of the detection unit is adjusted accordingly, which will not be described in detail.

[0169] Specifically, Fig.30 and Fig.31 As shown, there are two groups of detection components, and the two groups of detection components are arranged on the front and rear sides of the roller assembly 2120.

[0170] The two groups of detection components are respectively the first detection component and the second detection component. The first detection component and the second detection component have the same structure and both include a manual unit and a detection unit. The first detection component is located at the front end of the roller component 2120, and the second detection component is located at the rear end of the roller component 2120. When the endoscopic instrument enters, the roller component 2120 is controlled to open according to the trigger signal generated by the touch switch 2212 in the first detection component to reduce the resistance of the instrument pipeline entering. When the endoscopic instrument is withdrawn, the roller component 2120 is controlled to open in advance according to the trigger signal generated by the touch switch 2212 in the second detection component to reduce the resistance of the instrument pipeline exiting.

[0171] In the case of only one detection component, the conveying speed of the endoscopic instrument is determined by means of information obtained by the magnetic sensor 2211 in the detection component, and the time required for the endoscopic instrument to pass through the roller assembly 2120 can be determined based on the conveying speed of the endoscopic instrument, or the time required for the endoscopic instrument to pass through a preset position can be determined, and the roller assembly 2120 is controlled to retract to clamp the endoscopic instrument through time. In the case of two detection components, the magnetic sensor 2211 in the first detection component and the magnetic sensor 2211 in the second detection component cooperate with each other to jointly determine the conveying speed of the endoscopic instrument.

[0172] During use, the surface of the endoscopic instrument is often wetted by liquid or contaminated by impurities, which may cause the roller assembly 2120 to slip intermittently. At this time, there is a certain speed difference between the roller assembly 2120 and the detection assembly. The magnetic sensor 2211 in the first detection assembly and the magnetic sensor 2211 in the second detection assembly detect different rotation speeds of the active roller 2131. Therefore, the slipping condition of the roller assembly 2120 can be determined by the speed difference between the two, thereby accurately controlling the endoscopic instrument.

[0173] The endoscopic instrument conveying device 2000 provided in this embodiment monitors the conveying speed and slipping condition of the endoscopic instrument by providing two sets of detection components, thereby facilitating use and operation.

[0174] An endoscopic instrument delivery device 2000 provided in an embodiment of the present invention further includes a delivery docking assembly. Fig.24 As shown, the delivery docking assembly includes a first guide tube 2111 and a docking joint 2112. One end of the first guide tube 2111 is connected to the interior of the first housing 2140, and the other end of the first guide tube 2111 is provided with a concave surface for docking with the endoscope pipeline clamping unit. The docking joint 2112 is cone-shaped, and the small diameter end of the docking joint 2112 is connected to the interior of the first housing 2140, and the large diameter end of the docking joint 2112 is used to dock with the clamp cap of the endoscope.

[0175] like Fig.24 and Fig.26As shown, the roller assembly 2120 is located in the first housing 2140, and the driving shaft 2223 extends from the second housing 2250 into the first housing 2140 to cooperate with the driving wheel 2121. One end of the driving shaft 2223 located in the second housing 2250 is connected to the gear set 2222 in the forward and backward driving assembly 2220. The position of the driving wheel 2121 relative to the first housing 2140 is fixed. One end of the driven shaft 2234 in the second housing 2250 is connected to the moving slider 2242 in the clutch assembly 2230, and the other end of the driven shaft 2234 extends from the second housing 2250 and is inserted into the first housing 2140 to cooperate with the driven wheel 2122. A transmission channel for endoscopic instruments to pass through is formed between the driving wheel 2121 and the driven wheel 2122, and the first guide tube 2111 and the docking joint 2112 are arranged on opposite sides of the first shell 2140, wherein the first guide tube 2111 is connected to one end of the transmission channel, and the docking joint 2112 is connected to the other end of the guide channel.

[0176] The endoscopic instrument delivery device 2000 provided in an embodiment of the present invention also includes a delivery docking assembly, wherein the first guide tube 2111 is docked with the endoscopic instrument switching device 1000, and the docking joint 2112 is docked with the endoscope driving device 3000, so that the endoscopic instrument pipeline can smoothly enter the endoscopic instrument delivery device 2000 from the pipeline clamping unit for forward delivery, and smoothly enter the clamp channel of the endoscope after passing through the endoscopic instrument delivery device 2000.

[0177] In a specific embodiment of the present invention, Fig.32 As shown, the endoscopic instrument delivery device 2000 also includes a locking assembly 2260 installed on the second housing 2250, and the locking assembly 2260 includes a pressing member 2261 and a locking member 2262. The second housing 2250 is provided with a receiving groove, and the first housing 2140 is inserted into the receiving groove. The pressing member 2261 and the locking member 2262 are slidably installed on the second housing 2250. The first housing 2140 is provided with a locking groove, and when the pressing member 2261 is in a natural state, the locking member 2262 is inserted into the locking groove. When the pressing member 2261 is in a pressed state, the locking member 2262 is retracted into the second housing 2250.

[0178] In the endoscopic instrument delivery device 2000 provided in the embodiment of the present invention, a receiving groove is provided on the second housing 2250, the first housing 2140 is inserted into the receiving groove, the circumference of the first housing 2140 is limited by the groove wall of the receiving groove, the locking assembly 2260 is installed on the second housing 2250, and the locking member 2262 in the locking assembly 2260 is inserted into the locking groove to limit the relative movement of the first housing 2140 and the second housing 2250, so as to achieve the relative fixation of the first housing 2140 and the second housing 2250. During use, the endoscopic instrument passes through the first housing 2140, and after use, the pressing member 2261 is pushed to retract the locking member 2262, so that the first housing 2140 can be removed from the second housing 2250, so as to perform decontamination on the first housing 2140, which improves the decontamination efficiency compared with the traditional delivery device.

[0179] Specifically, the second housing 2250 is provided with a first slot and a second slot, the pressing member 2261 can be slidably mounted on the first slot, and the locking member 2262 can be slidably mounted on the second slot. A third elastic member 2267 is mounted on the end of the pressing member 2261, and a fourth elastic member 2268 is mounted on the end of the locking member 2262. The pressing member 2261 is provided with a strip hole 2263 and an adjustment column 2265, the first slot is provided with a limiting column 2264, the locking member 2262 is provided with an adjustment hole 2266, the limiting column 2264 is inserted in the strip hole 2263, and the limiting column 2264 is inserted in the adjustment hole 2266.

[0180] like Fig.32 As shown, the extension direction of the first slot body is perpendicular to that of the second slot body. A limiting column 2264 is provided at the bottom of the slot of the first slot body, and a strip groove is provided on the pressing member 2261. The cooperation between the limiting column 2264 and the strip groove limits the movement range of the pressing member 2261 relative to the second shell 2250. The locking member 2262 is provided with a triangular adjustment hole 2266, and an adjustment column 2265 is convexly provided on the pressing member 2261, and the adjustment column 2265 is inserted into the adjustment hole 2266. A third elastic member 2267 is provided at the end of the pressing member 2261, and the third elastic member 2267 is located in the first slot body. A fourth elastic member 2268 is provided at the end of the locking member 2262, and the fourth elastic member 2268 is located in the second slot body. Optionally, the third elastic member 2267 and the fourth elastic member 2268 are springs or other structural members with elasticity. Optionally, the adjustment hole 2266 is a waist-shaped hole inclined to the moving direction of the locking member 2262, as long as the adjustment hole 2266 has an inclined surface so that the adjustment column 2265 can push the locking member 2262 to move inward along the inclined surface when the pressing member 2261 moves.

[0181] When the pressing member 2261 is pushed inward, the third elastic member 2267 is compressed, and the adjusting column 2265 on the pressing member 2261 moves along the bevel of the adjusting hole 2266, driving the locking member 2262 to move into the second slot body, compressing the fourth elastic member 2268. At this time, the end of the locking member 2262 is retracted into the second slot body, making it convenient to insert the first shell 2140 into the receiving slot. When the first shell 2140 is placed in place, the pressing member 2261 is released, and the third elastic member 2267 rebounds, pushing the pressing member 2261 to move outward from the first slot body, and at the same time, the fourth elastic member 2268 rebounds and pushes the locking member 2262 to move outward and be clamped in the locking slot on the first shell 2140, thereby limiting the relative position between the second shell 2250 and the first shell 2140.

[0182] In addition, if Fig.24 As shown, the first housing 2140 is provided with a driving wheel jack and a driven wheel jack, the driving wheel jack is a circular hole, and the driven wheel jack is a bar-shaped through hole. Similarly, the second housing 2250 is provided with a circular hole corresponding to the driving shaft 2223 so that the driving shaft 2223 can pass through the second housing 2250; the second housing 2250 is provided with a bar-shaped through hole corresponding to the driven shaft 2234 so that the driven shaft 2234 can move along the length direction of the bar-shaped through hole. The driving shaft 2223 and the driven shaft 2234 are both arranged in the second housing 2250 and pass through the second housing 2250. When the first housing 2140 and the second housing 2250 are docked, the driving shaft 2223 is inserted in the driving wheel 2121, and the driven shaft 2234 is inserted in the driven wheel 2122. In order to facilitate the transmission of power, the end faces of the driving shaft 2223 and the driven shaft 2234 are both non-circular.

[0183] Combine the following Figure 33-Figure 42 The specific structure of the endoscope driving device 3000 of the present invention will be described.

[0184] like Fig.33 and Fig.34 As shown, the present invention provides an endoscope driving device 3000, which includes a support seat 3100, a door 3200, a rotating cabin 3300, a rotating driving mechanism 3400, a clutch mechanism 3500 and a bending driving mechanism 3600. The rotating driving mechanism 3400 is installed on the rotating cabin 3300, and the rotating cabin 3300 is installed on the support seat 3100 and can rotate relative to the support seat 3100 under the action of the rotating driving mechanism 3400. The rotating cabin 3300 is provided with a groove 3310 for placing an endoscope, and the bending driving mechanism 3600 is installed on the clutch mechanism 3500, and the clutch mechanism 3500 is installed on the rotating cabin 3300. Under the action of the clutch mechanism 3500, the output shaft of the bending driving mechanism 3600 is coupled or decoupled with the endoscope in the groove 3310. The door 3200 is installed on the support seat 3100, and is used to close the notch of the groove 3310 or open the groove 3310 to place the endoscope.

[0185] The support base 3100 is used to provide support for the entire endoscope driving device 3000. Specifically, Fig.33 As shown, the support seat 3100 includes a second base plate 3101, a first support plate 3102 and a second support plate 3103, and the first support plate 3102 and the second support plate 3103 are arranged on opposite sides of the second base plate 3101. The first support plate 3102 is provided with a first support surface 3110 in an arc shape, and the second support plate 3103 is provided with a second support surface 3120 in an arc shape. The rotating cabin 3300 is cylindrical, and its outer wall contacts the first support surface 3110 and the second support surface 3120, and can rotate around the first support surface 3110 and the second support surface 3120. The first support surface 3110 and the second support surface 3120 are both provided with notches, and the notches correspond to the notches of the groove 3310 so as to place the endoscope. It should be noted that the first support plate 3102 and the second support plate 3103 have a certain thickness to ensure that the first support surface 3110 and the second support surface 3120 arranged thereon can provide strong support for the rotating cabin 3300.

[0186] The rotating chamber 3300 includes an outer shell and an inner shell, and the outer shell and the inner shell are detachably connected. Specifically, the inner shell is provided with a groove 3310, and the groove 3310 is used to receive the endoscope, and the shape of the groove 3310 is consistent with the shape of the endoscope. Figure 33 to Figure 35 As shown, the groove 3310 is U-shaped. The outer shell is arranged outside the inner shell, and is used to hide the rotation drive mechanism 3400, the clutch mechanism 3500 and the bending drive mechanism 3600. The clutch mechanism 3500 and the bending drive mechanism 3600 are both installed in the rotating cabin 3300. When the rotating cabin 3300 rotates, the clutch mechanism 3500 and the bending drive mechanism 3600 rotate together with the rotating cabin 3300.

[0187] The cabin door 3200 may be a manual sliding door or an electric sliding door structure or other opening and closing door structure, as long as the rotating cabin 3300 can be opened and closed.

[0188] When in use, the endoscope is placed in the groove 3310, and the clutch mechanism 3500 drives the bending drive mechanism 3600 to couple with the endoscope, thereby limiting the position of the endoscope in the groove 3310, and transmitting the output power of the bending drive mechanism 3600 to the endoscope to achieve the bending operation of the endoscope. When it is necessary to rotate the endoscope, the rotation drive mechanism 3400 operates to drive the rotating cabin 3300 to rotate relative to the support seat 3100, thereby driving the endoscope to rotate. After the operation is completed, the clutch mechanism 3500 drives the bending drive mechanism 3600 to disengage from the endoscope, releases the position limit of the endoscope, and removes the endoscope from the groove 3310. The entire operation of disassembling and assembling the endoscope is relatively convenient, and the user's physical burden is reduced by the electric control mechanisms such as the rotation drive mechanism 3400, the clutch mechanism 3500 and the bending drive mechanism 3600. In addition, only the support base 3100, the rotating cabin 3300 and the cabin door 3200 are exposed, and the appearance is smooth, which can reduce the burden of washing and disinfection of the endoscope.

[0189] The endoscope drive device 3000 provided by the embodiment of the present invention has a rotating cabin 3300 provided with a groove 3310 for placing the endoscope. Under the action of the clutch mechanism 3500, the output shaft of the bending drive mechanism 3600 can be coupled with the endoscope in the groove 3310 to limit the position of the endoscope in the groove 3310 and realize the power transmission of the bending action, so as to realize the bending operation of the endoscope. The rotating cabin 3300 can rotate under the action of the rotating drive mechanism 3400, so as to drive the endoscope to rotate accordingly, and realize the rotation operation of the endoscope. The rotation and bending of the endoscope can be realized with the help of a mechanical structure, and the structure is simple. The endoscope can be placed in the groove 3310 to dock with the endoscope drive device 3000, and relative sealing can be achieved through the cabin door 3200, which can fully reduce the contamination of the endoscope and reduce the cleaning work.

[0190] Based on the above embodiments, Fig.35 and Fig.36 As shown, the rotation drive mechanism 3400 includes a first rotation drive unit 3410 and a rotation transmission assembly, and the first rotation drive unit 3410 is fixedly installed in the rotation chamber 3300. In a specific embodiment, the support seat 3100 is provided with an inner tooth surface 3130. Fig.36 As shown, the rotary transmission assembly includes a first gear 3411, a second gear 3412 and a third gear 3413. The first gear 3411 is sleeved and fixed to the output shaft of the first rotary drive unit 3410. The second gear 3412 and the third gear 3413 are both installed in the rotary chamber 3300. The first gear 3411 is meshed with the second gear 3412, and the second gear 3412 is meshed with the third gear 3413. The support seat 3100 is provided with an inner tooth surface 3130, and the first gear 3411 and the third gear 3413 are both meshed with the inner tooth surface 3130.

[0191] Among them, Fig.36 As shown, the first gear 3411, the second gear 3412 and the third gear 3413 are arranged along the circumference of the rotating chamber 3300. The first support plate 3102 is provided with a smooth first support surface 3110 and an inner tooth surface 3130 with inner teeth. The first support surface 3110 is used to rotate with the rotating chamber 3300, and the inner tooth surface 3130 is used to transmit the output power of the rotating transmission assembly. The first gear 3411 and the third gear 3413 are both meshed with the inner tooth surface 3130, and the second gear 3412 does not contact the inner tooth surface 3130. By setting the second gear 3412, it is ensured that the first gear 3411 and the third gear 3413 have the same direction of rotation, and at the same time, it is ensured that at least one of the first gear 3411 and the third gear 3413 is meshed with the inner teeth on the inner tooth surface 3130 when passing through the gap of the first support surface 3110, so as to continuously provide power for the rotation of the rotating chamber 3300.

[0192] In another specific embodiment, the rotary transmission assembly includes a friction wheel, and the first support plate 3102 is provided with a smooth first support surface 3110 and a friction surface for cooperating with the friction wheel. The friction wheel is drivingly connected to the first rotary drive unit 3410 and abuts against the friction surface. The rolling body 3420 arranged circumferentially on the first end surface 3341 abuts against the first support surface 3110. Driven by the first rotary drive unit 3410, the friction wheel rotates circumferentially along the friction surface, driving the rotary cabin 3300 to rotate. It can be understood that multiple friction wheels can be provided, and multiple friction wheels ensure that there is still at least one friction wheel cooperating with the friction surface at the notch to provide continuous rotational power.

[0193] In another specific embodiment, the rotary transmission assembly includes a first sprocket, a second sprocket, a third sprocket, a fourth sprocket and a chain, the first sprocket and the third sprocket are both sleeved on the output end of the first rotary drive unit 3410 and connected, and the first sprocket and the second sprocket are connected by a chain. The third sprocket and the fourth sprocket are coaxially arranged, and the fourth sprocket and the first sprocket are respectively engaged with the tooth grooves arranged on the first support plate 3102. Under the action of the first rotary drive unit 3410, the first sprocket rotates, and the fourth sprocket is driven to rotate by the chain, and the rotation of the rotary cabin 3300 can also be realized. Similarly, the rotary transmission assembly can also be driven by a synchronous belt and a synchronous pulley, and the specific structure is similar to that of the sprocket chain, which will not be repeated.

[0194] like Fig.37 As shown, the support seat 3100 is provided with a first support surface 3110 and a second support surface 3120. Fig.35 As shown, the rotating chamber 3300 has a first end surface 3341 and a second end surface 3342, and rolling bodies 3420 are respectively arranged along the circumference of the first end surface 3341 and the second end surface 3342. Fig.34As shown, the rolling bodies 3420 circumferentially arranged on the first end surface 3341 abut against the first supporting surface 3110 , and the rolling bodies 3420 circumferentially arranged on the second end surface 3342 abut against the second supporting surface 3120 .

[0195] When the rotating chamber 3300 rotates relative to the support seat 3100 under the action of the rotation driving mechanism 3400, the rolling body 3420 rotates and moves along the first supporting surface 3110 and the second supporting surface 3120, so that the rotation of the rotating chamber 3300 is more stable and smooth.

[0196] It should be noted that the number of rolling elements 3420 in meshing state at any time is at least 3. Fig.38 As shown, when the rolling body 3420 moves to the gap between the first supporting surface 3110 and the second supporting surface 3120 , the number of the rolling bodies 3420 in the meshing state is still not less than 3, thereby providing stable support for the rotation of the rotating cabin 3300 .

[0197] like Fig.39 and Fig.40 As shown, the clutch mechanism 3500 includes a linear drive 3510, a first connecting rod 3511, a second connecting rod 3512, a first connecting plate 3513 and a second connecting plate 3514. The first end of the first connecting rod 3511 and the first end of the second connecting rod 3512 are both rotatably connected to the output end of the linear drive 3510. The second end of the first connecting rod 3511 is rotatably connected to the first connecting plate 3513, and the second end of the second connecting rod 3512 is rotatably connected to the second connecting plate 3514. The first connecting plate 3513 and the second connecting plate 3514 can both be slidably installed in the rotating cabin 3300. The first bending drive mechanism 3610 is installed on the first connecting plate 3513, and the second bending drive mechanism 3620 is installed on the second connecting plate 3514. The bending drive mechanism 3600 includes a first bending drive mechanism 3610 and a second bending drive mechanism 3620. The first bending drive mechanism 3610 is installed on the first connecting plate 3513, and the second bending drive mechanism 3620 is installed on the second connecting plate 3514. Fig.41 As shown, the first bending drive mechanism 3610 and the second bending drive mechanism 3620 are disposed on the left and right sides of the groove 3310 .

[0198] like Fig.39 and Fig.40As shown, the rotating cabin 3300 is provided with a first guide rail 3321 and a second guide rail 3322, and the opposite ends of the first connecting plate 3513 are respectively slidably connected to the first guide rail 3321 and the second guide rail 3322, and the opposite ends of the second connecting plate 3514 are respectively slidably connected to the first guide rail 3321 and the second guide rail 3322. The first guide rail 3321 and the second guide rail 3322 make the sliding of the first connecting plate 3513 and the second connecting plate 3514 more stable. Under the action of the linear drive 3510, the first connecting rod 3511 and the second connecting rod 3512 drive the first connecting plate 3513 and the second connecting rod 3512 to move closer to or away from each other, thereby driving the first bending drive mechanism 3610 and the second bending drive mechanism 3620 to couple or decouple with the endoscope in the groove 3310.

[0199] Specifically, Fig.39 As shown, the linear drive 3510 is a linear motor, and the motor shaft of the linear motor is connected to the first end of the first connecting rod 3511 and the first end of the second connecting rod 3512 through an adapter. In an optional embodiment, the first connecting rod 3511 and the second connecting rod 3512 are Y-shaped. When the linear drive 3510 is driven downward, the first connecting rod 3511 and the second connecting rod 3512 move to both sides, pushing the first connecting plate 3513 and the second connecting plate 3514 to open outward. When the linear drive 3510 is driven upward, the first connecting rod 3511 and the second connecting rod 3512 retract inward, driving the first connecting plate 3513 and the second connecting plate 3514 to move inward. In another optional embodiment, as Fig.40 As shown, the first connecting rod 3511 and the second connecting rod 3512 are in an inverted "U" shape. At this time, when the linear drive 3510 is driven upward, the first connecting rod 3511 and the second connecting rod 3512 move to both sides, and the first connecting plate 3513 and the second connecting plate 3514 are opened outward. When the linear drive 3510 is driven downward, the first connecting rod 3511 and the second connecting rod 3512 are retracted inward, driving the first connecting plate 3513 and the second connecting plate 3514 to move inward.

[0200] like Fig.34 and Fig.41 As shown, the clutch drive further includes a manual clutch operating member 3520, and the manual clutch operating member 3520 is connected to the linear drive 3510. When the manual clutch operating member 3520 is pressed or rotated, the linear drive 3510 moves by means of the mechanical cooperation between the manual clutch operating member 3520 and the linear drive 3510, thereby driving the first connecting plate 3513 and the second connecting plate 3514 to move closer to or farther from each other.

[0201] Normally, the automatic operation of the clutch drive can be realized by controlling the linear drive 3510 through the controller. In the event that the linear drive 3510 fails, the linear drive 3510 can be driven to move up and down by pressing or rotating the manual clutch operating member 3520. Fig.34 and Fig.41 As shown, the manual clutch operating member 3520 is arranged on the first end surface 3341, and an external thread is provided at the end of the manual clutch operating member 3520 to facilitate screwing.

[0202] The endoscope driving device 3000 provided in the embodiment of the present invention is provided with a manual clutch operating member 3520, thereby providing two operating modes, electric and manual, for adjusting the clutch drive to meet the application requirements in different scenarios.

[0203] Specifically, the first bending driving mechanism 3610 includes a first bending transmission assembly, a first bending power unit and a first transmission pin 3613. The first bending power unit is connected to the first transmission pin 3613 through the first bending transmission assembly. Fig.41 As shown, the first transmission pin 3613 can be rotatably mounted on the first connecting plate 3513 of the clutch mechanism 3500. Fig.35 As shown, the groove wall of the groove 3310 is provided with a first through hole 3311, and the first transmission pin 3613 is inserted in the first through hole 3311. Under the action of the clutch mechanism 3500, the first transmission pin 3613 can pass through the first through hole 3311 to couple with the endoscope to achieve power transmission or move away from the groove 3310 to release the coupling with the endoscope.

[0204] Optionally, the first bending drive mechanism 3610 includes a bending power unit and a transmission pin, wherein the bending power unit is a rotation drive, such as a rotary motor. The bending power unit is fixedly mounted on the first connecting plate 3513, and the output shaft of the bending power unit is connected to the transmission pin to drive the transmission pin to rotate.

[0205] The first bending drive mechanism 3610 provided in the embodiment of the present invention drives the first transmission pin 3613 to rotate under the action of the first bending power unit, thereby driving the endoscope to perform a back-and-forth bending action in a first direction.

[0206] In an alternative embodiment, if Fig.41 As shown, the first bending transmission assembly includes a first bevel gear 3614 and a second bevel gear 3615. The first bevel gear 3614 is sleeved and fixed on the output shaft of the first bending power unit. The first bending power unit is installed on the first connecting plate 3513, and the first bevel gear 3614 is meshed with the second bevel gear 3615. The second bevel gear 3615 is sleeved and fixed on the first transmission pin 3613, and the first transmission pin 3613 is rotatably installed on the first connecting plate 3513.

[0207] The output shaft of the first bending power unit extends along the length direction of the groove 3310, and the first transmission pin 3613 extends along the width direction of the groove 3310, and the output direction of the power is adjusted by the cooperation of the first bevel gear 3614 and the second bevel gear 3615. Optionally, the first bending power unit is a rotary motor or other driving component that realizes rotation.

[0208] like Fig.41 As shown, the first bending power unit includes a first mounting seat 3612 with a certain disturbance and a first bending motor 3611 fixed on the first mounting seat 3612. The output end of the first bending motor 3611 is connected to the first bevel gear 3614, and a first force detector is provided on the first mounting seat 3612. The first bending motor 3611 drives the first bevel gear 3614 to rotate, and then drives the endoscope to perform a bending action in the first direction through the first transmission pin 3613. At this time, the first force detector can detect the torque applied to the first mounting seat 3612.

[0209] like Fig.41 As shown, the first bending transmission mechanism further includes a third bevel gear 3616, which is meshed with the second bevel gear 3615 and rotatably installed in the rotating chamber 3300. The third bevel gear 3616 and the first bevel gear 3614 are arranged along the length direction of the groove 3310 and are located on opposite sides of the first transmission pin 3613.

[0210] Specifically, the third bevel gear 3616 is rotatably mounted on the first gear seat, and the first gear seat is fixedly mounted on the first connecting plate 3513. Fig.41 As shown, a first force detection sensor 3617 is provided on the third bevel gear 3616 to detect the rotation angle of the third bevel gear 3616. For example, the first force detection sensor 3617 includes a first magnet and a first magnetic sensor, the first magnet is fixedly mounted on the third bevel gear 3616, and the first magnetic sensor is mounted on the first gear seat to detect the rotation angle of the third bevel gear 3616. Of course, the first force detection sensor 3617 can also use a gyroscope or other angle detection elements, which is not specifically limited in this embodiment of the present invention.

[0211] The first bending transmission mechanism provided in the embodiment of the present invention provides an installation position for the first force detection sensor 3617 by means of the third bevel gear 3616. At the same time, the first bevel gear 3614 and the third bevel gear 3616 are both engaged with the second bevel gear 3615, thereby balancing the force on the second bevel gear 3615 and improving the smoothness of transmission.

[0212] In addition, the first bending transmission mechanism further includes a fifth elastic member 3618, and the fifth elastic member 3618 is sleeved on the first transmission pin 3613. Fig.41As shown, one end of the fifth elastic member 3618 abuts against the housing, and the other end abuts against the end surface of the second bevel gear 3615 .

[0213] Optionally, the fifth elastic member 3618 is a spring. When the first transmission pin 3613 is inserted into the first through hole 3311 or withdrawn from the first through hole 3311 under the action of the clutch mechanism 3500, the fifth elastic member 3618 is used to provide a buffer force. In addition, during the process of the first transmission pin 3613 being inserted into the first through hole 3311, the fifth elastic member 3618 is also used to cooperate with the clutch mechanism 3500 to make the first transmission pin 3613 inserted into the endoscope placed in the groove 3310.

[0214] Specifically, Fig.41 As shown, the second bending drive mechanism 3620 includes a second bending transmission assembly, a second bending power unit and a second transmission pin 3623. The second bending power unit is connected to the second transmission pin 3623 through the second bending transmission assembly. The second transmission pin 3623 can be rotatably mounted on the rotating cabin 3300. Fig.35 As shown, the other side wall of the groove 3310 is provided with a second through hole 3312, and the second transmission pin 3623 can be inserted into the second through hole 3312 under the action of the clutch mechanism 3500 so as to couple with the endoscope to realize power transmission.

[0215] The second bending drive mechanism 3620 provided in the embodiment of the present invention drives the second transmission pin 3623 to rotate under the action of the second bending power unit, thereby driving the endoscope to perform a back-and-forth bending action in the second direction.

[0216] In a specific embodiment of the present invention, Fig.41 As shown, the second bending transmission assembly includes a fourth bevel gear 3624 and a fifth bevel gear 3625. The fourth bevel gear 3624 is sleeved and fixed on the output shaft of the second bending power unit. The second bending power unit is installed on the second connecting plate 3514, and the fourth bevel gear 3624 is meshed with the fifth bevel gear 3625. The fifth bevel gear 3625 is sleeved and fixed on the second transmission pin 3623, and the second transmission pin 3623 is rotatably installed on the second connecting plate 3514.

[0217] The output shaft of the second bending power unit extends along the length direction of the groove 3310, and the second transmission pin 3623 extends along the width direction of the groove 3310, and the output direction of the power is adjusted by the cooperation of the fourth bevel gear 3624 and the fifth bevel gear 3625. Optionally, the second bending power unit is a rotary motor or other driving component that realizes rotation.

[0218] like Fig.41As shown, the second bending power unit includes a second mounting seat 3622 with a certain disturbance and a second bending motor 3621 fixed on the second mounting seat 3622. The output end of the second bending motor 3621 is connected to the fourth bevel gear 3624, and a second force detector is provided on the second mounting seat 3622. The second bending motor 3621 drives the fourth bevel gear 3624 to rotate, and then drives the endoscope to perform a bending action in the second direction through the second transmission pin 3623. At this time, the second force detector can detect the torque applied to the second mounting seat 3622.

[0219] like Fig.41 As shown, the second bending transmission mechanism further includes a sixth bevel gear 3626, which is meshed with the fifth bevel gear 3625 and rotatably installed in the rotating chamber 3300. The sixth bevel gear 3626 and the fourth bevel gear 3624 are arranged along the length direction of the groove 3310 and are located on opposite sides of the second transmission pin 3623.

[0220] Specifically, the sixth bevel gear 3626 is rotatably mounted on the second gear seat, and the second gear seat is fixedly mounted on the second connecting plate 3514. Fig.41 As shown, a second force detection sensor 3627 is provided on the sixth bevel gear 3626 to detect the rotation angle of the sixth bevel gear 3626. For example, the second force detection sensor 3627 includes a second magnet and a second magnetic sensor, the second magnet is fixedly mounted on the sixth bevel gear 3626, and the second magnetic sensor is mounted on the second gear seat to detect the rotation angle of the sixth bevel gear 3626. Of course, the second force detection sensor 3627 can also use a gyroscope or other angle detection elements, which is not specifically limited in this embodiment of the present invention.

[0221] The second bending transmission mechanism provided in the embodiment of the present invention provides an installation position for the second force detection sensor 3627 with the help of the sixth bevel gear 3626. At the same time, the fourth bevel gear 3624 and the sixth bevel gear 3626 are both engaged with the fifth bevel gear 3625, which can balance the force on the fifth bevel gear 3625 and improve the smoothness of transmission.

[0222] In addition, the second bending transmission mechanism further includes a sixth elastic member 3628, and the sixth elastic member 3628 is sleeved on the second transmission pin 3623. Fig.41 As shown, one end of the sixth elastic member 3628 abuts against the housing, and the other end abuts against the end surface of the fifth bevel gear 3625 .

[0223] Optionally, the sixth elastic member 3628 is a spring. When the second transmission pin 3623 is inserted into the second through hole 3312 or withdrawn from the second through hole 3312 under the action of the clutch mechanism 3500, the sixth elastic member 3628 is used to provide a buffer force. In addition, when the second transmission pin 3623 passes through the second through hole 3312 and is inserted into the endoscope, the sixth elastic member 3628 is also used to cooperate with the clutch mechanism 3500 to firmly insert the second transmission pin 3623 into the endoscope placed in the groove 3310.

[0224] Under the action of the clutch drive, the first connecting plate 3513 and the second connecting plate 3514 are brought closer to each other, and at the same time, the first transmission pin 3613 is driven to pass through the first through hole 3311 and inserted into the left side of the endoscope, and the second transmission pin 3623 is driven to pass through the second through hole 3312 and inserted into the right side of the endoscope, so that the first transmission pin 3613 and the second transmission pin 3623 are coupled with the endoscope. At this time, under the action of the first bending power unit, the first bevel gear 3614 drives the second bevel gear 3615 to rotate, thereby driving the first transmission pin 3613 to rotate, and driving the endoscope to bend along the first direction. Under the action of the second bending power unit, the fourth bevel gear 3624 drives the fifth bevel gear 3625 to rotate, thereby driving the second transmission pin 3623 to rotate, and driving the endoscope to bend along the second direction.

[0225] When the endoscope is taken out from the groove 3310, under the action of the clutch drive, the first connecting plate 3513 and the second connecting plate 3514 move away from each other, driving the first transmission pin 3613 to withdraw from the groove 3310 to disengage from the left side of the endoscope, and driving the second transmission pin 3623 to withdraw from the groove 3310 to disengage from the right side of the endoscope.

[0226] Specifically, Fig.37 As shown, the endoscope driving device 3000 further includes a hatch driving mechanism 3210, and a driving end of the hatch driving mechanism 3210 is connected to the hatch 3200. The hatch 3200 is slidably mounted on the first support plate 3102 and the second support plate 3103.

[0227] In an optional embodiment, if Fig.37As shown, the door drive mechanism 3210 includes a door drive unit 3211, a door transmission gear set 3212 and a rack 3213. The rack 3213 is arc-shaped and fits the arc-shaped wall of the support seat 3100. The output gear of the door transmission gear set 3212 is meshed with the rack 3213, and one end of the rack 3213 is connected to the door 3200. The input gear of the door transmission gear set 3212 is connected to the door drive unit 3211. The door drive unit 3211 is a rotary motor. Among them, the door drive mechanism 3210 also includes a rotation angle detection element 3220 for detecting the opening and closing angle of the door 3200, and the door drive unit 3211 is connected to the rotation angle detection element 3220 so as to stop working when a preset angle is reached. For example, the rotation angle detection element 3220 includes a circuit board 3221 with a magnetic encoder mounted on the second bottom plate 3101 and a magnet 3222 disposed on any gear of the door transmission gear set 3212. The rotation angle of the magnet 3222 is detected by the circuit board 3221, and the opening and closing angle of the door 3200 is determined to control the movement of the door 3200. When the control board is driven by the door driving unit 3211, the door transmission gear set 3212 drives the rack 3213 to slide along the arc-shaped arm of the support base 3100, and then drives the door 3200 to slide along the support base 3100, so as to realize the opening and closing of the door 3200.

[0228] In another optional embodiment, the door driving mechanism 3210 includes a door driving unit 3211 and a pulling rope. One end of the pulling rope is connected to the door 3200, and the other end is connected to the output shaft of the door driving unit 3211. Under the drive of the door driving unit 3211, the pulling rope drives the door 3200 to slide relative to the support base 3100.

[0229] like Fig.34 As shown, a clutch switch 3530 is provided on the first end surface 3341 of the rotating cabin 3300 . The clutch switch 3530 is used to trigger the clutch drive operation and trigger the switch of the cabin door 3200 when pressed.

[0230] Specifically, after the endoscope is placed in the groove 3310, the clutch switch 3530 is pressed, the hatch 3200 starts to close, the clutch drive is started, and the first bending drive mechanism 3610 and the second bending drive mechanism 3620 are driven to move closer to each other and couple with the two sides of the endoscope respectively. After the operation is completed, the clutch switch 3530 is pressed again, the hatch 3200 is opened, the clutch drive is started, and the first bending drive mechanism 3610 and the second bending drive mechanism 3620 are driven to move away from each other and decouple from the two sides of the endoscope respectively.

[0231] In addition, a position detection element is provided at the bottom of the groove 3310 to detect whether an endoscope is placed in the groove 3310.

[0232] like Fig.33 and Fig.42 As shown, an optoelectronic communication interface 3330 is provided on the second end surface 3342 of the rotating cabin 3300 for installing an optoelectronic connector.

[0233] Specifically, after the endoscope is placed in the groove 3310, it communicates with the outside through the optoelectronic connector installed at the optoelectronic communication interface 3330. Optionally, an optoelectronic connector locking mechanism is provided at the optoelectronic communication interface 3330, and the optoelectronic connector is detachably installed on the optoelectronic communication interface 3330 through the optoelectronic connector locking mechanism. Optionally, the optoelectronic connector locking mechanism is an elastic buckle mechanism or an electrically driven locking mechanism. For example, the optoelectronic connector locking mechanism is provided with an unlocking button, and when the unlocking button is triggered, the optoelectronic connector locking mechanism is unlocked.

[0234] like Fig.35 and Fig.42 As shown, the endoscope is prevented from contacting the optoelectronic communication port on the endoscope with the bottom of the groove 3310 after being placed in the groove 3310, and is electrically connected to the optoelectronic communication interface 3330 through the interface arranged at the bottom of the groove 3310, so that the optoelectronic communication line is routed from the inside of the rotating cabin 3300, separating the water and gas pipelines of the endoscope from the optoelectronic communication line, thereby avoiding cross infection or short circuit caused by floor leakage.

[0235] Combine the following Figure 43-Figure 52 An endoscopic delivery device 5000 of the present invention is described.

[0236] The present invention provides an endoscope conveying device 5000 for driving an endoscope to perform axial movement and rotation operations. Fig.43 and Fig.44 As shown, the endoscope delivery device 5000 includes a first drive mechanism 5100, a delivery mechanism 5200 and a first support seat 5300. The first drive mechanism 5100 includes a rotating shell 5110, a rotating drive assembly and a delivery drive assembly. The rotating shell 5110 can be rotatably mounted on the first support seat 5300 under the action of the rotating drive assembly. The rotating drive assembly and the delivery drive assembly are both fixedly connected to the rotating shell 5110. It should be noted that the fixed connection method is used to achieve relative fixation of the two, which can be a non-detachable connection method such as welding or interference fit, or a detachable connection method such as screw connection or snap-on. The delivery mechanism 5200 is detachably mounted on the side of the rotating shell 5110. The output end of the delivery drive assembly extends out of the rotating shell 5110 and is connected to the delivery mechanism 5200. The delivery mechanism 5200 is used to clamp the endoscope 200 and drive the insertion portion of the endoscope 200 forward or backward under the power output by the delivery drive assembly.

[0237] Among them, the first support seat 5300 is used to support the entire endoscope conveying device 5000. The rotation drive assembly is used to drive the rotating shell 5110 and the rotation drive assembly, the conveying drive assembly and the conveying mechanism 5200 installed on the rotating shell 5110 to rotate, and the conveying drive assembly is connected to the conveying mechanism 5200 to provide power for the conveying mechanism 5200. The conveying mechanism 5200 is used to clamp the endoscope 200, and after coupling with the power output by the first drive mechanism 5100, it can drive the insertion part of the endoscope 200 to move continuously.

[0238] Among them, Fig.45 and Fig.46 As shown, the rotary drive assembly includes a rotary drive unit 5121 and a rotary gear 5122. The rotary drive unit 5121 is fixedly mounted on the rotary housing 5110, and the rotary gear 5122 is sleeved on the output shaft of the rotary drive unit 5121. An inner gear ring 5301 is provided on the first support seat 5300, and the rotary gear 5122 is in transmission connection with the inner gear ring 5301.

[0239] In order to make the rotation smoother, the rotating shell 5110 is rotatably mounted in the first support seat 5300 through the bearing 5123. Specifically, the inner ring of the bearing 5123 is fixedly connected to the rotating shell 5110, and the outer ring of the bearing 5123 is fixedly connected to the supporting shell 5310. Specifically, the supporting shell 5310 is provided with a mounting hole, the fixed cylinder 5124 is plugged and fixed in the mounting hole of the supporting shell 5310, and the inner wall of the fixed cylinder 5124 is provided with an inner gear ring 5301. Of course, the inner teeth can also be directly provided on the first support seat 5300. The rotating shell 5110 is fixedly mounted on the rotating body 5125, the rotating body 5125 is plugged and fixed to the inner ring of the bearing 5123, and the outer ring of the bearing 5123 is fixedly mounted on the inner wall of the mounting hole. The outer wall of the fixed cylinder 5124 and the outer ring of the bearing 5123 are both in contact with the inner wall of the mounting hole, and the two are encapsulated together in the mounting hole.

[0240] The rotation drive unit 5121 is a rotation motor or other driving structure capable of outputting rotational power. Specifically, the rotation drive unit 5121 is fixedly mounted on the rotating body 5125, and the output shaft of the rotation drive unit 5121 passes through the rotating body 5125 and extends into the fixed cylinder 5124, so that the rotation gear 5122 sleeved on the extended shaft is engaged with the inner gear ring 5301. It can be understood that the rotation gear 5122 can be directly engaged with the inner gear ring 5301, or it can rotate along the inner gear ring 5301 through other transmission parts such as gears. Driven by the rotation drive unit 5121, the rotation gear 5122 rotates along the inner gear ring 5301, driving the entire first drive mechanism 5100 to rotate relative to the first support seat 5300.

[0241] The endoscope conveying device 5000 provided by the present invention makes the first driving mechanism 5100 rotate relative to the first supporting seat 5300 by means of a rotating gear 5122 and a rotating driving unit 5121. The rotating gear 5122 is transmission-connected to the inner gear ring 5301 on the first supporting seat 5300. The rotating driving unit 5121 rotates synchronously with the rotating shell 5110 while providing a rotating driving force.

[0242] In addition, in an optional embodiment, the rotation drive assembly includes a rotation drive unit and a friction wheel, and a friction surface is provided on the first support seat 5300. The driving shaft of the rotation drive unit is connected to the friction wheel, and the friction wheel is in contact with the friction surface. Under the action of the rotation drive unit, the rotation drive unit drives the friction wheel to rotate, thereby driving the first support seat 5300 to rotate.

[0243] In another optional embodiment, the rotary drive assembly includes a rotary drive unit and a first transmission wheel, and a second transmission wheel is provided on the first support seat 5300. The drive shaft of the rotary drive unit is connected to the first transmission wheel, and the first transmission wheel is connected to the second transmission wheel by a synchronous belt or a transmission chain. For example, the first transmission wheel and the second transmission wheel are both sprocket wheels, and the two are connected by a transmission chain. The drive shaft of the rotary drive unit is directly connected to the first transmission wheel, and under the drive of the rotary drive unit, the first support seat 5300 rotates synchronously. For another example, the first transmission wheel and the second transmission wheel are both synchronous belt wheels, and the synchronous belt is sleeved on the first transmission wheel and the second transmission wheel. Under the drive of the rotary drive unit, the first support seat 5300 rotates synchronously by the synchronous belt.

[0244] The first drive mechanism 5100, the conveying mechanism 5200 and the first support seat 5300 are separately arranged. The first drive mechanism 5100 integrates an electric control structure, and the conveying mechanism 5200 is purely mechanically driven. When the operation is completed, only the conveying mechanism 5200 needs to be removed and disinfected to avoid contamination of other structures. In addition, a rotation drive component and a conveying drive component are arranged inside the first drive mechanism 5100. Both are installed in the rotating shell and are independent of each other, and can realize the compound motion of rotation and conveying without interfering with each other.

[0245] Among them, Fig.46 As shown, a first detection element 5111 is provided on the rotating shell 5110 . The first detection element 5111 is a gyroscope or other angle detection element, and is used to detect the rotation angle of the rotating shell 5110 .

[0246] like Fig.45 and Fig.46As shown, the conveying drive assembly includes a conveying drive unit 5131, a first orthogonal gear 5132, a second orthogonal gear 5133 and a transmission shaft 5134. The conveying drive unit 5131 is a rotary motor, which is fixedly mounted on the rotating housing 5110. The first orthogonal gear 5132 is sleeved and fixed to the output shaft of the conveying drive unit 5131. The second orthogonal gear 5133 is meshed with the first orthogonal gear 5132. The transmission shaft 5134 is connected to the second orthogonal gear 5133 so as to rotate with the second orthogonal gear 5133. The transmission shaft 5134 is used to couple with the conveying mechanism 5200 so as to provide power for the conveying mechanism 5200. Optionally, the conveying drive unit 5131 is a rotary motor or other driving mechanism that provides a rotating force. The transmission shaft 5134 adopts a hexagonal or spline form to transmit torque.

[0247] like Fig.45 and Fig.46 As shown, the output shaft of the delivery drive unit 5131 extends along the rotation axis of the rotating shell 5110, and the transmission shaft 5134 extends along the radial direction of the rotating shell 5110, and the extension directions of the two are perpendicular. The endoscope delivery device 5000 provided by the present invention adjusts the transmission direction of the rotation drive unit 5121 by means of the first orthogonal gear 5132 and the second orthogonal gear 5133 to fully utilize the internal space of the rotating shell 5110.

[0248] In an optional embodiment, the transmission shaft 5134 is plugged and fixed to the second orthogonal gear 5133. When the conveying mechanism 5200 is coupled with the transmission shaft 5134, the corresponding interface of the conveying mechanism 5200 needs to be aligned with the transmission shaft 5134. In another optional embodiment, Fig.45 As shown, the rotating shell 5110 is provided with a mounting bracket, and the mounting bracket is rotatably mounted with a shaft sleeve 5135 , the second orthogonal gear 5133 is sleeved and fixed on the shaft sleeve 5135 , and the transmission shaft 5134 is movably inserted in the shaft sleeve 5135 .

[0249] Specifically, Fig.47 As shown, both ends of the sleeve 5135 are rotatably mounted on the mounting bracket through a bearing. A receiving cavity is formed between the transmission shaft 5134 and the inner wall of the sleeve 5135, and the seventh elastic member 5136 is received in the receiving cavity. One end of the seventh elastic member 5136 abuts against the sleeve 5135, and the other end of the seventh elastic member 5136 abuts against the transmission shaft 5134. The transmission shaft 5134 can be movably inserted in the sleeve 5135. Optionally, the seventh elastic member 5136 is a spring.

[0250] In the free state, the left head end of the transmission shaft 5134 extends out of the rotating shell 5110 under the thrust of the seventh elastic member 5136. When the transmission shaft 5134 is subjected to an external axial thrust, the transmission shaft 5134 shrinks to the inside of the rotating shell 5110 and pops out again after the external force disappears. The seventh elastic member 5136 is used to realize the elastic expansion and contraction of the transmission shaft 5134. When the transmission shaft 5134 is coupled with the driving wheel, the seventh elastic member 5136 can be used to adjust the matching relationship between the two so that the two can be accurately connected.

[0251] Under the action of the conveying drive unit 5131 , the second orthogonal gear 5133 rotates, driving the sleeve 5135 to rotate relative to the rotating shell 5110 , driving the transmission shaft 5134 to move, and transmitting power to the conveying mechanism 5200 .

[0252] like Figures 48 to 50 As shown, the conveying mechanism 5200 includes a third bottom plate 5210, a rotating rod 5221, a conveying assembly and a locking assembly. The conveying assembly is used to clamp the endoscope 200 and is dynamically coupled to the conveying drive assembly. The locking assembly includes an adjusting member 5223 and a locking pin 5224. The rotating rod 5221 can be rotatably mounted on the third bottom plate 5210. The rotating rod 5221 is fixedly connected to the adjusting member 5223. A resilient member is disposed on the locking pin 5224. Fig.44 As shown, a limiting hole 5112 is provided on the rotating shell 5110, and a limiting structure is provided on the adjusting member 5223. When the rotating rod 5221 is rotated to the first position, the limiting structure presses against the locking pin 5224 so that the locking pin 5224 is inserted and fixed in the limiting hole 5112; when the rotating rod 5221 is rotated to the second position, the locking pin 5224 can be extended and retracted relative to the third base plate 5210 under the action of the rebound member.

[0253] like Fig.48 As shown, the adjusting member 5223 is a cam, and the limiting structure is the portion corresponding to the outer contour with a larger diameter on the cam. The locking pin 5224 is inserted into the boss on the third bottom plate 5210 and can telescopically move in the axial direction. The rotating shell 5110 includes a first shell and a second shell, the first shell is in an arc shape, and the second shell is provided with a U-shaped groove. The groove wall of the groove is provided with a limiting hole 5112. The locking pin 5224 is inserted into the third bottom plate 5210 and can be fixed to the third bottom plate 5210 under the action of the limiting structure on the adjusting member 5223. The rebound member is installed in the boss, one end of the rebound member contacts the boss, and the other end contacts the step surface on the locking pin 5224.

[0254] In the relaxed state, the locking pin 5224 extends out of the third bottom plate 5210 under the action of the rebound member. When the third bottom plate 5210 is inserted into the groove, the locking pin 5224 is retracted to the third bottom plate 5210 by the external force. When inserted into place, the locking pin 5224 is axially aligned with the limiting hole 5112. The locking pin 5224 is extended out of the third bottom plate 5210 by the rebound force and fits tightly with the limiting hole 5112. The rotating rod 5221 is rotated, and the adjusting member 5223 is rotated so that the limiting structure presses the locking pin 5224. At this time, the locking pin 5224 is supported by the limiting structure on the adjusting member 5223 and cannot be retracted, thereby locking the conveying mechanism 5200 on the first driving mechanism 5100. When the operation is finished, the rotating rod 5221 is rotated in the opposite direction, the adjusting member 5223 is reset, and the locking pin 5224 can be retracted in the axial direction again under the action of the rebound member.

[0255] like Fig.48 As shown, there are two rotating pins, which are arranged on opposite sides of the third bottom plate 5210. Correspondingly, both sides of the groove wall of the groove are provided with limiting holes 5112. The two rotating pins are inserted into the limiting holes 5112 one by one.

[0256] In addition, to facilitate rotation, a handle 5225 is installed at the end of the rotating rod 5221, and the handle 5225 is arc-shaped for easy holding.

[0257] In an optional embodiment, the conveying assembly includes a driving wheel and a driven wheel, and both the driven wheel and the driving wheel can be rotatably mounted on the third bottom plate 5210. A pipeline for inserting the endoscope 200 is formed between the driving wheel and the driven wheel. The driving wheel is coupled to the transmission shaft 5134 to rotate under the action of the conveying drive unit 5131. The end of the transmission shaft 5134 is a spline or other non-circular structure; a slot is provided at the axis of the driving wheel, and the shape of the slot is consistent with the shape of the end of the transmission shaft 5134, and the transmission shaft 5134 is inserted into the slot. The driving wheel and the driven wheel are both rollers, and a groove body for accommodating the pipeline of the endoscope 200 is provided on the roller. When in use, the pipeline of the endoscope 200 is manually inserted between the rollers.

[0258] In yet another optional embodiment, Fig.50 As shown, the conveying assembly includes a multi-link structure 5231, a first conveying unit 5233, a second conveying unit 5234, a first transmission unit 5241 and a second transmission unit 5251. A channel for the pipeline of the endoscope 200 to pass through is formed between the first conveying unit 5233 and the second conveying unit 5234. The first transmission unit 5241 and the second transmission unit 5251 are both connected to the multi-link structure 5231, and the multi-link structure 5231 is connected to the rotating rod 5221. Under the action of the rotating rod 5221, the first transmission unit 5241 and the second transmission unit 5251 drive the first conveying unit 5233 and the second conveying unit 5234 to move closer to or away from each other.

[0259] To facilitate the insertion of the endoscope 200 , a second guide tube 5211 is provided on the third bottom plate 5210 , and the second guide tube 5211 is connected to a channel formed between the first conveying unit 5233 and the second conveying unit 5234 .

[0260] like Figures 48 to 50 As shown, the first conveying unit 5233 and the second conveying unit 5234 are both synchronous belt and synchronous wheel structures. The first conveying unit 5233 includes a first active synchronous wheel, a first driven synchronous wheel and a first synchronous belt, and the first synchronous belt is sleeved on the first active synchronous wheel and the first driven synchronous wheel. The second conveying unit 5234 includes a second active synchronous wheel, a second driven synchronous wheel and a second synchronous belt, and the second synchronous belt is sleeved on the second active synchronous wheel and the second driven synchronous wheel. The outer periphery of the first synchronous belt and the second synchronous belt is provided with an inner groove matching the outer contour of the matching endoscope 200, and the inner groove can be set continuously or discontinuously.

[0261] The first transmission unit 5241 includes a power shaft 5242, a first transmission housing 5243, a first transmission assembly 5244 and a first support shaft 5245. Fig.51 As shown, both power shafts 5242 can be rotatably mounted on the first transmission housing 5243. Optionally, the first transmission assembly 5244 includes four sequentially meshed transmission gears, and the two transmission gears located on the outermost sides are respectively sleeved on one power shaft 5242. It can be understood that the number of transmission gears in the first transmission assembly 5244 can be other values, as long as the rotation directions of the two power shafts 5242 are ensured to be opposite. In addition, the first transmission assembly 5244 can also be a chain transmission assembly or a belt transmission assembly, and the present invention does not specifically limit the specific structure of the first transmission assembly 5244. The first support shaft 5245 is coaxially fixedly mounted on the side of the first transmission housing 5243 away from the power shaft 5242 with one power shaft 5242. Among them, one of the two power shafts 5242 is plugged into the first active synchronous wheel, and the other is plugged into the second active synchronous wheel. The second transmission unit 5251 includes an optical axis, a second transmission housing and a second support shaft. The two optical axes are rotatably mounted on the second transmission housing, and the second support shaft is coaxially fixedly mounted on the side of the second transmission housing away from the optical axis with one optical axis. One optical axis is plugged into the first driven synchronous wheel, and the other optical axis is plugged into the second driven synchronous wheel.

[0262] The rotating rod 5221 is connected to the first support shaft 5245 and the second support shaft through the multi-link structure 5231. Specifically, the first support shaft 5245 and the second support shaft are two rotating shafts in the multi-link structure 5231, and the rotating rod 5221 is connected to the multi-link structure 5231.

[0263] By rotating the rotating rod 5221, the multi-link structure 5231 switches between the self-locking state and the unlocking state. When in the self-locking state, the second conveying unit 5234 is close to the first conveying unit 5233 to clamp the endoscope 200. When in the unlocking state, the second conveying unit 5234 is away from the first conveying unit 5233 to facilitate the insertion and removal of the endoscope 200. Under the drive of the conveying drive unit 5131, the transmission shaft 5134 drives the first active synchronous wheel to rotate, and drives the second active synchronous wheel to rotate through the first transmission unit 5241, so that the two conveying units start to operate, and the endoscope 200 moves forward or backward under the action of the first synchronous belt and the second synchronous belt.

[0264] like Fig.49 and Fig.50 As shown, the conveying mechanism 5200 further includes a detection wheel 5260, which is used to contact the endoscope 200 so as to rotate under the friction of the endoscope 200. The endoscope conveying device 5000 further includes a detection sensor, which is used to detect the number of rotations of the detection wheel 5260. Optionally, the detection sensor is a photoelectric sensor or a non-contact or contact sensor that can detect the rotation angle of the detection wheel 5260.

[0265] For example, a magnetic member such as a magnet is installed on the detection wheel 5260, and a circuit board with a magnetic encoder or a magnetic sensor is installed on the first driving mechanism 5100 to detect the number of rotations of the detection wheel 5260, and then determine the forward or backward length of the endoscope 200 in combination with the size of the detection wheel 5260. The number of rotations of the detection wheel 5260 is determined by the cooperation between the magnetic member and the magnetic sensor.

[0266] The detection wheel 5260 is an elastic wheel, and the outer periphery of the detection wheel 5260 is provided with an annular groove having a certain friction force and matching the outer contour of the endoscope 200 .

[0267] like Fig.52 As shown, the first support base 5300 includes a support shell 5310 and a support arm 5320, and the rotating shell 5110 can be rotatably mounted on the support shell 5310. The rotation drive assembly is used to drive the rotating shell 5110 to rotate relative to the support shell 5310. The support arm 5320 is used to connect with the telescopic arm of the trolley

[0268] A force detection sensor 5330 is provided on the support arm 5320, and the force detection sensor 5330 is used to detect the resistance of the endoscope 200 to advance and retreat during the operation of the endoscope delivery device 5000. The force detection sensor 5330 is connected to the external control platform for communication, so as to feed back the resistance of the endoscope 200 to the external control platform.

[0269] First, the cleaned conveying mechanism 5200 is clamped on the first driving mechanism 5100, such as Fig.44 and Fig.46 As shown, the locking pin 5224 of the conveying mechanism 5200 is inserted into the corresponding limiting hole 5112 of the first driving mechanism 5100. At this time, the locking pin 5224 can still move along the axial direction of the limiting hole 5112, and the conveying mechanism 5200 and the first driving mechanism 5100 are not locked. The conveying unit of the conveying mechanism 5200 and the transmission shaft 5134 of the first driving mechanism 5100 are docked, but the transmission shaft 5134 may be retracted into the shaft sleeve 5135, and complete coupling is not achieved.

[0270] Insert the insertion part of the endoscope 200 from the second guide tube 5211 of the conveying mechanism 5200 and extend it from the other end, pull the handle 5225 of the conveying mechanism 5200 to drive the rotating rod 5221 to rotate. At this time, the locking pin 5224 is completely tightened and stuck in the limiting hole 5112 by the limiting structure on the adjusting member 5223, and the multi-link structure 5231 drives the first transmission unit 5241 and the second transmission unit 5251 to rotate, so that the inner grooves of the first conveying unit 5233 and the second conveying unit 5234 embrace and clamp the endoscope 200, and continue to pull the locking handle 5225 to the self-locking point.

[0271] The external control platform is controlled to send a rotation instruction to the endoscope 200, the rotation drive unit 5121 is started, and the endoscope 200 rotates together with the first drive mechanism 5100 and the conveying mechanism 5200. The first detection unit detects the rotation angle of the rotation drive and reports it to the external control board. The control platform sends an advance and retreat instruction to the endoscope 200, the conveying drive unit 5131 is started, and the transmission shaft 5134 rotates so that its end is docked with the first active synchronous wheel. At this time, the transmission shaft 5134 is ejected under the action of the seventh elastic member 5136, so that the transmission shaft 5134 is fully coupled with the first conveying unit 5233, and the endoscope 200 is driven to move through the transmission unit and the conveying unit. At this time, the detection sensor reports the detected rotation angle to the external control board, and the force detection sensor 5330 located on the support arm 5320 reports the detected push-pull force to the external control board.

[0272] After the work is completed, the locking handle 5225 is pulled in the opposite direction to pull the endoscope 200 out of the second guide tube 5211 of the endoscope, and the conveying mechanism 5200 is removed to clean the conveying unit and the second guide tube 5211 or the entirety.

[0273] When the medical robot provided by the present invention is used, the opening and closing button on the endoscope driving device 3000 is first pressed to open the hatch 3200, the operating part of the endoscope is placed in the groove 3310 of the endoscope driving device 3000, and the opening and closing button is pressed again to lock the endoscope by the endoscope driving device 3000 to achieve the connection of structure, power, data, power supply and light source and close the hatch 3200. The insertion part of the endoscope is inserted into the second guide tube 5211 of the endoscope conveying device 5000 until the snake bone as a whole exceeds the endoscope conveying device 5000. At this time, the insertion part of the endoscope is in a natural hanging state between the endoscope conveying device 5000 and the endoscope driving device 3000. The quick-connect connector of the external gas-liquid conveying device 9041 is clamped on the end surface of the endoscope operating part, and the other end is respectively connected to the external fluid control device 9040, the suction device 9042 and the water bag 9043. The endoscope instruments are clamped one by one onto the endoscope instrument switching device 1000. Finally, the image end connector of the optoelectronic connection device 7000 is inserted into the corresponding connector of the external image processing device 9020.

[0274] The control platform 8000 is started, and the endoscope driving device 3000 can be controlled by the instrument control unit to perform actions such as bending and rotating the endoscope, so as to achieve bending of the endoscope head end and overall rotation of the endoscope. The endoscope conveying device 5000 can be controlled to advance and retreat the endoscope and cooperate with the endoscope driving device 3000 to achieve the rotation of the endoscope. It should be noted that the rotation of the endoscope driving device 3000 and the endoscope conveying device 5000 can be synchronously and actively implemented, or it can be actively performed by the endoscope conveying device 5000, and the torque information is transmitted to the endoscope driving device 3000 through the torque sensor built into the endoscope, and the endoscope driving device 3000 follows.

[0275] During the insertion of the endoscope, the insertion portion of the endoscope gradually enters the patient's body, and the insertion portion of the endoscope is gradually straightened from a natural hanging state between the endoscope conveying device 5000 and the endoscope driving device 3000. The first detection element 5111 built into the endoscope conveying device 5000 transmits the detection information to the main control board, and the main control board sends the rotation command to the rotation drive 6211 of the first telescopic arm 6200. The first telescopic arm 6200 starts to rotate to ensure that the insertion portion of the endoscope is not pulled until it reaches the stop position. The strain gauge built into the second telescopic arm 6300 can detect the resistance of the endoscope conveying device 5000 in the working process and feedback to the control platform 8000. The force feedback motor of the control platform 8000 transmits the feedback force to the corresponding control handle, which can ensure the safety of the bending process of the endoscope head end and avoid risks such as perforation. The first force detection sensor 3617 and the second force detection sensor 3627 built into the endoscope drive device 3000 can detect the bending force of the endoscope head end and feedback it to the control platform 8000. The force feedback motor of the control platform 8000 transmits the feedback force to the corresponding control handle, which can ensure the safety of the bending process of the endoscope head end and avoid risks such as perforation. The sensor built into the endoscope can detect the stroke of the bending traction wire and feedback it to the main control board. After calculation, the display will display the spatial bending state of the endoscope head end, which can ensure the safety of the process of advancing and retracting the endoscope and avoid risks such as perforation.

[0276] The entire medical robot has powerful operating functions, can effectively reduce the physical exertion of operators, and is convenient for cleaning and disinfection.

[0277] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A medical robot, characterized in that: The invention comprises an endoscope instrument switching device, an endoscope instrument conveying device, an endoscope driving device, an endoscope conveying device and an endoscope trolley, wherein the endoscope trolley comprises a trolley body, a first telescopic arm and a second telescopic arm, the trolley body comprises a base and a workbench, the workbench is escalably mounted on the base, the first telescopic arm is rotatably mounted on the workbench, the second telescopic arm is fixedly mounted on the workbench, and the lengths of the first telescopic arm and the second telescopic arm are both adjustable; the endoscope instrument switching device, the endoscope instrument conveying device and the endoscope driving device are all mounted on the first telescopic arm, and the endoscope conveying device is mounted on the second telescopic arm; The endoscope driving device comprises a support seat, a rotating cabin, a rotating driving mechanism and a bending driving mechanism; The rotary drive mechanism is installed on the rotary cabin, and the rotary cabin is installed on the support seat and can rotate relative to the support seat under the action of the rotary drive mechanism; The rotating cabin is provided with a groove for placing an endoscope, and the output shaft of the bending drive mechanism is coupled or decoupled with the endoscope in the groove; The second end face of the rotating cabin is provided with an optoelectronic communication interface, and the optoelectronic communication interface is used to install an optoelectronic connector for communicating with the outside. After the endoscope is placed in the groove, the optoelectronic communication port on the endoscope is electrically connected to the optoelectronic communication interface through an interface set at the bottom of the groove, so that the optoelectronic communication line is routed from the inside of the rotating cabin, separating the water and gas pipeline and the optoelectronic communication line of the endoscope.

2. The medical robot according to claim 1, characterized in that: A support tube is provided on the top of the workbench, the first telescopic arm is fixedly installed on the support tube, a rotary drive is provided in the support tube, the rotary drive is transmission-connected with the support tube, and the support tube is rotatably connected with the workbench.

3. The medical robot according to claim 2, characterized in that: The first telescopic arm includes a first fixed arm, a first telescopic drive and a first movable arm. The first fixed arm and the first telescopic drive are both fixedly mounted on the support tube. The first movable arm is inserted into the first fixed arm and connected to the driving end of the first telescopic drive.

4. The medical robot according to any one of claims 1 to 3, characterized in that: The first telescopic arm is provided with a clamping socket.

5. The medical robot according to claim 1, characterized in that: The endoscopic instrument switching device includes a moving component and a plurality of pipeline clamping units installed on the moving component. The endoscopic instrument conveying device includes a first shell and a first guide tube arranged on the first shell. The end of the first guide tube is provided with a concave surface adapted to the pipeline clamping unit.

6. The medical robot according to claim 5, characterized in that: The endoscope instrument switching device comprises an instrument clamping mechanism, an instrument switching mechanism and a pipeline clamping mechanism, wherein the instrument clamping mechanism comprises a mounting platform and a plurality of instrument clamping units arranged on the mounting platform, the instrument switching mechanism comprises an instrument supporting seat, and the pipeline clamping mechanism comprises a mounting rod and a plurality of pipeline clamping units arranged on the mounting rod; The mounting platform is installed on the instrument support seat, the mounting rod is installed on the instrument support seat through a moving component, the instrument clamping unit is used to clamp the operating part of the endoscopic instrument, and the pipeline clamping unit is used to clamp the insertion part of the endoscopic instrument. Under the action of the moving component, any one of the multiple pipeline clamping units can be docked with the first guide tube.

7. The medical robot according to claim 6, characterized in that: The pipeline clamping unit includes a shell, a chuck and an elastic reset member. The chuck can be movably inserted in the shell, and a central through hole is provided in the chuck for the pipeline of the endoscopic instrument to pass through. The elastic reset member is sleeved on the chuck and located in the shell. One end of the chuck is provided with a docking head for docking with the endoscope conveying device, and the other end of the chuck is provided with a claw. The shell is provided with a tapered mouth with a diameter gradually decreasing from the outside to the inside. In a natural state, the claw is clamped in the tapered mouth; in a conveying state, the docking head abuts against the docking port of the endoscopic instrument conveying device, and the claw moves to the large mouth end of the tapered mouth.

8. The medical robot according to claim 1, characterized in that: The endoscope conveying device comprises a first driving mechanism, a conveying mechanism and a first supporting seat, wherein the first driving mechanism is rotatably mounted on the first supporting seat, the conveying mechanism is detachably mounted on a side of the first driving mechanism, the first driving mechanism is power-coupled with the conveying mechanism, the conveying mechanism is used to clamp the endoscope, and drives the insertion portion of the endoscope to advance, retreat and rotate under the power output by the first driving mechanism; The first driving mechanism rotates synchronously with the rotating cabin.

9. The medical robot according to claim 8, characterized in that: An inner gear ring is provided on the first support seat, and the driving mechanism includes a rotating shell, a rotating drive assembly and a conveying drive assembly. The rotating shell can be rotatably installed on the support seat, and the rotating drive assembly and the conveying drive assembly are both installed in the rotating shell. The conveying mechanism is detachably installed on the side of the rotating shell, and the output end of the conveying drive assembly extends out of the rotating shell and is connected to the conveying mechanism. The rotating drive assembly includes a rotating drive unit and a rotating gear, and the rotating gear is sleeved on the output shaft of the rotating drive unit and meshes with the inner gear ring.

Images