Endoscope instrument switching device and medical robot

Abstract

The application provides an endoscope instrument switching device and a medical robot, which comprises an instrument clamping mechanism, an instrument switching mechanism and a pipeline clamping mechanism, the instrument clamping mechanism comprises a mounting table and a plurality of instrument clamping units arranged on the mounting table, the instrument switching mechanism comprises a support seat and a moving assembly arranged in the support seat, and the pipeline clamping mechanism comprises a mounting rod and a plurality of pipeline clamping units arranged on the mounting rod; the mounting table is mounted on the support seat, the mounting rod is mounted on the support seat through the moving assembly, the instrument clamping unit is used for clamping the operation part of the endoscope instrument, and the pipeline clamping unit is used for clamping the insertion pipeline of the endoscope instrument; under the action of the moving assembly, any one of the plurality of pipeline clamping units can be docked with the endoscope instrument conveying device. The device can clamp various endoscope instruments and make the target instrument dock with the endoscope instrument conveying device through the moving assembly, and the whole switching process does not need manual operation, thereby reducing the work burden.

Description

Technical Field

[0001] This invention relates to the field of endoscopic operating equipment technology, and more particularly to an endoscopic instrument switching device and a medical robot. Background Technology

[0002] Endoscopes are commonly used medical instruments that enter the human body through the mouth or other natural cavities to observe and surgically treat lesions in tissues and organs such as the stomach, esophagus, and duodenum. Endoscopic operation is challenging, requiring constant standing and the cooperation of multiple personnel, placing significant demands on the operator's physical strength and skills. This is especially true during ERCP procedures, where medical staff must wear lead aprons weighing several kilograms and work under radiation, posing a considerable threat to their health. During surgery, various endoscopic instruments must be manually inserted through the endoscope's forceps to reach the lesion site. Surgical procedures are performed by manipulating the endoscope and instruments, requiring frequent instrument switching and various manual manipulation techniques. The need for multiple personnel and high levels of experience hinders the widespread adoption of endoscopic technology. Therefore, there is an urgent need for an automated endoscope instrument switching device to reduce the physical burden on medical staff, decrease the number of personnel required for operation, and facilitate the widespread use of endoscopic technology. Summary of the Invention

[0003] This invention provides an endoscopic instrument switching device and a medical robot to solve the problem that the endoscopic instrument switching in the prior art relies on manual operation, which leads to a heavy surgical burden.

[0004] The present invention provides an endoscopic instrument switching device, including an instrument clamping mechanism, an instrument switching mechanism, and a tubing clamping mechanism. The instrument clamping mechanism includes a mounting platform and a plurality of instrument clamping units disposed on the mounting platform. The instrument switching mechanism includes a support base and a movable component disposed within the support base. The tubing clamping mechanism includes a mounting rod and a plurality of tubing clamping units disposed on the mounting rod.

[0005] The mounting platform is mounted on the support base, the mounting rod is mounted on the support base via the moving component, the instrument clamping unit is used to clamp the operating part of the endoscope instrument, the tubing clamping unit is used to clamp the insertion tubing of the endoscope instrument, and under the action of the moving component, any one of the multiple tubing clamping units can be connected to the endoscope instrument delivery device.

[0006] The endoscope instrument delivery device is used to deliver the endoscope instruments held by the tubing clamping unit that it is connected to.

[0007] According to the present invention, an endoscopic instrument switching device is provided, wherein the instrument clamping unit includes one or more of a first instrument clamping unit, a second instrument clamping unit, and a third instrument clamping unit.

[0008] The first instrument clamping unit includes a first instrument clamping base, a first instrument handle fixing clamping assembly, and a first instrument handle moving clamping assembly. The first instrument clamping base is installed on the mounting platform, the first instrument handle fixing clamping assembly is fixed to the first instrument clamping base, and the first instrument handle moving clamping assembly is movably installed on the first instrument clamping base.

[0009] The second instrument clamping unit includes a second instrument clamping base, a rotating assembly, a second instrument handle fixing clamping assembly, and a second instrument handle moving clamping assembly. The rotating assembly is mounted on the mounting platform, and the output end of the rotating assembly is connected to the second instrument clamping base. The second instrument handle fixing clamping assembly is fixed to the second instrument clamping base, and the second instrument handle moving clamping assembly is movably mounted on the second instrument clamping base.

[0010] The third instrument clamping unit includes a third instrument clamping base, a backlash compensation component, a third instrument handle fixing clamping component, and a third instrument handle moving clamping component. The third instrument clamping base is installed on the mounting platform, the third instrument handle fixing clamping component is fixed to the third instrument clamping base, and the third instrument handle moving clamping component is movably installed on the third instrument clamping base via the backlash compensation component.

[0011] According to the present invention, an endoscopic instrument switching device includes an empty travel compensation assembly comprising a compensation frame and a first elastic member, and a third instrument handle moving clamping assembly comprising a third slide and a third sliding drive. The third sliding drive is connected to the compensation frame. Both the compensation frame and the third slide are slidably mounted on the third instrument clamping seat and form a receiving cavity between the compensation frame and the third slide. The first elastic member is received in the receiving cavity, with one end of the first elastic member abutting against the compensation frame and the other end abutting against the third slide.

[0012] According to the present invention, an endoscopic instrument switching device includes a tubing clamping unit comprising a housing, a clamp, and an elastic reset member. The clamp is movably inserted into the housing, and the clamp has a central through hole for the tubing of the endoscopic instrument to pass through. The elastic reset member is sleeved on the clamp and located inside the housing. One end of the clamp has a connector for docking with an endoscopic instrument delivery device, and the other end of the clamp has a claw. The housing has a tapered opening with a diameter that gradually decreases from the outside to the inside. In the natural state, the claw is engaged with the tapered opening. In the delivery state, the connector abuts against the docking interface of the endoscopic instrument delivery device, and the claw moves to the larger end of the tapered opening.

[0013] According to an endoscopic instrument switching device provided by the present invention, the tubing clamping unit further includes an auxiliary spring ring, which is sleeved around the periphery of the chuck.

[0014] According to the present invention, an endoscopic instrument switching device includes a tubing clamping unit comprising a housing, a fixed shaft roller, a movable shaft roller, a slider, and an elastic adjusting member. The fixed shaft roller is rotatably mounted inside the housing, the movable shaft roller is rotatably mounted on the slider, the slider is slidably mounted on the housing, one end of the elastic adjusting member abuts against the slider, and the other end of the elastic adjusting member abuts against the housing.

[0015] According to the present invention, an endoscopic instrument switching device includes a moving assembly comprising a lateral drive unit, a lateral support structure, a longitudinal drive unit, and a longitudinal support structure. The lateral drive unit is mounted on the support base, the mounting rod is mounted on the longitudinal support structure, and the longitudinal support structure is slidably mounted on the lateral support structure. The longitudinal drive unit drives the longitudinal support structure to move longitudinally, and the lateral drive unit drives the longitudinal support structure to slide relative to the lateral support structure.

[0016] The moving component includes a lateral drive unit, a lateral rail, a longitudinal rail, and a longitudinal drive unit. The mounting rod is slidably mounted on the lateral rail under the action of the lateral drive unit. The lateral rail is slidably mounted on the longitudinal rail. The longitudinal drive unit is connected to the lateral rail. The longitudinal rail is fixedly mounted in the support base.

[0017] According to the present invention, an endoscopic instrument switching device is provided, wherein the instrument clamping mechanism and the tubing clamping mechanism are both connected to the moving component so as to move synchronously under the action of the moving component.

[0018] An endoscopic instrument switching device according to the present invention further includes a quick-connect assembly, which includes a base, an unlocking rod, a push rod, a buckle, and a tension spring. The base is fixedly installed on the support base, the unlocking rod is rotatably installed on the support base, one end of the push rod is rotatably connected to the unlocking rod, and the other end of the push rod is rotatably connected to the buckle. The buckle is rotatably installed inside the base, one end of the tension spring is connected to the base, and the other end of the tension spring is connected to the buckle.

[0019] The present invention also provides a medical robot, including the endoscopic instrument switching device as described above.

[0020] The endoscopic instrument switching device and medical robot provided by the present invention are equipped with multiple instrument clamping units and multiple tubing clamping units to clamp different types of endoscopic instruments. The endoscopic instruments are switched by means of moving components, so that the target instrument enters the endoscopic instrument delivery device. The entire switching process does not require manual operation, reducing the workload of medical staff. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the endoscope instrument switching device provided by the present invention;

[0023] Figure 2 This is a schematic diagram illustrating the application of the endoscopic instrument switching device provided by the present invention;

[0024] Figure 3 This is one of the structural schematic diagrams of the instrument clamping unit provided by the present invention;

[0025] Figure 4 This is the second schematic diagram of the structure of the instrument clamping unit provided by the present invention;

[0026] Figure 5 This is the third schematic diagram of the structure of the instrument clamping unit provided by the present invention;

[0027] Figure 6 This is the fourth schematic diagram of the structure of the instrument clamping unit provided by the present invention;

[0028] Figure 7 This is the fifth schematic diagram of the structure of the instrument clamping unit provided by the present invention;

[0029] Figure 8 yes Figure 7 One of the schematic diagrams of the internal structure of the instrument clamping unit shown;

[0030] Figure 9 This is a schematic diagram of the pipe clamping mechanism provided by the present invention;

[0031] Figure 10 This is a cross-sectional view of the pipe clamping unit provided by the present invention in its natural state;

[0032] Figure 11 This is a cross-sectional view of the pipe clamping unit provided by the present invention in the conveying state;

[0033] Figure 12 This is one of the schematic diagrams showing the cooperation between the pipe clamping unit and the moving component provided by the present invention;

[0034] Figure 13 This is the second schematic diagram of the cooperation between the pipe clamping unit and the moving component provided by the present invention;

[0035] Figure 14 This is the second schematic diagram of the internal structure of the pipe clamping unit provided by the present invention;

[0036] Figure 15 This is one of the schematic diagrams showing the cooperation of the instrument clamping mechanism, instrument switching mechanism, and pipeline clamping mechanism provided by the present invention;

[0037] Figure 16 This is the second schematic diagram showing the cooperation of the instrument clamping mechanism, instrument switching mechanism, and pipeline clamping mechanism provided by the present invention;

[0038] Figure 17 This is a structural schematic diagram of the quick-connect assembly provided by the present invention.

[0039] Figure label:

[0040] 1100. Instrument clamping mechanism;

[0041] 1101. Mounting platform; 1102. Instrument clamping unit;

[0042] 1110. First instrument clamping unit; 1111. First instrument clamping base; 1112. First instrument handle fixing and clamping assembly; 1113. First instrument handle moving and clamping assembly;

[0043] 1120. Second instrument clamping unit; 1121. Rotating assembly; 1122. Second instrument clamping base; 1123. Second instrument handle fixing clamping assembly; 1124. Second instrument handle moving clamping assembly;

[0044] 1130, Third instrument clamping unit; 1131, Third instrument clamping seat; 1132, Third instrument handle fixing clamping assembly; 1133, Third instrument handle moving clamping assembly; 1134, Third slide; 1135, Third sliding drive; 1150, Backlash compensation assembly; 1151, Compensation frame; 1152, First elastic element;

[0045] 1200. Instrument switching mechanism;

[0046] 1210. Support base; 1222. Quick-connect assembly; 1221. Base; 1231. Unlocking rod; 1232. Top rod; 1233. Buckle; 1234. Tension spring;

[0047] 1240. Mobile components;

[0048] 1241. Lateral drive unit; 1242. Lateral load-bearing structure; 1243. Roller; 1244. Longitudinal drive unit; 1245. Longitudinal load-bearing structure;

[0049] 1246. Horizontal track; 1247. Vertical track;

[0050] 1248. Synchronous belt drive assembly; 1249. Gear and rack drive assembly;

[0051] 1300. Pipe clamping mechanism;

[0052] 1310. Mounting rod; 1320. Clamping unit mounting bracket; 1330. Pipe clamping unit;

[0053] 1331. Outer shell; 1332. Spherical protrusion; 1333. Clamp; 1334. Central through hole; 1335. Claw; 1336. Elastic reset element; 1337. First mounting cavity; 1338. Auxiliary spring ring;

[0054] 1341. Fixed shaft roller; 1342. Fixed shaft; 1343. First roller; 1345. Moving shaft roller; 1346. Slider; 1347. Moving shaft; 1348. Second roller; 1349. Elastic adjusting element;

[0055] 1350. Detection element;

[0056] 2000, Endoscopic instrument delivery device;

[0057] 100. Endoscopic instruments; 110. Electrosurgical unit; 120. Injection needle; 130. Syringe. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0059] The following is combined Figures 1-17 The endoscopic instrument switching device of the present invention is described.

[0060] like Figure 1 and Figure 2 As shown, the endoscopic instrument switching device includes an instrument clamping mechanism 1100, an instrument switching mechanism 1200, and a tubing clamping mechanism 1300. The instrument clamping mechanism 1100 clamps the operating part of the endoscopic instrument 100, and the tubing clamping mechanism 1300 clamps the insertion tubing of the endoscopic instrument 100. The instrument switching mechanism 1200 mates the insertion tubing of the target endoscopic instrument 100 with the endoscopic instrument delivery device 2000. The endoscopic instrument delivery device 2000 delivers the mated insertion tubing of the endoscopic instrument 100 to enable the forward or backward movement of the endoscopic instrument 100.

[0061] Among them, such as Figure 1 As shown, the instrument clamping mechanism 1100 includes a mounting platform 1101 and multiple instrument clamping units 1102 mounted on the mounting platform 1101. The instrument switching mechanism 1200 includes a support base 1210 and a moving assembly 1240. Figure 9 As shown, the tubing clamping mechanism 1300 includes a mounting rod 1310 and multiple tubing clamping units 1330 disposed on the mounting rod 1310. It should be noted that the number of tubing clamping units 1330 is the same as the number of instrument clamping units 1102. Each tubing clamping unit 1330 clamps the delivery tubing of one endoscopic instrument 100. Alternatively, if the number of tubing clamping units 1330 is less than the number of instrument clamping units 1102, during assembly, only the insertion tubing of the endoscopic instrument 100 involved in this operation is clamped on the tubing clamping unit 1330, and the extra instrument clamping units 1102 are used to inject water into adjacent endoscopic instruments 100 or as spare instrument clamping units. The mounting platform 1101 is connected to the support base 1210. The mounting rod 1310 is mounted on the support base 1210 via the moving component 1240. The endoscope instrument delivery device 2000 is provided with a guide tube, which is used to dock with the tubing clamping unit 1330.

[0062] In use, the endoscope instrument switching device and the endoscope instrument transport device 2000 are fixed on the trolley arm, respectively, and the overall positions of the support base 1210 and the endoscope instrument transport device 2000 are relatively fixed. The tubing clamping mechanism 1300 is adjusted using the endoscope switching mechanism, or the instrument clamping mechanism 1100 and the tubing clamping mechanism 1300 are adjusted simultaneously, so that the tubing clamping unit 1330 corresponding to the target instrument is connected to the endoscope instrument transport device 2000.

[0063] In one optional embodiment, the mounting platform 1101 is directly fixed to the support base 1210, and only the mounting rod 1310 is movably mounted to the support base 1210 via the moving component 1240. Under the action of the moving component 1240, the tubing clamping unit 1330 can be moved closer to or further away from the endoscope instrument delivery device 2000, and the tubing clamping unit 1330 aligned with the endoscope instrument delivery device 2000 can also be laterally adjusted, thereby switching the endoscope instrument 100 docked with the endoscope instrument delivery device 2000. In yet another optional embodiment, both the mounting platform 1101 and the mounting rod 1310 are mounted on the moving component 1240, which is mounted on the support base 1210. The moving component 1240 simultaneously moves the instrument clamping unit 1102 and the tubing clamping unit 1330, similarly allowing switching of the endoscope instrument 100 docked with the endoscope instrument delivery device 2000.

[0064] It should be noted that, in one embodiment, the moving component 1240 includes at least two degrees of freedom of movement. For example, the moving component 1240 can move in two vertical directions. In another embodiment, the moving component 1240 may also have only one degree of freedom of movement, in which case the switching of endoscopic instruments can be achieved in conjunction with the endoscopic instrument transport device 2000, which can move in the other direction.

[0065] The endoscopic instrument switching device provided in this embodiment of the invention is provided with multiple instrument clamping units 1102 and multiple tubing clamping units 1330 to clamp different types of endoscopic instruments 100. The endoscopic instruments 100 are switched by means of the moving component 1240 so that the target instrument enters the endoscopic instrument delivery device 2000. The entire switching process does not require manual operation, reducing the workload of doctors.

[0066] Specifically, such as Figures 3 to 8As shown, each instrument clamping unit 1102 includes an instrument clamping base, an instrument handle fixing and clamping assembly, and an instrument handle moving and clamping assembly. The instrument handle fixing and clamping assembly is fixed to the instrument clamping base, and the instrument handle moving and clamping assembly is movably mounted on the instrument clamping base. The instrument clamping base is detachably mounted on the mounting table 1101. Common endoscopic instruments 100, such as injection needles 120, syringes 130, scalpels, and surgical forceps, all have push-pull handle structures. Therefore, the instrument handle part of the endoscopic instrument 100 is fixed by the instrument handle fixing and clamping assembly, and the other part moves with the instrument handle moving and clamping assembly, thus simulating the push-pull action of a human hand. The instrument clamping mechanism 1100 replaces the human hand in operating various endoscopic instruments 100 through the mutual cooperation of the instrument handle fixing and clamping assembly and the instrument handle moving and clamping assembly.

[0067] Different endoscopic instruments 100 employ corresponding instrument clamping units 1102. Each instrument clamping unit 1102 is detachably mounted on the mounting table 1101, allowing for replacement of the instrument clamping unit 1102 according to the endoscopic instrument 100 required for the surgery. 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 100 that operate in a push-pull manner, and the second instrument clamping unit 1120 is used to clamp endoscopic instruments 100 that operate in both push-pull and rotational manner. The third instrument clamping unit 1130 has a flexible mechanism to eliminate the backlash generated during the movement of the instrument handle, and is used to clamp endoscopic instruments 100 that would generate backlash.

[0068] The first instrument clamping unit 1110 is used to clamp the electrosurgical knife 110 or an endoscopic instrument 100 similar to the electrosurgical knife 110. Specifically, such as Figures 3 to 5 As shown, the first instrument clamping unit 1110 includes a first instrument clamping base 1111, a first instrument handle fixing and clamping assembly 1112, and a first instrument handle moving and clamping assembly 1113. The first instrument clamping base 1111 is mounted on the mounting table 1101 by screws or other structural components. The first instrument handle fixing and clamping assembly 1112 is a limiting structure that restricts the degree of freedom of movement of the endoscopic instrument 100.

[0069] like Figure 3 As shown, in one specific embodiment, the first instrument handle fixing and clamping assembly 1112 is a columnar protrusion protruding from the first instrument mounting base, and the fixing part of the electrosurgical knife 110 is sleeved on the columnar protrusion to limit its movement. Figure 4 As shown, in another specific embodiment, the first instrument handle fixing and clamping assembly 1112 is a limiting groove, and cylindrical structures such as the injection needle 120 are inserted into the limiting groove for fixation. In yet another embodiment, as shown... Figure 5As shown, the endoscopic instrument 100 is a syringe 130, and the first instrument handle fixing clamping assembly 1112 consists of two clamping arms protruding from the first instrument mounting base. A slot is provided between each clamping arm, and a support lug protrudes from the end of the syringe 130 barrel. The support lug is locked in the slot for limiting.

[0070] The first instrument handle moving clamping assembly 1113 includes a first slide and a first sliding drive. The first slide is slidably mounted on the first instrument clamping base 1111, and the first sliding drive is mounted within the first instrument clamping base 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 lead screw connected to a rotary drive. Figure 3 As shown, in one specific embodiment, two limiting posts protrude from the first slide block as a limiting mechanism, and the moving part of the electric knife 110 is sleeved on the limiting posts. Figure 4 As shown, in another specific embodiment, a limiting groove is provided on the first slide as a limiting structure for endoscopic instruments such as the injection needle 120. For example... Figure 5 As shown, in another specific embodiment, the first slide is provided with a T-shaped slot. The piston rod of an endoscopic instrument, such as a syringe 130, has an end cap at its end. The end cap and part of the rod are inserted into the T-shaped slot. When the first slide moves, the piston rod moves along the cylinder to simulate the injection action of the syringe 130. Under the action of the first sliding drive, the first slide moves back and forth along the first instrument clamping seat 1111, thereby driving the handle of the endoscopic instrument 100 forward and backward, simulating the push-pull operation of a human hand.

[0071] It should be noted that, depending on the endoscopic instrument 100, the first slide is located on the front or rear side of the first instrument handle fixing and clamping assembly 1112, and the limiting structure provided on the first slide can be a limiting post or a limiting groove, and the number of such structures can be one or more. For example... Figures 3 to 5 As shown, the first slide has two limiting posts, and the distance between the two limiting posts is determined according to the specifications of the endoscope instrument 100.

[0072] The second instrument clamping unit 1120 is used to clamp the endoscopic instrument 100 that needs to be rotated. For example... Figure 6 As shown, the second instrument clamping unit 1120 includes a rotating assembly 1121, a second instrument clamping base 1122, a second instrument handle fixing clamping assembly 1123, and a second instrument handle moving clamping assembly 1124. The rotating assembly 1121 is mounted on the mounting platform 1101, and its output end is connected to the second instrument clamping base 1122. The second instrument handle fixing clamping assembly 1123 is fixed to the second instrument clamping base 1122, and the second instrument handle moving clamping assembly 1124 is movably mounted on the second instrument clamping base 1122.

[0073] The rotating assembly 1121 includes a rotating drive and a rotating base. The rotating base is mounted on the mounting platform 1101 via screws or a quick-release mechanism. The rotating drive is mounted on the rotating base, and its drive end is connected to the second instrument clamping base 1122. Optionally, the rotating drive can be a rotary motor or other mechanical structure capable of rotation. The specific structure and cooperation relationship of the second instrument clamping base 1122, the second instrument handle fixing and clamping assembly 1123, and the second instrument handle moving and clamping assembly 1124 are similar to those of the first instrument clamping base 1111, the first instrument handle fixing and clamping assembly 1112, and the first instrument handle moving and clamping assembly 1113, and will not be described again. Under the action of the rotating drive, the second instrument clamping base 1122 rotates, driving the second instrument handle fixing and clamping assembly 1123 and the second instrument handle moving and clamping assembly 1124 mounted on the second instrument clamping base 1122 to rotate, thereby driving the endoscopic instrument 100 to rotate, simulating the rotational operation of the endoscopic instrument 100 by a human hand.

[0074] like Figure 7 and Figure 8 As shown, the third instrument clamping unit 1130 includes a backlash compensation component 1150, a third instrument clamping base 1131, a third instrument handle fixing and clamping component 1132, and a third instrument handle moving and clamping component 1133. The third instrument clamping base 1131 is detachably mounted on the mounting platform 1101. The third instrument handle fixing and clamping component 1132 is fixed to the third instrument clamping base 1131, and the third instrument handle moving and clamping component 1133 is movably mounted on the third instrument clamping base 1131 via the backlash compensation component 1150.

[0075] The third instrument handle fixing and clamping assembly 1132 is similar to the first instrument handle fixing and clamping assembly 1112. For example... Figure 8 As shown, in one specific embodiment, the third instrument handle fixing and clamping assembly 1132 is a limiting post protruding from the third instrument clamping base 1131. The backlash compensation assembly 1150 includes a compensation frame 1151 and a first elastic member 1152, and the third instrument handle moving and 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 base 1131, forming a receiving cavity, in which the first elastic member 1152 is received. The drive shaft of the third sliding drive 1135 is connected to the compensation frame 1151.

[0076] 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 element 1152. If there is any backlash, the first elastic element 1152 drives the third slide 1134 to move slightly to compensate for the backlash. For example, when the tip of the endoscope instrument 100 extends outside the endoscope tube, during use, the tip may retract due to the bending of the endoscope. Under the action of the first elastic element 1152, the third slide 1134 moves to the left or right to make the tip extend outside the endoscope tube again. Thus, by using the first elastic element 1152 to simulate a human hand, it is ensured that a force is always applied to the endoscope instrument 100 during operation to compensate for backlash in real time.

[0077] Optionally, the first elastic element 1152 is a spring. For example... Figure 8 As shown, the compensation frame 1151 is slidably mounted on the third instrument clamping seat 1131, with mounting grooves on both sides. The third slide 1134 is sleeved on the compensation frame 1151 and forms a receiving cavity with the mounting grooves. The third slide 1134 is balanced by the two first elastic members 1152 on the left and right sides, making its movement more stable.

[0078] like Figures 9 to 10 As shown, the tubing clamping unit 1330 includes a housing 1331, a clamp 1333, and a resilient reset member 1336. The clamp 1333 is movably inserted into the housing 1331, and the resilient reset member 1336 is sleeved on the clamp 1333. One end of the resilient reset member 1336 is connected to the clamp 1333, and the other end is connected to the housing 1331. The clamp 1333 has a central through hole 1334 for the passage of instrument tubing. One end of the clamp 1333 has a connector for easy mating with the corresponding interface of the endoscope instrument transport device 2000. The other end of the clamp 1333 has a claw 1335, and the end of the housing 1331 corresponding to the claw 1335 has a tapered opening that gradually narrows radially into the housing 1331. In its natural state, the clasp 1335 is engaged in the conical opening; in the transport state, the connector abuts against the interface of the endoscopic instrument transport device, and the clasp 1335 moves to the larger end of the conical opening.

[0079] like Figure 10 and Figure 11As shown, the chuck 1333 has a sliding boss in the middle, and the outer end face of the sliding boss abuts against the inner wall of the outer shell 1331. A first mounting cavity 1337 is formed between the side of the sliding boss and the inner wall of the outer shell 1331. An elastic reset member 1336 is sleeved on the chuck 1333 and housed 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 outer shell 1331. The spherical protrusion 1332 is engaged in a second slot and can achieve universal follow-up within a certain range, thereby eliminating the influence of fit deviation. The jaw 1335 has a wedge-shaped tail wing, which moves with the chuck 1333 in the conical opening. One end of the chuck 1333 with a mating joint is spherical.

[0080] like Figure 10 As shown, when the tubing clamping unit 1330 is in its natural state, the chuck 1333 reaches the right stop point under the elastic force of the elastic reset member 1336. At this time, the wedge-shaped tail of the jaw 1335 is squeezed towards the axis by the conical opening on the outer shell 1331, so that the instrument tubing in the central through hole 1334 is subjected to a large clamping force and will not produce axial displacement. Figure 11 As shown, when the instrument tubing is in the delivery state, after the connector of the chuck 1333 is connected to the endoscope instrument delivery device 2000, the chuck 1333 is pushed to the left, and at the same time the elastic reset member 1336 is compressed. The wedge-shaped tail of the pawl 1335 leaves the conical opening of the outer shell 1331. At this time, the pressure of the pawl 1335 on the instrument tubing in the central through hole 1334 is small. Therefore, the instrument tubing can move along its axis in the central through hole 1334 and will not slip off naturally.

[0081] The pipeline clamping unit 1330 also includes an auxiliary spring ring 1338, which is sleeved around the claw 1335.

[0082] The 1335 chuck has a certain degree of flexibility, such as... Figure 10 and Figure 11 As shown, an auxiliary spring ring 1338 is fitted around the jaw 1335, which can retract the jaw 1335 towards the axis to clamp the instrument tubing. By setting the auxiliary spring ring 1338, the endoscope instruments can be prevented from sliding when the tubing clamping unit 1330 is in the delivery state and the endoscope instrument tubing is not subjected to other clamping forces.

[0083] like Figure 10 As shown, when the tubing clamping unit 1330 is in its natural state, the chuck 1333 reaches the right stop point under the elastic force of the elastic reset member 1336. At this time, the wedge-shaped tail of the chuck 1335 is squeezed by the conical opening on the outer shell 1331 and retracts towards the axis under the pressure of the auxiliary spring ring 1338, so that the instrument tubing in the central through hole 1334 is subjected to a large clamping force and will not produce axial displacement. Figure 11As shown, when the instrument tubing is in the delivery state, after the connector of the chuck 1333 is connected to the endoscope instrument delivery device 2000, the chuck 1333 is pushed to the left, and at the same time the elastic reset member 1336 is compressed. The wedge-shaped tail of the pawl 1335 leaves the conical opening of the outer shell 1331. At this time, the pawl 1335 is only affected by the contraction force of the auxiliary spring ring 1338. The pressure on the instrument tubing located in the central through hole 1334 is small. Therefore, the instrument tubing can move along its axis in the central through hole 1334 and will not slip off naturally.

[0084] Among them, such as Figure 9 As shown, the pipe clamping mechanism 1300 also includes a clamping unit mounting bracket 1320, and the pipe clamping unit 1330 is detachably mounted on the mounting rod 1310 via the clamping unit mounting bracket 1320.

[0085] Specifically, the clamping unit mounting bracket 1320 is provided with a first slot and a second slot. The first slot is used to clamp onto the mounting rod 1310, and the second slot is used to clamp onto the pipe clamping unit 1330. The pipe clamping unit 1330 can be inserted and removed from the mounting rod 1310 using the first and second slots for replacement or sterilization. Alternatively, the pipe clamping unit 1330 can be a disposable item, discarded as medical waste after use. In one embodiment, the clamping unit mounting bracket 1320 and the mounting rod 1310 are an integral structure, with the second slot directly provided on the mounting rod 1310. The pipe clamping unit 1330 is clamped onto the mounting rod 1310 via the second slot. Specifically, the second slot is a spherical groove, and the spherical protrusion 1332 on the outer shell 1331 is received within the spherical groove. Optionally, the clamping unit mounting bracket 1320 is fixedly mounted to the mounting rod 1310 by screws, and the pipeline clamping unit 1330 is detachably mounted to the clamping unit mounting bracket 1320.

[0086] In another specific embodiment, such as Figures 12 to 14 As shown, the pipe clamping unit 1330 includes a housing 1331, a fixed shaft roller 1341, a movable shaft roller 1345, a slider 1346, and an elastic adjusting member 1349. The fixed shaft roller 1341 is rotatably mounted inside the housing 1331. The movable shaft 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 adjusting member 1349 abuts against the slider 1346, and the other end of the elastic adjusting member 1349 abuts against the housing 1331.

[0087] The fixed-axis roller 1341 includes a fixed shaft 1342 and a first roller 1343 sleeved on the fixed shaft 1342. In one embodiment, the fixed shaft 1342 is fixed inside the housing 1331, and the first roller 1343 is rotatably sleeved on the fixed shaft 1342. In another embodiment, the fixed shaft 1342 is rotatably mounted inside the housing 1331, and the first roller 1343 is fixedly sleeved on the fixed shaft 1342. The movable-axis roller 1345 includes a movable shaft 1347 and a second roller 1348 sleeved on the movable shaft 1347. In one embodiment, the movable shaft 1347 is rotatably mounted on the slider 1346, and the second roller 1348 is fixedly sleeved on the movable shaft 1347. In another embodiment, the movable shaft 1347 is inserted and fixed to the slider 1346, and the second roller 1348 is rotatably sleeved on the movable shaft 1347. The first roller 1343 and the second roller 1348 are each provided with grooves adapted to the outer circumference of the endoscopic instrument. After the first roller 1343 and the second roller 1348 are engaged, the grooves align to form a channel for accommodating the endoscopic instrument. The elastic adjustment element 1349 is a spring or an elastic pad, etc. One end of the elastic adjustment element 1349 is connected to the inner wall of the outer casing 1331, and the other end of the elastic adjustment element 1349 is connected to the slider 1346, thereby dynamically adjusting the distance between the second roller 1348 and the first roller 1343 to clamp the endoscopic instrument tubing.

[0088] To detect the travel length of the instrument tubing, a detection element 1350 is provided on the fixed-axis roller 1341 to detect the number of rotations of the first roller 1343. The travel length of the endoscopic instrument is determined based on the detection result of the detection element 1350. Specifically, the detection element 1350 includes a magnetic sensor installed inside the housing 1331 and a magnetic component 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 travel length of the endoscopic instrument is determined by combining 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 travel length of the endoscopic instrument can be determined.

[0089] The tubing clamping unit 1330 provided in this embodiment allows the instrument tubing to pass between the first roller 1343 and the second roller 1348 inside the housing 1331, forming a closed structure to reduce external contamination.

[0090] The support base 1210 is used to support the entire instrument switching device and to connect to the trolley. In a specific embodiment, such as... Figure 15 and Figure 16 As shown, the endoscopic instrument switching device also includes a quick-connect assembly 1222. For example... Figure 17As shown, the quick-connect assembly 1222 includes a base 1221, an unlocking lever 1231, a push rod 1232, a latch 1233, and a tension spring 1234. The base 1221 is fixedly mounted on the support base 1210. The unlocking lever 1231 is rotatably mounted on the base 1221. One end of the push rod 1232 is rotatably connected to the unlocking lever 1231, and the other end of the push rod 1232 is rotatably connected to the latch 1233. The latch 1233 is rotatably mounted on the base 1221, and the tension spring 1234 is installed inside the base 1221 with one end connected to the latch 1233.

[0091] Specifically, the latch 1233 includes two latches, each latch 1233 including a connecting part and a latching part, the connecting part and the latching part being connected and forming an obtuse angle. The latching part is used to mate with the clamping socket on the first telescopic arm. The connection point between the latching part and the connecting part serves as the rotation point of the latch 1233. The tension spring 1234 is connected to the connecting part of the latch 1233. Figure 17 As shown, the connecting part of each buckle 1233 is connected to the top rod 1232.

[0092] Pull the unlocking lever 1231 upwards. The unlocking lever 1231 pushes the top rod 1232 downwards. Under the pushing force of the top rod 1232, the latching part of the buckle 1233 retracts inwards. When the plug of the base 1221 is inserted into the clamping socket of the first telescopic arm, the unlocking lever 1231 is released. The buckle 1233 is pulled outwards by the tension spring 1234, thus locking into the corresponding hole on the clamping socket.

[0093] In another embodiment, the quick-connect assembly 1222 includes a tension spring 1234 and a latch 1233, without an unlocking lever 1231. The latch 1233 is retracted into the housing 1331 by insertion and extraction force. The tension spring 1234 is installed inside the base 1221, and one end of the tension spring 1234 is connected to the latch 1233. During clamping, as the plug of the base 1221 is inserted into the clamping socket, the latch 1233 is compressed inward. When fully inserted, the latch 1233 expands outward under the action of the tension spring 1234 and engages with the locking hole on the clamping socket. The quick-connect assembly 1222 provided in this embodiment does not require an unlocking lever 1231; it can be quickly connected by simply inserting it into the clamping socket during clamping. Of course, other structural forms of the quick-connect assembly 1222 can also be used, as long as the base 1221 can be securely installed on the first telescopic arm.

[0094] The moving component 1240 is used to support the instrument clamping mechanism 1100 and the pipeline clamping mechanism 1300, and to drive them to move laterally and longitudinally in the horizontal plane.

[0095] Optionally, the moving component 1240 includes a lateral drive unit 1241, a lateral support structure 1242, a longitudinal drive unit 1244, and a longitudinal support structure 1245. The lateral drive unit 1241 is mounted on the support base 1210, and its drive end is connected to the lateral support structure 1242 to drive the lateral support structure 1242 to move laterally left and right. The longitudinal support structure 1245 is slidably mounted on the lateral support structure 1242 and moves longitudinally under the action of the longitudinal drive unit 1244.

[0096] In one specific embodiment, such as Figure 15 As shown, the moving component 1240 includes a lateral drive unit 1241, a lateral support structure 1242, rollers 1243, a longitudinal drive unit 1244, and a longitudinal support structure 1245. The lateral drive unit 1241 is mounted on the support base 1210, and its drive end is connected to the lateral support structure 1242 to drive the lateral support structure 1242 to move laterally left and right. The longitudinal support structure 1245, the longitudinal drive unit 1244, and the rollers 1243 are all mounted on the lateral support structure 1242 as longitudinal drive components, and move laterally with the lateral support structure 1242 under the action of the lateral drive unit 1241. The longitudinal support structure 1245 moves longitudinally along the sliding track formed by the rollers 1243 under the action of the longitudinal drive unit 1244. In this embodiment, the rollers 1243 serve as the sliding track for the longitudinal support structure 1245, improving the smoothness and stability of the sliding motion. The mounting platform 1101 in the instrument clamping mechanism 1100 and the mounting rod 1310 in the tubing clamping mechanism 1300 are fixed to the longitudinal bearing structure 1245. The driving end of the longitudinal drive unit 1244 is connected to the longitudinal bearing structure 1245 to drive the longitudinal bearing structure 1245 to move longitudinally back and forth, thereby driving the instrument clamping mechanism 1100 and the tubing clamping mechanism 1300 to move back and forth. Optionally, the longitudinal drive unit 1244 and the transverse drive unit 1241 can be a standard slide table, an electric actuator, or a screw nut or gear rack mechanism connected to a rotary drive.

[0097] In another specific embodiment, such as Figure 16 As shown, the instrument clamping mechanism 1100 is fixedly mounted on the support base 1210. The tubing clamping mechanism 1300 is mounted on the support base 1210 and can move laterally and longitudinally relative to the support base 1210. The support base 1210 is provided with a lateral drive unit 1241, a lateral track 1246, a longitudinal drive unit 1244, and a longitudinal track 1247. Optionally, the lateral drive unit 1241 includes a lateral rotary motor and a gear and rack transmission assembly 1249, the gear and rack transmission assembly 1249 including a transmission gear and a transmission rack. Figure 12As shown, a transverse rotary motor is fixed to the transverse track 1246. A transmission gear is connected to the output shaft of the transverse rotary motor and meshes with a transmission rack, which is movably mounted on the transverse track 1246. The transmission rack is fixedly connected to the mounting rod 1310. Under the action of the transverse rotary motor, the transmission gear rotates, thereby driving the transmission rack to move laterally, thus adjusting the position of the tubing clamping unit 1330, so that the tubing clamping unit 1330 corresponding to the target tubing aligns with the endoscope instrument delivery device 2000. The transverse track 1246 is movably mounted on the longitudinal track 1247. Specifically, as... Figure 12 As shown, the longitudinal track 1247 is equipped with a sliding rod for guidance. Similar to the transverse drive unit 1241, the longitudinal drive unit 1244 drives the transverse track 1246 to move back and forth along the longitudinal track 1247, thereby causing the tubing clamping unit 1330 to move closer to or further away from the endoscope instrument delivery device 2000. Both the transverse drive unit 1241 and the longitudinal drive unit 1244 are concealed within the support base 1210.

[0098] In yet another specific embodiment, such as Figure 16 As shown, the instrument clamping mechanism 1100 is fixedly mounted on the support base 1210. The tubing clamping mechanism 1300 is mounted on the support base 1210 via a movable assembly 1240 and can move laterally and longitudinally relative to the support base 1210. Figure 13As shown, the moving component 1240 uses a synchronous belt drive assembly 1248 to achieve lateral movement and a gear and rack drive assembly 1249 to achieve longitudinal movement. Specifically, the moving component 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. Multiple pipe 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 rod is provided in the transverse track 1246, and the sliding block can be slidably sleeved on the sliding rod. There can be multiple sliding rods, and multiple sliding rods 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 pipe clamping unit 1330 to move laterally. The longitudinal drive unit 1244 includes a longitudinal rotary motor and a gear and rack transmission assembly 1249, which includes a transmission gear and a transmission rack. The longitudinal rotary motor is fixedly mounted on the transverse track 1246, and the motor shaft of the longitudinal rotary motor is connected to the transmission gear, which meshes with the transmission rack. The longitudinal track 1247 is fixedly mounted within the support base 1210, and the transmission gear is rotatably mounted within the transverse track 1246. A slide rod is also provided within the longitudinal track 1247, and the transverse track 1246 is slidably fitted onto the slide rod. Under the action of the longitudinal rotary motor, the transmission gear rotates, driving the transverse track 1246 to move longitudinally back and forth, thereby causing the tubing clamping unit 1330 to move closer to or further away from the endoscopic instrument transport device 2000.

[0099] Of course, the moving component 1240 can also use a lead screw and nut for lateral and / or longitudinal transmission, and this embodiment of the invention does not specifically limit this.

[0100] In addition, the endoscope instrument switching device also includes an instrument controller, which is communicatively connected to the instrument clamping mechanism 1100, the instrument switching mechanism 1200, the tubing clamping mechanism 1300, and the endoscope instrument transport device 2000, respectively, to control the drive in the corresponding mechanism and receive detection information fed back by the detection element 1350.

[0101] Specifically, before the endoscope instrument switching device is put into operation, the operating handles of each endoscope instrument are clamped onto the instrument clamping unit 1102 one by one, the tubing of the endoscope instrument is inserted into the corresponding tubing clamping unit 1330, and the instrument controller is started.

[0102] For the target instrument held on the instrument clamping unit 1102, the instrument controller first activates the lateral drive unit 1241, causing the tubing clamping mechanism 1300 to move laterally, aligning the axis of the corresponding tubing clamping unit 1330 with the axis of the guide tube of the endoscope instrument transport device 2000. Then, the instrument controller activates the longitudinal drive unit 1244, causing the tubing clamping mechanism 1300 to move longitudinally until the clamp 1333 of the tubing clamping unit 1330 reaches the inlet of the guide tube of the endoscope instrument transport device 2000. At this time, the chuck 1333 moves inward into the housing 1331 under the thrust, while the elastic reset member 1336 is compressed. The tail fin of the chuck 1335 leaves the conical opening of the housing 1331. At this time, the chuck 1335 is only affected by the contraction force of the auxiliary spring ring 1338. The pressure on the endoscopic instrument tubing 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 transport device 2000. Based on the information obtained by the detection component inside the endoscopic instrument transport device 2000, when the head end of the endoscopic instrument moves to the preset position of the forceps channel, the drive mechanism in the instrument transport structure stops working, and the entire medical robot switches to manual mode. The endoscopic instrument is slowly extended out of the forceps channel by the matching control platform to perform the corresponding operation. After the use of the endoscopic instrument is completed, the control platform controls the head end of the endoscopic instrument to retract. When the tip of the endoscope instrument retracts into the driven unit within the endoscope instrument transport device 2000, the instrument controller controls the longitudinal drive unit 1244 to start based on the trigger signal from the position sensor within the endoscope instrument transport device 2000 and the length information fed back by the displacement sensor. This drives the tubing clamping mechanism 1300 to move longitudinally back. After reaching the designated position, the controller controls the lateral drive unit 1241 to start, driving the tubing clamping mechanism 1300 to move laterally back to the origin.

[0103] To switch endoscopic instruments, click the operation button on the control platform to trigger the instrument switching operation signal. After the aforementioned instrument has moved longitudinally back to its origin, control the lateral drive unit 1241 to directly align the axis of the corresponding tubing clamping unit 1330 with the axis of the guide tube of the endoscopic instrument delivery device 2000. Then, the longitudinal drive device is activated to repeat the aforementioned actions.

[0104] After the surgery is completed, the endoscopic instruments are removed and discarded, and the tubing clamping unit 1330 and the conveying mechanism of the endoscopic instrument delivery device 2000 are removed, discarded, or cleaned and disinfected.

[0105] The present invention also provides a medical robot, which includes the endoscopic instrument switching device as described above.

[0106] Specifically, the medical robot also includes a trolley, an endoscope drive unit, and an endoscope transport unit. The trolley includes a trolley body, a first telescopic arm, and a second telescopic arm. The trolley body includes a base and a worktable. The base provides support for the entire trolley. The worktable is vertically mounted on the base. The first telescopic arm is rotatably mounted on the worktable, and the second telescopic arm is fixedly mounted on the worktable. The lengths of both the first and second telescopic arms are adjustable. The endoscope instrument switching device and the endoscope drive unit are both mounted on the first telescopic arm, and the endoscope transport unit is mounted on the second telescopic arm. Specifically, the endoscope drive unit is detachably mounted on the first telescopic arm via fasteners. The endoscope transport unit is detachably mounted on the second telescopic arm via another fastener. The end of the first telescopic arm has a clamping socket, and the endoscope instrument switching device is detachably clamped to the clamping socket via a quick-connect assembly 1222.

[0107] In use, press the open / close button on the endoscope drive unit to open the hatch. Place the endoscope's operating section into the storage compartment of the endoscope drive unit. Press the open / close button again to lock the endoscope in place, thus connecting the structure, power, data, power supply, and light source. Then close the hatch. Insert the endoscope's insertion section into the delivery tube of the endoscope delivery unit until the entire snake-like structure extends beyond the clamping pulley of the endoscope delivery unit. At this point, the endoscope's insertion section is naturally suspended between the endoscope delivery unit and the endoscope drive unit. Attach the quick-connect connector of the external gas-liquid delivery device to the end face of the endoscope's operating section. Connect the other end to the external fluid delivery control device, suction device, and water bag, respectively. Attach the endoscope instruments one by one to the endoscope instrument switching device. Finally, insert the image connector of the photoelectric connection device into the corresponding connector of the external image processing device.

[0108] Once the control platform is activated, the instrument control unit can manipulate the endoscope drive device to perform bending and rotation of the endoscope, achieving bending of the endoscope tip and overall rotation of the endoscope. It can also control the endoscope transport device to advance and retreat the endoscope, cooperating with the endoscope drive device to achieve rotation. It should be noted that the rotation of the endoscope drive device and the endoscope transport device can be synchronously and actively implemented, or it can be actively executed by the endoscope transport device. A torque sensor built into the endoscope transmits torsional information to the endoscope drive device, which then moves accordingly.

[0109] During endoscopic insertion, the insertion section of the endoscope gradually enters the patient's body, straightening from a natural suspended state between the endoscope delivery device and the endoscope drive device. An endoscope travel detection device built into the endoscope delivery device transmits the detection information to the main control board, which then sends a rotation command to the rotation drive of the first telescopic arm. The first telescopic arm begins to rotate to ensure the insertion section of the endoscope is not stretched until it reaches its stop position. A strain gauge built into the second telescopic arm detects the resistance during endoscope insertion and withdrawal and feeds it back to the control platform. The force feedback motor on the control platform transmits the feedback force to the corresponding control handle, ensuring safety during insertion and withdrawal and avoiding risks such as perforation. A force sensor built into the endoscope drive device detects the bending force on the endoscope tip and feeds it back to the control platform. The force feedback motor on the control platform transmits the feedback force to the corresponding control handle, ensuring safety during endoscope bending and avoiding risks such as perforation. The sensor built into the endoscope can detect the travel of the bending traction wire and feed it back to the main control board. After calculation, the display shows the bending state of the endoscope tip, which can ensure the safety of the endoscope tip bending process and avoid risks such as perforation.

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An endoscopic instrument switching device, characterized in that, The device includes an instrument clamping mechanism, an instrument switching mechanism, and a tubing clamping mechanism. The instrument clamping mechanism includes a mounting platform and multiple instrument clamping units disposed on the mounting platform. The instrument switching mechanism includes a support base and a moving component disposed within the support base. The tubing clamping mechanism includes a mounting rod and multiple tubing clamping units disposed on the mounting rod. The mounting platform is mounted on the support base, the mounting rod is mounted on the support base via the moving component, the instrument clamping unit is used to clamp the operating part of the endoscope instrument, the tubing clamping unit is used to clamp the insertion tubing of the endoscope instrument, and under the action of the moving component, any one of the multiple tubing clamping units can be connected to the endoscope instrument delivery device. Among them, the endoscope instrument delivery device is used to deliver the endoscope instruments held by the tubing clamping unit that is connected to it; The instrument clamping unit includes a third instrument clamping unit, which includes a third instrument clamping base, a backlash compensation component, a third instrument handle fixing clamping component, and a third instrument handle moving clamping component. The third instrument clamping base is mounted on the mounting platform, the third instrument handle fixing clamping component is fixed to the third instrument clamping base, and the third instrument handle moving clamping component is movably mounted on the third instrument clamping base via the backlash compensation component. The backlash compensation assembly includes a compensation frame and a first elastic element. The third instrument handle moving clamping assembly includes a third slide and a third sliding drive. The third sliding drive is connected to the compensation frame. Both the compensation frame and the third slide can be slidably mounted on the third instrument clamping seat, forming a receiving cavity between the compensation frame and the third slide. The first elastic element is housed in the receiving cavity, with one end abutting against the compensation frame and the other end abutting against the third slide. Under the action of the third sliding drive, the compensation frame moves left and right, and the third slide moves synchronously with the compensation frame under the action of the first elastic element. If backlash occurs, the first elastic element drives the third slide to move slightly to ensure that a force is always applied to the endoscopic instrument during operation to compensate for the backlash. The compensation frame can be slidably clamped onto the third instrument clamping seat. The compensation frame has mounting grooves on both sides. The third slide is sleeved on the compensation frame and forms the receiving cavity with the mounting grooves. The receiving cavity contains two first elastic elements on the left and right sides to balance the force on the third slide.

2. The endoscopic instrument switching device according to claim 1, characterized in that, The instrument clamping unit includes one or more of the following: a first instrument clamping unit, a second instrument clamping unit, and a third instrument clamping unit. The second instrument clamping unit includes a second instrument clamping base, a rotating assembly, a second instrument handle fixing clamping assembly, and a second instrument handle moving clamping assembly. The rotating assembly is mounted on the mounting platform, and the output end of the rotating assembly is connected to the second instrument clamping base. The second instrument handle fixing clamping assembly is fixed to the second instrument clamping base, and the second instrument handle moving clamping assembly is movably mounted on the second instrument clamping base.

3. The endoscopic instrument switching device according to claim 1, characterized in that, The tubing clamping unit includes a housing, a clamp, and a resilient reset member. The clamp is movably inserted into the housing and has a central through hole for the tubing of endoscopic instruments to pass through. The resilient reset member is sleeved on the clamp and located inside the housing. One end of the clamp has a connector for docking with an endoscopic instrument delivery device, and the other end of the clamp has a claw. The housing has a tapered opening with a diameter that gradually decreases from the outside to the inside. In its natural state, the claw is engaged with the tapered opening. In the delivery state, the connector abuts against the connector of the endoscopic instrument delivery device, and the claw moves to the larger end of the tapered opening.

4. The endoscopic instrument switching device according to claim 3, characterized in that, The pipeline clamping unit also includes an auxiliary spring ring, which is sleeved around the periphery of the jaw.

5. The endoscopic instrument switching device according to claim 1, characterized in that, The pipe clamping unit includes a housing, a fixed shaft roller, a movable shaft roller, a slider, and an elastic adjusting member. The fixed shaft roller is rotatably mounted inside the housing, the movable shaft roller is rotatably mounted on the slider, the slider is slidably mounted on the housing, one end of the elastic adjusting member abuts against the slider, and the other end of the elastic adjusting member abuts against the housing.

6. The endoscopic instrument switching device according to claim 1, characterized in that, The moving component includes a lateral drive unit, a lateral load-bearing structure, a longitudinal drive unit, and a longitudinal load-bearing structure. The lateral drive unit is mounted on the support base, the mounting rod is mounted on the longitudinal load-bearing structure, and the longitudinal load-bearing structure is slidably mounted on the lateral load-bearing structure. The longitudinal drive unit drives the longitudinal load-bearing structure to move longitudinally, and the lateral drive unit drives the longitudinal load-bearing structure to slide relative to the lateral load-bearing structure; or... The moving component includes a lateral drive unit, a lateral rail, a longitudinal rail, and a longitudinal drive unit. The mounting rod is slidably mounted on the lateral rail under the action of the lateral drive unit. The lateral rail is slidably mounted on the longitudinal rail. The longitudinal drive unit is connected to the lateral rail. The longitudinal rail is fixedly mounted in the support base.

7. The endoscopic instrument switching device according to claim 1, characterized in that, It also includes a quick-connect assembly, which includes a base, an unlocking rod, a top rod, a buckle, and a tension spring. The base is fixedly installed on the support base, the unlocking rod is rotatably installed on the support base, one end of the top rod is rotatably connected to the unlocking rod, and the other end of the top rod is rotatably connected to the buckle. The buckle is rotatably installed inside the base, one end of the tension spring is connected to the base, and the other end of the tension spring is connected to the buckle.

8. A medical robot, characterized in that, Includes the endoscopic instrument switching device as described in any one of claims 1 to 7.

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