Endoscopic surgical robot system

Abstract

The invention relates to the technical field of medical instruments, and provides an endoscopic surgical robot system which comprises a remote control device, a mobile robot and an endoscopic robot. The mobile robot comprises a trolley, a mechanical arm and a force sensor, and the mechanical arm is movably mounted on the trolley; the endoscope robot comprises a box body, a first driving part and a second driving part, the box body is installed at the tail end of the mechanical arm, an endoscope is installed on the box body, the first driving part is used for driving the endoscope to rotate, and the second driving part is used for driving the endoscope to bend; the remote control device is in communication connection with the first driving part, the second driving part and the mechanical arm, and after the mechanical arm drives the endoscope to move to the first target position, the remote control device controls the mechanical arm, the first driving part and the second driving part so that the endoscope can enter the target position in the human body. According to the endoscopic surgery robot system, through a man-machine cooperative control mode, a user can efficiently implement an endoscopic surgery, and a focus can be accurately positioned and treated.

Description

Technical Field

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

[0002] During endoscopic surgery, the user holds the endoscope to operate. Holding the instrument for a long time during surgery increases the risk of musculoskeletal diseases such as wrist fatigue and injury. Endoscopic surgical robots enable users to manipulate the machine to perform surgery, alleviating the user's fatigue from standing for a long time. However, due to the unique design of the endoscope structure, current endoscopic surgical robots face a series of problems such as large size, complex structural installation, and inconvenient operation. It is difficult to achieve convenient control of the endoscope during endoscopic surgery. Summary of the invention

[0003] The present invention provides an endoscopic surgical robot system, which is used to solve the problem that the endoscopic surgical robot system in the prior art has a single control and is difficult to accurately control the endoscope.

[0004] The present invention provides an endoscopic surgical robot system, comprising: a remote control device, a mobile robot and an endoscopic robot; The mobile robot comprises a trolley, a mechanical arm and a force sensor, wherein the mechanical arm is movably mounted on the trolley; the force sensor is mounted on the mechanical arm, and the force sensor is used to collect the force exerted by the user on the endoscope robot, and the mechanical arm moves following the user's action according to the detection information of the force sensor; The endoscope robot comprises a box body, a first driving member and a second driving member, the box body is mounted at the end of the robot arm, an endoscope is mounted on the box body, the first driving member is used to drive the endoscope to rotate, and the second driving member is used to drive the endoscope to bend; The remote control device is communicatively connected with the first driving member, the second driving member and the robotic arm respectively. After the robotic arm drives the endoscope to move to the first target position, the remote control device controls the robotic arm, the first driving member and the second driving member to enable the endoscope to enter the target position in the human body.

[0005] According to an endoscopic surgical robot system provided by the present invention, the remote control device comprises: a base, a slider, an operating handle, a lever, a displacement sensor, a bending angle sensor, a rotation angle sensor and a controller; The base is provided with a guide rail, the slider is mounted on the guide rail and can move along the guide rail, the displacement sensor is used to detect the position of the slider relative to the guide rail, and the controller controls the mechanical arm to make the endoscope move axially according to the detection information of the displacement sensor; The operating handle is rotatably mounted on the slider, the rotation angle sensor is used to detect the rotation angle of the operating handle relative to the slider, and the controller controls the first driving member to rotate the endoscope according to the detection information of the rotation angle sensor; The lever is rotatably mounted on the operating handle, the bending angle sensor is used to detect the rotation angle of the lever, and the controller controls the second driving member to bend the endoscope according to the detection information of the bending angle sensor.

[0006] According to an endoscopic surgical robot system provided by the present invention, the endoscopic robot further comprises a third driving member, and the third driving member is used to control the on-off of the flushing pipeline in the endoscope; The remote control device includes a negative pressure button, a rotating wheel and a negative pressure angle sensor. The negative pressure button can be pressed on the operating handle, the rotating wheel can be rotatably installed on the operating handle and is transmission-connected to the negative pressure button, and the negative pressure angle sensor is used to detect the rotation angle of the rotating wheel under the action of the negative pressure button. The controller controls the third driving member according to the detection information of the negative pressure angle sensor.

[0007] According to an endoscopic surgical robot system provided by the present invention, the remote control device further comprises a traction rope and a torsion spring, one end of the traction rope is fixedly connected to the negative pressure button, and the other end of the traction rope is wound around the rotating wheel; A negative pressure bracket is fixedly installed in the operating handle, the rotating wheel is rotatably installed on the negative pressure bracket via a rotating shaft, and the negative pressure angle sensor is fixed on the negative pressure bracket for detecting the rotation angle of the rotating shaft; A first support is provided on the side of the rotating wheel facing the negative pressure support, and the negative pressure support is provided with a second support. The torsion spring is sleeved on the rotating shaft, and one torsion arm of the torsion spring abuts against the first support, and the other torsion arm abuts against the second support.

[0008] According to an endoscopic surgical robot system provided by the present invention, the endoscopic robot also includes a partition and a cam, the endoscope has a pressing piece, the partition is fixed to the box body, the cam is rotatably mounted on the partition, the third driving member is transmission-connected to the cam, and the cam cooperates with the pressing piece to enable or block the flushing pipeline in the endoscope.

[0009] According to an endoscopic surgical robot system provided by the present invention, a bending bracket is fixedly installed inside the operating handle, the shift rod is fixedly connected to the first connecting shaft, the first connecting shaft is inserted into the operating handle and rotatably installed on the bending bracket, one end of the first connecting shaft away from the shift rod is suspended inside the operating handle, and the bending angle sensor is used to detect the rotation angle of the first connecting shaft.

[0010] According to an endoscopic surgical robot system provided by the present invention, the slider is provided with a socket, and one end of the second connecting shaft can be rotatably inserted into the socket; a revolving bracket is fixedly installed in the operating handle, and the other end of the second connecting shaft can be rotatably inserted into the revolving bracket, and the revolving angle sensor is fixed to the revolving bracket for detecting the rotation angle of the second connecting shaft.

[0011] According to an endoscopic surgical robot system provided by the present invention, the endoscopic robot further comprises an instrument box, a winding wheel, a first tube body and a second tube body, the instrument box is detachably mounted on the box body, the first tube body is inserted into the second tube body, the second tube body is sleeved with a first bevel gear, the first bevel gear is meshed with a second bevel gear located in the instrument box, and the first driving member is detachably connected to the second bevel gear in a transmission manner; The winding wheel is installed in the instrument box, and the winding wheel is detachably connected to the second driving member. A driving wire is wound around the winding wheel, and the driving wire is connected to the end of the first tube body.

[0012] According to an endoscopic surgical robot system provided by the present invention, the endoscopic robot also includes a first worm gear, a first elastic member and a first rotating wheel, the first driving member is installed in the box body, the output shaft of the first driving member is meshed with the first worm gear, the first worm gear is connected to the first rotating wheel through a first rotating shaft, the first elastic member is sleeved on the first rotating shaft and clamped between the first rotating wheel and the mounting plate of the box body, and the first rotating wheel is connected to the second bevel gear.

[0013] According to an endoscopic surgical robot system provided by the present invention, the endoscopic robot also includes a second worm gear, a second elastic member and a second rotating wheel, the second driving member is installed in the box body, the output shaft of the second driving member is meshed with the second worm gear, the second worm gear is connected to the second rotating wheel through a second rotating shaft, the second elastic member is sleeved on the second rotating shaft and clamped between the second rotating wheel and the mounting plate of the box body, and the second rotating wheel is connected to the winding wheel.

[0014] The endoscopic surgical robot system provided by the present invention is provided with a remote control device, a mobile robot and an endoscopic robot, a trolley and a mechanical arm are provided on the mobile robot, a box body, a first driving member and a second driving member are provided on the endoscopic robot, and an endoscope is installed on the box body. Through the communication connection between the remote control device and the first driving member, the second driving member and the mechanical arm, the remote control device can remotely control the first driving member to drive the rotation of the endoscope. The remote control device can also remotely control the second driving member to drive the bending of the endoscope. The remote control device can also remotely control the movement of the mechanical arm to control the delivery movement of the endoscope. After the mechanical arm drives the endoscope to move to the first target position, the remote control device can remotely control the mechanical arm, the first driving member and the second driving member to adjust the posture of the endoscope in the human body cavity so that the endoscope can reach the target position in the human body. Through the human-machine collaborative control mode, the user can efficiently perform endoscopic surgery and accurately locate and treat the lesion through large-scale mechanical arm dragging and small-scale endoscope posture adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to 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 any creative work.

[0016] Figure 1 It is a schematic diagram of the endoscopic surgical robot system provided by the present invention.

[0017] Figure 2 It is a three-dimensional structural schematic diagram of the remote control device provided by the present invention.

[0018] Figure 3 This is one of the three-dimensional structural schematic diagrams of the base provided by the present invention.

[0019] Figure 4 This is the second schematic diagram of the three-dimensional structure of the base provided by the present invention.

[0020] Figure 5 It is a cross-sectional view of the remote control device (excluding the base) provided by the present invention.

[0021] Figure 6 It is a schematic diagram of the installation of the negative pressure button and the negative pressure angle sensor provided by the present invention.

[0022] Figure 7 It is a schematic diagram of the installation of the bending angle sensor and the lever provided by the present invention.

[0023] Figure 8It is a schematic diagram of the installation of the rotation angle sensor and the slider provided by the present invention.

[0024] Fig. 9 It is an exploded view of the endoscope robot provided by the present invention.

[0025] Fig.10 It is a schematic diagram of the structure inside the box body provided by the present invention.

[0026] Fig.11 It is a structural schematic diagram of the partition provided by the present invention.

[0027] Fig.12 It is a schematic diagram of the structure inside the instrument box provided by the present invention.

[0028] Fig.13 It is a schematic diagram of the transmission structure of the first driving member, the second driving member and the third driving member provided by the present invention.

[0029] Fig.14 It is a flow chart of the endoscopic surgical robot system provided by the present invention.

[0030] Fig.15 It is a control logic block diagram provided by the present invention.

[0031] Reference numerals: 1. Remote control device; 101. Base; 102. Slider; 103. Operating handle; 104. Push rod; 105. Displacement sensor; 106. Bending angle sensor; 107. Turnaround angle sensor; 108. Controller; 109. Negative pressure button; 110. Rotating wheel; 111. Negative pressure angle sensor; 112. Traction rope; 113. Torsion spring; 114. Rotating shaft; 115. First connecting shaft; 116. Second connecting shaft; 117. Button; 118. First cover plate; 119. First damping ring; 120. First elastic pad; 121. Second cover plate; 122. Second damping ring; 123. Second elastic pad; 1011. Guide rail; 1031. Negative pressure bracket; 1032. Bending bracket; 1033. Turnaround bracket; 1101. First pillar; 10311. Second pillar; 2. Mobile robot; 201. Trolley; 202. Robotic arm; 3. Endoscope robot; 301. Box body; 302. Pressing member; 303. First driving member; 304. Second driving member; 305. Third driving member; 306. Partition; 307. Cam; 308. Instrument box; 309. Winding wheel; 310. First tube body; 311. Second tube body; 312. First bevel gear; 313. Second bevel gear; 314. Driving line; 315. First worm gear; 316. First elastic member; 317. First rotating wheel; 318. First rotating shaft; 319. 9. Second worm gear; 320. Second elastic member; 321. Second rotating wheel; 322. Second rotating shaft; 323. Ejector female seat; 324. Photoelectric switch; 325. Ejector male seat; 326. Snap-fit ​​member; 327. Buckle; 328. Terminal block; 329. Connecting column; 330. Isolation ring; 331. First rotating wheel; 332. Second rotating wheel; 333. Third rotating wheel; 334. Fourth rotating wheel; 335. Bump; 3011. Mounting plate; 3012. Cover; 3013. Base. DETAILED DESCRIPTION

[0032] 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.

[0033] Combine the following Figures 1 to 15 , the endoscopic surgical robot system provided by the embodiment of the present invention is described in detail through specific embodiments and their application scenarios.

[0034] In some embodiments, Figure 1 , Figure 2 and Fig.12 As shown, this embodiment provides an endoscopic surgical robot system, including: a remote control device 1, a mobile robot 2 and an endoscopic robot 3.

[0035] The mobile robot 2 includes a trolley 201 and a robotic arm 202. The robotic arm 202 is movably mounted on the trolley 201. A force sensor is mounted on the robotic arm 202. The force sensor is used to collect the force exerted by the user on the endoscope robot 3. The robotic arm 202 moves following the user's movements according to the detection information of the force sensor.

[0036] The endoscope robot 3 includes a box body 301, a first driving member 303 and a second driving member 304. The box body 301 is installed at the end of the robot arm 202. An endoscope is installed on the box body 301. The first driving member 303 is used to drive the endoscope to rotate, and the second driving member 304 is used to drive the endoscope to bend.

[0037] The remote control device 1 is respectively connected to the first driving member 303, the second driving member 304 and the robotic arm 202 for communication. After the robotic arm 202 drives the endoscope to move to the first target position, the remote control device 1 controls the robotic arm 202, the first driving member 303 and the second driving member 304 to enable the endoscope to enter the target position in the human body.

[0038] It is understandable that the trolley 201 is used to provide a mounting support for the robotic arm 202, and a wheel set is installed at the bottom of the trolley 201 to facilitate the movement of the robotic arm 202 between different treatment rooms. The various sections of the robotic arm 202 can move relative to each other to achieve the adjustment of the end position of the robotic arm 202, thereby driving the movement of the endoscope.

[0039] When the user actively drags the endoscope, the force sensor can detect the force applied by the user to the endoscope robot 3, and feed back the force information to the robotic arm 202. The robotic arm 202 follows the movement of the user according to the force information, and adjusts the initial position of the endoscope so that the endoscope enters the urethral entrance under the guidance of the robotic arm 202, thereby providing the user with a better sense of control over the endoscope and making it easier for the user to operate the endoscope.

[0040] The endoscope can obtain real-time image information of the interior of the human cavity and provide a channel for delivering surgical instruments. By adjusting the position of the endoscope, the endoscope can obtain image information of different parts in the human cavity. The user can monitor the image information in a room different from the patient and perform remote diagnosis of the surgical scene. The position of the endoscope can be remotely controlled by operating the remote control device 1, which reduces the fatigue of the user holding the endoscope for a long time and maintaining a fixed posture.

[0041] Furthermore, the remote control device 1 can feed back control information to the first drive member 303, the second drive member 304 and the robotic arm 202 through communication with the first drive member 303, the second drive member 304 and the robotic arm 202, thereby controlling the movement of the robotic arm 202, so that the robotic arm 202 drives the endoscope to perform delivery movement along the axial direction of the endoscope. The remote control device 1 can also control the first drive member 303 to drive the rotation of the endoscope, and the remote control device 1 can also control the second drive member 304 to drive the bending of the endoscope, thereby realizing the remote control of the endoscope by the remote control device 1.

[0042] Optionally, the first driving member 303 can realize rotational driving of the endoscope through a rotating driving member, or can realize rotational driving of the endoscope through the transmission of a gear assembly, and the second driving member 304 can realize bending driving of the endoscope through a rotating driving member and a crank-connecting rod mechanism.

[0043] In practical applications, such as Fig.14As shown, first, the user actively drags the execution end of the robot arm 202, drags and adjusts the initial position of the endoscope, so that the robot arm 202 follows the user's hand movement and controls the endoscope to enter the entrance of the human body cavity. Then, the control mode of the endoscope is changed. In this mode, the robot arm 202 can only perform delivery movement along the axial direction of the endoscope. The user drags the robot arm 202 a second time to control the robot arm 202 to push the endoscope into the organ cavity along the patient's human body cavity. Then, based on the image fed back by the endoscope, the user controls the remote control device 1 to adjust the posture of the endoscope so that the endoscope reaches the target position in the human body, which is convenient for the user to treat the lesion accordingly. Finally, the user manually drags the endoscope out of the human body cavity according to the needs of the operation. During the operation, the robot arm 202 can continue to enter the delivery movement along the axial direction of the endoscope according to specific needs, and repeat the subsequent steps until the entire operation is completed and the operation is over.

[0044] like Fig.15 As shown, this embodiment also includes a host computer, and the endoscope robot 3 is communicatively connected to the host computer. The host computer is equipped with a display screen for displaying the image information collected by the endoscope in real time.

[0045] The endoscopic surgical robot system provided by the present invention is provided with a remote control device 1, a mobile robot 2 and an endoscopic robot 3, a trolley 201 and a mechanical arm 202 are provided on the mobile robot 2, a box body 301, a first driving member 303 and a second driving member 304 are provided on the endoscopic robot 3, and an endoscope is installed on the box body 301. Through the communication connection between the remote control device 1 and the first driving member 303, the second driving member 304 and the mechanical arm 202, the remote control device 1 can remotely control the first driving member 303 to drive the rotation of the endoscope. The remote control device 1 can also remotely control the second driving member 304. In order to drive the bending of the endoscope, the remote control device 1 can also remotely control the movement of the robotic arm 202, and further control the delivery movement of the endoscope, so that after the robotic arm 202 drives the endoscope to move to the first target position, the remote control device 1 can remotely control the robotic arm 202, the first driving member 303 and the second driving member 304 to adjust the posture of the endoscope in the human body cavity, so that the endoscope can reach the target position in the human body. Through the human-machine collaborative control mode, the user can efficiently perform endoscopic surgery and accurately locate and treat the lesions through large-scale dragging of the robotic arm 202 and small-scale adjustment of the endoscope posture.

[0046] In some embodiments, Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the remote control device 1 of this embodiment includes: a base 101 , a slider 102 , an operating handle 103 , a lever 104 , a displacement sensor 105 , a bending angle sensor 106 , a rotation angle sensor 107 and a controller 108 .

[0047] The base 101 is provided with a guide rail 1011, the slider 102 is installed on the guide rail 1011 and can move along the guide rail 1011, the displacement sensor 105 is used to detect the position of the slider 102 relative to the guide rail 1011, and the controller 108 controls the robot arm 202 to move the endoscope axially according to the detection information of the displacement sensor 105.

[0048] The operating handle 103 is rotatably mounted on the slider 102 . The rotation angle sensor 107 is used to detect the rotation angle of the operating handle 103 relative to the slider 102 . The controller 108 controls the first driving member 303 to rotate the endoscope according to the detection information of the rotation angle sensor 107 .

[0049] The lever 104 is rotatably mounted on the operating handle 103 . The bending angle sensor 106 is used to detect the rotation angle of the lever 104 . The controller 108 controls the second driving member 304 to bend the endoscope according to the detection information of the bending angle sensor 106 .

[0050] It is understandable that the base 101 of this embodiment is in the shape of a rectangular parallelepiped, and the operating handle 103 can move along the base 101 and can also rotate around the slider 102 .

[0051] In some examples, the base 101 includes a shell and a base, the shell cover is arranged on the base, the shell is hollow, and a first accommodating cavity is formed in the shell and the base for accommodating the controller 108, the displacement sensor 105 and the guide rail 1011. The slider 102 is installed on the guide rail 1011 and is located in the first accommodating cavity. The slider 102 moves along the guide rail 1011 in the first accommodating cavity. In this embodiment, the controller 108, the displacement sensor 105 and the guide rail 1011 are arranged at intervals. The shell is provided with a strip hole corresponding to the guide rail 1011 for exposing the guide rail 1011. The bottom of the operating handle 103 is connected with the sliding rotation. In this way, the operating handle 103 can move along the guide rail 1011 and rotate relative to the slider 102.

[0052] Furthermore, the lever 104 of this embodiment is arranged at the top of the operating handle 103, and accordingly, the bending angle sensor 106 is also arranged at the top inside the operating handle 103. The bottom of the operating handle 103 is rotatably mounted on the slider 102, and the rotation angle sensor 107 is also arranged at the bottom inside the operating handle 103.

[0053] The movement of the operating handle 103 along the base 101 can control the end of the robotic arm 202 to move forward or backward along the axis, and drive the axial direction of the endoscope to move forward or backward. In addition, the displacement sensor 105 can detect the position and movement information of the operating handle 103 on the base 101, and synchronize the movement position information with the robotic arm 202, so that the controller 108 can synchronously control the movement of the robotic arm 202 through the movement of the operating handle 103 relative to the base 101, thereby driving the axial movement direction of the endoscope, forward or backward, and the forward or backward displacement.

[0054] At the same time, the operating handle 103 can rotate around the slider 102, and can control the first driving member 303 to rotate the endoscope around the axis. In addition, the rotation angle sensor 107 can detect the rotation angle of the operating handle 103 relative to the slider 102, and synchronize the rotation angle with the first driving member 303, so that the controller 108 can synchronously control the first driving member 303 to rotate the endoscope in the same direction of the axis, clockwise or counterclockwise, and the rotation angle through the rotation of the operating handle 103 relative to the base 101.

[0055] Furthermore, the lever 104 can rotate around the operating handle 103, and can control the second drive member 304 to bend the endoscope, and the bending angle sensor 106 can detect the rotation angle of the lever 104, and synchronize the rotation angle with the second drive member 304, so that the controller 108 can synchronously control the second drive member 304 to bend the endoscope in the same direction, clockwise or counterclockwise, and at a bending angle through the rotation of the lever 104 relative to the operating handle 103.

[0056] When performing an endoscopic examination on a patient, the operator can remotely control the endoscope through the remote control device 1 and control the position of the endoscope by changing the position of the remote control device 1, thereby reducing the fatigue of the user from holding the endoscope for a long time and maintaining a fixed posture.

[0057] The remote control device 1 of this embodiment simulates the geometric configuration of the endoscope in structure. The endoscope is controlled by the remote control device 1. By changing the position of the operating handle 103 on the base 101 and using the displacement sensor 105 to detect the position information, the mechanical arm 202 is controlled to make the endoscope move axially synchronously. By operating the operating handle 103 to rotate relative to the base 101 and using the rotation angle sensor 107 to detect the rotation angle information, the first driving member 303 is controlled to make the endoscope rotate synchronously. By turning the lever 104 and using the bending angle sensor 106 to detect the rotation angle, the second driving member 304 is controlled to make the endoscope bend synchronously. Through the one-to-one spatial mapping relationship established between the remote control device 1 and the endoscope, the remote precise control of the endoscope is achieved through motion perception and control with different degrees of freedom, and the convenience of endoscope operation is improved.

[0058] In some embodiments, Figure 5 , Figure 6 and Fig.12 As shown, the endoscope robot 3 of this embodiment further includes a third driving member 305, and the third driving member 305 is used to control the on-off of the flushing pipeline in the endoscope.

[0059] The remote control device 1 includes a negative pressure button 109, a rotating wheel 110 and a negative pressure angle sensor 111. The negative pressure button 109 can be pressed on the operating handle 103, the rotating wheel 110 can be rotatably installed on the operating handle 103 and is transmission-connected to the negative pressure button 109, and the negative pressure angle sensor 111 is used to detect the rotation angle of the rotating wheel 110 under the action of the negative pressure button 109. The controller 108 controls the third driving member 305 according to the detection information of the negative pressure angle sensor 111.

[0060] It can be understood that the interior of the operating handle 103 of this embodiment is hollow and has a second accommodating cavity, the rotating wheel 110 and the negative pressure angle sensor 111 are arranged in the second accommodating cavity, and a mounting hole is provided in the middle of the operating handle 103, the negative pressure button 109 is passed through the mounting hole and is transmission-connected to the rotating wheel 110.

[0061] Specifically, the negative pressure button 109 and the rotating wheel 110 can be connected to each other through a gear rack structure or a lead screw mechanism.

[0062] The pressing operation of the negative pressure button 109 can drive the rotation of the rotating wheel 110. The pressing operation and releasing operation of the negative pressure button 109, as well as the different pressing amplitudes, correspond to different rotation directions and different angles of the rotating wheel 110. The negative pressure angle sensor 111 can detect the rotation direction and rotation angle of the rotating wheel 110, and synchronize the rotation direction and rotation angle with the third driving member 305, so that the controller 108 synchronously controls the third driving member 305 to control the on-off of the flushing pipeline in the endoscope through the pressing action of the negative pressure button 109 relative to the operating handle 103, so that the endoscope can flush the accumulated fluid, gas or solid residue to clean up the secretions, increase the operating space and ensure a clear field of view of the endoscope.

[0063] This embodiment converts the pressing operation of the negative pressure button 109 into the rotation action of the rotating wheel 110, uses the negative pressure angle sensor 111 to detect the rotation angle of the rotating wheel 110, and synchronizes the rotation angle with the third driving member 305, thereby controlling the on-off of the flushing pipeline in the endoscope, so that the controller 108 synchronously controls the on-off of the flushing pipeline of the endoscope by pressing the negative pressure button 109 relative to the operating handle 103, thereby controlling the flushing action of the endoscope, thereby realizing remote and precise control of the flushing action of the endoscope.

[0064] In some embodiments, Figure 6 As shown, the remote control device 1 of this embodiment further includes a traction rope 112 and a torsion spring 113 . One end of the traction rope 112 is fixedly connected to the negative pressure button 109 , and the other end of the traction rope 112 is wound around the rotating wheel 110 .

[0065] A negative pressure bracket 1031 is fixedly installed in the operating handle 103 , the rotating wheel 110 is rotatably installed on the negative pressure bracket 1031 via a rotating shaft 114 , and the negative pressure angle sensor 111 is fixed on the negative pressure bracket 1031 for detecting the rotation angle of the rotating shaft 114 .

[0066] A first support 1101 is provided on one side of the rotating wheel 110 facing the negative pressure support 1031 . The negative pressure support 1031 is provided with a second support 10311 . The torsion spring 113 is sleeved on the rotating shaft 114 . One torsion arm of the torsion spring 113 abuts against the first support 1101 , and the other torsion arm abuts against the second support 10311 .

[0067] It is understandable that one torsion arm of the torsion spring 113 is fixedly connected to the negative pressure bracket 1031 , and the other torsion arm can rotate under the drive of the rotating wheel 110 , so that the torsion spring 113 is subjected to torque and compressed to generate elastic potential energy.

[0068] When the negative pressure button 109 is pressed, the traction rope 112 is in a loose state, and the traction rope 112 has no pulling force on the rotating wheel 110. The rotation amplitude of the rotating wheel 110 becomes smaller, the torque of the rotation on the torsion spring 113 is reduced, the compression degree of the torsion spring 113 is weakened, and the rotating wheel 110 rotates counterclockwise under the traction of the torsion spring 113.

[0069] Correspondingly, when the negative pressure button 109 is released, the traction rope 112 is in a tensioned state, the traction force of the traction rope 112 on the rotating wheel 110 increases, the torque on the torsion spring 113 increases, the torsion spring 113 is tightened and compressed, and the rotating wheel 110 rotates clockwise under the traction force of the traction rope 112 and returns to its initial position.

[0070] By continuously pressing the negative pressure button 109, the traction rope 112 and the torsion spring 113 alternately control the rotation direction of the rotating wheel 110, and the pressing force of the negative pressure button 109 further affects the traction force of the traction rope 112 and the compression degree of the torsion spring 113, so that the rotation speed of the rotating wheel 110 changes. By adjusting the rotation direction and speed of the rotating wheel 110, the on-off of the flushing pipeline of the endoscope is controlled, and then the flushing force of the endoscope is controlled.

[0071] The remote control device 1 of this embodiment controls the rotation direction and speed of the rotating wheel 110 by setting a traction rope 112 and a torsion spring 113. The traction force of the traction rope 112 on the rotating wheel 110 and the torsion force of the torsion spring 113 on the rotating wheel 110 are reset. The remote control device 1 has a simple structure and a compact size, has a good control effect on the rotating wheel 110, and further realizes good control of the flushing force of the endoscope.

[0072] In some embodiments, Figure 5 and Figure 7 As shown, the lever 104 of this embodiment is arc-shaped and is arranged on the right side of the operating handle 103.

[0073] It is understandable that the arc-shaped setting of the lever 104 enables the bent portion of the lever 104 to be arranged relative to the top end of the operating handle 103 , which facilitates the user to rotate the lever 104 .

[0074] Furthermore, the lever 104 is disposed at the right end of the operating handle 103 , and the negative pressure button 109 is disposed at the left side of the operating handle 103 . The user can control the negative pressure button 109 and the lever 104 using his left and right hands respectively.

[0075] In some embodiments, the negative pressure button 109 of this embodiment is disposed on the left side of the operating handle 103 so that the user can press the negative pressure button 109 when holding the operating handle 103 .

[0076] It is understandable that when the user uses an endoscope for flushing, in order to ensure the flushing effect, it is necessary to change the bending direction and bending angle of the endoscope at the same time. The lever 104 and the negative pressure button 109 are set on the same side. The user can operate the remote control device 1 with one hand to achieve synchronous control of the flushing action and the bending action of the endoscope, thereby realizing the convenience of operating the endoscope.

[0077] In some embodiments, Fig. 9 , Fig.10 and Fig.12 As shown, the endoscope robot 3 of this embodiment also includes a partition 306 and a cam 307. The endoscope has a pressing piece 302. The partition 306 is fixed to the box body 301. The cam 307 can be rotatably installed on the partition 306. The third driving member 305 is transmission-connected to the cam 307. The cam 307 cooperates with the pressing piece 302 to enable or block the flushing pipeline in the endoscope.

[0078] It is understandable that the third driving member 305 can drive the cam 307 to rotate. The cam 307 is an eccentric structure. When the eccentric structure contacts the pressing member 302, it can promote the conduction or blocking of the flushing pipeline in the endoscope.

[0079] Specifically, in the present embodiment, the cam 307 is located on one end of the partition 306 close to the pressing member 302, the third driving member 305 is transmission-connected to the cam 307, and the third driving member 305 can drive the cam 307 to rotate when it rotates. The pressing member 302 has a cavity inside. During the rotation of the cam 307, when the smaller diameter portion faces the pressing member 302, the cam 307 only contacts the end face of the pressing member 302, but no squeezing force is generated, the pressure in the cavity of the pressing member 302 remains unchanged, and the flushing pipeline is blocked; when the larger diameter portion faces the pressing member 302, the cam 307 squeezes the pressing member 302, the pressure in the cavity of the pressing member 302 increases, the flushing pipeline is connected, and the flushing liquid flows into the endoscope.

[0080] In this embodiment, the pressing member 302 cooperates with the cam 307 to realize the conduction or blocking of the flushing pipeline in the endoscope, and the difference in diameter of the cam 307 during the rotation process is used to control the size of the squeezing force of the pressing member 302, and the structure is compact.

[0081] Specifically, the third driving member 305 can be a motor, which can drive the cam 307 to rotate. When the motor rotates forward, the cam 307 presses the pressing member 302 to achieve the conduction of the flushing pipeline in the endoscope. When the motor rotates reversely, the cam 307 does not squeeze the pressing member 302, and the flushing pipeline of the endoscope is blocked.

[0082] In some embodiments, Figure 5 and Figure 7As shown, a bending bracket 1032 is fixedly installed inside the operating handle 103 of this embodiment, and the lever 104 is fixedly connected to the first connecting shaft 115. The first connecting shaft 115 is inserted into the operating handle 103 and rotatably installed on the bending bracket 1032. One end of the first connecting shaft 115 away from the lever 104 is suspended inside the operating handle 103, and the bending angle sensor 106 is used to detect the rotation angle of the first connecting shaft 115.

[0083] It is understandable that the negative pressure bracket 1031 of this embodiment is bent into a horizontal section and a vertical section. The horizontal section provides an installation support for the bending angle sensor 106, and a rotating hole is set in the center of the vertical section. The first connecting shaft 115 is rotatably passed through the vertical section.

[0084] An opening is provided on one side of the operating handle 103 close to the lever 104, one end of the first connecting shaft 115 is passed through the opening and fixedly connected to the lever 104, and the other end of the first connecting shaft 115 is suspended inside the operating handle 103. Optionally, the first connecting shaft 115 can be set as a stepped shaft, and the shaft diameter of the end connected to the lever 104 is larger, which is convenient for providing a larger torque to the lever 104, and the shaft diameter of the other end rotatably connected to the negative pressure bracket 1031 is smaller, which is convenient for the bending angle sensor 106 to collect the rotation angle of the first connecting shaft 115.

[0085] Furthermore, due to the fixed connection between the first connecting shaft 115 and the lever 104, the rotation angle of the first connecting shaft 115 is the rotation angle of the lever 104, and the rotation direction of the first connecting shaft 115 can correspond one-to-one to the bending direction and bending angle of the endoscope.

[0086] In this embodiment, the rotation angle of the first connecting shaft 115 is detected by the bending angle sensor 106 to obtain the rotation angle of the lever 104 , thereby realizing convenient and rapid detection of the rotation angle of the lever 104 . The structure is simple and compact, and the volume and weight of the operating handle 103 are reduced.

[0087] In some embodiments, Figure 7 As shown, the remote control device 1 of this embodiment also includes a first cover plate 118; the negative pressure bracket 1031 is fixedly connected to the first cover plate 118 to form a first accommodating chamber, and the first damping ring 119 and the first elastic pad 120 are sleeved on the first connecting shaft 115, and the first damping ring 119 and the first elastic pad 120 are clamped in the first accommodating chamber.

[0088] It is understandable that the first cover plate 118 can move axially along the first connecting shaft 115 to adjust the distance between the first cover plate 118 and the negative pressure support 1031. As the distance decreases, the first damping ring 119 and the first elastic pad 120 are compressed to increase the resistance of the first damping ring 119 and the first elastic pad 120 when they rotate relative to each other, so that the rotational damping of the first connecting shaft 115 is increased, and the first connecting shaft 115 is suspended at a certain rotational position, so that when the endoscope is bent and manipulated by the lever 104, the endoscope is paused at a certain rotational position to enable imaging or other operations of the endoscope at a specific bending angle. Alternatively, when the endoscope requires more sensitive bending adjustment, the first damping ring 119 and the second elastic pad 123 are loosened to make the rotational damping of the first connecting shaft 115 smaller, and the lever 104 can sensitively control the endoscope.

[0089] Furthermore, the length of the first accommodating cavity can be adjusted by adjusting the connection between the first cover plate 118 and the negative pressure support 1031 through the fasteners, thereby adjusting the distance between the first damping ring 119 and the second elastic pad 123 .

[0090] Optionally, the first cover plate 118 may be a rubber pad cover plate, and the first elastic pad 120 may be a rubber pad.

[0091] Specifically, the first cover plate 118 of this embodiment is arranged on the side of the negative pressure bracket 1031 away from the bending angle sensor 106, the first damping ring 119 is sleeved on one end of the first connecting shaft 115 close to the negative pressure bracket 1031, and the first elastic pad 120 is clamped between the first damping ring 119 and the first cover plate 118.

[0092] In this embodiment, a first accommodating chamber is set between the first cover plate 118 and the negative pressure support 1031, and the first damping ring 119 and the first elastic pad 120 are clamped in the first accommodating chamber. The first damping ring 119 and the first elastic pad 120 are tightened and loosened by adjusting the length of the first accommodating chamber, and the rotational damping of the first connecting shaft 115 is adjusted according to the control requirements of the endoscope. The first connecting shaft 115 is suspended, so that the lever 104 can hover at a certain rotation angle, and the endoscope can be controlled to pause at a certain bending angle, so as to better examine and treat the patient.

[0093] In some embodiments, Figure 4 and Figure 8 As shown, the slider 102 of this embodiment is provided with a socket, and one end of the second connecting shaft 116 can be rotatably inserted into the socket; a rotating bracket 1033 is fixedly installed in the operating handle 103, and the other end of the second connecting shaft 116 can be rotatably passed through the rotating bracket 1033, and the rotating angle sensor 107 is fixed to the rotating bracket 1033 for detecting the rotation angle of the second connecting shaft 116.

[0094] It can be understood that the negative pressure support 1031 of this embodiment includes a horizontal plate located in the middle and two vertical plates located on both sides of the horizontal plate, the horizontal plate is vertically connected to the two vertical plates, the two vertical plates are fixedly connected to the inner wall of the operating handle 103, an axial hole is provided in the center of the horizontal plate, the second connecting shaft 116 is rotatably passed through the horizontal plate, and a rotation angle sensor 107 is provided at the upper end of the horizontal plate.

[0095] An opening is provided at the bottom of the operating handle 103, and one end of the second connecting shaft 116 is inserted into the opening and is rotatably connected to the socket of the slider 102. Optionally, the second connecting shaft 116 can be set as a stepped shaft, and the shaft diameter of the end connected to the slider 102 is larger, which is convenient for providing a larger torque for the operating handle 103 to rotate relative to the slider 102, and the shaft diameter of the other end rotatably connected to the negative pressure bracket 1031 is smaller, which is convenient for the rotation angle sensor 107 to collect the rotation angle of the second connecting shaft 116.

[0096] Furthermore, since the second connecting shaft 116 is rotatably connected to the slider 102, the rotation angle of the second connecting shaft 116 is the rotation angle of the operating handle 103 relative to the slider 102, and the rotation angle of the second connecting shaft 116 can correspond to the axial rotation of the endoscope.

[0097] This embodiment detects the rotation angle of the second connecting shaft 116 through the rotation angle sensor 107, and then obtains the rotation angle of the operating handle 103 relative to the slider 102, thereby realizing convenient and rapid detection of the rotation angle of the operating handle 103. The structure is simple and compact, and the volume and weight of the operating handle 103 are reduced.

[0098] In some embodiments, Figure 8 As shown, the remote control device 1 of this embodiment also includes a second cover plate 121; the negative pressure bracket 1031 is fixedly connected to the second cover plate 121 to form a second accommodating chamber, and the second damping ring 122 and the second elastic pad 123 are sleeved on the second connecting shaft 116, and the second damping ring 122 and the second elastic pad 123 are clamped in the second accommodating chamber.

[0099] It is understandable that the second cover plate 121 can move axially along the second connecting shaft 116 to adjust the distance between the second cover plate 121 and the negative pressure support 1031. As the distance decreases, the second damping ring 122 and the second elastic pad 123 are compressed to increase the resistance of the second damping ring 122 and the second elastic pad 123 when they rotate relative to each other, so that the rotational damping of the second connecting shaft 116 is increased, thereby achieving the suspension of the second connecting shaft 116 at a certain rotational position, so that when the endoscope is axially rotated by the operating handle 103, the endoscope is paused at a certain rotational position to enable the endoscope to image or perform other operations at a specific angle. Alternatively, when the endoscope requires more sensitive rotational adjustment, the second damping ring 122 and the second elastic pad 123 are loosened to reduce the rotational damping of the second connecting shaft 116, and the operating handle 103 can sensitively control the axial rotation of the endoscope.

[0100] Furthermore, the length of the second accommodating cavity can be adjusted by adjusting the connection between the second cover plate 121 and the negative pressure support 1031 through the fasteners, thereby adjusting the distance between the second damping ring 122 and the second elastic pad 123 .

[0101] Optionally, the second cover plate 121 may be a rubber pad cover plate, and the second elastic pad 123 may be a rubber pad.

[0102] Specifically, the second cover plate 121 of this embodiment is arranged on the side of the negative pressure bracket 1031 away from the bending angle sensor 106, the second damping ring 122 is sleeved on one end of the second connecting shaft 116 close to the negative pressure bracket 1031, and the second elastic pad 123 is clamped between the second damping ring 122 and the second cover plate 121.

[0103] In this embodiment, a second accommodating chamber is set between the second cover plate 121 and the negative pressure support 1031, and the second damping ring 122 and the second elastic pad 123 are clamped in the second accommodating chamber. The second damping ring 122 and the second elastic pad 123 are tightened and loosened by adjusting the length of the second accommodating chamber, and the rotational damping of the second connecting shaft 116 is adjusted according to the control requirements of the endoscope. The second connecting shaft 116 is suspended, so that the operating handle 103 can hover at a certain rotation angle, and the endoscope can be controlled to pause at a certain rotation angle, so as to better examine and treat the patient.

[0104] In some embodiments, Figure 2 As shown, a plurality of buttons 117 are installed on the base 101 of this embodiment; the buttons 117 are connected to the controller 108 .

[0105] It is understandable that the functions of the endoscope can be customized by multiple buttons 117, and the multiple buttons 117 are arranged near the operating handle 103 for the convenience of the user to press. Each button 117 has a different function, for example, one of the buttons 117 can be set to a photo mode to collect image data, one of the buttons 117 can be set to a delivery mode of the endoscope, and one of the buttons 117 can be set to a posture adjustment mode of the endoscope.

[0106] In this embodiment, a plurality of buttons 117 are provided. By pressing the plurality of buttons 117, the controller 108 can control the endoscope to switch the operation mode, which is convenient to operate.

[0107] In some embodiments, Fig.10 , Fig.11 and Fig.12 As shown, the endoscope robot 3 of this embodiment also includes an instrument box 308, a winding wheel 309, a first tube body 310 and a second tube body 311. The instrument box 308 is detachably installed on the box body 301, the first tube body 310 is inserted into the second tube body 311, the second tube body 311 is sleeved with the first bevel gear 312, the first bevel gear 312 is meshed with the second bevel gear 313 located in the instrument box 308, and the first driving member 303 and the second bevel gear 313 are detachably connected in transmission.

[0108] The winding wheel 309 is installed in the instrument box 308 , and the winding wheel 309 is detachably connected to the second driving member 304 . A driving wire 314 is wound around the winding wheel 309 , and the driving wire 314 is connected to the end of the first tube body 310 .

[0109] It is understandable that a partition 306 is provided between the instrument box 308 and the box body 301 to separate the instrument box 308 from the box body 301. In actual operation, the instrument box 308 needs to be sterilized and is a disposable item, while the first drive member 303, the second drive member 304 and the third drive member 305 are reusable to reduce the cost of use. The partition 306 can prevent the box body 301 from causing contamination to the instrument box 308. In this embodiment, the instrument box 308 is connected to the box body 301 by a buckle 327 for easy disassembly and installation.

[0110] The instrument box 308 includes an upper shell and a lower shell, the lower shell is clamped with the box body 301, the winding wheel 309, the first tube body 310, the second tube body 311, the first bevel gear 312 and the second bevel gear 313 are arranged in the lower shell, the upper shell and the lower shell are buckled, and the two are connected by bolts. The opposite surfaces of the lower shell are respectively provided with clamping members 326, the first ends of the clamping members 326 extend upward and fit with the surface of the upper shell. The second ends of the clamping members 326 extend downward and clamp with the box body 301.

[0111] The first driving member 303 drives the second bevel gear 313 to rotate, thereby driving the first bevel gear 312 to rotate, and the first bevel gear 312 drives the first tube 310 and the second tube 311 to rotate. The second bevel gear 313 is detachably connected to the first driving member 303 through the third rotating wheel 333. When the first driving member 303 rotates, it can drive the third rotating wheel 333 to rotate, thereby driving the second bevel gear 313 to rotate, and the second bevel gear 313 drives the first bevel gear 312 to rotate, thereby rotating the first tube 310 and the second tube 311. In this embodiment, a camera and an LED light are provided at one end of the first tube 310 away from the second tube 311. The camera is used to collect images in the cavity, and the LED light is used to provide a light source. The operating instrument can extend from one end of the first tube 310.

[0112] At the same time, the first tube body 310 of the present embodiment is a flexible tube body, and the second driving member 304 is connected to the winding wheel 309 through the fourth rotating wheel 334. When the second driving member 304 rotates, it can drive the fourth rotating wheel 334 to rotate, and then drive the winding wheel 309 to rotate to wind or release the driving line 314. When the driving line 314 is wound around the winding wheel 309, the driving line 314 pulls the end of the first tube body 310 to bend the first end of the first tube body 310; when the winding wheel 309 releases the driving line 314, the driving line 314 stretches, and the curvature of the first end of the first tube body 310 becomes smaller, or even straightens.

[0113] In this embodiment, the endoscope robot 3 further includes a bump 335 , which is disposed on the lower shell and is used to support the driving wire 314 .

[0114] Furthermore, the endoscope robot 3 further includes an isolation ring 330, a first rotating wheel 331 and a second rotating wheel 332, the isolation ring 330 is embedded in the partition 306, and the cam 307 is located outside the isolation ring 330. The first rotating wheel 331 and the second rotating wheel 332 are arranged on the partition 306, the first end of the first rotating wheel 331 is detachably connected to the second bevel gear 313, the second end of the first rotating wheel 331 is connected to the first driving member 303, the first end of the second rotating wheel 332 is detachably connected to the winding wheel 309, and the second end of the second rotating wheel 332 is connected to the second driving member 304.

[0115] Specifically, a groove is provided on the partition 306, and an isolation ring 330 is embedded in the groove. The isolation ring 330 is used for waterproofing so that the instrument box 308 is sealed and connected to the partition 306. The first driving member 303 is connected to the third rotating wheel 333 through the first rotating wheel 331 to drive the first tube 310 to rotate; at the same time, the second driving member 304 is connected to the fourth rotating wheel 334 through the second rotating wheel 332 to drive the winding wheel 309 to rotate.

[0116] In this embodiment, a detachable transmission connection is set between the first driving member 303 and the second bevel gear 313, a first rotating wheel 331 and a third rotating wheel 333 are set between the first driving member 303 and the second bevel gear 313, and the connection and separation of the first driving member 303 and the second bevel gear 313 are achieved by installing and disassembling the third rotating wheel 333 and the second bevel gear 313; a detachable transmission connection is set between the winding wheel 309 and the second driving member 304, and a third rotating wheel 333 is set between the winding wheel 309 and the second driving member 304. The second rotating wheel 332 and the fourth rotating wheel 334 can realize the connection and separation of the second driving member 304 and the winding wheel 309 by installing and disassembling the fourth rotating wheel 334 and the winding wheel 309, thereby realizing the rapid installation and disassembly of the instrument box 308 and the box body 301, which is convenient for the disassembly and installation of the endoscope robot 3. The instrument box 308 is a disposable item, while the first driving member 303, the second driving member 304 and the third driving member 305 in the box body 301 can be reused many times, thereby reducing the use cost of the endoscope robot 3.

[0117] In some embodiments, Fig.12 and Fig.13 As shown, the endoscope robot 3 of this embodiment also includes a first worm gear 315, a first elastic member 316 and a first rotating wheel 317. The first driving member 303 is installed in the box body 301. The output shaft of the first driving member 303 is meshed with the first worm gear 315. The first worm gear 315 is connected to the first rotating wheel 317 through the first rotating shaft 318. The first elastic member 316 is sleeved on the first rotating shaft 318 and clamped between the first rotating wheel 317 and the mounting plate 3011 of the box body 301. The first rotating wheel 317 is connected to the second bevel gear 313.

[0118] It is understandable that the box body 301 includes a cover body 3012 and a base, the cover body 3012 covers the base, and the first driving member 303, the second driving member 304 and the third driving member 305 are placed on the base. The box body 301 also includes a mounting plate 3011, which is arranged parallel to the cover body 3012 and connected to the cover body 3012 through a connecting column 329.

[0119] Specifically, buckles 327 are respectively provided on the opposite surfaces of the base, and the clamping parts 326 on the instrument box 308 are clamped with the buckles 327 to connect the box body 301, the partition 306 and the instrument box 308 into a whole.

[0120] The first driving member 303 is installed on the mounting plate 3011. When the first driving member 303 rotates, the output shaft of the first driving member 303 rotates, driving the first worm gear 315 to rotate, and the first worm gear 315 drives the first rotating wheel 317 to rotate. The first rotating wheel 317 is connected to the second bevel gear 313 through the first rotating wheel 331 and the third rotating wheel 333 to drive the first tube body 310 to rotate.

[0121] Furthermore, in this embodiment, a first elastic member 316 is disposed between the mounting plate 3011 and the first rotating wheel 317 to adjust the height of the first rotating wheel 317 to prevent the first rotating wheel 317 from being unable to connect to the first rotating wheel 331 .

[0122] The first driving member 303 may be a motor.

[0123] In some embodiments, Fig.12 and Fig.13 As shown, the endoscope robot 3 of this embodiment also includes a second worm gear 319, a second elastic member 320 and a second rotating wheel 321. The second driving member 304 is installed in the box body 301. The output shaft of the second driving member 304 is engaged with the second worm gear 319. The second worm gear 319 is connected to the second rotating wheel 321 through a second rotating shaft 322. The second elastic member 320 is sleeved on the second rotating shaft 322 and clamped between the second rotating wheel 321 and the mounting plate 3011 of the box body 301. The second rotating wheel 321 is connected to the winding wheel 309.

[0124] It is understandable that the second driving member 304 is installed on the mounting plate 3011. When the second driving member 304 rotates, the output shaft of the second driving member 304 rotates, driving the second worm gear 319 to rotate, and the second worm gear 319 drives the second rotating wheel 321 to rotate. The second rotating wheel 321 is connected to the winding wheel 309 through the second rotating wheel 332 and the fourth rotating wheel 334 to drive the bending of the end of the first tube body 310.

[0125] Furthermore, in this embodiment, a second elastic member 320 is disposed between the mounting plate 3011 and the second rotating wheel 321 to adjust the height of the second rotating wheel 321 to prevent the second rotating wheel 321 from being unable to connect with the second rotating wheel 332 .

[0126] The second driving member 304 may be a motor.

[0127] Furthermore, if Fig.10 and Fig.12 As shown, in this embodiment, a male ejector seat 325 is provided on the upper surface of the cover body 3012, a through groove is provided on the partition 306 at a position opposite to the male ejector seat 325, and a female ejector seat 323 is provided on the instrument box 308. The male ejector seat 325 is plugged into the female ejector seat 323 to receive the camera signal at the end of the first tube body 310.

[0128] like Fig.12 and Fig.13As shown, in the embodiment of the present invention, the driving assembly further includes a photoelectric switch 324 and a wiring board 328. The photoelectric switch 324 is disposed on the upper surface of the mounting plate 3011 and is adjacent to the second rotating wheel 321. The photoelectric switch 324 is used to determine the initial position of the second rotating wheel 321. The wiring board 328 is disposed outside the box body 301 and is used to receive and send motor encoding signals and video signals.

[0129] 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. An endoscopic surgical robot system, characterized in that: include: Remote control devices, mobile robots and endoscopic robots; The mobile robot comprises a trolley, a mechanical arm and a force sensor, wherein the mechanical arm is movably mounted on the trolley; the force sensor is mounted on the mechanical arm, and the force sensor is used to collect the force exerted by the user on the endoscope robot, and the mechanical arm moves following the user's action according to the detection information of the force sensor; The endoscope robot comprises a box body, a first driving member and a second driving member, the box body is mounted at the end of the robot arm, an endoscope is mounted on the box body, the first driving member is used to drive the endoscope to rotate, and the second driving member is used to drive the endoscope to bend; The remote control device is communicatively connected with the first driving member, the second driving member and the robotic arm respectively. After the robotic arm drives the endoscope to move to the first target position, the remote control device controls the robotic arm, the first driving member and the second driving member to enable the endoscope to enter the target position in the human body.

2. The endoscopic surgical robot system according to claim 1, characterized in that: The remote control device comprises: a base, a slider, an operating handle, a lever, a displacement sensor, a bending angle sensor, a rotation angle sensor and a controller; The base is provided with a guide rail, the slider is mounted on the guide rail and can move along the guide rail, the displacement sensor is used to detect the position of the slider relative to the guide rail, and the controller controls the mechanical arm to make the endoscope move axially according to the detection information of the displacement sensor; The operating handle is rotatably mounted on the slider, the rotation angle sensor is used to detect the rotation angle of the operating handle relative to the slider, and the controller controls the first driving member to rotate the endoscope according to the detection information of the rotation angle sensor; The lever is rotatably mounted on the operating handle, the bending angle sensor is used to detect the rotation angle of the lever, and the controller controls the second driving member to bend the endoscope according to the detection information of the bending angle sensor.

3. The endoscopic surgical robot system according to claim 2, characterized in that: The endoscope robot further comprises a third driving member, and the third driving member is used to control the on-off of the flushing pipeline in the endoscope; The remote control device includes a negative pressure button, a rotating wheel and a negative pressure angle sensor. The negative pressure button can be pressed on the operating handle, the rotating wheel can be rotatably installed on the operating handle and is transmission-connected to the negative pressure button, and the negative pressure angle sensor is used to detect the rotation angle of the rotating wheel under the action of the negative pressure button. The controller controls the third driving member according to the detection information of the negative pressure angle sensor.

4. The endoscopic surgical robot system according to claim 3, characterized in that: The remote control device further comprises a traction rope and a torsion spring, one end of the traction rope is fixedly connected to the negative pressure button, and the other end of the traction rope is wound around the rotating wheel; A negative pressure bracket is fixedly installed in the operating handle, the rotating wheel is rotatably installed on the negative pressure bracket via a rotating shaft, and the negative pressure angle sensor is fixed on the negative pressure bracket for detecting the rotation angle of the rotating shaft; A first support is provided on the side of the rotating wheel facing the negative pressure support, and the negative pressure support is provided with a second support. The torsion spring is sleeved on the rotating shaft, and one torsion arm of the torsion spring abuts against the first support, and the other torsion arm abuts against the second support.

5. The endoscopic surgical robot system according to claim 3, characterized in that: The endoscope robot also includes a partition and a cam. The endoscope has a pressing piece. The partition is fixed to the box body. The cam is rotatably mounted on the partition. The third driving member is transmission-connected to the cam. The cam cooperates with the pressing piece to enable or block the flushing pipeline in the endoscope.

6. The endoscopic surgical robot system according to claim 2, characterized in that: A bending bracket is fixedly installed inside the operating handle, and the shift rod is fixedly connected to a first connecting shaft. The first connecting shaft is inserted into the operating handle and rotatably installed on the bending bracket. One end of the first connecting shaft away from the shift rod is suspended inside the operating handle, and the bending angle sensor is used to detect the rotation angle of the first connecting shaft.

7. The endoscopic surgical robot system according to claim 2, characterized in that: The slider is provided with a socket, and one end of the second connecting shaft can be rotatably inserted into the socket; a rotating bracket is fixedly installed in the operating handle, and the other end of the second connecting shaft can be rotatably passed through the rotating bracket, and the rotating angle sensor is fixed to the rotating bracket for detecting the rotation angle of the second connecting shaft.

8. The endoscopic surgical robot system according to claim 1, characterized in that: The endoscope robot also includes an instrument box, a winding wheel, a first tube body and a second tube body, the instrument box is detachably mounted on the box body, the first tube body is inserted into the second tube body, the second tube body is sleeved with a first bevel gear, the first bevel gear is meshed with a second bevel gear located in the instrument box, and the first driving member is detachably connected to the second bevel gear; The winding wheel is installed in the instrument box, and the winding wheel is detachably connected to the second driving member. A driving wire is wound around the winding wheel, and the driving wire is connected to the end of the first tube body.

9. The endoscopic surgical robot system according to claim 8, characterized in that: The endoscope robot also includes a first worm gear, a first elastic member and a first rotating wheel. The first driving member is installed in the box body. The output shaft of the first driving member is meshed with the first worm gear. The first worm gear is connected to the first rotating wheel through a first rotating shaft. The first elastic member is sleeved on the first rotating shaft and clamped between the first rotating wheel and the mounting plate of the box body. The first rotating wheel is connected to the second bevel gear.

10. The endoscopic surgical robot system according to claim 8, characterized in that: The endoscope robot also includes a second worm gear, a second elastic member and a second rotating wheel. The second driving member is installed in the box body. The output shaft of the second driving member is meshed with the second worm gear. The second worm gear is connected to the second rotating wheel through a second rotating shaft. The second elastic member is sleeved on the second rotating shaft and clamped between the second rotating wheel and the mounting plate of the box body. The second rotating wheel is connected to the winding wheel.

Images