Flexible endoscope robot control device and endoscope surgical robot

Abstract

The invention relates to the technical field of medical instruments, and provides a flexible endoscope robot control device and an endoscope surgical robot, the control device comprises a base, a slide block, an operation handle, a deflector rod, a displacement sensor, a bending angle sensor, a turnover angle sensor and a controller; the base is provided with a guide rail, the sliding block is installed on the guide rail and can move along the guide rail, and the controller controls the endoscope to move synchronously in the axial direction according to detection information of the displacement sensor. The operating handle is rotatably mounted on the sliding block, and the controller controls the endoscope to rotate synchronously according to detection information of the turnover angle sensor; the deflector rod is rotatably installed on the operation handle, and the controller controls the bending direction and the bending angle of the endoscope according to detection information of the bending angle sensor so that the endoscope can be bent synchronously. According to the invention, remote control of the endoscope is realized through motion sensing and control of different degrees of freedom, and meanwhile, the operation convenience of the endoscope is improved.

Description

Technical Field

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

[0002] An endoscope is a medical device used for systemic examination and treatment. It can enter the human system, such as the bladder, ureter, and renal pelvis, through the body's natural cavities or small incisions.

[0003] The currently commonly used endoscope systems have several significant defects. The handle for operating the endoscope is usually directly integrated into the endoscope body, and the operator can only rely on manual operation to advance and rotate the endoscope, resulting in a lack of a stable spatial positioning reference for the endoscope during operation, causing a large floating space. At the same time, since the endoscope system needs to be held continuously, the surgical operation that maintains a single posture for a long time aggravates the physical fatigue of medical staff and may affect the quality of the operation. In addition, the unreasonable operation method of the endoscope system further increases the difficulty of operation, which not only affects the accuracy and safety of the operation, but also reduces medical efficiency. Long-term operation increases the risk of occupational diseases such as musculoskeletal strain for medical staff. Summary of the invention

[0004] The present invention provides a flexible endoscope robot control device and an endoscope surgical robot, which are used to solve the problem in the prior art that the handle of the endoscope needs to be manually supported and is difficult for medical staff to operate.

[0005] In order to solve the above technical problems, this application is implemented as follows: In a first aspect, the present invention provides a flexible endoscope robot control device, comprising: 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 synchronous axial movement of the endoscope 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 synchronous rotation of 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 bending direction and bending angle of the endoscope according to the detection information of the bending angle sensor so that the endoscope bends synchronously.

[0006] A flexible endoscope robot control device provided according to the present invention also 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 rotation angle of the negative pressure drive member in the endoscope according to the detection information of the negative pressure angle sensor.

[0007] A flexible endoscope robot control device according to the present invention also includes 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 a flexible endoscope robot control device provided by the present invention, the lever is arc-shaped and is arranged on the right side of the operating handle; and / or the negative pressure button is arranged on the left side of the operating handle so that the user can press the negative pressure button when holding the operating handle.

[0009] According to a flexible endoscope robot control device provided by the present invention, a bending bracket is fixedly installed inside the operating handle, the lever 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, the end of the first connecting shaft away from the lever is connected to the output shaft of the bending angle sensor, and the bending angle sensor is used to detect the rotation angle of the first connecting shaft.

[0010] A flexible endoscope robot control device provided according to the present invention also includes a first cover plate; the bending bracket is fixedly connected to the first cover plate to form a first accommodating cavity, the first connecting shaft is sleeved with a first damping ring and a first elastic pad, and the first damping ring and the first elastic pad are clamped in the first accommodating cavity.

[0011] According to a flexible endoscope robot control device 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.

[0012] A flexible endoscope robot control device provided according to the present invention also includes a second cover plate; the revolving bracket is fixedly connected to the second cover plate to form a second accommodating chamber, the second connecting shaft is sleeved with a second damping ring and a second elastic pad, and the second damping ring and the second elastic pad are clamped in the second accommodating chamber.

[0013] According to a flexible endoscope robot control device provided by the present invention, a plurality of buttons are installed on the base; and the buttons are connected to the controller.

[0014] In a second aspect, the present invention provides an endoscopic surgical robot, comprising a robot body and a control device as described above, wherein the control device is communicatively connected to the robot body.

[0015] The flexible endoscope robot control device and endoscopic surgical robot provided by the present invention structurally simulate the geometric configuration of the endoscope, control the endoscope through the control device, and realize synchronous control of the axial movement of the endoscope by changing the position of the operating handle on the base and using the displacement sensor to detect the position information, realize synchronous control of the rotation of the endoscope by operating the operating handle to rotate relative to the base and using the turnover angle sensor to detect the rotation angle information, realize synchronous control of the bending of the endoscope by turning the lever and using the bending angle sensor to detect the rotation angle, and realize remote control of the endoscope through the one-to-one spatial mapping relationship established between the control device and the endoscope and through motion perception and control with different degrees of freedom, while improving the convenience of endoscope operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the control device provided by the present invention.

[0018] Figure 2 This is one of the three-dimensional structural schematic diagrams of the base provided by the present invention.

[0019] Figure 3 This is the second schematic diagram of the three-dimensional structure of the base provided by the present invention.

[0020] Figure 4 It is a cross-sectional view of the control device (excluding the base) provided by the present invention.

[0021] Figure 5 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 6 It is a schematic diagram of the installation of the bending angle sensor and the lever provided by the present invention.

[0023] Figure 7 It is a schematic diagram of the installation of the rotation angle sensor and the slider provided by the present invention.

[0024] Reference numerals: 1. Base; 101. Guide rail; 2. Slider; 3. Operating handle; 31. Negative pressure support; 32. Bending support; 33. Rotating support; 311. Second support pillar; 4. Lever; 5. Displacement sensor; 6. Bending angle sensor; 7. Rotation angle sensor; 8. Controller; 9. Negative pressure button; 10. Rotating wheel; 101. First pillar; 11. Negative pressure angle sensor; 12. Traction rope; 13. Torsion spring; 14. Rotating shaft; 15. First connecting shaft; 16. First cover plate; 17. First damping ring; 18. First elastic pad; 19. Second connecting shaft; 20. Second cover plate; 21. Second damping ring; 22. Second elastic pad; 23. Button; 200, first accommodating chamber; 300, second accommodating chamber. DETAILED DESCRIPTION

[0025] 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.

[0026] Combine the following Figures 1 to 7 , the flexible endoscopic robot control device and endoscopic surgical robot provided by the embodiments of the present invention are described in detail through specific embodiments and their application scenarios.

[0027] First, as Figure 1 , Figure 2 and Figure 3 As shown, this embodiment provides a flexible endoscope robot control device, including: a base 1, a slider 2, an operating handle 3, a lever 4, a displacement sensor 5, a bending angle sensor 6, a rotation angle sensor 7 and a controller 8.

[0028] The base 1 is provided with a guide rail 101 , the slider 2 is mounted on the guide rail 101 and can move along the guide rail 101 , the displacement sensor 5 is used to detect the position of the slider 2 relative to the guide rail 101 , and the controller 8 controls the synchronous axial movement of the endoscope according to the detection information of the displacement sensor 5 .

[0029] The operating handle 3 is rotatably mounted on the slider 2 . The rotation angle sensor 7 is used to detect the rotation angle of the operating handle 3 relative to the slider 2 . The controller 8 controls the synchronous rotation of the endoscope according to the detection information of the rotation angle sensor 7 .

[0030] The lever 4 is rotatably mounted on the operating handle 3 , and the bending angle sensor 6 is used to detect the rotation angle of the lever 4 . The controller 8 controls the bending direction and bending angle of the endoscope according to the detection information of the bending angle sensor 6 so that the endoscope bends synchronously.

[0031] It is understandable that the base 1 of this embodiment is in the shape of a rectangular parallelepiped, and the operating handle 3 can move along the base 1 and also rotate around the slider 2 .

[0032] In some examples, the base 1 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 8, the displacement sensor 5 and the guide rail 101. The slider 2 is installed on the guide rail 101 and is located in the first accommodating cavity. The slider 2 moves along the guide rail 101 in the first accommodating cavity. In this embodiment, the controller 8, the displacement sensor 5 and the guide rail 101 are arranged at intervals. The shell is provided with a strip hole corresponding to the guide rail 101 for exposing the guide rail 101. The bottom of the operating handle 3 is connected with the sliding rotation. In this way, the operating handle 3 can move along the guide rail 101 and rotate relative to the slider 2.

[0033] Furthermore, the lever 4 of this embodiment is arranged at the top of the operating handle 3, and accordingly, the bending angle sensor 6 is also arranged at the top inside the operating handle 3. The bottom of the operating handle 3 is rotatably mounted on the slider 2, and the rotation angle sensor 7 is also arranged at the bottom inside the operating handle 3.

[0034] The movement of the operating handle 3 along the base 1 can control the axial forward or backward movement of the endoscope, and the displacement sensor 5 can detect the position and movement information of the operating handle 3 on the base 1, and synchronize the movement position information with the endoscope, so that the controller 8 can synchronously control the axial movement direction, forward or backward movement, and forward or backward displacement of the endoscope through the movement of the operating handle 3 relative to the base 1.

[0035] At the same time, the operating handle 3 can rotate around the slider 2, and can control the axial rotation of the endoscope. In addition, the rotation angle sensor 7 can detect the rotation angle of the operating handle 3 relative to the slider 2, and synchronize the rotation angle with the endoscope, so that the controller 8 can synchronously control the axial rotation direction of the endoscope, clockwise or counterclockwise, and the rotation angle through the rotation of the operating handle 3 relative to the base 1.

[0036] Furthermore, the lever 4 can rotate around the operating handle 3 to control the bending direction and bending angle of the endoscope, and the bending angle sensor 6 can detect the rotation angle of the lever 4 and synchronize the rotation angle with the endoscope, so that the controller 8 can synchronously control the bending direction, clockwise or counterclockwise, and the bending angle of the endoscope through the rotation of the lever 4 relative to the operating handle 3.

[0037] When performing endoscopic examination on a patient, the operator can remotely control the endoscope through the control device and control the position of the endoscope by changing the position of the control device. The operator can perform surgical operations in an easier and more convenient manner, effectively reducing the operator's occupational health risks from long-term high-intensity surgical operations.

[0038] The flexible endoscope robot control device provided by the present invention simulates the geometric configuration of the endoscope in structure, controls the endoscope through the control device, realizes synchronous control of the axial movement of the endoscope by changing the position of the operating handle 3 on the base 1 and using the displacement sensor 5 to detect the position information, realizes synchronous control of the rotation of the endoscope by operating the operating handle 3 to rotate relative to the base 1 and using the rotation angle sensor 7 to detect the rotation angle information, realizes synchronous control of the bending of the endoscope by turning the lever 4 and using the bending angle sensor 6 to detect the rotation angle, realizes synchronous control of the endoscope, establishes a one-to-one spatial mapping relationship between the control device and the endoscope, and realizes remote control of the endoscope through motion perception and control with different degrees of freedom, while improving the convenience of endoscope operation.

[0039] In some embodiments, Figure 4 and Figure 5As shown, the flexible endoscope robot control device of this embodiment also includes a negative pressure button 9, a rotating wheel 10 and a negative pressure angle sensor 11. The negative pressure button 9 can be pressed and installed on the operating handle 3. The rotating wheel 10 can be rotatably installed on the operating handle 3 and is transmission-connected to the negative pressure button 9. The negative pressure angle sensor 11 is used to detect the rotation angle of the rotating wheel 10 under the action of the negative pressure button 9. The controller 8 controls the rotation angle of the negative pressure drive member in the endoscope according to the detection information of the negative pressure angle sensor 11.

[0040] It can be understood that the interior of the operating handle 3 of this embodiment is hollow and has a second accommodating cavity, the rotating wheel 10 and the negative pressure angle sensor 11 are arranged in the second accommodating cavity, and a mounting hole is provided in the middle of the operating handle 3, the negative pressure button 9 is passed through the mounting hole and is transmission-connected to the rotating wheel 10.

[0041] Specifically, the negative pressure button 9 and the rotating wheel 10 can be connected to each other through a gear rack structure or a lead screw mechanism.

[0042] The pressing operation of the negative pressure button 9 can drive the rotation of the rotating wheel 10. The pressing operation and releasing operation of the negative pressure button 9, as well as the different pressing amplitudes, correspond to different rotation directions and different angles of the rotating wheel 10, thereby controlling the rotation angle of the negative pressure driving part of the endoscope, so that the endoscope can flush the accumulated fluid, gas or solid residue to clean the secretions, increase the operating space and ensure a clear field of view of the endoscope.

[0043] This embodiment converts the pressing operation of the negative pressure button 9 into the rotation action of the rotating wheel 10, uses the negative pressure angle sensor 11 to detect the rotation angle of the rotating wheel 10, and synchronizes the rotation angle with the rotation angle of the negative pressure driving member in the endoscope, so that the controller 8 synchronously controls the rotation angle of the negative pressure driving member of the endoscope by pressing the negative pressure button 9 relative to the operating handle 3, and then controls the flushing action of the endoscope, thereby realizing remote control of the flushing action of the endoscope.

[0044] In some embodiments, Figure 1 and Figure 5 As shown, the control device applied to the endoscope robot in this embodiment further includes a traction rope 12 and a torsion spring 13.

[0045] One end of the traction rope 12 is fixedly connected to the negative pressure button 9 , and the other end of the traction rope 12 is wound around the rotating wheel 10 .

[0046] A negative pressure bracket 31 is fixedly installed in the operating handle 3 , the rotating wheel 10 is rotatably installed on the negative pressure bracket 31 via the rotating shaft 14 , and the negative pressure angle sensor 11 is fixed on the negative pressure bracket 31 for detecting the rotation angle of the rotating shaft 14 .

[0047] A first support 101 is provided on one side of the rotating wheel 10 facing the negative pressure support 31 , and a second support 311 is provided on the negative pressure support 31 . The torsion spring 13 is sleeved on the rotating shaft 14 , and one torsion arm of the torsion spring 13 abuts against the first support 101 , and the other torsion arm abuts against the second support 311 .

[0048] It is understandable that one torsion arm of the torsion spring 13 is fixedly connected to the negative pressure bracket 31 , and the other torsion arm can rotate under the drive of the rotating wheel 10 , so that the torsion spring 13 is subjected to torque and compressed to generate elastic potential energy.

[0049] When the negative pressure button 9 is pressed, the traction rope 12 is in a loose state, and the traction rope 12 has no pulling force on the rotating wheel 10. The rotation amplitude of the rotating wheel 10 becomes smaller, the torque of the rotation on the torsion spring 13 is reduced, the compression degree of the torsion spring 13 is weakened, and the rotating wheel 10 rotates counterclockwise under the traction of the torsion spring 13.

[0050] Correspondingly, when the negative pressure button 9 is released, the traction rope 12 is in a tensioned state, the traction force of the traction rope 12 on the rotating wheel 10 becomes larger, the torque on the torsion spring 13 increases, the torsion spring 13 is tightened and compressed, and the rotating wheel 10 rotates clockwise under the traction force of the traction rope 12 and returns to its initial position.

[0051] By continuously pressing the negative pressure button 9, the traction rope 12 and the torsion spring 13 alternately control the rotation direction of the rotating wheel 10, and the pressing force of the negative pressure button 9 further affects the traction force of the traction rope 12 and the compression degree of the torsion spring 13, so that the rotation speed of the rotating wheel 10 changes. By adjusting the rotation direction and speed of the rotating wheel 10, the rotation angle of the negative pressure drive component of the endoscope is controlled, and then the flushing force of the endoscope is controlled.

[0052] In this embodiment, a traction rope 12 and a torsion spring 13 are provided. The rotation direction and speed of the wheel 10 are controlled by the pulling force of the traction rope 12 on the rotating wheel 10 and the torsion force of the torsion spring 13 on the rotating wheel 10 when the torsion spring 13 is reset. The structure is simple and compact, the control effect of the rotating wheel 10 is better, and further good control of the flushing force of the endoscope is achieved.

[0053] In some embodiments, Figure 1 and Figure 6 As shown, the lever 4 of this embodiment is arc-shaped and is arranged on the right side of the operating handle 3.

[0054] It is understandable that the arc-shaped arrangement of the lever 4 enables the bent portion of the lever 4 to be arranged relative to the top end of the operating handle 3 , which facilitates the user's rotation operation of the lever 4 .

[0055] In addition, the lever 4 is arranged at the right end of the operating handle 3, and the negative pressure button 9 is arranged at the left side of the operating handle 3. The user can control the negative pressure button 9 and the lever 4 with the left and right hands respectively.

[0056] In some embodiments, the negative pressure button 9 of this embodiment is arranged on the left side of the operating handle 3 so that the user can press the negative pressure button 9 when holding the operating handle 3 .

[0057] It is understandable that when the user uses the 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 4 and the negative pressure button 9 are set on the same side. The user can operate the control device 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.

[0058] In some embodiments, Figure 6 As shown, a bending bracket 32 ​​is fixedly installed inside the operating handle 3 of this embodiment, and the lever 4 is fixedly connected to the first connecting shaft 15. The first connecting shaft 15 is inserted into the operating handle 3 and rotatably installed on the bending bracket 32. The end of the first connecting shaft 15 away from the lever 4 is connected to the output shaft of the bending angle sensor 6. The bending angle sensor 6 is used to detect the rotation angle of the first connecting shaft 15.

[0059] It is understandable that the bending bracket 32 ​​of this embodiment is bent into a horizontal section and a vertical section. The horizontal section provides a mounting support for the bending angle sensor 6. A rotating hole is provided at the center of the vertical section, and the first connecting shaft 15 is rotatably passed through the vertical section.

[0060] An opening is provided on the side of the operating handle 3 close to the lever 4, one end of the first connecting shaft 15 is passed through the opening and fixedly connected to the lever 4, and the other end of the first connecting shaft 15 is connected to the output shaft of the bending angle sensor 6. Optionally, the first connecting shaft 15 can be set as a stepped shaft, and the shaft diameter of the end connected to the lever 4 is larger, which is convenient for providing a larger torque to the lever 4, and the shaft diameter of the other end rotatably connected to the bending bracket 32 ​​is smaller, which is convenient for the bending angle sensor 6 to collect the rotation angle of the first connecting shaft 15.

[0061] Furthermore, due to the fixed connection between the first connecting shaft 15 and the lever 4, the rotation angle of the first connecting shaft 15 is the rotation angle of the bending handle lever 4, and the rotation direction of the first connecting shaft 15 can correspond one-to-one to the bending direction and bending angle of the endoscope.

[0062] In this embodiment, the bending angle sensor 6 detects the rotation angle of the first connecting shaft 15 and then obtains the rotation angle of the lever 4, thereby realizing convenient and rapid detection of the rotation angle of the lever 4. The structure is simple and compact, and the volume and weight of the operating handle 3 are reduced.

[0063] In some embodiments, Figure 6 As shown, the flexible endoscope robot control device of this embodiment also includes a first cover plate 16; the bending bracket 32 ​​is fixedly connected to the first cover plate 16 to form a first accommodating chamber 200, and the first damping ring 17 and the first elastic pad 18 are sleeved on the first connecting shaft 15, and the first damping ring 17 and the first elastic pad 18 are clamped in the first accommodating chamber 200.

[0064] It is understandable that the first cover plate 16 can move axially along the first connecting shaft 15 to adjust the distance between the first cover plate 16 and the bending bracket 32. As the distance decreases, the first damping ring 17 and the first elastic pad 18 are compressed to increase the resistance of the first damping ring 17 and the first elastic pad 18 when they rotate relative to each other, so that the rotational damping of the first connecting shaft 15 is increased, and the first connecting shaft 15 is suspended at a certain rotational position, so that when the endoscope is bent and controlled by the lever 4, 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 17 and the second elastic pad 22 are loosened to make the rotational damping of the first connecting shaft 15 smaller, and the lever 4 can sensitively control the endoscope.

[0065] Furthermore, the length of the first accommodating cavity 200 can be adjusted by adjusting the connection between the first cover plate 16 and the bent bracket 32 ​​through the fasteners, thereby adjusting the distance between the first damping ring 17 and the second elastic pad 22 .

[0066] Optionally, the first cover plate 16 may be a rubber pad cover plate, and the first elastic pad 18 may be a rubber pad.

[0067] Specifically, the first cover plate 16 of this embodiment is arranged on the side of the bending bracket 32 ​​away from the bending angle sensor 6, the first damping ring 17 is sleeved on one end of the first connecting shaft 15 close to the bending bracket 32, and the first elastic pad 18 is clamped between the first damping ring 17 and the first cover plate 16.

[0068] In this embodiment, a first accommodating cavity 200 is set between the first cover plate 16 and the bending bracket 32, and the first damping ring 17 and the first elastic pad 18 are clamped in the first accommodating cavity 200. The first damping ring 17 and the first elastic pad 18 are tightened and loosened by adjusting the length of the first accommodating cavity 200, and the rotational damping of the first connecting shaft 15 is adjusted according to the control requirements of the endoscope, and the first connecting shaft 15 is suspended, so that the lever 4 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.

[0069] In some embodiments, Figure 7As shown, the slider 2 of this embodiment is provided with a socket, and one end of the second connecting shaft 19 can be rotatably inserted into the socket; a rotating bracket 33 is fixedly installed in the operating handle 3, and the other end of the second connecting shaft 19 can be rotatably passed through the rotating bracket 33, and the rotating angle sensor 7 is fixed to the rotating bracket 33 for detecting the rotation angle of the second connecting shaft 19.

[0070] It can be understood that the revolving bracket 33 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 respectively, the two vertical plates are fixedly connected to the inner wall of the operating handle 3 respectively, an axial hole is provided in the center of the horizontal plate, the second connecting shaft 19 is rotatably passed through the horizontal plate, and a revolving angle sensor 7 is provided at the upper end of the horizontal plate.

[0071] An opening is provided at the bottom of the operating handle 3, and one end of the second connecting shaft 19 is inserted into the opening and rotatably connected to the socket of the slider 2. Optionally, the second connecting shaft 19 can be set as a stepped shaft, and the shaft diameter of the end connected to the slider 2 is larger, which is convenient for providing a larger torque for the operating handle 3 to rotate relative to the slider 2, and the shaft diameter of the other end rotatably connected to the revolving bracket 33 is smaller, which is convenient for the revolving angle sensor 7 to collect the rotation angle of the second connecting shaft 19.

[0072] Furthermore, since the second connecting shaft 19 is rotatably connected to the slider 2, the rotation angle of the second connecting shaft 19 is the rotation angle of the operating handle 3 relative to the slider 2, and the rotation angle of the second connecting shaft 19 can correspond to the axial rotation of the endoscope.

[0073] This embodiment detects the rotation angle of the second connecting shaft 19 through the rotation angle sensor 7, and then obtains the rotation angle of the operating handle 3 relative to the slider 2, thereby realizing convenient and rapid detection of the rotation angle of the operating handle 3. The structure is simple and compact, and the volume and weight of the operating handle 3 are reduced.

[0074] In some embodiments, Figure 7 As shown, the flexible endoscope robot control device of this embodiment also includes a second cover plate 20; the revolving bracket 33 is fixedly connected to the second cover plate 20 to form a second accommodating chamber 300, and the second damping ring 21 and the second elastic pad 22 are sleeved on the second connecting shaft 19, and the second damping ring 21 and the second elastic pad 22 are clamped in the second accommodating chamber 300.

[0075] It is understandable that the second cover plate 20 can move axially along the second connecting shaft 19 to adjust the distance between the second cover plate 20 and the revolving bracket 33. As the distance decreases, the second damping ring 21 and the second elastic pad 22 are compressed to increase the resistance when the second damping ring 21 and the second elastic pad 22 rotate relative to each other, so that the rotational damping of the second connecting shaft 19 is increased, and the second connecting shaft 19 is suspended at a certain rotation position. When the endoscope is axially rotated by the operating handle 3, the endoscope is paused at a certain rotation position to enable the endoscope to image or perform other operations at a specific angle. Alternatively, when the endoscope requires more sensitive rotation adjustment, the second damping ring 21 and the second elastic pad 22 are loosened to reduce the rotational damping of the second connecting shaft 19, and the operating handle 3 can sensitively control the axial rotation of the endoscope.

[0076] Furthermore, the length of the second accommodating cavity 300 can be adjusted by adjusting the connection between the second cover plate 20 and the revolving bracket 33 through the fasteners, thereby adjusting the distance between the second damping ring 21 and the second elastic pad 22 .

[0077] Optionally, the second cover plate 20 may be a rubber pad cover plate, and the second elastic pad 22 may be a rubber pad.

[0078] Specifically, the second cover plate 20 of this embodiment is arranged on the side of the rotating bracket 33 away from the bending angle sensor 6, the second damping ring 21 is sleeved on one end of the second connecting shaft 19 close to the rotating bracket 33, and the second elastic pad 22 is clamped between the second damping ring 21 and the second cover plate 20.

[0079] In this embodiment, a second accommodating chamber 300 is set between the second cover plate 20 and the revolving bracket 33, and the second damping ring 21 and the second elastic pad 22 are clamped in the second accommodating chamber 300. The second damping ring 21 and the second elastic pad 22 are compressed and loosened by adjusting the length of the second accommodating chamber 300, and the rotational damping of the second connecting shaft 19 is adjusted according to the control requirements of the endoscope, and the second connecting shaft 19 is suspended, so that the operating handle 3 can be suspended 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.

[0080] In some embodiments, Figure 1 As shown, a plurality of buttons 23 are installed on the base 1 of this embodiment; the buttons 23 are connected to the controller 8 .

[0081] It is understandable that the functions of the endoscope can be customized by multiple buttons 23, and multiple buttons 23 are arranged near the operating handle 3 for the convenience of the user to press. Each button 23 has a different function, for example, one of the buttons 23 can be set to a photo taking mode to collect image data, and one of the buttons 23 can be set to a restore initial position mode to quickly restore the initial position.

[0082] In this embodiment, a plurality of buttons 23 are provided. By pressing the plurality of buttons 23, the controller 8 can control the endoscope to switch the operation mode, and the operation is convenient.

[0083] On the second aspect, in some embodiments, the present embodiment provides an endoscopic surgical robot, comprising: a robot body and a control device as described above, wherein the control device is communicatively connected to the robot body.

[0084] Specifically, since the endoscopic surgical robot includes a control device, the specific structure of the control device refers to the above-mentioned embodiment, and the endoscopic surgical robot shown in this embodiment includes all the technical solutions of the above-mentioned embodiments. Therefore, it has at least all the beneficial effects achieved by all the technical solutions of the above-mentioned embodiments, which will not be repeated here one by one.

[0085] It is understandable that the control device is used to remotely control the endoscope provided on the robot body. Based on the communication connection between the control device and the robot body, the controller 8 feeds back the control instructions of the control device to the robot body, thereby performing remote control of the endoscope. During operation, the robot body and the control device can be in different operating rooms, and the user can operate the robot in an easier and more convenient way, reducing the user's fatigue during the long process.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible endoscope robot control device, characterized in that: include: Base, slider, operating handle, lever, displacement sensor, bending angle sensor, rotation angle sensor and 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 synchronous axial movement of the endoscope 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 synchronous rotation of 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 bending direction and bending angle of the endoscope according to the detection information of the bending angle sensor so that the endoscope bends synchronously.

2. The flexible endoscope robot manipulator according to claim 1, characterized in that: It also 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 inside 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 rotation angle of the negative pressure drive member in the endoscope according to the detection information of the negative pressure angle sensor.

3. The flexible endoscope robot manipulator according to claim 2, characterized in that: Also includes a tow rope and 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.

4. The flexible endoscope robot manipulator according to claim 2, characterized in that: The lever is arc-shaped and is arranged on the right side of the operating handle; and / or the negative pressure button is arranged on the left side of the operating handle so that the user can press the negative pressure button when holding the operating handle.

5. The flexible endoscope robot manipulator according to claim 1, characterized in that: A bending bracket is fixedly installed inside the operating handle, and the lever 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 lever is connected to an output shaft of the bending angle sensor, and the bending angle sensor is used to detect the rotation angle of the first connecting shaft.

6. The flexible endoscope robot manipulator according to claim 5, characterized in that: It also includes a first cover plate; the bent bracket is fixedly connected to the first cover plate to form a first accommodating cavity, the first connecting shaft is sleeved with a first damping ring and a first elastic pad, and the first damping ring and the first elastic pad are clamped in the first accommodating cavity.

7. The flexible endoscope robot manipulator according to claim 1, 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 flexible endoscope robot manipulator according to claim 7, characterized in that: It also includes a second cover plate; the revolving bracket is fixedly connected to the second cover plate to form a second accommodating cavity, the second connecting shaft is sleeved with a second damping ring and a second elastic pad, and the second damping ring and the second elastic pad are clamped in the second accommodating cavity.

9. The flexible endoscope robot manipulator according to claim 1, characterized in that: A plurality of buttons are installed on the base; the buttons are connected to the controller.

10. An endoscopic surgical robot, characterized in that: It comprises a robot body and a control device as described in any one of claims 1 to 9, wherein the control device is communicatively connected with the robot body.

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