Endoscope joint, surgical robot and butt joint transmission method thereof

Abstract

The invention relates to the technical field of medical instruments, and discloses an endoscope connector, a surgical robot and a butt joint transmission method thereof.The endoscope connector comprises a transmission box and a sleeve, the transmission box is configured to be detachably connected with a power box on an endoscope holding arm, and the transmission box comprises a shell and a transmission assembly arranged in the shell; the transmission assembly comprises a first driving wheel, a second driving wheel and a driven wheel, the first driving wheel is used for being detachably connected with a first motor in the power box, the second driving wheel is used for being detachably connected with a second motor in the power box, and the second driving wheel, the first driving wheel and the driven wheel are sequentially in transmission connection; the sleeve is in transmission connection or fixed connection with the driven wheel so as to rotate along with the driven wheel, and an endoscope handle is detachably installed in the sleeve. The clamping time of the transmission assembly and the power box can be shortened, the clamping speed is increased, the number of rotation turns of the endoscope needed in the clamping completion process is reduced, and the risk that an endoscope cable is pulled is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an endoscope joint, a surgical robot, and a surgical robot docking transmission method. Background Art

[0002] With the continuous development of medical equipment, computer technology and control technology, minimally invasive surgery has been more and more widely used due to its advantages of small surgical trauma, short recovery time and less pain for patients. Minimally invasive surgical robots can avoid operational limitations, such as hand tremors during filtering operations, with their high dexterity, high control accuracy and intuitive surgical images, and are widely used in surgical areas such as the abdomen, pelvis and chest.

[0003] At present, minimally invasive surgical robots include a doctor's console and a patient surgical platform, wherein the main control arm of the doctor's console collects the doctor's operation signal and generates control signals of multiple surgical arms on the patient surgical platform after processing by the control system, and the surgical instruments installed on the surgical arms reproduce the doctor's operation to perform the surgical process. Before the start of the robotic surgery, the surgical arm is connected with the surgical instrument and the 3D endoscope, and the surgical instrument enters the patient's body through the stamp card inserted in the incision on the patient's body surface, and the 3D endoscope provides monitoring images inside the patient's body. One of the surgical arms is used as a mirror holding arm, and an endoscope connector is installed on the mirror holding arm for clamping and moving the 3D endoscope, thereby providing a suitable viewing angle for the doctor during surgery. The endoscope connector generally includes a transfer part suitable for engaging with the handle of the endoscope and a transmission box for engaging with the power box on the mirror holding arm. Among them, the transmission box realizes the transmission of the power output of the power box to the handle of the endoscope at the transfer part.

[0004] In order to ensure the reliability of the engagement between the power box and the transmission box, Chinese invention patent applications CN116616675A and CN116584866A disclose an endoscope transmission device, in which the specific detection process is as follows: first, the brake motor is controlled to drive the brake component and the power motor is controlled to drive the power gear to rotate forward (R1 direction) at the same time, and the brake component will rotate to the second limit position and stop; as the power gear rotates forward, the driven gear will reverse around the R2 direction opposite to the R1 direction until the protrusion on the driven shaft hits the brake component and stops. At this time, due to the abutment between the brake component and the protrusion, the brake component and the power gear cannot rotate forward, which indicates that the engagement has been completed; otherwise, it indicates that the output shaft of the power motor and the power shaft are not engaged; secondly, after confirming that the shaft engagement of the power motor and the power gear is completed, the power motor is driven to drive the power gear to reverse a certain angle, and then the brake motor is driven to drive the brake component to reverse until it hits the first block and stops; at this point, the detection process is completed, and the output shaft of the power motor (of the power box) and the power shaft (of the transmission box) are engaged.

[0005] In the process of detecting the clamping status of the endoscope connector, the above-mentioned scheme needs to control the brake motor to rotate forward first and then reverse, and the power motor to rotate forward first and then reverse. The motion logic is relatively lengthy, resulting in a long overall clamping time, and there is no clear limit on the number of endoscope rotations required to complete the clamping process. There is a risk of pulling the cable due to excessive rotation of the endoscope (this is because the endoscope installed on the endoscope holding arm generally needs to be connected to the endoscope host through lighting and data transmission cables).

[0006] Therefore, there is an urgent need for an endoscope joint, a surgical robot and a surgical robot docking transmission method to solve the above technical problems. Summary of the invention

[0007] Based on the above, the purpose of the present application is to provide an endoscope connector, a surgical robot and a surgical robot docking transmission method, which can shorten the connection time between the transmission assembly and the power box, increase the connection speed, reduce the number of rotations of the endoscope required during the connection process, and avoid the risk of the endoscope cable being pulled.

[0008] To achieve this goal, this application adopts the following technical solutions:

[0009] In a first aspect, the present application provides an endoscope connector, comprising:

[0010] A transmission box is configured to be detachably engaged with a power box on the mirror holding arm, the transmission box comprises a housing and a transmission assembly arranged in the housing, the transmission assembly comprises a first driving wheel, a second driving wheel and a driven wheel, the first driving wheel is used to be detachably engaged with a first motor in the power box, the second driving wheel is used to be detachably engaged with a second motor in the power box, and the second driving wheel, the first driving wheel and the driven wheel are sequentially connected in transmission;

[0011] The sleeve is drivingly connected or fixedly connected to the driven wheel so as to rotate along with the driven wheel, and the endoscope handle is detachably mounted in the sleeve.

[0012] In some possible implementations, the first driving wheel, the second driving wheel and the driven wheel are all gear components, the second driving wheel is meshed with the first driving wheel, and the first driving wheel is meshed with the driven wheel.

[0013] In some possible embodiments, the first driving wheel includes a first transmission plate and a first gear fixed on the first transmission plate, and the first transmission plate is used to be drivingly connected to the output shaft of the first motor; the second driving wheel includes a second transmission plate and a second gear fixed on the second transmission plate, and the second transmission plate is used to be drivingly connected to the output shaft of the second motor; the driven wheel includes a third gear and a connecting seat fixed on the third gear, and the connecting seat is used to be fixedly connected to the sleeve.

[0014] In some possible implementations, the housing includes a bottom plate and an upper shell, and the first transmission disc and the second transmission disc are rotatably mounted on the bottom plate respectively;

[0015] The connection end of the first transmission disc is exposed on the bottom surface of the bottom plate, the connection end of the first transmission disc is provided with a first engagement feature, and the output shaft of the first motor is detachably engaged with the first engagement feature through an isolation plate;

[0016] The connecting end of the second transmission disc is exposed on the bottom surface of the bottom plate, and a second engaging feature is provided at the connecting end of the second transmission disc. The output shaft of the second motor is detachably engaged with the second engaging feature through an isolation plate.

[0017] In some possible implementations, the radius of the first gear is R1, the radius of the second gear is R2, and the radius of the third gear is R3, wherein R2≥R1≥R3, and R2>R3.

[0018] In some possible implementations, R2>R1=R3, and the transmission ratio between the first gear and the third gear is 1:1; or, R2=R1>R3, and the transmission ratio between the first gear and the third gear is 1:1.5.

[0019] In some possible implementations, the width dimension of the transmission box is d, and the radius dimension of the second gear is: R2 = 20%*d to 30%*d.

[0020] In a second aspect, the present application provides a surgical robot, comprising a master hand part and a slave hand part, the master hand part being configured for operation by a doctor and collecting the doctor's operation signal to generate a control signal transmitted to the slave hand part, the slave hand part being configured to perform surgical operations under the control of the control signal, the slave hand part comprising a tool holding arm and a mirror holding arm, the mirror holding arm being provided with a power box, the slave hand part also comprising the endoscope connector described in any of the above schemes, the power box being detachably engaged with the transmission box, a first motor and a second motor being provided in the power box, the first motor being used to be detachably engaged with the first driving wheel, and the second motor being used to be detachably engaged with the second driving wheel.

[0021] In a third aspect, the present application provides a surgical robot docking transmission method, which is used for a surgical robot so that the power box and the transmission box can achieve transmission. The surgical robot docking transmission method includes:

[0022] S1. Control the first motor and the second motor to rotate simultaneously, wherein the first motor and the second motor have the same rotation direction, the first motor is used to connect with the first driving wheel to drive the first driving wheel to rotate, and the second motor is used to connect with the second driving wheel to drive the second driving wheel to rotate; the first driving wheel and the second driving wheel are driven by meshing or mutual friction;

[0023] S2. Detect the current in the circuit where the first motor and the second motor are located. If it is detected that the current suddenly increases to a stall current, it is determined that the first motor is successfully docked with the first driving wheel, and the second motor is successfully docked with the second driving wheel.

[0024] In some possible implementations, the radius of the second driving wheel is greater than the radius of the first driving wheel, the radius of the first driving wheel is equal to the radius of the driven wheel, and the surgical robot docking transmission method further includes:

[0025] S3. After the first motor and the first driving wheel, and the second motor and the second driving wheel are successfully docked, the second motor is disabled, and the first motor drives the first driving wheel to rotate, and the first driving wheel drives the driven wheel and the second driving wheel to rotate.

[0026] In some possible implementations, the radius of the second driving wheel is equal to the radius of the first driving wheel, the radius of the first driving wheel is greater than the radius of the driven wheel, and the surgical robot docking transmission method further includes:

[0027] S4: After the first motor and the first driving wheel, and the second motor and the second driving wheel are successfully docked, the first motor or the second motor is enabled to achieve driving of the driven wheel.

[0028] This application has at least the following beneficial effects:

[0029] The endoscope connector provided in the present application comprises a transmission assembly including a first driving wheel, a second driving wheel and a driven wheel. The first driving wheel is used to be detachably engaged with the first motor in the power box, and the second driving wheel is used to be detachably engaged with the second motor in the power box. The second driving wheel, the first driving wheel and the driven wheel are sequentially connected in transmission. When the power box and the endoscope connector are connected, the present application first controls the first motor and the second motor to rotate in the same direction (such as clockwise) at the same time. During the rotation process, the first motor and the corresponding first driving wheel, or the second motor and the corresponding second driving wheel will have a pair of combinations to form a rigid connection first. Taking the first motor and the first driving wheel forming a rigid connection first as an example, once the rigid connection is formed, the first motor will drive the first driving wheel to rotate in the clockwise direction, and the second driving wheel connected to the first driving wheel should rotate in the counterclockwise direction at this time; and since the second motor rotates in the clockwise direction, if the second motor and the second driving wheel also form a rigid connection, it will drive the second driving wheel to rotate in the clockwise direction, which is inconsistent with the logic of the transmission movement between the first driving wheel and the second driving wheel. At this time, it will be detected that the current signal suddenly increases (for example, from the rated current to the stall current), thereby indicating that the first motor and the first driving wheel have formed a rigid connection, and the second motor and the second driving wheel have formed a rigid connection.

[0030] Still taking the example of the first motor and the first driving wheel forming a rigid connection first, since the first driving wheel is immobile before being engaged with the first motor, the first motor can be engaged with the first driving wheel by rotating no more than one circle in the clockwise direction, and after the engagement, the first motor drives the first driving wheel to rotate in the clockwise direction, and the first driving wheel drives the second driving wheel to rotate in the counterclockwise direction. Since the second motor rotates in the clockwise direction, that is, the rotation direction of the second driving wheel is opposite to the rotation direction of the second motor, the second motor rotates no more than one circle when engaged with the second driving wheel, which greatly shortens the engagement time. The endoscope connector provided by the present application has a transmission assembly that greatly improves the overall engagement speed when the first motor and the second motor in the power box are engaged for engagement detection; at the same time, the number of endoscope rotations required during the engagement process does not exceed two circles, which avoids the risk of the cable being pulled due to excessive endoscope rotations.

[0031] In the present application, after the first motor is successfully engaged with the first driving wheel and the second motor is successfully engaged with the second driving wheel, the first motor can be used to drive the driven wheel to rotate, or the second motor can be used to drive the driven wheel to rotate, or the first motor and the second motor can be used to simultaneously drive the driven wheel to rotate. The driving method is flexible and helps to reduce wear on the driven wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of the endoscope connector provided in Example 1 of the present application;

[0033] Figure 2 It is a structural schematic diagram of a base plate and a transmission assembly involved in a solution in Embodiment 1 of the present application;

[0034] Figure 3 It is a top view of a base plate and a transmission assembly involved in a solution in Example 1 of the present application;

[0035] Figure 4 It is a meshing transmission diagram of the first gear, the second gear, and the third gear involved in a solution in Example 1 of the present application;

[0036] Figure 5 It is a bottom view of a base plate and a transmission assembly involved in another solution in Embodiment 1 of the present application;

[0037] Figure 6 is a meshing transmission diagram of a first gear, a second gear, and a third gear involved in another solution in Embodiment 1 of the present application;

[0038] Figure 7 This is a flow chart of the surgical robot docking transmission method provided in Example 2 of the present application.

[0039] In the figure:

[0040] 100, transmission box; 101, base plate; 200, sleeve;

[0041] 11. first gear; 12. first transmission plate;

[0042] 21. second gear; 22. second transmission plate;

[0043] 31. The third gear; 32. The connecting seat. DETAILED DESCRIPTION

[0044] The technical solutions of the various embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0045] In this specification, many specific technical details are described in some places so that those skilled in the art can understand the complete technical solution. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed description of technical details should not be regarded as a limitation to the present application, and the protection scope of the present application is limited only by the claims. In other places, known structures, connection / position relationships, circuits and / or other details may not be shown in detail to avoid misunderstandings by the public about the main points of the invention of the present application.

[0046] In this specification, the drawings show schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that changes in mechanical structure, connection / position relationship, physical composition, electrical and steps can be made without departing from the spirit and scope of the present application. Such changes can be either replacement or combination of elements of several embodiments of the present application, or replacement or combination of known contents.

[0047] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present application. Spatially relative terms, such as "below", "lower", "above", "upper", "middle", "middle", "inside", "outside", "center", "edge", etc., are used to describe the relationship between one component or feature shown in the figure and another component or feature for the convenience of explanation. It should be understood that spatially relative terms can only be used under the conditions of the positioning direction of the device in use or operation (except for the positioning direction specifically defined in the figure), and are not necessarily unique and unchanging. For example, if the device in the figure is flipped 180° up and down along the paper, then the elements described as being "below" other components or features will become "above" other components or features. Therefore, the exemplary term "below" can cover both the above and below directions, depending on how the device is positioned. The device can also be positioned in other directions (for example, rotated 90° or positioned in other directions), and the spatially relative descriptors used herein are interpreted accordingly.

[0048] As used herein, "several", "one", and "the" are intended to include plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or parts, but do not exclude the presence of one or more other features, steps, operations, elements, parts, and / or groups thereof.

[0049] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "portion", "part", "module", "assembly" and "element" are used interchangeably.

[0050] The terms "instrument", "surgical instrument" and "surgical instrument" are used herein to describe a medical device configured to be inserted into a patient and used to perform a surgical or diagnostic procedure, generally including an end effector. An end effector may be a surgical tool associated with one or more surgical procedures, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of the present application further provide an articulated support (sometimes referred to as a "wrist joint", "joint seat") for the surgical tool, so that the position and / or orientation of the end effector can be flexibly manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or blades that translate along a specific path. The instrument may also contain information stored (e.g., on a PCBA board within the instrument) that is permanent or updateable by the surgical system. Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components.

[0051] The term "mating" (sometimes referred to as "connecting", "coupling", "mounting", "assembling") can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mating objects to operate in conjunction with each other. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to mate two or more objects. For example, objects A and B can be mated using object C. In addition, the terms "removably coupled" or "removably mated" can be interpreted to mean a non-permanent connection or mating situation between two or more objects. This means that the removably coupled objects can be uncoupled and separated so that they no longer operate in conjunction.

[0052] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition will only occur when a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0053] Overview of Master-Slave Teleoperated Laparoscopic Surgical Robot

[0054] Laparoscopic surgical robots usually include a doctor control platform, a patient surgical platform, and an image platform. The surgeon sits on the doctor control platform and watches the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope (sometimes called an "endoscope") placed in the patient's body, and controls the movement of the robotic arm on the patient surgical platform, as well as the surgical instruments or laparoscopes attached to the robotic arm. The robotic arm simulates the human arm, and the surgical instrument simulates the human hand. Both provide surgeons with a series of movements that simulate the human wrist, while filtering the tremor of the human hand itself. Therefore, they are increasingly used in surgery, especially in abdominal, thoracic, and general surgery.

[0055] The patient surgical platform generally includes a chassis, a column, a plurality of mechanical arms connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each mechanical arm. The surgical instrument and / or laparoscope is detachably connected to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes operated at the surgical site in the patient's body. Each surgical instrument manipulator can be allowed to control the relevant surgical instruments in various forms of one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is limited by mechanical or software constraints to rotate the relevant surgical instrument around the center of motion on the surgical instrument that remains stationary relative to the patient, and the center of motion is generally located at the position where the surgical instrument enters the body wall, and the center of motion is generally referred to as the "distal center" or "fixed point".

[0056] The imaging platform usually includes a video image capture function (commonly an endoscope) and one or more video displays for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, an optical device is included to transmit images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, and then transmit the video image to the host of the imaging platform through steps such as photoelectric conversion. Subsequently, through image processing, the processed image is displayed on a video display for observation by other doctors or assistants.

[0057] The doctor control platform usually includes a chassis, a pedal assembly, a stereo monitor, a main control arm, and a manual controller connected to the end of the main control arm. The surgeon controls the manual controller and the pedal assembly to achieve specific movements and / or energy excitation of the surgical instrument. The surgeon control platform can be at a single location in the surgical system composed of a laparoscopic surgical robot or it can be distributed at two or more locations in the system, and the remote control master / slave operation can be completed according to the preset control degree, for example, one location is used as the main control for the main operation, and the other location is used as the auxiliary control for the auxiliary operation. The main control completes the main surgical operation, and the auxiliary control completes the auxiliary operation such as laparoscope movement or tissue traction. In some embodiments, the manual controller can be an input device capable of completing one or more manual operations, such as a joystick, an exoskeleton glove, a power and gravity compensation manipulator, etc. These input devices collect the surgeon's operation signal, and after being processed by the control system, generate control signals of the robotic arm and the surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, and the motor further controls the final movement of the surgical instrument.

[0058] Generally, the force generated by the remote motor is transmitted via a transmission system, which transmits the force from the remote motor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device for controlling the manipulator may be located at a location remote from the patient, in or outside the room where the patient is located, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with teleoperation, telecontrol and telepresentation surgery will understand such systems and their components and will not be described in detail here.

[0059] The present application provides a surgical robot, including a master hand part and a slave hand part. The doctor indirectly controls the action of the slave manipulator arm of the slave hand part by manipulating the master control arm of the master hand part. Specifically, the master control arm collects the doctor's operation signal and generates a control signal of the slave manipulator arm of the slave hand part after processing by the control system, and the slave hand part performs the surgical operation under the control of the control signal. The master hand part and the slave hand part of the surgical robot can be placed in the same space; or they can be located in different spatial positions, and the two can be transmitted data by wire or wirelessly. During the robotic surgery, the slave manipulator arm clamps the surgical instrument and the 3D endoscope, and the surgical instrument enters the patient's body through the poke card inserted in the incision on the patient's body surface, and the 3D endoscope provides monitoring images inside the patient's body. The slave manipulator arm includes a holding arm for installing the surgical instrument and a mirror holding arm for installing the endoscope connector. Of course, in some embodiments, the holding arm can also be used as a mirror holding arm. A power box is provided on the endoscope holding arm, and the power box is used to be detachably connected to the endoscope connector. The 3D endoscope is detachably installed in the endoscope connector, so that the 3D endoscope can be clamped and moved, thereby providing a suitable viewing angle for the doctor during surgery.

[0060] In the process of realizing the connection and detection between the endoscope connector and the power box, the prior art needs to control the brake motor to rotate forward first and then reverse, and the power motor to rotate forward first and then reverse. The motion logic is relatively lengthy, resulting in a long overall connection time (at a specific motor speed, such as the rated speed, about 6-7s), and there is no clear limit on the number of rotations of the endoscope required in the connection process. There is a risk that the cable will be pulled if the endoscope rotates too many times (this is because the endoscope installed on the endoscope holding arm generally needs to be connected to the endoscope host through lighting and data transmission lines). In response to this, the present application improves the transmission component of the endoscope connector and optimizes the docking transmission method of the surgical robot, which can shorten the connection time between the transmission component and the power box, increase the connection speed, reduce the number of rotations of the endoscope required in the connection process, and avoid the risk of the cable being pulled if the endoscope rotates too many times. See the following Examples 1 and 2 for details.

[0061] Embodiment 1

[0062] like Figure 1-Figure 6 As shown, this embodiment provides an endoscope connector, which is provided to adapt to the endoscope and meet the needs of the endoscope's movement function. The endoscope connector includes a transition portion suitable for detachably engaging with the endoscope and a transmission box 100 for detachably connecting with the power box on the mirror holding arm. The transition portion mainly includes a sleeve 200. The transmission box 100 mainly includes an outer shell and a transmission assembly disposed in the outer shell, and the outer shell includes a base plate 101 and an upper shell connected to the base plate 101; the transmission assembly is used to connect with the power motor in the power box. A sleeve mounting cavity is also provided on the transmission box 100, and the sleeve 200 is rotatably mounted in the sleeve mounting cavity, and the sleeve 200 is used to detachably mount the handle of the endoscope. This embodiment can realize the transmission of the power output of the power box to the endoscope through the endoscope connector, thereby realizing the control of the movement of the endoscope.

[0063] The transmission assembly of this embodiment specifically includes a first driving wheel, a second driving wheel and a driven wheel, the first driving wheel is used to be detachably engaged with the first motor in the power box, the second driving wheel is used to be detachably engaged with the second motor in the power box, the second driving wheel, the first driving wheel and the driven wheel are sequentially connected in transmission, and the sleeve 200 is connected in transmission or fixed connection with the driven wheel to follow the rotation of the driven wheel, so that the power output by the power box can be transmitted to the endoscope, thereby realizing the control of the movement of the endoscope. In this embodiment, the first driving wheel and the second driving wheel rotate in opposite directions under the action of the transmission force between each other, and the driven wheel and the first driving wheel rotate in opposite directions under the action of the transmission force between each other. Optionally, the first driving wheel, the second driving wheel and the driven wheel of this embodiment are gear components, wherein the second driving wheel is meshed with the first driving wheel, and the first driving wheel is meshed with the driven wheel. The transmission mode in which the gear components are meshed with each other has high transmission accuracy, good working stability, accurate and reliable transmission of movement, and long service life. Of course, in other embodiments, the first driving wheel, the second driving wheel and the driven wheel may also be in the form of friction wheels to achieve transmission through mutual friction, wherein the first driving wheel and the second driving wheel rotate in opposite directions under the action of mutual friction, and the driven wheel and the first driving wheel rotate in opposite directions under the action of mutual friction.

[0064] In this embodiment, before the first motor and the second motor form a rigid connection with the corresponding first driving wheel and the second driving wheel, the first motor and the second motor cannot control the endoscope to rotate, so it is necessary to first engage the first motor with the first driving wheel and the second motor with the second driving wheel. When the first motor is successfully engaged with the first driving wheel and the second motor is successfully engaged with the second driving wheel, the driven wheel can be driven to rotate by the first motor, or by the second motor, or by the first motor and the second motor at the same time. The driving method is flexible and helps to reduce the wear on the driven wheel.

[0065] More importantly, this embodiment can improve the engagement efficiency of the power box and the transmission box 100, shorten the time required for the engagement of the two, and quickly detect whether the power box and the transmission box 100 have been successfully engaged by providing a second driving wheel, a first driving wheel and a driven wheel that are sequentially connected.

[0066] Specifically, when the power box and the transmission box 100 are engaged with each other, the first motor and the second motor are first controlled to rotate in the same direction (such as clockwise) at the same time. During the rotation, the first motor and the corresponding first driving wheel, or the second motor and the corresponding second driving wheel will have a pair of combinations to form a rigid connection first. This is because the first driving wheel and the second driving wheel are in a direct meshing (or friction) relationship and can only rotate in opposite directions. Therefore, even if a driving wheel cannot form a rigid connection first because of the large friction between it and its corresponding motor and follows the same direction of rotation as its corresponding motor, the other driving wheel will inevitably form a rigid connection first because the rotation direction of the other driving wheel is opposite to that of the corresponding motor. Taking the example of the first motor and the first driving wheel forming a rigid connection first, once the rigid connection is formed, the first motor will drive the first driving wheel to rotate in the clockwise direction, and the second driving wheel connected to the first driving wheel should rotate in the counterclockwise direction at this time; and because the second motor rotates in the clockwise direction, the second motor and the second driving wheel will inevitably form a rigid connection. When the rigid connection is formed, the second motor will drive the second driving wheel to rotate in the clockwise direction, which is inconsistent with the logic of the transmission movement between the first driving wheel and the second driving wheel. At this time, a sudden increase in the current signal will be detected (the two motors resist each other, such as increasing from the rated current to the stall current, which is the case for both motors), indicating that the first motor and the first driving wheel have formed a rigid connection, and the second motor and the second driving wheel have formed a rigid connection. At this time, the transmission relationship between the power box and the transmission box 100 corresponds (the connection is completed). It should be noted that the transmission mode in which the second motor and the second driving wheel first form a rigid connection is similar to the above-mentioned scheme and will not be elaborated in this embodiment; of course, if the driving wheel does not follow the rotation phenomenon, the first motor and the first driving wheel, as well as the second motor and the second driving wheel are rigidly connected at the same time, then since the first driving wheel rotates clockwise under the drive of the first motor and the second driving wheel rotates clockwise under the drive of the second motor, this is inconsistent with the logic of the transmission movement between the two. At this time, it will be detected that the current signal suddenly increases, indicating that the first motor and the first driving wheel have formed a rigid connection, and the second motor and the second driving wheel have formed a rigid connection.

[0067] Next, how the present embodiment reduces the engagement time is described. Taking the example of the first motor and the first driving wheel forming a rigid connection first, since the first driving wheel is stationary before being engaged with the first motor, the first motor can be engaged with the first driving wheel by rotating no more than one circle in the clockwise direction, and after the engagement, the first motor drives the first driving wheel to rotate in the clockwise direction, and the first driving wheel drives the second driving wheel to rotate in the counterclockwise direction. Since the second motor rotates in the clockwise direction, that is, the rotation direction of the second driving wheel is opposite to that of the second motor, the second motor does not rotate more than one circle when engaged with the second driving wheel, thereby greatly shortening the engagement time. The endoscope connector provided in this embodiment has a transmission assembly that is connected and tested with the first motor and the second motor in the power box, and the overall connection speed is greatly improved (at a specific motor speed, such as the rated speed, about 0.2s; of course, if the heel rotation phenomenon occurs, the specific time is also related to the transmission ratio design of the two driving wheels); at the same time, the number of rotations of the endoscope required during the connection process does not exceed two circles, avoiding the risk of the cable being pulled due to excessive rotations of the endoscope. It should be noted that in this embodiment, the first motor and the second motor can rotate in the same direction and at the same speed, or in the same direction and at a differential speed, but the two cannot be one static and the other moving, and cannot rotate in reverse, so as to ensure that the connection state of the power box and the transmission box 100 can be detected, and the time required for the connection of the power box and the transmission box 100 can be effectively shortened.

[0068] Optionally, the first driving wheel includes a first transmission disk 12 and a first gear 11 fixed on the first transmission disk 12, the first transmission disk 12 is used to be connected to the output shaft of the first motor, and the first transmission disk 12 can drive the first gear 11 to rotate when it rotates; the second driving wheel includes a second transmission disk 22 and a second gear 21 fixed on the second transmission disk 22, the second transmission disk 22 is used to be connected to the output shaft of the second motor, and the second transmission disk 22 can drive the second gear 21 to rotate when it rotates; the driven wheel includes a third gear 31 and a connecting seat 32 fixed on the third gear 31, the connecting seat 32 is used to be fixedly connected to the sleeve 200, the second gear 21, the first gear 11, and the third gear 31 are meshed and transmitted in sequence, and when the second gear 21 and / or the first gear 11 rotate, the third gear 31 can be driven to rotate, thereby realizing the driving of the endoscope installed in the sleeve 200.

[0069] In this embodiment, the first transmission disc 12 is rotatably mounted on the base plate 101, the connecting end of the first transmission disc 12 is exposed on the bottom surface of the base plate 101, the connecting end of the first transmission disc 12 is provided with a first engagement feature, and the output shaft of the first motor is detachably engaged with the first engagement feature through the isolation plate. Specifically, one of the connecting end of the first transmission disc 12 and the output shaft of the first motor is provided with a first clamping hole, and the other is provided with a first clamping convex, and the first clamping hole is connected with the first clamping convex, so that the first motor is connected to the first transmission disc 12 by transmission. In this embodiment, the second transmission disc 22 is rotatably mounted on the base plate 101, the connecting end of the second transmission disc 22 is exposed on the bottom surface of the base plate 101, the connecting end of the second transmission disc 22 is provided with a second engagement feature, and the output shaft of the second motor is detachably engaged with the second engagement feature through the isolation plate. Specifically, one of the connecting end of the second transmission disc 22 and the output shaft of the second motor is provided with a second clamping hole, and the other is provided with a second clamping convex, and the second clamping hole is connected with the second clamping convex, so that the second motor is connected to the second transmission disc 22 by transmission. In addition, one of the bottoms of the connecting seat 32 and the sleeve 200 is provided with a plurality of slots, and the other is provided with a plurality of positioning bosses, and each positioning boss is inserted into each slot one by one, thereby realizing the detachable connection between the sleeve 200 and the connecting seat 32.

[0070] In the prior art, for example, CN106102640A, there is also a transmission assembly of an endoscope, which also includes three gears, two of which are driving wheels and one gear is a driven wheel. However, in the transmission assembly, the two driving wheels are meshed with the driven wheels at the same time, and there is no direct connection between the two driving wheels. In this transmission mode, since the two driving wheels are rigidly meshed with the driven wheels, the wear on the driven wheels is relatively large. In the application scenario of the endoscope joint, the driven wheels and the driving wheels are generally not suitable for using metal wheels (from the perspective of cost, weight, self-lubrication, etc.), and the adverse effects of wear cannot be ignored. In addition, the size requirements of the two driving wheels in the above scheme are consistent. Since the two driving wheels are meshed with the driven wheels, this limits the size of the driven wheels within the established transmission box size, so that other parts (such as sleeves) cannot be arranged at the driven wheels. Therefore, this scheme can only be applied to robot-specific endoscopes, and cannot be applied to the combination of ordinary endoscopes + sleeves.

[0071] In the transmission assembly provided in this embodiment, since the second gear 21 is meshed with the first gear 11, and the first gear 11 is meshed with the third gear 31, the wear on the third gear 31 is small. In addition, this embodiment can also control which gear loses power (the gear that loses power has greater wear, such as the second gear 21), and by increasing the size of the gear that loses power and reducing the force it is subjected to, the effect of reducing wear can be further achieved. Specifically, in this embodiment, the radius of the first gear 11 is R1, the radius of the second gear 21 is R2, and the radius of the third gear 31 is R3, where R2≥R1≥R3, and R2>R3. With such arrangement, since the radius of the second gear 21 is greater than the radius of the third gear 31, within the same size of the transmission box 100, the present embodiment can relatively increase the size of the remaining space at the third gear 31, which is convenient for arranging the sleeve 200. Moreover, since the diameter of the first driving wheel and / or the second driving wheel is increased, the output driving force is increased, and it is more suitable for the driving scenario of an ordinary endoscope (the driving force required for the ordinary endoscope + sleeve combination is greater than that for a robot-specific endoscope).

[0072] In this embodiment, the radius relationship between the first gear 11, the second gear 21, and the third gear 31 can be the following three modes: R2>R1>R3, or R2=R1>R3, or R2>R1=R3. Figure 2-Figure 4 As shown, when R2>R1=R3, the transmission ratio of the first gear 11 to the third gear 31 is 1:1. After the first motor is connected to the first transmission plate 12 and the second motor is connected to the second transmission plate 22, the first motor can be enabled to drive the first gear 11 to rotate, and the third gear 31 can be driven to rotate by the first gear 11. In this transmission mode, the rotation speeds of the first gear 11 and the third gear 31 are equal, which makes control easier and transmission smoother. Figure 5-Figure 6 As shown, when R2=R1>R3, the transmission ratio of the first gear 11 and the third gear 31 can be set to 1:1.5. After the first motor is connected to the first transmission plate 12 and the second motor is connected to the second transmission plate 22, the first motor can be used to drive the first gear 11 to rotate, and then the first gear 11 drives the third gear 31 to rotate; the second motor can be used to drive the second gear 21 to rotate, and the second gear 21 drives the first gear 11 to rotate, and then the first gear 11 drives the third gear 31 to rotate; the above two driving modes, since the radii of the second driving wheel and the first driving wheel are greater than the driven wheel, and the radius of the second driving wheel is equal to the radius of the first driving wheel, whether the first driving wheel is enabled or the second driving wheel is enabled, both can play the effect of increasing the driving force.

[0073] Furthermore, if Figure 3As shown, in this embodiment, the dimension of the transmission box 100 along the width direction is d, and the radius dimension of the second gear 21 is: R2=20%*d~30%*d, that is, the diameter of the second gear 21 accounts for 40%~60% of the width dimension of the transmission box 100. With such an arrangement, the spatial layout is reasonable. On the one hand, the diameter of the second gear 21 is relatively large, which is convenient for wear resistance and ensures that the transmission assembly has sufficient driving force. On the other hand, it is convenient to install the first gear 11 and the third gear 31 in the transmission box 100, and the size of the remaining space at the third gear 31 is relatively increased, so that the endoscope sleeve 200 can be installed on the connecting seat 32 of the third gear 31.

[0074] Furthermore, the present embodiment also includes a detection member, which is used to detect whether an endoscope connector is installed on the power box. Specifically, the detection member may include a Hall sensor arranged on the power box and a magnet arranged on the transmission box 100, and the Hall sensor is used to sense whether the endoscope connector is installed in place, and the detection information is fed back to the surgical robot. Through the above-mentioned arrangement, the surgical robot can first detect whether the endoscope connector has been assembled to the power box of the mirror holding arm. If the assembly is successful, the first motor and the second motor are driven to rotate in the same direction at the same time, thereby achieving docking with the corresponding first driving wheel and the second driving wheel. Of course, in other embodiments, it is also possible to determine whether the endoscope connector is installed on the power box in other ways, which is not limited to the present embodiment.

[0075] Embodiment 2

[0076] like Figure 7 As shown, this embodiment provides a surgical robot docking transmission method, which is used to achieve the docking transmission between the endoscope connector and the power box of the surgical robot in the first embodiment. The surgical robot docking transmission method specifically includes the following steps:

[0077] S10, receiving a signal that the endoscope connector is in place;

[0078] Specifically, the detection element may be used to detect whether the endoscope connector has been installed on the power box of the endoscope holding arm. If the endoscope connector has been successfully installed, step S1 is executed;

[0079] S1. Control the first motor and the second motor to rotate simultaneously, wherein the first motor and the second motor rotate in the same direction (e.g., clockwise), the first motor is used to connect with the first driving wheel to drive the first driving wheel to rotate, and the second motor is used to connect with the second driving wheel to drive the second driving wheel to rotate; the first driving wheel and the second driving wheel are driven by meshing or mutual friction;

[0080] In this embodiment, the transmission assembly in the transmission box includes a first driving wheel, a second driving wheel and a driven wheel. The second driving wheel, the first driving wheel and the driven wheel are sequentially connected in transmission connection, and the sleeve is connected in transmission connection or fixed connection with the driven wheel to rotate with the driven wheel. The first driving wheel and the second driving wheel rotate in opposite directions under the action of the transmission force between each other, and the driven wheel and the first driving wheel rotate in opposite directions under the action of the transmission force between each other. Specifically, the second driving wheel, the first driving wheel and the driven wheel can all use gear components to realize sequential meshing transmission, or the second driving wheel, the first driving wheel and the driven wheel can use friction wheel structures to realize sequential friction transmission.

[0081] It should be noted that in this step, the first motor and the second motor can rotate in the same direction and at the same speed, or can rotate in the same direction with differential speeds, but they cannot be one static and the other moving, and they cannot rotate in opposite directions, so as to ensure that the engagement state of the power box and the transmission box can be detected and the time required for the engagement of the power box and the transmission box can be effectively shortened.

[0082] S2. Detect the current in the circuit where the first motor and the second motor are located. If it is detected that the current size suddenly increases to the stall current, it is determined that the first motor is successfully docked with the first driving wheel, and the second motor is successfully docked with the second driving wheel, and the system continues to execute the next step S3 or step S4; if the detected current size does not reach the stall current, return to execute step S1.

[0083] During the rotation of the first motor and the second motor, a pair of combinations of the first motor and the corresponding first driving wheel, or the second motor and the corresponding second driving wheel will first form a hard connection. Taking the first motor and the first driving wheel forming a hard connection first as an example, once the hard connection is formed, the first motor will drive the first driving wheel to rotate in a clockwise direction, and the second driving wheel connected to the first driving wheel should rotate in a counterclockwise direction at this time; and since the second motor rotates in a clockwise direction, the second motor and the second driving wheel will inevitably form a hard connection. When the hard connection is formed, the second motor will drive the second driving wheel to rotate in a clockwise direction, which contradicts the logic of the transmission movement between the first driving wheel and the second driving wheel. At this time, a sudden increase in the current signal will be detected (the two motors resist each other, such as increasing from the rated current to the stall current, which is the case for both motors), indicating that the first motor and the first driving wheel have formed a hard connection, and the second motor and the second driving wheel have formed a hard connection. At this time, the transmission relationship between the power box and the transmission box corresponds (the connection is completed).

[0084] The surgical robot docking transmission method provided in the present embodiment greatly improves the overall connection speed when the transmission assembly is connected and detected with the first motor and the second motor in the power box (at a specific motor speed, such as the rated speed, it is approximately 0.2s; of course, if the heel-rotation phenomenon occurs, the specific time is also related to the transmission ratio design of the two driving wheels); at the same time, the number of endoscope rotations required during the connection process does not exceed two circles, thereby avoiding the risk of the cable being pulled due to excessive rotations of the endoscope.

[0085] In an optional solution, the radius of the second driving wheel is greater than the radius of the first driving wheel, and the radius of the first driving wheel is equal to the radius of the driven wheel. In this scenario, the surgical robot docking transmission method further includes:

[0086] S3, after the first motor and the first driving wheel, and the second motor and the second driving wheel are successfully docked, the second motor is disabled, the first motor drives the first driving wheel to rotate, and the first driving wheel drives the driven wheel and the second driving wheel to rotate.

[0087] In this step, since the radius of the first driving wheel and the driven wheel are equal, the transmission ratio between the two is 1:1. At this time, the rotation speeds of the first driving wheel and the driven wheel are equal, control is easier, and transmission is smoother, so it is suitable to use the first motor for driving.

[0088] In another optional solution, the radius of the second driving wheel is equal to the radius of the first driving wheel, and the radius of the first driving wheel is greater than the radius of the driven wheel. In this scenario, the surgical robot docking transmission method further includes:

[0089] S4: After the first motor and the first driving wheel, and the second motor and the second driving wheel are successfully docked, the first motor or the second motor is enabled to drive the driven wheel.

[0090] Specifically, in this step, the transmission ratio of the first driving wheel to the driven wheel can be set to 1:1.5. After the first motor is successfully connected to the first driving wheel and the second motor is successfully connected to the second driving wheel, the first driving wheel can be driven to rotate by the first motor, and then the driven wheel can be driven to rotate by the first driving wheel; the second driving wheel can also be driven to rotate by the second motor, and the first driving wheel can be driven to rotate by the second driving wheel, and then the driven wheel can be driven to rotate by the first driving wheel. In the above two driving modes, since the radii of the second driving wheel and the first driving wheel are both larger than the driven wheel, and the radius of the second driving wheel is equal to the radius of the first driving wheel, whether the first driving wheel is enabled or the second driving wheel is enabled, both can increase the driving force.

[0091] Obviously, the above embodiments of the present application are merely examples for clearly illustrating the present application, and are not intended to limit the implementation methods of the present application. For those of ordinary skill in the art, various obvious changes, readjustments, and substitutions can be made without departing from the protection scope of the present application. It is not necessary and impossible to list all implementation methods exhaustively here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. An endoscope connector, characterized in that: include: A transmission box is configured to be detachably engaged with a power box on the mirror holding arm, the transmission box comprises a housing and a transmission assembly arranged in the housing, the transmission assembly comprises a first driving wheel, a second driving wheel and a driven wheel, the first driving wheel is used to be detachably engaged with a first motor in the power box, the second driving wheel is used to be detachably engaged with a second motor in the power box, and the second driving wheel, the first driving wheel and the driven wheel are sequentially connected in transmission; The sleeve is drivingly connected or fixedly connected to the driven wheel so as to rotate along with the driven wheel, and the endoscope handle is detachably mounted in the sleeve.

2. The endoscope connector according to claim 1, characterized in that: The first driving wheel, the second driving wheel and the driven wheel are all gear components. The second driving wheel meshes with the first driving wheel, and the first driving wheel meshes with the driven wheel.

3. The endoscope connector according to claim 2, characterized in that: The first driving wheel includes a first transmission plate and a first gear fixed on the first transmission plate, and the first transmission plate is used to be connected to the output shaft of the first motor; the second driving wheel includes a second transmission plate and a second gear fixed on the second transmission plate, and the second transmission plate is used to be connected to the output shaft of the second motor; the driven wheel includes a third gear and a connecting seat fixed on the third gear, and the connecting seat is used to be fixedly connected to the sleeve.

4. The endoscope connector according to claim 3, characterized in that: The housing comprises a bottom plate and an upper shell, and the first transmission disc and the second transmission disc are rotatably mounted on the bottom plate respectively; The connection end of the first transmission disc is exposed on the bottom surface of the bottom plate, the connection end of the first transmission disc is provided with a first engagement feature, and the output shaft of the first motor is detachably engaged with the first engagement feature through an isolation plate; The connecting end of the second transmission disc is exposed on the bottom surface of the bottom plate, and a second engaging feature is provided at the connecting end of the second transmission disc. The output shaft of the second motor is detachably engaged with the second engaging feature through an isolation plate.

5. The endoscope connector according to claim 3, characterized in that: The radius of the first gear is R1, the radius of the second gear is R2, and the radius of the third gear is R3, wherein R2≥R1≥R3, and R2>R3.

6. The endoscope connector according to claim 5, characterized in that: R2>R1=R3, the transmission ratio between the first gear and the third gear is 1:1; or, R2=R1>R3, and the transmission ratio between the first gear and the third gear is 1:1.

5.

7. The endoscope connector according to claim 5, characterized in that: The width dimension of the transmission box is d, and the radius dimension of the second gear is: R2=20%*d~30%*d.

8. A surgical robot, comprising a master hand part and a slave hand part, wherein the master hand part is configured to be operated by a doctor and collect the doctor's operation signal to generate a control signal transmitted to the slave hand part, and the slave hand part is configured to perform surgical operations under the control of the control signal, and the slave hand part comprises a mechanical arm and a mirror holding arm, and the mirror holding arm is provided with a power box, characterized in that: The slave part also includes an endoscope connector as described in any one of claims 1-7, the power box is detachably engaged with the transmission box, a first motor and a second motor are arranged in the power box, the first motor is used to be detachably engaged with the first driving wheel, and the second motor is used to be detachably engaged with the second driving wheel.

9. A surgical robot docking transmission method, used for the surgical robot according to claim 8, so that the power box and the transmission box can achieve transmission, characterized in that: include: S1. Control the first motor and the second motor to rotate simultaneously, wherein the first motor and the second motor have the same rotation direction, the first motor is used to connect with the first driving wheel to drive the first driving wheel to rotate, and the second motor is used to connect with the second driving wheel to drive the second driving wheel to rotate; the first driving wheel and the second driving wheel are driven by meshing or mutual friction; S2. Detect the current in the circuit where the first motor and the second motor are located. If it is detected that the current suddenly increases to a stall current, it is determined that the first motor is successfully docked with the first driving wheel, and the second motor is successfully docked with the second driving wheel.

10. The surgical robot docking transmission method according to claim 9, characterized in that: The radius of the second driving wheel is greater than the radius of the first driving wheel, the radius of the first driving wheel is equal to the radius of the driven wheel, and the surgical robot docking transmission method further includes: S3. After the first motor and the first driving wheel, and the second motor and the second driving wheel are successfully docked, the second motor is disabled, and the first motor drives the first driving wheel to rotate, and the first driving wheel drives the driven wheel and the second driving wheel to rotate.

11. The surgical robot docking transmission method according to claim 9, characterized in that: The radius of the second driving wheel is equal to the radius of the first driving wheel, the radius of the first driving wheel is greater than the radius of the driven wheel, and the surgical robot docking transmission method further includes: S4: After the first motor and the first driving wheel, and the second motor and the second driving wheel are successfully docked, the first motor or the second motor is enabled to achieve driving of the driven wheel.

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