Endoscope joint, surgical robot and docking transmission method thereof

Abstract

The application relates to the technical field of medical devices, and discloses an endoscope joint, a surgical robot and a docking transmission method thereof. The endoscope joint comprises a transmission box and a sleeve. The transmission box is configured to be detachably connected with a power box on a mirror holding arm. 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. The second driving wheel, the first driving wheel and the driven wheel are sequentially connected in transmission. The sleeve is connected with the driven wheel in transmission or fixed connection, so as to rotate with the driven wheel. The sleeve is used for detachably mounting an endoscope handle. The application can shorten the clamping time of the transmission assembly and the power box, improve the clamping speed, reduce the number of endoscope rotations required in the clamping completion process, and avoid the risk of endoscope cable being pulled.

Description

TECHNICAL FIELD

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

[0002] With the continuous development of medical devices, computer technology and control technology, minimally invasive surgery has been more and more widely used for its advantages of small surgical trauma, short recovery time and less patient pain. The minimally invasive surgical robot can avoid the operation limitations such as hand tremor during filtering operation due to its high dexterity, high control precision and intuitive surgical image, and is widely used in abdominal, pelvic and thoracic surgical areas.

[0003] At present, the minimally invasive surgical robot includes a doctor console and a patient surgery platform. The main control arm of the doctor console collects the operation signal of the doctor, generates the control signal of the multiple surgical arms on the patient surgery platform after processing by the control system, and reproduces the operation of the doctor by the surgical instruments installed on the surgical arms to execute the surgical process. Before the robot surgery starts, the surgical arms are clamped with the surgical instruments and the 3D endoscope. The surgical instruments enter the patient's body through the stab card inserted into the incision on the patient's body surface, and the 3D endoscope provides the monitoring image in the patient's body. One of the surgical arms is used as a mirror holding arm, and the mirror holding arm is installed with an endoscope joint for clamping and moving the 3D endoscope to provide a suitable view for the doctor during surgery. The endoscope joint usually includes an adapter 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. The transmission box transmits the power output by the power box to the handle of the endoscope of the adapter part.

[0004] In order to ensure the reliability of the engagement between the power box and the transmission box, a kind of endoscope transmission device is disclosed in Chinese invention patent applications CN116616675A and CN116584866A. The specific detection process is as follows: first, control the brake motor to drive the brake part and control the power motor to drive the power gear to rotate in the same direction (R1 direction) at the same time. The brake part will stop at the second limit position. With the positive rotation of the power gear, the driven gear will reverse in the R2 direction opposite to the R1 direction until the protrusion on the driven shaft stops by colliding with the brake part. At this time, since the brake part and the protrusion are in abutment, the brake part and the power gear cannot rotate in the positive direction. This situation indicates that the clamping has been completed. Conversely, it indicates that the output shaft of the power motor and the power shaft are not clamped. Second, after confirming that the shaft clamping of the power motor and the power gear is completed, drive the power motor to drive the power gear to reverse by a certain angle, and then drive the brake motor to drive the brake part to reverse until it stops by colliding with the first stop block. At this time, 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 clamped.

[0005] The above scheme needs to control the brake motor to first forward rotate and then reverse rotate, and the power motor to first forward rotate and then reverse rotate in the process of detecting the clamping state of the endoscope joint, the motion logic is relatively long, the overall clamping time is relatively long, and there is no clear restriction on the number of rotations of the endoscope required in the clamping completion process, and there is a risk that the endoscope cable will be pulled too much (because the endoscope installed on the mirror holding arm generally needs to be connected to the endoscope host through illumination and data transmission lines).

[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

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

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

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

[0010] A transmission box configured to be detachably engaged with a power box on a mirror holding arm, the transmission box comprising a housing and a transmission assembly arranged in the housing, the transmission assembly comprising a first driving wheel, a second driving wheel and a driven wheel, the first driving wheel being configured to be detachably engaged with a first motor in the power box, the second driving wheel being configured to be detachably engaged with a second motor in the power box, the second driving wheel, the first driving wheel and the driven wheel being in turn drivingly connected;

[0011] A sleeve in driving connection or fixed connection with the driven wheel to rotate with the driven wheel, the sleeve being configured to detachably mount an endoscope handle.

[0012] In some possible embodiments, the first driving wheel, the second driving wheel and the driven wheel are all gear members, the second driving wheel and the first driving wheel are in meshing engagement with each other, and the first driving wheel and the driven wheel are in meshing engagement with each other.

[0013] In some possible embodiments, the first driving wheel comprises a first driving disc and a first gear fixed on the first driving disc, the first driving disc is used for driving connection with an output shaft of the first motor; the second driving wheel comprises a second driving disc and a second gear fixed on the second driving disc, the second driving disc is used for driving connection with an output shaft of the second motor; the driven wheel comprises a third gear and a connecting seat fixed on the third gear, the connecting seat is used for fixed connection with the sleeve.

[0014] In some possible embodiments, the shell comprises a bottom plate and an upper shell, the first driving disc and the second driving disc are respectively rotatably installed on the bottom plate;

[0015] The connecting end of the first driving disc is exposed to the bottom surface of the bottom plate, the connecting end of the first driving 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 driving disc is exposed to the bottom surface of the bottom plate, the connecting end of the second driving disc is provided with a second engagement feature, and the output shaft of the second motor is detachably engaged with the second engagement feature through an isolation plate.

[0017] In some possible embodiments, 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 embodiments, R2>R1=R3, the transmission ratio of the first gear to the third gear is 1:1; or, R2=R1>R3, the transmission ratio of the first gear to the third gear is 1:1.5.

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

[0020] In a second aspect, the application provides a surgical robot, comprising a master part and a slave part, the master part is configured to be operated by a doctor and collect the operation signal of the doctor to generate a control signal transmitted to the slave part, the slave part is configured to perform a surgical operation under the control of the control signal, the slave part comprises a tool holding arm and a mirror holding arm, the mirror holding arm is provided with a power box, and the slave part further comprises the endoscope joint of any one of the above schemes, the power box is detachably engaged with the transmission box, the power box is provided with a first motor and a second motor, the first motor is used for detachable engagement with the first driving wheel, and the second motor is used for detachable engagement with the second driving wheel.

[0021] In a third aspect, the application provides a surgical robot docking transmission method for a surgical robot to enable transmission between a power box and a transmission box, the surgical robot docking transmission method comprising:

[0022] S1, controlling the first motor and the second motor to rotate simultaneously, wherein the rotation directions of the first motor and the second motor are the same, the first motor is used to dock with the first driving wheel to drive the first driving wheel to rotate, and the second motor is used to dock with the second driving wheel to drive the second driving wheel to rotate; the first driving wheel and the second driving wheel are in transmission through meshing or through mutual friction;

[0023] S2, detecting the current in the circuit in which the first motor and the second motor are located, and if the current is detected to suddenly increase to the locked-rotor current, it is determined that the first motor and the first driving wheel are successfully docked, and the second motor and the second driving wheel are successfully docked.

[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 comprises:

[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, the first driving wheel is driven to rotate by the first motor, and the driven wheel and the second driving wheel are driven to rotate by the first driving wheel.

[0026] In some possible implementations, 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, and the surgical robot docking transmission method further comprises:

[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 realize driving of the driven wheel.

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

[0029] The endoscope joint provided in the application comprises a first driving wheel, a second driving wheel and a driven wheel, the first driving wheel is used for detachably engaging with the first motor in the power box, the second driving wheel is used for detachably engaging with the second motor in the power box, and the second driving wheel, the first driving wheel and the driven wheel are sequentially in transmission connection. When the power box is connected with the endoscope joint, the first motor and the second motor are first controlled to rotate in the same direction (for example, the clockwise direction), and in the process of rotation, a pair of combinations of the first motor and the corresponding first driving wheel or the second motor and the corresponding second driving wheel first form a hard connection. Taking the first motor and the first driving wheel as an example, once the hard connection is formed, the first motor rotates with the first driving wheel in the clockwise direction, and the second driving wheel in transmission connection with the first driving wheel should rotate in the counterclockwise direction at this time. Since the second motor rotates in the clockwise direction, if the second motor and the second driving wheel also form a hard connection, the second motor rotates with the second driving wheel in the clockwise direction, which is contrary to the transmission logic between the first driving wheel and the second driving wheel. At this time, the current signal is suddenly increased (for example, from the rated current to the locked-rotor current), which indicates 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.

[0030] Taking the first motor and the first driving wheel as an example, since the first driving wheel is not moving before being connected with the first motor, the first motor can be connected with the first driving wheel by rotating in the clockwise direction for not more than one circle, and after the connection is completed, the first motor drives the first driving wheel to rotate in the clockwise direction, the first driving wheel drives the second driving wheel to rotate in the counterclockwise direction, and since the second motor rotates in the clockwise direction, the rotation direction of the second driving wheel is opposite to that of the second motor, so that the second motor rotates for not more than one circle when being connected with the second driving wheel, thereby greatly shortening the connection time. When the transmission assembly of the endoscope joint is connected with the first motor and the second motor in the power box, the overall connection speed is greatly improved, and the number of rotations of the endoscope during the connection process is not more than two, thereby avoiding the risk that the cable is pulled due to excessive rotation of the endoscope.

[0031] After the first motor and the first driving wheel are successfully connected and the second motor and the second driving wheel are successfully connected, 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 drive the driven wheel to rotate at the same time, so that the driving mode is flexible and the wear of the driven wheel is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 FIG. 1 is a structural schematic diagram of an endoscope joint provided in an embodiment of the application;

[0033] Figure 2 is a structural schematic view of a bottom plate and a transmission assembly involved in one scheme of the embodiment one of the present application;

[0034] Figure 3 is a top view of a bottom plate and a transmission assembly involved in one scheme of the embodiment one of the present application;

[0035] Figure 4 is a meshing transmission view of a first gear, a second gear and a third gear involved in one scheme of the embodiment one of the present application;

[0036] Figure 5 is a bottom view of a bottom plate and a transmission assembly involved in another scheme of the embodiment one of the present application;

[0037] Figure 6 is a meshing transmission view of a first gear, a second gear and a third gear involved in another scheme of the embodiment one of the present application;

[0038] Figure 7 is a flow chart of a surgical robot docking transmission method provided by the embodiment two of the present application.

[0039] In the drawings:

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

[0041] 11, first gear; 12, first transmission disc;

[0042] 21, second gear; 22, second transmission disc;

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

[0044] The technical solutions of the embodiments of the present application will be described below in combination 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 solutions. 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 of the present application, and the protection scope of the present application is only defined by the claims. In other places, well-known structures, connection / position relationships, circuits and / or other details can not be described in detail to avoid misleading the public about the inventive points of the present application.

[0046] In this specification, the drawings for the several embodiments of the present application are shown schematically. However, the drawings are only schematic, and it is understood that mechanical structures, connection / positioning relationships, physical compositions, electricity, and steps can be changed without departing from the spirit and scope of the present application. Such changes can be made by replacing or combining elements of the several embodiments of the present application, or by replacing or combining known contents.

[0047] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present application. Spatial relative terms, such as "below", "lower", "above", "upper", "middle", "interior", "exterior", "center", "edge", and the like, are used to facilitate the description of the relationship of one component or feature to another component or feature shown in the drawings. It should be understood that the spatial relative terms are used in the orientation direction of the device in use or operation (except for the orientation direction specifically limited in the drawings), and are not necessarily unique and unchangeable. For example, if the device in the drawing is flipped 180° along the paper, the element described as "below" the other component or feature will become "above" the other component or feature. 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 (e.g., rotated 90° or positioned in other directions), and the spatial relative terms used herein are interpreted accordingly.

[0048] As used herein, "several", "one", and "the" are intended to also include plural forms, unless the context indicates otherwise. It should be further understood that the terms "comprise" and / or "include" specify the presence of the stated features, steps, operations, elements, and / or components, without excluding the presence of one or more other features, steps, operations, elements, components, 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", "part", "part", "module", "assembly", and "element" are used interchangeably.

[0050] The terms "instrument," "surgical instrument," and "surgical procedure instrument" are used herein to describe a medical device configured to be inserted into a patient and used to perform a surgical procedure or diagnostic operation, generally including an end effector. The end effector can be a surgical tool relevant to one or more surgical operations, 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 so forth. Some instruments used by embodiments of the present application further provide articulated supports (sometimes referred to as "wrist joints," "jointed bases") for the surgical tools, so that the position and / or orientation of the end effector can be flexibly manipulated relative to the instrument shaft in one or more mechanical degrees of freedom. Further, many end effectors include functional mechanical degrees of freedom, such as opening or closing jaws or translating a blade along a particular path. The instruments can also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updatable by the surgical system. Accordingly, the system can provide one-way or two-way communication of information 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 mated objects to operate in conjunction with one another. 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 by using object C. Furthermore, the term "removably coupled" or "removably mated" can be interpreted to mean a non-permanent coupling 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 with one another.

[0052] Finally, the terms "or" and "and / or" as used herein are to be interpreted as inclusive or meaning any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means any 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 occur only when two or more elements are in some way mutually exclusive from one another.

[0053] Overview of master-slave teleoperated laparoscopic surgical robot

[0054] Laparoscopic surgical robots typically include a surgeon control platform, a patient surgery platform, and an image platform. A surgeon sits at the surgeon control platform, watches two- or three-dimensional imagery of the surgical area transmitted by a laparoscope (sometimes referred to as an "endoscope") placed within the patient's body, and manipulates movement of a robotic arm on the patient surgery platform, as well as a surgical instrument or laparoscope attached to the robotic arm. The robotic arm is equivalent to a simulated human arm, and the surgical instrument is equivalent to a simulated human hand, both of which provide the surgeon with a range of motions that simulate a human wrist, while also filtering the tremors of the human hand itself, and thus are increasingly used in surgery, particularly in abdominal, thoracic, and general surgery.

[0055] The patient surgery platform typically includes a base, a column, a plurality of robotic arms coupled to the column, and one or more surgical instrument manipulators at the end of a support assembly of each robotic arm. A surgical instrument and / or laparoscope is removably coupled to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes that are operated at a surgical site within a patient's body. Various forms of control can be permitted for each surgical instrument manipulator to move the associated surgical instrument(s) with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is constrained by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient, which is typically located at the point where the surgical instrument enters the body wall, and which is commonly referred to as a "telecenter" or "immobile point."

[0056] The image platform typically includes one or more video displays with video image capture functionality (commonly an endoscope) and for displaying the captured images of the surgical instruments. In some laparoscopic surgical robots, the video images are transferred to the host of the image platform through optical devices that deliver the images from the imaging sensors (e.g., CCD or CMOS sensors) within the patient's body to the distal end of the endoscope, and through photoelectric conversion and other steps. Subsequently, the processed images are displayed on the video displays for viewing by other doctors or assistants through image processing.

[0057] The surgeon control platform typically includes a base, a foot pedal assembly, a stereo monitor, a master control arm, and a hand controller connected to the end of the master control arm. The surgeon controls the hand controller and foot pedal assembly to effectuate specific actions of the surgical instruments and / or energy activation. The surgeon control platform can be at a single location in a surgical system composed of a laparoscopic surgical robot or it can be distributed at two or more locations in the system, and the teleoperated master / slave operation can be accomplished with a pre-determined level of control, such as one location as the master for the primary surgeon and another location as the slave for an assistant, the master accomplishing the primary surgical operation and the slave accomplishing auxiliary operations such as laparoscope movement or tissue retraction. In some embodiments, the hand controller can be an input device capable of effectuating one or more manual operations, such as a joystick, an exoskeletal glove, a powered and gravity compensated manipulator, and the like. These input devices gather the surgeon's operational signals, which are processed by the control system to generate control signals for the manipulator of the surgical instrument, which in turn controls the teleoperated motors on the surgical instrument manipulator, which further controls the final movement of the surgical instrument.

[0058] Generally, the force generated by the teleoperated motors is transmitted through a transmission system to transfer the force from the teleoperated motors to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device that controls the manipulator can be located remotely from the patient, in the room where the patient is located or outside, or even in a different city. The input signals of the input device are then transmitted to the control system. Those familiar with telemanipulation, teleoperation, and telepresence surgery will appreciate such systems and their components, which are not described here in further detail.

[0059] The present application provides a surgical robot, which includes a master hand portion and a slave hand portion. The surgeon indirectly controls the slave manipulator arm of the slave hand portion by manipulating the master control arm of the master hand portion, specifically: the master control arm gathers the surgeon's operational signals, which are processed by the control system to generate control signals for the slave manipulator arm of the slave hand portion, and the slave hand portion performs surgical operations under the control of the control signals. The master hand portion and the slave hand portion of the surgical robot can be placed in the same space; they can also be located at different spatial positions respectively, and data transmission between the two can be achieved through wired or wireless means. During the robot surgery, the slave manipulator arm clamps the surgical instrument and the 3D endoscope, the surgical instrument enters the patient's body through the stab card inserted into the incision on the patient's body surface, and the 3D endoscope provides monitoring images of the patient's body. The slave manipulator arm includes a tool holding arm for mounting the surgical instrument and a mirror holding arm for mounting the endoscope joint. Of course, in some embodiments, the tool holding arm can also be used as a mirror holding arm. The mirror holding arm is provided with a power box, which is used to detachably connect with the endoscope joint, and the 3D endoscope is detachably mounted in the endoscope joint, so that clamping and moving operations of the 3D endoscope can be achieved, thereby providing a suitable viewing angle for the surgeon during surgery.

[0060] In the prior art, in the process of realizing the clamping and detection of the endoscope joint and the power box, the brake motor is controlled to rotate forward and then reverse, and the power motor is controlled to rotate forward and then reverse, the movement logic is relatively long, which leads to a relatively long overall clamping time (about 6-7s at a specific motor speed, for example, at the rated speed), and there is no clear restriction on the number of rotations of the endoscope required during the clamping process, and there is a risk that the cable will be pulled due to too many rotations of the endoscope (because the endoscope installed on the mirror holding arm generally needs to be connected to the endoscope host through illumination and data transmission lines). To this end, the transmission assembly of the endoscope joint is improved, and the docking transmission method of the surgical robot is optimized, which can shorten the clamping time of the transmission assembly and the power box, improve the clamping speed, reduce the number of rotations of the endoscope required during the clamping process, and avoid the risk that the cable will be pulled due to too many rotations of the endoscope. For specific embodiments, see Embodiment One and Embodiment Two.

[0061] Embodiment One

[0062] As shown in Figures 1-6 The present embodiment provides an endoscope joint, which is arranged to adapt to an endoscope and meet the needs of endoscope movement function. The endoscope joint comprises an adapter part adapted to detachably engage with the endoscope, and a transmission box 100 for detachably connecting with the power box on the mirror holding arm. The adapter part mainly comprises a sleeve 200. The transmission box 100 mainly comprises a housing and a transmission assembly arranged in the housing, the housing comprising a bottom plate 101 and an upper shell connected with the bottom plate 101; the transmission assembly is used to connect with the power motor in the power box. The transmission box 100 is also provided with a sleeve mounting cavity, 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. The endoscope joint of the present embodiment can realize the transmission of the power output by the power box to the endoscope, thereby realizing the control of the movement of the endoscope.

[0063] The transmission assembly of the embodiment specifically comprises a first driving wheel, a second driving wheel and a driven wheel, the first driving wheel is used for detachably engaging with the first motor in the power box, the second driving wheel is used for detachably engaging with the second motor in the power box, the second driving wheel, the first driving wheel and the driven wheel are sequentially transmission-connected, the sleeve 200 is transmission-connected or fixedly connected with the driven wheel to rotate with 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 the embodiment, the first driving wheel and the second driving wheel rotate in opposite directions under the action of transmission power between each other, and the driven wheel and the first driving wheel rotate in opposite directions under the action of transmission power between each other. Alternatively, the first driving wheel, the second driving wheel and the driven wheel of the embodiment are all gear members, wherein the second driving wheel and the first driving wheel are meshed with each other, and the first driving wheel and the driven wheel are meshed with each other. The transmission mode of meshing the gear members with each other has high transmission precision, good work 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 can also adopt the form of friction wheels to realize transmission through friction between each other, wherein the first driving wheel and the second driving wheel rotate in opposite directions under the action of friction between each other, and the driven wheel and the first driving wheel rotate in opposite directions under the action of friction between each other.

[0064] In the embodiment, before the first motor and the second motor form hard connection with the corresponding first driving wheel and 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 and the first driving wheel are successfully engaged, and the second motor and the second driving wheel are successfully engaged, the driven wheel can be driven to rotate by the first motor, or the driven wheel can be driven to rotate by the second motor, or the driven wheel can be driven to rotate by the first motor and the second motor at the same time, which is flexible in driving mode and is conducive to reducing the wear of the driven wheel.

[0065] More importantly, by arranging the second driving wheel, the first driving wheel and the driven wheel which are sequentially transmission-connected, the embodiment can also 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.

[0066] Specifically, when the power cartridge and the transmission cartridge 100 are engaged, the first motor and the second motor are first controlled to rotate in the same direction (e.g., the clockwise direction) 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 form a hard connection first. This is because the first driving wheel and the second driving wheel are in a direct engagement (or friction) relationship, and can only rotate in opposite directions. Therefore, even if one driving wheel cannot form a hard connection first due to the same direction of rotation following its corresponding motor caused by the friction between the two, the other driving wheel and the corresponding motor will necessarily form a hard connection first. Taking the first motor and the first driving wheel as an example, once the hard connection is formed, the first motor will rotate the first driving wheel in the clockwise direction. The second driving wheel, which is in transmission connection with the first driving wheel, should rotate in the counterclockwise direction at this time. Since the second motor rotates in the clockwise direction, the second motor and the second driving wheel will necessarily form a hard connection. When the hard connection is formed, the second motor will rotate the second driving wheel in the clockwise direction, which contradicts the logic of the transmission motion between the first driving wheel and the second driving wheel. At this time, the current signal will suddenly increase (both motors resist each other, such as from the rated current to the locked-rotor current), 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 cartridge and the transmission cartridge 100 is established (the clamping is completed). It should be noted that the transmission mode of the second motor and the second driving wheel forming a hard connection first is similar to the above-mentioned scheme, and will not be described again in this embodiment. Of course, if the driving wheel does not follow the rotation, the first motor and the first driving wheel, and the second motor and the second driving wheel will form a hard connection at the same time. Since the first driving wheel rotates in the clockwise direction under the drive of the first motor, and the second driving wheel rotates in the clockwise direction under the drive of the second motor, this contradicts the logic of the transmission motion between the two. At this time, the current signal will suddenly increase, 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.

[0067] Next, it is explained how the embodiment reduces the clamping time. Still taking the first motor and the first driving wheel as an example, since the first driving wheel is stationary before being clamped with the first motor, the first motor rotates no more than one circle in the clockwise direction to achieve clamping with the first driving wheel. After clamping, 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, the rotation direction of the second driving wheel is opposite to that of the second motor. Therefore, the second motor rotates no more than one circle when clamped with the second driving wheel, greatly shortening the clamping time. The endoscope joint provided by the embodiment greatly improves the overall clamping speed when the transmission assembly is clamped and detected with the first motor and the second motor in the power box (about 0.2s at a specific motor speed, such as the rated speed; of course, if the follow-up 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 clamping process is no more than two, avoiding the risk of excessive cable pulling caused by excessive endoscope rotation. It should be noted that the first motor and the second motor in the embodiment can rotate at the same speed in the same direction, or rotate at different speeds in the same direction, but cannot rotate at different speeds in different directions, so as to ensure that the power box and the transmission box 100 can be detected and effectively shorten the time required for the power box and the transmission box 100 to be engaged.

[0068] Optionally, the first driving wheel comprises a first transmission disc 12 and a first gear 11 fixed on the first transmission disc 12, the first transmission disc 12 is used for transmission connection with the output shaft of the first motor, and the first transmission disc 12 can drive the first gear 11 to rotate when rotating; the second driving wheel comprises a second transmission disc 22 and a second gear 21 fixed on the second transmission disc 22, the second transmission disc 22 is used for transmission connection with the output shaft of the second motor, and the second transmission disc 22 can drive the second gear 21 to rotate when rotating; the driven wheel comprises a third gear 31 and a connecting seat 32 fixed on the third gear 31, the connecting seat 32 is used for fixed connection with the sleeve 200, and the second gear 21, the first gear 11 and the third gear 31 are in turn meshed and transmitted, so that the third gear 31 can be driven to rotate when the second gear 21 and / or the first gear 11 rotates, thereby achieving driving of the endoscope installed in the sleeve 200.

[0069] In the embodiment, the first transmission disc 12 is rotatably installed on the bottom plate 101, the connecting end of the first transmission disc 12 is exposed to the bottom surface of the bottom plate 101, the connecting end of the first transmission disc 12 is provided with a first engaging feature, and the output shaft of the first motor is detachably engaged with the first engaging 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, which are docked through the first clamping hole and the first clamping convex, so that the first motor is in driving connection with the first transmission disc 12. In the embodiment, the second transmission disc 22 is rotatably installed on the bottom plate 101, the connecting end of the second transmission disc 22 is exposed to the bottom surface of the bottom plate 101, the connecting end of the second transmission disc 22 is provided with a second engaging feature, and the output shaft of the second motor is detachably engaged with the second engaging 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, which are docked through the second clamping hole and the second clamping convex, so that the second motor is in driving connection with the second transmission disc 22. In addition, one of the connecting seat 32 and the bottom of the sleeve 200 is provided with a plurality of insertion slots, and the other is provided with a plurality of positioning convex columns, each positioning convex column is inserted into each insertion slot one by one, so as to realize the detachable engagement of the sleeve 200 and the connecting seat 32.

[0070] The prior art, such as CN106102640A, also has a transmission assembly of an endoscope, which also includes three gears, two of which are driving gears and one of which is a driven gear. However, in this transmission assembly, the two driving gears are simultaneously engaged with the driven gear, and there is no direct connection between the two driving gears. In this transmission mode, since the two driving gears are rigidly engaged with the driven gear, the wear of the driven gear is relatively large. In the application scenario of the endoscope joint, the driven gear and the driving gear are generally not suitable to use metal gears (considering cost, weight, self-lubricating property, etc.), and the adverse effects caused by wear cannot be ignored. In addition, in the above-mentioned scheme, the sizes of the two driving gears are required to be consistent. Since the two driving gears are engaged with the driven gear, the size of the driven gear is limited within the given transmission box size, so that other parts (such as sleeves) cannot be arranged at the driven gear. Therefore, this scheme can only be applied to robot-specific endoscopes and cannot be applied to ordinary endoscopes + sleeve combinations.

[0071] In the transmission assembly provided in this embodiment, since the second gear 21 meshes with the first gear 11, and the first gear 11 meshes with the third gear 31, the wear on the third gear 31 is relatively small. Furthermore, this embodiment can control which gear loses power (the gear that loses power experiences greater wear, such as the second gear 21). By increasing the size of the gear that loses power, the force it experiences can be reduced, further reducing wear. 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 this configuration, since the radius of the second gear 21 is larger than that of the third gear 31, within the same transmission box 100 size, this embodiment can relatively increase the size of the remaining space at the third gear 31. This facilitates the arrangement of the sleeve 200, and the increased diameter of the first drive wheel and / or the second drive wheel increases the output driving force, making it more suitable for driving scenarios of ordinary endoscopes (the driving force required for the combination of ordinary endoscope and sleeve is greater than that for robot-specific endoscopes).

[0072] In this embodiment, the radius relationship between the first gear 11, the second gear 21, and the third gear 31 can be one of the following three ways: R2 > R1 > R3, or R2 = R1 > R3, or R2 > R1 = R3. For example... Figures 2-4 As shown, when R2 > R1 = R3, the transmission ratio between the first gear 11 and the third gear 31 is 1:1. After the first motor and the first transmission disk 12, and the second motor and the second transmission disk 22 are connected, the first motor can be enabled to drive the first gear 11 to rotate, which in turn drives the third gear 31 to rotate. In this transmission method, the speeds of the first gear 11 and the third gear 31 are equal, making control easier and the transmission smoother. Figures 5-6 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 and the first transmission disk 12 and the second motor and the second transmission disk 22 are connected, the first gear 11 can be driven to rotate by the first motor, which in turn drives the third gear 31 to rotate; or the second gear 21 can be driven to rotate by the second motor, which in turn drives the first gear 11 to rotate, which in turn drives the third gear 31 to rotate. In both of these driving methods, 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, both driving wheel activation and second driving wheel activation can increase the driving force.

[0073] Furthermore, such as Figure 3As shown, in the embodiment, the size of the transmission box 100 along the width direction is d, and the radius size 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 size of the transmission box 100. In this way, the space layout is reasonable, on the one hand, the diameter of the second gear 21 is relatively large, which is convenient for wear resistance, and also 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 relatively increases the size of the remaining space of the third gear 31, and the endoscope sleeve 200 can be installed on the connecting seat 32 of the third gear 31.

[0074] Further, the embodiment also includes a detection member for detecting whether the endoscope joint is installed on the power box. Specifically, the detection member can include a Hall sensor arranged on the power box and a magnet arranged on the transmission box 100. The Hall sensor is used to sense whether the endoscope joint is installed in place, and feedback the detection information to the surgical robot. Through the above arrangement, the surgical robot can first detect whether the endoscope joint has been assembled to the power box of the holding arm, if it has been successfully assembled, the first motor and the second motor are driven to rotate in the same direction, and then the butt joint with the corresponding first driving wheel and second driving wheel is realized. Of course, in other embodiments, other ways can also be used to judge whether the endoscope joint is installed on the power box, and it is not limited to the embodiment.

[0075] Embodiment two

[0076] As Figure 7 shown, the embodiment provides a surgical robot butt joint transmission method for realizing the butt joint transmission between the endoscope joint and the power box of the surgical robot in the embodiment one. The surgical robot butt joint transmission method specifically includes the following steps:

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

[0078] Specifically, whether the endoscope joint has been installed on the power box of the holding arm can be detected by the detection member, and if the endoscope joint has been successfully installed, step S1 is executed;

[0079] S1, controlling the first motor and the second motor to rotate at the same time, wherein the rotation directions of the first motor and the second motor are the same (such as along the clockwise direction), the first motor is used to butt joint with the first driving wheel to drive the first driving wheel to rotate, and the second motor is used to butt joint 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 by mutual friction;

[0080] In the embodiment, the transmission assembly in the transmission box comprises 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, the sleeve is connected with the driven wheel in transmission or fixed connection to rotate with the driven wheel. The first driving wheel and the second driving wheel rotate in opposite directions under the action of transmission power between each other, and the driven wheel and the first driving wheel rotate in opposite directions under the action of transmission power between each other. Specifically, the second driving wheel, the first driving wheel and the driven wheel can all adopt gear members to realize sequential meshing transmission, or the second driving wheel, the first driving wheel and the driven wheel can adopt friction wheel structure to realize sequential friction transmission.

[0081] It should be noted that in this step, the first motor and the second motor can rotate at the same speed in the same direction, or can rotate at different speeds in the same direction, but the two cannot be static and dynamic, and cannot be reversed, 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 the current size is suddenly increased to the locked-rotor 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 locked-rotor current, it returns to execute step S1.

[0083] Since in the process of rotating the first motor and the second motor, the first motor and the corresponding first driving wheel, or the second motor and the corresponding second driving wheel will form a hard connection, taking the first motor and the first driving wheel as an example, once the hard connection is formed, the first motor will rotate with the first driving wheel in the clockwise direction, and the second driving wheel connected with the first driving wheel should rotate in the counterclockwise direction at this time. Since the second motor rotates in the 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 rotate with the second driving wheel in the clockwise direction, which contradicts the transmission logic between the first driving wheel and the second driving wheel. At this time, the current signal will be detected to suddenly increase (the two motors resist each other, such as increasing from the rated current to the locked-rotor current, both the two motors are so), so as to indicate 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 is matched (the clamping is completed).

[0084] The surgical robot docking transmission method provided in the embodiment greatly improves the overall clamping speed when the transmission assembly is clamped and detected with the first motor and the second motor in the power box (about 0.2 s at a specific motor speed, for example, at a rated speed; of course, if the follow-up 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 clamping process does not exceed two, thereby avoiding the risk of excessive cable pulling caused by excessive rotation 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 comprises:

[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 driving wheel is driven to rotate by the first motor, and the second driving wheel and the driven wheel are driven to rotate by the first driving wheel.

[0087] In this step, since the radius of the first driving wheel is equal to the radius of the driven wheel, the transmission ratio of the two is 1:1, at this time, the rotation speed of the first driving wheel is equal to that of the driven wheel, control is easier, and transmission is more stable, so it is suitable to be driven by the first motor.

[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 comprises:

[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 and the driven wheel can be set to 1:1.5. After the first motor and the first driving wheel and the second motor and the second driving wheel are successfully docked, the first driving wheel can be driven to rotate by the first motor, and then the driven wheel is driven to rotate by the first driving wheel; or the second driving wheel can be driven to rotate by the second motor, the first driving wheel is driven to rotate by the second driving wheel, and then the driven wheel is driven to rotate by the first driving wheel. The above two driving modes can increase the driving force whether the first driving wheel is enabled or the second driving wheel is enabled, because the radius of the second driving wheel and the first driving wheel is greater than that of the driven wheel, and the radius of the second driving wheel is equal to that of the first driving wheel.

[0091] Obviously, the above embodiments of the present application are merely examples for the purpose of clear illustration, and are not intended to limit the embodiments of the present application. Those skilled in the art can make various obvious changes, re-adjustments and substitutions without departing from the protection scope of the present application. It is unnecessary and impossible to enumerate all the embodiments here. Any modification, equivalent substitution and improvement, etc. made within the spirit and principle 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 a lens-holding arm. The transmission box includes a housing and a transmission assembly disposed within the housing. The transmission assembly includes a first driving wheel, a second driving wheel, and a driven wheel. The first driving wheel is detachably engaged with a first motor in the power box, and the second driving wheel is detachably engaged with a second motor in the power box. The second driving wheel, the first driving wheel, and the driven wheel are sequentially connected in a transmission manner. A sleeve is driven or fixedly connected to the driven wheel to rotate with the driven wheel, and the sleeve is used to detachably mount an endoscope handle.

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 disc and a first gear fixed on the first transmission disc, the first transmission disc being used for transmission connection with the output shaft of the first motor; the second driving wheel includes a second transmission disc and a second gear fixed on the second transmission disc, the second transmission disc being used for transmission connection with the output shaft of the second motor; the driven wheel includes a third gear and a connecting seat fixed on the third gear, the connecting seat being used for fixed connection with the sleeve.

4. The endoscope connector according to claim 3, characterized in that, The outer shell includes a base plate and an upper shell, and the first transmission disk and the second transmission disk are respectively rotatably mounted on the base plate; The connecting end of the first transmission disk is exposed on the bottom surface of the base plate. The connecting end of the first transmission disk is provided with a first engagement feature. 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 base plate. The connecting end of the second transmission disc is provided with a second engagement feature. The output shaft of the second motor is detachably engaged with the second engagement 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, where 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 of the transmission box is d, and the radius of the second gear is R2 = 20% * d ~ 30% * d.

8. A surgical robot, comprising a master hand and a slave hand, wherein the master hand is configured for operation by a surgeon and for acquiring the surgeon's operation signals to generate control signals that are transmitted to the slave hand, and the slave hand is configured to perform surgical operations under the control of the control signals, wherein the slave hand includes a surgical arm and a surgical endoscope arm, and the surgical endoscope arm is provided with a power unit, characterized in that, The hand portion further includes an endoscope connector as described in any one of claims 1-7, the power box is detachably connected to the transmission box, the power box is provided with a first motor and a second motor, the first motor is detachably connected to the first drive wheel, and the second motor is detachably connected to the second drive wheel.

9. A surgical robot docking and transmission method, used in the surgical robot of claim 8, to enable transmission between the power box and the transmission box, characterized in that, include: 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, the first motor is used to dock with the first drive wheel to drive the first drive wheel to rotate, and the second motor is used to dock with the second drive wheel to drive the second drive wheel to rotate; the first drive wheel and the second drive wheel are driven by meshing or by mutual friction. S2. Detect the current in the circuits where the first motor and the second motor are located. If the current suddenly increases to the stall current, it is determined that the first motor and the first drive wheel are successfully connected, and the second motor and the second drive wheel are successfully connected.

10. The surgical robot docking and transmission method according to claim 9, characterized in that, The radius of the second driving wheel is larger 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. The surgical robot docking transmission method further includes: S3. After the first motor and the first drive wheel, and the second motor and the second drive wheel are successfully connected, the second motor is deactivated, and the first drive wheel is driven to rotate by the first motor. The first drive wheel drives the driven wheel and the second drive wheel to rotate.

11. The surgical robot docking and 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, and the radius of the first driving wheel is greater than the radius of the driven wheel. 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 connected, the driven wheel is driven by enabling the first motor or the second motor.

Images