Endoscope and surgical robot

Abstract

The endoscope comprises an image collecting part, a connecting rod and a driving box which are connected in sequence, and the driving box comprises a base, a support fixedly arranged on the base and a control piece pivoted to the support. The control piece comprises an abutting part close to one side of the connector and a control part, one end of the control part extends out of the driving box and is located on one side away from the connector, and the other end of the control part is connected with the abutting part and is pivoted to the support; the base is used for a fastener of the connector to penetrate through and is buckled with the fastener; the control part comprises an operation part extending out of the driving box and a reversing part pivoted to the support, one end of the reversing part is movably connected with the operation part, the other end of the reversing part is movably connected with the abutting part, and the operation part is used for driving the reversing part to move when being operated so as to drive the abutting part to abut against the fastener, so that the fastener is separated from the base. Therefore, the driving box is separated from the connector. The technical problem that an existing endoscope is inconvenient to take down from a mechanical arm can be solved.

Description

Technical Field

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

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

[0003] With the advancement of science and technology, minimally invasive surgical robot technology has gradually matured and has been widely used. Minimally invasive surgical robots usually include a master console and a slave operating device. The master console is used to send control commands to the slave operating device according to the doctor's operation to control the slave operating device. The slave operating device is used to respond to the control commands sent by the master console and perform corresponding surgical operations.

[0004] The operating equipment usually includes a robotic arm, a power mechanism arranged on the robotic arm, and a surgical instrument. The robotic arm is used to adjust the position of the instrument, the surgical instrument is used to extend into the body and perform surgical operations, and the power mechanism is used to drive the end instrument of the surgical instrument to perform corresponding operations. The end instrument includes an endoscope for observing the surgical area and an end effector for performing surgical operations (such as clamps, scissors, and needle holders, etc.). Since these surgical instruments are close to the patient's lesion area, the surgical instruments need to be removed from the robotic arm for sterilization. However, the handle operating part of the existing surgical instrument is usually arranged at the bottom of the drive box. When the bottom diameter of the drive box is large or there are other structures on the drive box, the operator cannot conveniently operate it with one hand, thereby affecting the operator's operating experience. Summary of the invention

[0005] The main purpose of the present invention is to provide an endoscope and a surgical robot, aiming to solve the technical problem that it is inconvenient to remove the existing endoscope from the robotic arm.

[0006] To achieve the above object, the present invention provides an endoscope, comprising a connecting rod, an image acquisition unit located at the distal end of the connecting rod, and a drive box located at the proximal end of the connecting rod and detachable from a connector having a fastener.

[0007] The driving box comprises a base fixedly connected to the connecting rod, a bracket fixed on the base, and a control member pivotally connected to the bracket, wherein the control member comprises a top abutting portion close to one side of the connector, and a control member having one end extending out of the driving box and located on a side away from the connector, and the other end connected to the top abutting portion and pivotally connected to the bracket, and the base is used for the fastener to pass through and be buckled with the fastener;

[0008] The control part includes an operating part extending out of the drive box and located on a side away from the connector, and a reversing part pivotally connected to the bracket, one end of the reversing part is movably connected to the operating part, and the other end is movably connected to the abutting part. The operating part is used to drive the reversing part to move when being operated, thereby driving the abutting part to contact the fastener, thereby separating the fastener from the base, and further separating the drive box from the connector.

[0009] Optionally, the control part includes an operating part extending out of the drive box and located on a side away from the connector, and a reversing part pivotally connected to the bracket, one end of the reversing part is movably connected to the operating part, and the other end is movably connected to the supporting part, and the operating part is used to drive the reversing part to move when being operated, thereby driving the supporting part to contact the fastener, thereby separating the fastener from the base.

[0010] Optionally, the operating portion includes a first rotating shaft pivoted to the bracket, a pressing portion and a main driving shaft arranged relative to the first rotating shaft; the reversing portion includes a second rotating shaft pivoted to the bracket, a slave driving shaft arranged relative to the second rotating shaft, and a first movable end having a first movable groove; the abutting portion includes a third rotating shaft pivoted to the bracket, an abutting portion arranged relative to the third rotating shaft, and a second movable end having a second movable groove;

[0011] The main driving shaft is used to be movably connected in the first movable groove, and the slave driving shaft is used to be movably connected in the second movable groove; the abutting portion is used to abut against the fastener;

[0012] The pressing portion is used to drive the main driving shaft to rotate outward relative to the first rotating shaft and drive the first movable end to rotate outward when subjected to a force, so that the slave driving shaft rotates inward relative to the second rotating shaft and drives the second movable end to rotate inward, thereby causing the interference portion to interfere with the fastener outward relative to the third rotating shaft.

[0013] Optionally, the reversing portion also includes a middle portion pivotally connected to the second rotating shaft, one end of the middle portion is connected to the slave drive shaft, and the other end is connected to the first movable end, the slave drive shaft is parallel to the first movable end, and the middle portion is parallel to the base, and the middle portion is used to rotate relative to the base when the slave drive shaft rotates inward relative to the second rotating shaft, thereby causing the slave drive shaft to rotate inward relative to the second rotating shaft.

[0014] Optionally, the first rotating axis is parallel to the base, the second rotating axis is perpendicular to the base, and the third rotating axis is parallel to the base.

[0015] Optionally, the drive box has a symmetry center line and a center point on the symmetry center line, a line connecting the position of the top support portion projected onto the base and the center point is a first line, a line connecting the position of the operating portion projected onto the base and the center point is a second line, an angle between the first line and the symmetry center line is an acute angle, and the second line is perpendicular to the symmetry center line.

[0016] Optionally, the endoscope further comprises a main control box detachably connected to the driving box, the main control box comprises a connecting portion detachably connected to the driving box and a shell fixedly connected to the connecting portion, the shell comprises a chassis fixedly connected to the connecting portion and a main body extending from the chassis away from the connector, and the two operating portions are located on opposite sides of the main body.

[0017] Optionally, the main control box further comprises a rotating part connected to one end of the shell close to the driving box and rotatable relative to the shell, and a protrusion is convexly provided on the inner side wall of the rotating part.

[0018] The driving box also includes a box body covered on the base and the bracket, and an extension portion extending from the periphery of the box body toward the main control box, wherein the extension portion is concavely provided with a limiting groove in a first direction.

[0019] The protrusion is used to engage in the limiting groove to fix the main control box on the drive box when the rotating part rotates in the first direction relative to the shell; and is also used to disengage from the limiting groove to separate the main control box from the drive box when the rotating part rotates in a second direction opposite to the first direction relative to the shell.

[0020] Optionally, the drive box also includes a box body covering the base and the bracket, and an extension portion extending from the periphery of the box body in a direction away from the connector, and the main control box also includes a connecting portion fixedly connected to the shell, a first protrusion is protruding from the outer side wall of the connecting portion, and a second protrusion is protruding from the inner side wall of the extending portion, and the first protrusion is used to snap with the second protrusion to fix the connecting portion to the box body.

[0021] Optionally, the shell includes a chassis for connecting to the connecting part, and the chassis has one or more ridges protruding outward along the periphery, and the ridges are used to contact the top wall of the extension part facing the shell after the first protrusion is snapped with the second protrusion, thereby limiting the connecting part from continuing to move toward the shell.

[0022] Optionally, a slider is protruding from the outer wall of the connecting portion, and the extending portion is recessed with a slide groove in the direction of the connector at a position corresponding to the slider, and the slide groove is used to guide the slider to slide in so that the connecting portion is fixed to the drive box in a predetermined direction.

[0023] Optionally, the connection portion is provided with a positioning portion protruding toward the shell; the chassis is provided with a through groove along the periphery, and the positioning portion is used to cooperate with the through groove to fix the shell and the connection portion.

[0024] Optionally, the main control box further comprises a rotating part connected to the chassis and rotatable relative to the chassis, the rotating part is provided with a bearing part protruding inwardly on a side away from the connector, the drive box further comprises a fixing part for being carried on the bearing part, the fixing part is provided with a plurality of mounting parts protruding inwardly along the circumferential direction, and the chassis is provided with a plurality of matching parts at positions corresponding to the fixing parts.

[0025] The mounting portion is used to cooperate with the matching portion so that the rotating portion can rotate between the fixing portion and the chassis.

[0026] Optionally, the main control box further includes an elastic portion provided between the bearing portion and the chassis, and the elastic portion is used to abut against the bearing portion and the chassis respectively.

[0027] Optionally, the endoscope further comprises a main control box detachably connected to the driving box, the main control box comprises a shell and a conducting hole provided on the shell, and the conducting hole is used for one end of the control unit to extend out.

[0028] Optionally, the drive box also includes a box body covered on the base and the bracket, and the connector is provided with two oppositely arranged columns protruding toward the direction of the drive box, and the line connecting the two columns on the connector is a limit line, and the box body is provided with a limit part protruding toward the direction of the connector, and the limit part is used to be inserted between the two columns and interfere with the two columns to limit the movement of the box body relative to the connector along the limit line.

[0029] To achieve the above-mentioned objectives, the present invention also provides a surgical robot, which includes a main operating console and a slave operating device, wherein the main operating console is used to send control commands to the slave operating device, and the slave operating device is used to respond to the control commands; the slave operating device includes a robotic arm and the endoscope as described above mounted on the robotic arm.

[0030] The endoscope and surgical robot provided by the present invention are provided with a control member pivotally connected to the bracket of the driving box, so that the top abutting portion of the control member abuts against the fastener of the connector, so that the fastener is separated from the base of the driving box, thereby realizing the separation of the driving box from the connector. In this way, the operator can operate the control member with one hand to realize the separation of the driving box from the connector, thereby improving the operation experience of the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1-1 This is a schematic structural diagram of an embodiment of a surgical robot according to the present invention;

[0032] Figure 1-2 This is a schematic diagram of an application scenario in which the surgical instrument of the present invention is suitable for handheld use;

[0033] Figure 2 It is a structural schematic diagram of an embodiment of a surgical instrument of the present invention;

[0034] Figure 3 It is a structural schematic diagram of the drive box and the connector during assembly of the present invention;

[0035] Figure 4 It is a schematic diagram of a partial exploded structure of the surgical instrument device of the present invention;

[0036] Figure 5 for Figure 4 The structural diagram of the signal processing module;

[0037] Figure 6 for Figure 4 Schematic diagram of the partial explosion structure of the main control box;

[0038] Figure 7 for Figure 4 Schematic diagram of the assembly structure of the drive box;

[0039] Figure 8 for Figure 4 Schematic diagram of the assembly structure of the central main control box;

[0040] Fig. 9 for Figure 4 A schematic diagram of the structure of the middle rotating part;

[0041] Fig.10 for Figure 3 Schematic diagram of the structure after removing the main control box and the box body;

[0042] Fig.11 for Fig.10 The structural diagram of the control unit;

[0043] Fig.12 It is a schematic diagram of the structure of the drive box and the connector before being assembled;

[0044] Fig.13 for Figure 2 Schematic diagram of the structure from a top view.

[0045] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0048] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0050] like Figure 1-1As shown, the present invention provides a surgical robot 1000, the surgical robot 1000 includes a main operation table 200 and a slave operation device 300, the main operation table 200 is used to send a control command to the slave operation device 300 according to the doctor's operation to control the slave operation device 300; the slave operation device 300 is used to respond to the control command sent by the main operation table 200 and perform corresponding surgical operations. The slave operation device 300 includes a mechanical arm 301, a power mechanism (not shown in the figure) provided on the mechanical arm 301, a surgical instrument (not shown in the figure), an image host 302 and an image display 303. The surgical instrument is used to extend into the body under the driving action of the power mechanism, perform surgical operations through its end effector located at the far end, and obtain image signals in the body through its image acquisition unit located at the far end, and transmit the obtained image signals to the image host 302. The image host 302 is used to analyze and process the received image signals, for example, decode the received image signals, and then output video signals to the image display 303 for display. Of course, the image host 302 can also perform noise reduction, white balance and other processing on the received image signal to obtain an image with higher picture quality. The main operating console is also used to display the image obtained by the endoscope.

[0051] like Figure 1-2 As shown, the surgical instrument 100 is also suitable for handheld application scenarios. Therefore, the surgical instrument 100 provided in this embodiment can be used not only in application scenarios of controlling a surgical robot to perform surgery, but also in application scenarios of performing surgery by handheld means.

[0052] The present invention provides a surgical instrument 100, which can be an instrument with an endoscope for observing the surgical area, or an instrument with an end effector and used to perform surgical operations. The following text is described by taking the instrument with an endoscope as an example. The surgical instrument can be a bendable structure or an inflexible structure. It is understandable that the surgical instrument can be an instrument suitable for single-port surgery or an instrument suitable for multi-port surgery, which will be described in detail below.

[0053] like Figure 2 and Figure 3As shown, the surgical instrument 100 suitable for single-port surgery includes a main control box 1, a drive box 2 connected to the main control box 1, and an image acquisition unit 5 connected to the drive box 2. The drive box 2 is detachably connected to the connector 4, and the surgical instrument 100 and the connector 4 constitute a surgical instrument device. The image acquisition unit 5 further includes a connecting rod 51 connected to the drive box 2 and passing through the connector 4, and an image acquisition unit 5 provided at the end of the connecting rod 51, and the image acquisition unit 5 is used to collect image signals of the patient's lesion area, and the image signals may specifically include a target tissue image of the lesion area and an image of the operation process of the end effector performing the surgery.

[0054] Furthermore, the main control box 1 is used to accommodate structures such as a motor, an encoder, a signal processing module, and an electrical connector. Figure 4 As shown, the main control box 1 includes a housing 11, a connecting portion 21 fixedly connected to the housing 11, a rotating portion 22 connected to one end of the housing 11 close to the driving box 2 and rotatable relative to the housing 11, and an elastic portion 23 located between the rotating portion 22 and the housing 11, and a signal processing module 15 accommodated in the housing. The housing 11 and the connecting portion 21 can be fixed by a snap connection, or by a threaded connection, etc. The connecting portion 21 is arranged in the rotating portion 22.

[0055] Further, the shell 11 includes a chassis 12 for being fixedly connected to the connecting portion 21 and a body 13 extending from the chassis 12 in a direction away from the connector 4. The shape of the chassis 12 may be circular or the like, and the body 13 may be rectangular or square or the like. When the shape of the body 13 is rectangular, the length of the body 13 may be smaller than the diameter of the chassis 12. The shape and size of the body 13 may be adjusted accordingly according to the size of the structure such as the signal processing module 15 accommodated in the body 13. It is understandable that the connecting portion 21 and the shell 11 enclose a receiving space 20 for accommodating the structure such as the signal processing module 15, that is, the body 13 accommodates a part of the structure such as the signal processing module 15, and the connecting portion 21 accommodates another part of the structure such as the signal processing module 15.

[0056] Furthermore, when the signal processing module 15 receives the image signal transmitted by the image acquisition unit 5, it converts the image signal into a target signal and transmits the target signal to the image host 302. The transmission distance of the target signal is greater than the transmission distance of the image signal. In this way, the image signal acquired by the image acquisition unit 5 can be prevented from being attenuated during the transmission to the image host 302, thereby preventing the image displayed on the image display 303 from being distorted, thereby improving the image quality of the surgical area.

[0057] In one embodiment, the signal processing module 15 includes a first processing unit (not shown in the figure), a second processing unit (not shown in the figure) and a third processing unit (not shown in the figure) connected in sequence. The first processing unit is used to convert the image signal into a low-voltage differential signal and send the low-voltage differential signal to the second processing unit; the second processing unit is used to decode the received low-voltage differential signal and encode the decoded low-voltage differential signal into an optical signal to obtain an optical coding signal; the third processing unit is used to receive the optical coding signal transmitted by the second processing unit and convert the optical coding signal into an optical signal to transmit the optical signal as the target signal to the image host 302. It can be understood that after receiving the optical signal, the image host 302 converts the optical signal into an electrical signal for the next step of analysis and processing. This embodiment is applicable to the processing method conducted by optical cable. By converting the image signal into an optical signal and transmitting it to the image host 302 through an optical cable, signal attenuation can be avoided during the transmission of the signal to the image host 302.

[0058] In another embodiment, the signal processing module 15 includes a first processing unit, a second processing unit and a third processing unit which are sequentially connected in the main control box, wherein the first processing unit 251 is used to convert the image signal into a low voltage differential signal and send the low voltage differential signal to the second processing unit 252; the second processing unit 252 is used to decode the received low voltage differential signal and perform SDI (serial digital interface) signal encoding on the decoded low voltage differential signal to obtain an SDI encoded signal; the third processing unit 253 is used to receive the SDI encoded signal transmitted by the second processing unit and convert the SDI encoded signal into an SDI signal so as to transmit the SDI signal as the target signal to the image host 302. At this time, the SDI signal can also be processed to increase the quality of the signal transmitted to the image host 302. It can be understood that this embodiment is applicable to the processing method conducted through a cable. By converting the image signal into the SDI signal and transmitting it to the image host 302 via a cable, signal attenuation during the transmission to the image host 302 can be avoided.

[0059] like Figure 5 As shown, the first processing unit includes a first PCB board 254 disposed in the main control box and a first chip (not shown in the figure) disposed on the first PCB board 254, the second processing unit includes a second PCB board 255 disposed in the main control box and a second chip (not shown in the figure) disposed on the second PCB board, the third processing unit includes a third PCB board 256 disposed in the main control box and a third chip (not shown in the figure) disposed on the third PCB board 256, and the first PCB board 254, the second PCB board 255 and the third PCB board 256 are stacked in sequence in a direction away from the image acquisition unit. It can be understood that the present invention is not limited to the number of processing units and PCB boards, and the specific number mainly depends on the structural size of the main control box. Specifically, according to the structural size of the main control box, the number of the processing unit and PCB board can be only one, and in other embodiments, it can also be two.

[0060] Furthermore, if Figure 4As shown, the rotating part 22 can be a hollow round shell structure, and the rotating part 22 is provided with a bearing part 221 protruding inwardly on the side away from the connector 4. The main control box 1 also includes a fixing part 24 for being carried on the bearing part 221, and the fixing part 24 is provided with one or more mounting parts 240 protruding inwardly along the circumferential direction, and the chassis 12 is provided with a plurality of matching parts 121 at the position corresponding to the fixing part 24. The mounting part 240 is used to cooperate with the matching part 121 so that the rotating part 22 can rotate between the fixing part 24 and the chassis 12. The mounting part 240 and the matching part 121 can be fixed by a snap connection, or by a threaded connection or the like. In this embodiment, the bearing part 221 can be a complete ring-shaped structure protruding along the periphery of the rotating part 22, or it can be a section or multiple sections of convex ridge structure protruding along the periphery of the rotating part 22. Correspondingly, the fixing portion 24 can be a complete ring-shaped structure of metal material, a complete ring-shaped structure of plastic material, or a ridge-shaped structure of other materials. During installation, the body 13 passes through the rotating portion 22 until the bearing portion 221 contacts the chassis 12. Specifically, the stop wall (not shown in the figure) on the side of the rotating portion 22 close to the connector 4 contacts the contact wall (not shown in the figure) on the side of the chassis 12 away from the connector 4. At this time, the rotating portion 22 covers the connecting portion 21. That is, the rotating portion 22 can rotate relative to the chassis 12.

[0061] Further, in one embodiment, if Figure 6As shown, the mounting portion 240 and the matching portion 121 are both hole-shaped structures, and the connecting portion 21 is also provided with a mounting hole 210 at a position corresponding to the mounting portion 240 and the matching portion 121. The main control box 1 may also include a stud (not shown in the figure), which passes through the mounting portion 240, the matching portion 121 and the mounting hole 210 in sequence and is fixed to the connecting portion 21, thereby achieving the fixation between the rotating portion 22, the shell 11 and the connecting portion 21. The connecting portion 21 may be provided with a positioning portion 211 protruding toward the shell 11, and the chassis 12 may be provided with a through groove 122 adapted to the positioning portion 211 along the periphery. Since the body 13 needs to accommodate a part of the structure such as the signal processing module 15, and the connecting portion 21 needs to accommodate another part of the structure such as the signal processing module 15, the directions of the accommodation space of the body 13 and the accommodation space of the connecting portion 21 need to be consistent. Through the guiding effect of the positioning portion 211, the operator can directly install it without having to find that the position does not match after the shell 11 is installed on the connecting portion 21, and the adjustment steps are required, thereby improving the installation efficiency. During installation, the positioning portion 211 can be inserted into the through groove 122, so that the position of the mounting portion 240 matches that of the matching portion 121. When the mounting portion 240 matches with the matching portion 121, the shell 11 is fixed to the connecting portion 21 in a predetermined direction.

[0062] Further, the elastic portion 23 is located between the bearing portion 221 and the chassis 12, and when the fixing portion 24 fixes the bearing portion 221 between the fixing portion 24 and the chassis 12, the side wall of the elastic portion 23 away from the connector 4 abuts against the bearing portion 221, and the side wall of the elastic portion 23 close to the connector 4 abuts against the chassis 12. It can be understood that the installation direction can be referenced by the length direction of the surgical instrument 100, and the installation direction can be a direction of stacking the structures in sequence toward the connector 4, or a solution of stacking the structures in sequence away from the connector 4.

[0063] Optionally, the side wall of the rotating part 22 is in a corrugated shape to increase the friction between the operator's hand and the rotating part 22, thereby facilitating the rotation of the rotating part 22 and avoiding slipping.

[0064] Optionally, a plurality of heat dissipation holes (not shown in the figure) are provided on the side wall of the rotating portion 22 to reduce the heat of structures such as the signal processing module 15 in the connecting portion 21 .

[0065] like Figure 4As shown, the driving box 2 includes a box body 31 connected to the main control box 1, an extension portion 32 extending from the periphery of the box body 31 toward the main control box 1, a base 33 disposed in the box body 31, a bracket 34 fixed on the base 33, and a control member 35 pivotally connected to the bracket 34. It can be understood that the box body 31 can be directly connected to the main control box 1 or indirectly connected to the main control box 1. In this embodiment, the box body 31 is indirectly connected to the main control box 1. Specifically, the box body 31 is connected to the rotating portion 22 of the main control box 1 through the extension portion 32.

[0066] Furthermore, if Figure 6 As shown, the outer side wall of the connecting portion 21 is provided with a first protrusion 212 and a slider 213, and the positions of the two can be adjacent or not. The inner side wall of the extending portion 32 is provided with a second protrusion 321 adapted to the first protrusion 212, and a slide groove 322 is provided in the direction of the connector 4 at a position corresponding to the slide groove 213. The chassis 12 is provided with one or more convex ridges 123 protruding outward along the periphery. During installation, the slider 213 can be first slid into the slide groove 322, so that the connecting portion 21 can be guided to be fixed on the driving box 2 in a predetermined direction. Then, the first protrusion 212 is buckled with the second protrusion 321 to realize the fixed connection between the connecting portion 21 and the box body 31. After the first protrusion 212 is buckled with the second protrusion 321, the convex ridge 123 contacts the top wall 110 of the extending portion 32 facing the housing 11, thereby limiting the connecting portion 21 from continuing to move in the direction of the housing 11.

[0067] It is understandable that since signal transmission is required between the main control box 1 and the drive box 2, the matching of the electrical connector interface is also involved. Figure 7 As shown, the drive box also includes an electrical connector 39 having a plurality of contact pins 390 disposed in the box body. Figure 8 As shown, the signal processing module 15 is provided with an electrical connector seat 257 having a plurality of pin seats 258 on one side close to the image acquisition unit 5. The contact pins 390 of the electrical connector 39 are used to be inserted into the pin seats 258 of the electrical connector seat 257, so that the image signal acquired by the image acquisition unit 5 is transmitted to the main control box via the drive box. Figure 4As shown, the main control box is provided with a plug interface 120 on the side of the housing facing the drive box, and the box body is provided with a docking port 320 at a position corresponding to the plug interface 120. The contact pin 390 of the electrical connector 39 is used to sequentially pass through the docking port 320 and the plug interface 120 and be inserted into the needle seat 258 of the electrical connector seat 257, so that the image signal collected by the image acquisition unit 5 is transmitted to the main control box through the drive box. The shape of the plug interface 120 and / or the docking port 320 corresponds to the arrangement array of the multiple contact pins 390. The arrangement array of the multiple contact pins 390 can be rectangular, square, circular, cross-shaped, T-shaped, etc., and the shape of the plug interface 120 and / or the docking port 320 is a corresponding rectangular, square, circular, cross-shaped, T-shaped. It can be understood that the arrangement array of the multiple needle seats 258 on the electrical connector seat 257 is also a corresponding rectangular, square, circular, cross-shaped, T-shaped.

[0068] Therefore, the connecting part 21 needs to be fixed on the driving box 2 in a predetermined direction so that the interface of the electrical connector is correctly aligned, so that the operator can directly install it without having to install the connecting part 21 on the box body 31 and then find that the position does not match and needs to be adjusted, thereby improving installation efficiency.

[0069] Furthermore, the extension portion 32 is provided with a limiting groove 323 in the first direction. Fig. 9 As shown, a protrusion 223 is convexly provided on the inner side wall of the rotating part 22. When the rotating part 22 rotates relative to the housing 11 in the first direction, the protrusion 223 is inserted into the limiting groove 323 and contacts the extension part 32 to fix the main control box 1 on the driving box 2; when the rotating part 22 rotates relative to the housing 11 in a second direction opposite to the first direction, the protrusion 223 is disengaged from the limiting groove 323 to separate the main control box 1 from the driving box 2. The first direction may be the direction in which the rotating part 22 rotates clockwise, and the second direction may be the direction in which the rotating part 22 rotates counterclockwise.

[0070] Furthermore, the housing 11 is provided with a conducting hole 124 , and the conducting hole 124 may be located at the top of the body 13 or at a position of the chassis 12 close to the body 13 .

[0071] like Fig.10As shown, the control member 35 includes a top abutting portion 38 away from one side of the main control box 1, a control portion 350 with one end extending out of the drive box 2 and located on one side of the main control box 1, and the other end connected to the top abutting portion 38 and pivotally connected to the bracket 34. The control portion 350 may further include an operating portion 35 extending out of the conducting hole 124 and located on one side of the main control box 1, and a reversing portion 37 with one end movably connected to the control portion 350 and the other end movably connected to the top abutting portion 38. The control portion 350 may be pivotally connected to the bracket 34, and the top abutting portion 38 and the operating portion 35 are not limited to being pivotally connected to the bracket 34.

[0072] The connector 4 has a fastener 41 corresponding to the position of the top abutting portion 38, and the fastener 41 is used to pass through the base 33 and snap with the base 33. When the operator pinches the operating portion 35, the operating portion 35 drives the reversing portion 37 to move, thereby driving the top abutting portion 38 to abut against the fastener 41, so that the top abutting portion 38 is separated from the base 33, thereby separating the drive box 2 from the connector 4. The two operating portions 35 are located on opposite sides of the length direction of the body 13. In this way, the span of the operator's hand operation is reduced, so that the two operating portions 35 can be pinched with one hand. It can be understood that in other embodiments, if the structure of the drive box 2 is relatively small, the reversing portion 37 can be selected not to be set; if the structure of the drive box 2 is relatively large, one or more reversing portions 37 can be selected to be set. The abutting portion 38 is located at a predetermined position of the bracket 34, the operating portion 35 is located at a target position of the bracket 34, and the reversing portion 37 is used to transmit the force of the operating portion 35 located at the target position to the abutting portion 38 located at the predetermined position. The predetermined position is usually a position specified based on structural limitations or design requirements, and the target position is a position adjusted to be ergonomic, so as to adapt to the operator's operating habits and improve operating comfort.

[0073] Furthermore, the operating part 35, the reversing part 37 and the supporting part 38 respectively have a first rotating shaft 361, a second rotating shaft 371 and a third rotating shaft 381 pivoted on the bracket 34, the first rotating shaft 361 is parallel to the base 33, the second rotating shaft 371 is perpendicular to the base 33, and the third rotating shaft 381 is parallel to the base 33.

[0074] like Fig.11As shown, the operating portion 35 includes a pressing portion 362 and a main drive shaft 363 arranged relative to the first rotating shaft 361, the reversing portion 37 includes an intermediate portion 375 pivoted on the second rotating shaft 371, a first movable end 374 with a first movable groove 372 arranged relative to the second rotating shaft 371 and a slave driving shaft 373, and the abutting portion 38 includes a second movable end 384 with a second movable groove 382 arranged relative to the third rotating shaft 381 and an abutting portion 383. Among them, one end of the intermediate portion 375 is connected to the slave driving shaft 373, and the other end is connected to the first movable end 374, the slave driving shaft 373 is parallel to the first movable end 374, the intermediate portion 375 is parallel to the base 33, and the intermediate portion 375 is used to rotate relative to the base 33 when the slave driving shaft 373 rotates inwardly relative to the second rotating shaft 371, so that the slave driving shaft 373 rotates inwardly relative to the second rotating shaft 371. That is, the shape of the reversing portion 37 is Z-shaped, and of course, other reasonable shapes may be used in other embodiments. Specifically, the first movable groove 372 is recessed at one end of the reversing portion 37 that is movably connected to the main drive shaft 363, and the second movable groove 382 is recessed at one end of the abutting portion 38 that is movably connected to the slave drive shaft 373. The main drive shaft 363 is used to be movably connected in the first movable groove 372, the slave drive shaft 373 is used to be movably connected in the second movable groove 382, ​​and the abutting portion 383 is used to abut against the fastener 41. It can be understood that the first movable groove 372 and / or the second movable groove 382 can be a closed groove or an open groove.

[0075] When the operator pinches the operating portion 35, the pressing portion 362 is subjected to an inward force, which drives the main driving shaft 363 to rotate outward relative to the first rotating shaft 361 and drives the first movable end 374 to rotate outward, so that the slave driving shaft 373 rotates inward relative to the second rotating shaft 371, and drives the second movable end 384 to rotate inward, so that the resistance portion 383 resists the fastener 41 outward relative to the third rotating shaft 381.

[0076] Furthermore, if Fig.12As shown, the connector 4 is provided with two oppositely arranged columns 42 in the direction of the drive box 2, and the line connecting the two columns 42 on the connector 4 is a limit line M, and the box body 31 is provided with a limit portion 310 in the direction of the connector 4. During installation, the limit portion 310 can be inserted between the two columns 42, and the two sides of the limit portion 310 can be respectively in contact with the two columns 42. In this way, the setting of the two columns 42 can guide the limit portion 310 to enter, and facilitate the installation between the drive box 2 and the connector 4. In addition, the box body 31 can also be limited to move relative to the connector 4 along the limit line M, thereby improving the installation tightness between the drive box 2 and the connector 4.

[0077] like Fig.13 As shown, the drive box 2 has a symmetric center line K and a center point O located on the symmetric center line K, the line connecting the predetermined position and the center point O is the first line AA, the line connecting the target position and the center point O is the second line BB, the angle between the first line AA and the symmetric center line K is an acute angle, and the second line BB is perpendicular to the symmetric center line K. The fastener 41 is located on the first line AA based on structural limitations. Correspondingly, if its operating part 35 is also located on the first line AA, due to the existence of other structures of the surgical instrument 100 (such as the X marked in the figure), the operator is usually accustomed to operating at the position of the second line BB, which is more in line with the operator's operating habits. Therefore, in this embodiment, by deflecting the position of the operating part 35 corresponding to the position of the fastener 41 from the position of the first line AA to the position of the second line BB, it is more convenient for the operator to operate, thereby improving the user experience.

[0078] In this embodiment, a control member 35 pivotally connected to the bracket 34 is arranged on the bracket 34 of the drive box 2, so that the abutting portion 38 of the control member 35 is away from the main control box 1, and one end of the control member 350 is extended out of the drive box 2 and located at one side of the main control box 1, and at the same time, the fastener 41 of the connector 4 passes through the base 33 and is locked with the base 33. In this way, when one end of the drive box 2 is subjected to a force, the abutting portion 38 is driven to abut against the fastener 41, so that the abutting portion 38 is separated from the base 33, thereby separating the drive box 2 from the connector 4. In this way, the operator can operate the control member 35 with one hand to realize the separation of the drive box 2 from the connector 4, thereby improving the operation experience of the operator.

[0079] This embodiment also provides a rotating portion 22 rotatable relative to the housing 11 of the main control box 1, and an extension portion 32 extending from the periphery of the box body 31 of the drive box 2 toward the main control box 1, so that when the rotating portion 22 rotates relative to the housing 11 in the first direction, it cooperates with the extension portion 32 to fix the main control box 1 on the drive box 2, and when the rotating portion 22 rotates relative to the housing 11 in a second direction opposite to the first direction, the rotating portion 22 separates from the extension portion 32, thereby separating the main control box 1 from the drive box 2. In this way, the main control box 1 is disassembled by rotation, and the surgical instrument 100 with the main control box 1 disassembled is sterilized, so that various structures in the main control box 1 of the surgical instrument 100 can be prevented from being damaged during the sterilization process, thereby ensuring the normal use of the surgical instrument 100.

[0080] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. An endoscope, characterized in that: The endoscope comprises a connecting rod, an image acquisition portion located at the distal end of the connecting rod, and a drive box located at the proximal end of the connecting rod and detachable from a connector having a fastener. The driving box comprises a base fixedly connected to the connecting rod, a bracket fixed on the base, and a control member pivotally connected to the bracket, wherein the control member comprises a top abutting portion close to one side of the connector, and a control member having one end extending out of the driving box and located on a side away from the connector, and the other end connected to the top abutting portion and pivotally connected to the bracket, and the base is used for the fastener to pass through and be buckled with the fastener; The control part includes an operating part extending out of the drive box and located on a side away from the connector, and a reversing part pivotally connected to the bracket, one end of the reversing part is movably connected to the operating part, and the other end is movably connected to the abutting part. The operating part is used to drive the reversing part to move when being operated, thereby driving the abutting part to contact the fastener, thereby separating the fastener from the base, and further separating the drive box from the connector.

2. The endoscope according to claim 1, wherein: The control part includes an operating part extending out of the drive box and located on a side away from the connector, and a reversing part pivotally connected to the bracket, one end of the reversing part is movably connected to the operating part, and the other end is movably connected to the abutting part. The operating part is used to drive the reversing part to move when being operated, thereby driving the abutting part to abut against the fastener, thereby separating the fastener from the base.

3. The endoscope according to claim 2, characterized in that The operating part includes a first rotating shaft pivoted on the bracket, a pressing part and a main driving shaft arranged relative to the first rotating shaft; the reversing part includes a second rotating shaft pivoted on the bracket, a slave driving shaft arranged relative to the second rotating shaft and a first movable end having a first movable groove; the abutting part includes a third rotating shaft pivoted on the bracket, an abutting part arranged relative to the third rotating shaft and a second movable end having a second movable groove; The main driving shaft is used to be movably connected in the first movable groove, and the slave driving shaft is used to be movably connected in the second movable groove; the abutting portion is used to abut against the fastener; The pressing portion is used to drive the main driving shaft to rotate outward relative to the first rotating shaft and drive the first movable end to rotate outward when subjected to a force, so that the slave driving shaft rotates inward relative to the second rotating shaft and drives the second movable end to rotate inward, thereby causing the interference portion to interfere with the fastener outward relative to the third rotating shaft.

4. The endoscope according to claim 3, wherein: The reversing portion further comprises an intermediate portion pivotally connected to the second rotating shaft, one end of the intermediate portion is connected to the slave drive shaft, and the other end is connected to the first movable end, the slave drive shaft is parallel to the first movable end, and the intermediate portion is parallel to the base. The middle portion is used to rotate relative to the base when the slave driving shaft rotates inwardly relative to the second rotating shaft, so that the slave driving shaft rotates inwardly relative to the second rotating shaft.

5. The endoscope according to claim 3, characterized in that The first rotating shaft is parallel to the base, the second rotating shaft is perpendicular to the base, and the third rotating shaft is parallel to the base.

6. The endoscope according to claim 2, wherein: The drive box has a symmetry center line and a center point located on the symmetry center line, the line connecting the position of the top support portion projected to the base and the center point is the first line, the line connecting the position of the operating portion projected to the base and the center point is the second line, the angle between the first line and the symmetry center line is an acute angle, and the second line is perpendicular to the symmetry center line.

7. The endoscope according to claim 1, wherein: The endoscope also includes a main control box detachably connected to the drive box, the main control box includes a connecting portion detachably connected to the drive box and a shell fixedly connected to the connecting portion, the shell includes a chassis fixedly connected to the connecting portion and a main body extending from the chassis away from the connector, and the two operating portions are located on opposite sides of the main body.

8. The endoscope according to claim 7, characterized in that The main control box also includes a rotating part connected to one end of the shell near the drive box and rotatable relative to the shell, and a protrusion is convexly provided on the inner side wall of the rotating part. The driving box also includes a box body covered on the base and the bracket, and an extension portion extending from the periphery of the box body toward the main control box, wherein the extension portion is concavely provided with a limiting groove in a first direction. The protrusion is used to engage in the limiting groove to fix the main control box on the drive box when the rotating part rotates in the first direction relative to the shell; and is also used to disengage from the limiting groove to separate the main control box from the drive box when the rotating part rotates in a second direction opposite to the first direction relative to the shell.

9. The endoscope according to claim 7, characterized in that: The drive box also includes a box body covered on the base and the bracket, and an extension portion extending from the periphery of the box body in a direction away from the connector. The main control box also includes a connecting portion fixedly connected to the shell, a first protrusion is protruding from the outer side wall of the connecting portion, and a second protrusion is protruding from the inner side wall of the extending portion. The first protrusion is used to snap with the second protrusion to fix the connecting portion to the box body.

10. The endoscope according to claim 9, characterized in that The shell includes a chassis for connecting to the connecting part, and the chassis has one or more ridges protruding outward along the periphery. The ridges are used to abut against the top wall of the extending part facing the shell after the first protrusion is snapped with the second protrusion, thereby limiting the connecting part from continuing to move toward the shell.

11. The endoscope according to claim 9, characterized in that A sliding block is also protruded on the outer wall of the connecting part, and the extending part is recessed with a sliding groove in the direction of the connector at a position corresponding to the sliding block, and the sliding groove is used to guide the sliding block to slide in so that the connecting part is fixed on the driving box in a predetermined direction.

12. The endoscope according to claim 7, wherein: The connection part is provided with a positioning part protruding toward the shell; the chassis is provided with a through groove along the periphery. The positioning portion is used to cooperate with the through slot to fix the housing and the connecting portion.

13. The endoscope according to claim 7, wherein: The main control box also includes a rotating part connected to the chassis and rotatable relative to the chassis, the rotating part is provided with a bearing part protruding inwardly on a side away from the connector, the drive box also includes a fixing part for being carried on the bearing part, the fixing part is provided with a plurality of mounting parts protruding inwardly along the circumferential direction, and the chassis is provided with a plurality of matching parts at positions corresponding to the fixing parts. The mounting portion is used to cooperate with the matching portion so that the rotating portion can rotate between the fixing portion and the chassis.

14. The endoscope according to claim 13, wherein: The main control box further comprises an elastic portion disposed between the bearing portion and the chassis, wherein the elastic portion is used to abut against the bearing portion and the chassis respectively.

15. The endoscope according to claim 1, wherein: The endoscope further comprises a main control box detachably connected to the driving box, wherein the main control box comprises a shell and a conducting hole arranged on the shell, wherein the conducting hole is used for one end of the control unit to extend out.

16. The endoscope according to claim 1, wherein: The drive box also includes a box body covered on the base and the bracket, the connector is provided with two oppositely arranged columns protruding toward the direction of the drive box, the line connecting the two columns on the connector is a limit line, and the box body is provided with a limit part protruding toward the direction of the connector, the limit part is used to be inserted between the two columns and interfere with the two columns to limit the movement of the box body relative to the connector along the limit line.

17. A surgical robot, characterized in that: The surgical robot includes a main operating console and a slave operating device, the main operating console is used to send control commands to the slave operating device, and the slave operating device is used to respond to the control commands; the slave operating device includes a robotic arm and an endoscope as described in any one of claims 1 to 16 installed on the robotic arm.

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