Endoscope sleeve, endoscope joint and surgical robot

Abstract

The invention relates to the technical field of medical instruments, and discloses an endoscope sleeve, an endoscope connector and a surgical robot. The endoscope sleeve comprises a sleeve body and a limiting ring, the sleeve body is configured to be rotatably mounted on the transmission box, an endoscope handle is inserted into the sleeve body, an avoiding opening penetrating through the top of the sleeve body is formed in the side wall of the sleeve body, and the avoiding opening is used for avoiding a protruding part on the endoscope handle; the limiting ring is rotationally arranged at the top of the sleeve body, an avoiding groove and a limiting boss are arranged on the side wall of the limiting ring, and when the limiting ring rotates to the first position, the avoiding groove is right opposite to the avoiding opening and used for allowing a protruding part on an endoscope handle to pass through; when the limiting ring rotates to the second position, at least part of the limiting boss is opposite to the avoiding opening, and the limiting boss is used for limiting the protruding part on the endoscope handle. The endoscope handle fixing device is simple in structure and convenient to use, effective fixing of the endoscope handle is achieved, and the endoscope handle is prevented from being disengaged from the endoscope sleeve in the using process.

Description

Technical Field

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

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

[0003] At present, minimally invasive surgical robots include a doctor's console and a patient surgical platform. The main control arm of the doctor's console collects the doctor's operation signals and generates control signals for multiple surgical arms on the patient surgical platform after processing by the control system. The surgical instruments installed on the surgical arms reproduce the doctor's operations to perform the surgical process. Before the start of the robotic surgery, the surgical arms are connected with surgical instruments and 3D endoscopes. The surgical instruments enter the patient's body through the poking cards inserted in the incision on the patient's body surface, and the 3D endoscope provides monitoring images inside the patient's body. One of the surgical arms is used as a mirror holding arm, and an endoscope connector is installed on the mirror holding arm to clamp and move the 3D endoscope, thereby providing a suitable viewing angle for the doctor during surgery.

[0004] Chinese invention patent applications CN116616675A and CN116584866A disclose an endoscope connector, which discloses: "When the endoscope handle is inserted into the inner cavity of the sleeve, there will be three points a, b, and c on the outer contour surface of the endoscope handle that abut the inner wall surface of the sleeve side wall. The design of this sleeve can easily cause strain on the sleeve side wall; the sleeve side wall will produce elastic deformation when the endoscope handle is fully inserted, and the elastic deformation can be continuously maintained when the endoscope handle is located in the inner cavity, thereby achieving the use of the force generated by the elastic deformation to fix the endoscope handle in the sleeve, thereby achieving the transfer of torque from the sleeve to the endoscope handle."

[0005] In the above scheme, although the endoscope handle and the sleeve are easy to install, the engagement of the sleeve and the endoscope handle is achieved by extrusion deformation at three points of the sleeve side wall. If the force applied to the endoscope exceeds the friction generated by the extrusion of the endoscope handle and the sleeve, there is a risk of the endoscope falling out; and when the medical staff installs the endoscope handle, they do not receive clear feedback and cannot know whether the endoscope handle is installed in place.

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

[0007] Based on the above, the purpose of the present application is to provide an endoscope sleeve, an endoscope connector and a surgical robot, which can effectively fix the endoscope handle and prevent the endoscope handle from falling out of the endoscope sleeve during use.

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

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

[0010] The sleeve body is configured to be rotatably mounted on the transmission box, the sleeve body is used to insert the endoscope handle, the side wall of the sleeve body is provided with an escape opening that passes through the top of the sleeve body, and the escape opening is used to avoid the protrusion on the endoscope handle;

[0011] A limiting ring is rotatably arranged on the top of the sleeve body, and a side wall of the limiting ring is provided with an avoidance groove and a limiting boss. When the limiting ring is rotated to a first position, the avoidance groove is opposite to the avoidance opening, so as to allow the protrusion on the endoscope handle to pass therethrough; when the limiting ring is rotated to a second position, at least a portion of the limiting boss is opposite to the avoidance opening, so as to limit the protrusion on the endoscope handle.

[0012] In some possible embodiments, the limiting ring is provided with a connecting arm extending into the sleeve body, a sliding block is provided at the end of the connecting arm, and a sliding groove extending along the circumference of the sleeve body is provided on the side wall of the sleeve body, and the sliding block is slidably connected in the sliding groove.

[0013] In some possible embodiments, a first rib is provided on the connecting arm, and a second rib is provided on the side wall of the sleeve body. When the limiting ring rotates toward the second position, the first rib can squeeze and pass over the second rib to lock the limiting ring in the second position.

[0014] In some possible embodiments, the side wall of the sleeve body is provided with a cantilever structure, one end of the cantilever structure is connected to the side wall of the sleeve body, and the other end can move between the inner side and the outer side of the sleeve body after being subjected to force, and the second rib is provided on the cantilever structure.

[0015] In some possible implementations, both the first rib and the second rib are made of plastic, and when the first rib passes over the second rib, a sudden change in force value and / or an accompanying sound may be generated.

[0016] In some possible embodiments, the limiting ring is further provided with at least two limiting arms extending into the sleeve body, and the side surfaces of each limiting arm are in contact with the side walls of the sleeve body to limit the radial shaking of the limiting ring relative to the sleeve body.

[0017] In some possible embodiments, the side wall of the limit ring is provided with a first limit portion and a second limit portion, and the side wall of the sleeve body is provided with a third limit portion and a fourth limit portion, and when the limit ring is rotated to the first position, the first limit portion abuts against the third limit portion; when the limit ring is rotated to the second position, the second limit portion abuts against the fourth limit portion.

[0018] In some possible embodiments, a guide structure is also provided at the top of the sleeve body, and the guide structure includes a first extension wall extending upward from the inner wall of the sleeve body and a second extension wall extending upward from the outer wall of the sleeve body, a guide groove is formed between the first extension wall and the second extension wall, and a portion of the side wall of the limit ring is inserted into the guide groove and can rotate along the guide groove.

[0019] In some possible embodiments, the limiting boss extends along the circumference of the limiting ring, and the limiting boss is arranged between the avoidance groove and the limiting arm; an accommodating space and a limiting step are arranged below the limiting boss, the accommodating space is used to accommodate the protrusion of the endoscope handle, and the limiting step is used to limit the protrusion of the endoscope handle.

[0020] In a second aspect, the present application provides an endoscope connector, comprising a transmission box, which is used to be detachably connected to a power box of an endoscope holding arm, and also comprises an endoscope sleeve as described in any of the above schemes, the endoscope sleeve is rotatably mounted on the transmission box, and the endoscope sleeve is used to detachably mount an endoscope handle.

[0021] In the third aspect, the present application provides a surgical robot, comprising a master hand part and a slave hand part, the master hand part being configured for operation by a doctor and collecting the doctor's operation signal to generate a control signal transmitted to the slave hand part, the slave hand part being configured to perform surgical operations under the control of the control signal, the slave hand part comprising a tool holding arm and a scope holding arm, the slave hand part also comprising the endoscope joint, the power box of the scope holding arm being detachably connected to the transmission box, and the endoscope handle being detachably installed in the endoscope sleeve.

[0022] This application has at least the following beneficial effects:

[0023] The endoscope sleeve provided in the present application has a side wall of the sleeve body with an avoidance opening, which can form an avoidance effect for the protrusion on the endoscope handle; a rotatable limit ring is provided on the top of the sleeve body, and a side wall of the limit ring is provided with an avoidance groove and a limit boss, when the limit ring is rotated to a first position, the avoidance groove is opposite to the avoidance opening, at this time the endoscope handle can be inserted into or pulled out of the endoscope sleeve, and the protrusion on the endoscope handle can pass smoothly through the avoidance groove and the avoidance opening; and when the limit ring is rotated to a second position, at least a part of the limit boss is opposite to the avoidance opening, at this time the limit boss limits the protrusion on the endoscope handle, and the endoscope handle cannot be inserted into or pulled out of the endoscope sleeve.

[0024] When the endoscope handle is installed on the endoscope sleeve of the present application, the limiting ring of the endoscope sleeve is in the first position by default. The endoscope handle is inserted into the endoscope sleeve. After it is installed in place, the limiting ring is rotated to the second position. The longitudinal movement of the endoscope handle is limited by the limiting ring. When the endoscope is subjected to external force, the external force will be transmitted to the limiting ring through the protrusion on the endoscope handle, and the limiting ring will prevent the endoscope handle from falling out. Unlocking is also very simple. Just rotate the limiting ring to the first position to easily pull out the endoscope handle.

[0025] The present application has a simple structure and is easy to operate. It realizes reliable fixation of the endoscope handle. Even in a stressed environment, it can ensure that the endoscope handle does not fall out of the endoscope sleeve, thereby improving the safety of endoscope use. The endoscope connector and surgical robot provided by the present application facilitate the smooth insertion and removal of the endoscope handle from the endoscope sleeve, and ensure the reliable installation of the endoscope handle and the endoscope sleeve, avoiding the problem of the endoscope handle falling out of the sleeve due to loose connection, thereby ensuring the smooth progress of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of an endoscope connector provided in a specific embodiment of the present application;

[0027] Figure 2 It is a schematic diagram of the structure of the endoscope sleeve provided in the first embodiment of the present application;

[0028] Figure 3 is a schematic diagram of the structure of the limit ring involved in the first embodiment of the present application;

[0029] Figure 4 is a schematic structural diagram of a sleeve body involved in Embodiment 1 of the present application;

[0030] Figure 5 is a schematic structural diagram of an endoscope sleeve provided in Embodiment 2 of the present application;

[0031] Figure 6 1 is a schematic diagram of the first angle structure of the limit ring involved in the second embodiment of the present application;

[0032] Figure 7 2 is a schematic diagram of the second angle structure of the limit ring involved in the second embodiment of the present application;

[0033] Figure 8 It is a schematic diagram of the first angle structure of the sleeve body involved in the second embodiment of the present application;

[0034] Fig. 9 is a schematic diagram of the second angle structure of the sleeve body involved in the second embodiment of the present application;

[0035] Fig.10 It is a schematic diagram of the assembly of the endoscope sleeve and the endoscope handle in Embodiment 1 and Embodiment 2 of the present application (wherein the limit ring is in the first position);

[0036] Fig.11 yes Fig.10 A partial enlarged view of the middle A;

[0037] Fig.12 It is a schematic diagram of the assembly of the endoscope sleeve and the endoscope handle in the first and second embodiments of the present application (wherein the limit ring is in the second position);

[0038] Fig.13 yes Fig.12 A partial enlarged view of point B in the middle.

[0039] Fig.14 It is a schematic diagram of the structure of the endoscope sleeve provided in the third embodiment of the present application;

[0040] Fig.15 It is a schematic diagram of the assembly of the endoscope sleeve and the endoscope handle provided in the third embodiment of the present application;

[0041] Fig.16 It is a schematic diagram of the structure of the endoscope sleeve provided in Example 4 of the present application.

[0042] In the figure:

[0043] 100, endoscope sleeve; 200, transmission box; 300, endoscope handle; 301, protrusion;

[0044] 11. base portion; 12. sleeve portion; 121. first side wall; 122. second side wall; 123. second notch; 13. connecting portion; 14. first notch; 15. extension arm; 151. buckle; 16. connecting ear; 17. release button; 18. first clamping plate; 181. first push button; 19. second clamping plate; 191. second push button;

[0045] 21. Sleeve body; 210. Limiting groove; 211. Avoidance; 212. Sliding groove; 213. Cantilever structure; 214. Second rib; 215. First extension wall; 216. Second extension wall; 217. Guide groove; 218. First convex strip; 219. Second convex strip; 22. Limiting ring; 221. Avoidance groove; 222. Limiting boss; 223. Connecting arm; 224. Sliding block; 225. First rib; 226. Limiting arm; 227. Guide portion. DETAILED DESCRIPTION

[0046] The technical solutions of the various embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0047] In this specification, many specific technical details are described in some places so that those skilled in the art can understand the complete technical solution. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed description of technical details should not be regarded as a limitation to the present application, and the protection scope of the present application is limited only by the claims. In other places, known structures, connection / position relationships, circuits and / or other details may not be shown in detail to avoid misunderstandings by the public about the main points of the invention of the present application.

[0048] In this specification, the drawings show schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that changes in mechanical structure, connection / position relationship, physical composition, electrical and steps can be made without departing from the spirit and scope of the present application. Such changes can be either replacement or combination of elements of several embodiments of the present application, or replacement or combination of known contents.

[0049] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present application. Spatially relative terms, such as "below", "lower", "above", "upper", "middle", "middle", "inside", "outside", "center", "edge", etc., are used to describe the relationship between one component or feature shown in the figure and another component or feature for the convenience of explanation. It should be understood that spatially relative terms can only be used under the conditions of the positioning direction of the device in use or operation (except for the positioning direction specifically defined in the figure), and are not necessarily unique and unchanging. For example, if the device in the figure is flipped 180° up and down along the paper, then the elements described as being "below" other components or features will become "above" other components or features. Therefore, the exemplary term "below" can cover both the above and below directions, depending on how the device is positioned. The device can also be positioned in other directions (for example, rotated 90° or positioned in other directions), and the spatially relative descriptors used herein are interpreted accordingly.

[0050] As used herein, "several", "one", and "the" are intended to include plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or parts, but do not exclude the presence of one or more other features, steps, operations, elements, parts, and / or groups thereof.

[0051] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "portion", "part", "module", "assembly" and "element" are used interchangeably.

[0052] The terms "instrument", "surgical instrument" and "surgical instrument" are used herein to describe a medical device configured to be inserted into a patient and used to perform a surgical or diagnostic procedure, generally including an end effector. An end effector may be a surgical tool associated with one or more surgical procedures, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of the present application further provide an articulated support (sometimes referred to as a "wrist joint", "joint seat") for the surgical tool, so that the position and / or orientation of the end effector can be flexibly manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or blades that translate along a specific path. The instrument may also contain information stored (e.g., on a PCBA board within the instrument) that is permanent or updateable by the surgical system. Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components.

[0053] The term "mating" (sometimes referred to as "connecting", "coupling", "mounting", "assembling") can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mating objects to operate in conjunction with each other. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to mate two or more objects. For example, objects A and B can be mated using object C. In addition, the terms "removably coupled" or "removably mated" can be interpreted to mean a non-permanent connection or mating situation between two or more objects. This means that the removably coupled objects can be uncoupled and separated so that they no longer operate in conjunction.

[0054] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition will only occur when a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0055] Overview of Master-Slave Teleoperated Laparoscopic Surgical Robot

[0056] Laparoscopic surgical robots usually include a doctor control platform, a patient surgical platform, and an image platform. The surgeon sits on the doctor control platform and watches the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope (sometimes called an "endoscope") placed in the patient's body, and controls the movement of the robotic arm on the patient surgical platform, as well as the surgical instruments or laparoscopes attached to the robotic arm. The robotic arm simulates the human arm, and the surgical instrument simulates the human hand. Both provide surgeons with a series of movements that simulate the human wrist, while filtering the tremor of the human hand itself. Therefore, they are increasingly used in surgery, especially in abdominal, thoracic, and general surgery.

[0057] The patient surgical platform generally includes a chassis, a column, a plurality of mechanical arms connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each mechanical arm. The surgical instrument and / or laparoscope is detachably connected to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes operated at the surgical site in the patient's body. Each surgical instrument manipulator can be allowed to control the relevant surgical instruments in various forms of one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is limited by mechanical or software constraints to rotate the relevant surgical instrument around the center of motion on the surgical instrument that remains stationary relative to the patient, and the center of motion is generally located at the position where the surgical instrument enters the body wall, and the center of motion is generally referred to as the "distal center" or "fixed point".

[0058] The imaging platform usually includes a video image capture function (commonly an endoscope) and one or more video displays for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, an optical device is included to transmit images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, and then transmit the video image to the host of the imaging platform through steps such as photoelectric conversion. Subsequently, through image processing, the processed image is displayed on a video display for observation by other doctors or assistants.

[0059] The doctor control platform usually includes a chassis, a pedal assembly, a stereo monitor, a main control arm, and a manual controller connected to the end of the main control arm. The surgeon controls the manual controller and the pedal assembly to achieve specific movements and / or energy excitation of the surgical instrument. The surgeon control platform can be at a single location in the surgical system composed of a laparoscopic surgical robot or it can be distributed at two or more locations in the system, and the remote control master / slave operation can be completed according to the preset control degree, for example, one location is used as the main control for the main operation, and the other location is used as the auxiliary control for the auxiliary operation. The main control completes the main surgical operation, and the auxiliary control completes the auxiliary operation such as laparoscope movement or tissue traction. In some embodiments, the manual controller can be an input device capable of completing one or more manual operations, such as a joystick, an exoskeleton glove, a power and gravity compensation manipulator, etc. These input devices collect the surgeon's operation signal, and after being processed by the control system, generate control signals of the robotic arm and the surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, and the motor further controls the final movement of the surgical instrument.

[0060] Generally, the force generated by the remote motor is transmitted via a transmission system, which transmits the force from the remote motor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device for controlling the manipulator may be located at a location remote from the patient, in or outside the room where the patient is located, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with teleoperation, telecontrol and telepresentation surgery will understand such systems and their components and will not be described in detail here.

[0061] The present application provides a surgical robot, including a master hand part and a slave hand part. The doctor indirectly controls the action of the slave manipulator arm of the slave hand part by manipulating the master control arm of the master hand part. Specifically, the master control arm collects the doctor's operation signal and generates a control signal of the slave manipulator arm of the slave hand part after processing by the control system, and the slave hand part performs the surgical operation under the control of the control signal. The master hand part and the slave hand part of the surgical robot can be placed in the same space; or they can be located in different spatial positions, and the two can be transmitted data by wire or wirelessly. During the robotic surgery, the slave manipulator arm clamps the surgical instrument and the 3D endoscope, and the surgical instrument enters the patient's body through the poke card inserted in the incision on the patient's body surface, and the 3D endoscope provides monitoring images inside the patient's body. The slave manipulator arm includes a holding arm for installing the surgical instrument and a mirror holding arm for installing the endoscope connector. Of course, in some embodiments, the holding arm can also be used as a mirror holding arm. A power box is provided on the endoscope holding arm, and the power box is used to be detachably connected to the endoscope connector. The 3D endoscope is detachably installed in the endoscope connector, so that the 3D endoscope can be clamped and moved, thereby providing a suitable viewing angle for the doctor during surgery.

[0062] like Figure 1 As shown, the present application also provides an endoscope connector, which is provided to adapt to the endoscope and meet the needs of the endoscope movement function. The endoscope connector includes a transfer part suitable for engaging with the endoscope handle and a transmission box 200 for detachably connecting with the power box on the mirror holding arm. The transfer part mainly includes an endoscope sleeve 100; the transmission box 200 mainly includes a shell and a transmission assembly placed in the shell; the endoscope sleeve 100 is rotatably mounted on the transmission box 200, and the endoscope sleeve 100 is used to detachably install the endoscope handle. In this embodiment, the power output by the power box can be transmitted to the endoscope handle in the endoscope sleeve 100 through the transmission box 200, thereby realizing the control of the endoscope movement. It should be noted that the endoscope connector of the present application is mainly suitable for engaging a handheld endoscope, and for a non-handheld endoscope, the endoscope handle can be directly made into a structure that can cooperate with the isolation plate, so that the endoscope sleeve 100 and the sleeve locking structure are not required. However, by adapting the endoscope connector to a handheld endoscope, the hospital's existing handheld endoscopes can be used, compared to non-handheld robot-specific endoscopes, saving the hospital the expensive cost of purchasing 3D endoscopes (approximately 1.5 to 5 million yuan), indirectly reducing the patient's surgical costs, and it is simple to use, ensuring the convenience of preoperative preparation.

[0063] Since the engagement of the endoscope handle and the endoscope sleeve 100 in the prior art is achieved by extrusion deformation at three points of the side wall of the endoscope sleeve 100, if the force on the endoscope exceeds the friction generated by the extrusion of the endoscope handle and the endoscope sleeve 100, there is a risk of the endoscope falling out; and when the medical staff installs the endoscope handle, they do not get clear feedback and cannot know whether the endoscope handle is installed in place. In response to the above technical problems, the present application improves the endoscope sleeve 100, which can achieve reliable locking and smooth unlocking of the endoscope handle, and prevent the endoscope handle from falling out of the endoscope sleeve 100 during use. For details, please refer to the following embodiments 1 to 4.

[0064] Embodiment 1

[0065] like Figure 2-Figure 4 and Figure 10-13As shown, this embodiment provides an endoscope sleeve, which can effectively fix the endoscope handle 300 and prevent the endoscope handle 300 from slipping out of the endoscope sleeve during use. The endoscope sleeve of this embodiment includes a sleeve body 21 and a limit ring 22. The sleeve body 21 is configured to be rotatably mounted on the transmission box. The sleeve body 21 has a receiving space that matches the shape of the endoscope handle 300 and is used to plug the endoscope handle 300. The side wall of the sleeve body 21 is provided with an avoidance opening 211 that runs through the top thereof, and the avoidance opening 211 is used to avoid the protrusion 301 on the endoscope handle 300. It should be noted that for a handheld endoscope, there are generally buttons on the endoscope handle 300 to operate the endoscope function, so the above-mentioned protrusion 301 can be caused by the buttons on the endoscope handle 300, or it can also be formed by other reasons. The limiting ring 22 is rotatably arranged at the top of the sleeve body 21, and the inner side wall of the limiting ring 22 is provided with an avoidance groove 221 and a limiting boss 222. When the limiting ring 22 is rotated to the first position, the avoidance groove 221 is opposite to the avoidance opening 211. At this time, the endoscope handle 300 can be inserted into or pulled out of the endoscope sleeve, and the protrusion 301 on the endoscope handle 300 can smoothly pass through the avoidance groove 221 and the avoidance opening 211; when the limiting ring 22 is rotated to the second position, at least a part of the limiting boss 222 is opposite to the avoidance opening 211, thereby forming a blocking effect on the protrusion 301 on the endoscope handle 300, and at this time the endoscope handle 300 cannot be inserted into or pulled out of the endoscope sleeve.

[0066] When the endoscope sleeve of the present embodiment is installed with the endoscope handle 300, the limit ring 22 of the endoscope sleeve is in the first position by default (this is because the limit ring 22 must be in the first position after the last unlocking, and there is a resistance force that needs to be overcome to move between the two positions, so the limit ring 22 will not automatically move to the second position). The endoscope handle 300 is inserted into the endoscope sleeve. After it is installed in place, the limit ring 22 is rotated to the second position. The longitudinal movement of the endoscope handle 300 is limited by the limit ring 22. When the endoscope is subjected to external force, the external force will be transmitted to the limit ring 22 through the protrusion 301 on the endoscope handle 300. Since the limit ring 22 is connected to the sleeve body 21, the endoscope handle 300 will be effectively fixed, and the endoscope handle 300 can be ensured not to fall out even in an environment subjected to external force; unlocking is also very simple, and the endoscope handle 300 can be easily pulled out by rotating the limit ring 22 to the first position. This embodiment has a simple structure and is easy to operate. It achieves reliable fixation of the endoscope handle 300, improves the safety of endoscope use, and ensures the smooth progress of the operation. By observing the position of the limit ring 22 relative to the sleeve body 21, medical staff can intuitively determine whether the endoscope handle 300 is assembled in place, which facilitates the next step of operation.

[0067] Optionally, the inner side wall of the limiting ring 22 is provided with a connecting arm 223 extending downward into the sleeve body 21, the lower end of the connecting arm 223 is provided with a slider 224 protruding toward the outside of the limiting ring 22, the side wall of the sleeve body 21 is provided with a slide groove 212 extending along the circumference of the sleeve body 21, the slider 224 is inserted into the slide groove 212, and can slide along the extension direction of the slide groove 212. In this embodiment, by providing the slider 224 and the slide groove 212, on the one hand, the stability of the rotation of the limiting ring 22 is ensured, and on the other hand, the slider 224 and the slide groove 212 cooperate with each other to limit the movement of the limiting ring 22 along the axis direction of the endoscope sleeve, thereby preventing the limiting ring 22 from detaching from the sleeve body 21, thereby ensuring the reliability of fixing the endoscope handle 300. Specifically, at least two connecting arms 223 can be evenly arranged on the stop ring 22, and at least two slide grooves 212 can be evenly arranged on the sleeve body 21. When the stop ring 22 and the sleeve body 21 are installed, each connecting arm 223 is simultaneously pressed toward the inner side of the stop ring 22, so that each slider 224 enters the sleeve body 21 until each slider 224 is plugged into and matched with the corresponding slide groove 212. Furthermore, in this embodiment, the slide groove 212 is arranged to penetrate the side wall of the sleeve body 21, which is easy to process (for example, the sleeve body 21 and the stop ring 22 can be injection molded), simple to assemble (just insert the stop ring 22 into the sleeve body 21), and can effectively prevent the slider 224 from falling out of the slide groove 212.

[0068] Optionally, a first rib 225 is provided on a side of the connecting arm 223 facing the outside of the limiting ring 22, and a second rib 214 that can be interference-fitted with the first rib 225 is provided on the inner side wall of the sleeve body 21. When the limiting ring 22 rotates to the second position, the first rib 225 can squeeze and pass over the second rib 214 to lock the limiting ring 22 in the second position; conversely, when unlocking, the limiting ring 22 is rotated to the first position, and the first rib 225 squeezes and passes over the second rib 214 to lock the limiting ring 22 in the first position. Optionally, the first rib 225 and the second rib 214 are both made of plastic material, so that the first rib 225 and the second rib 214 can be squeezed and deformed by each other, and a sudden change in force value can be generated when passing over the squeezed position, accompanied by sound. Therefore, the first rib 225 and the second rib 214 are provided in the present embodiment to have two functions. On the one hand, they can realize locking of the position of the limit ring 22 to ensure reliable locking and smooth loosening of the endoscope handle 300. On the other hand, when the limit ring 22 is twisted, the first rib 225 and the second rib 214 are squeezed against each other, and a sudden change in force value will occur when passing over the squeezing point accompanied by the emission of sound, thereby increasing the sense of confirmation of the locked state or unlocked state, making it more convenient for medical staff to know the installation status of the endoscope handle 300. For example, in this embodiment, two connecting arms 223 are evenly arranged on the limit ring 22, and each connecting arm 223 is respectively provided with a first rib 225, and the inner side wall of the sleeve body 21 is evenly provided with two second ribs 214, so that when the limit ring 22 rotates to the first position or the second position, the two first ribs 225 can squeeze and cross the two second ribs 214 at the same time, so that the force of the limit ring 22 is more uniform, the movement is more stable, and the force value mutation and the sound generated at the squeezing point are further increased, which is more convenient for medical staff to confirm the installation status of the endoscope handle 300. It should be noted that the above-mentioned force value mutation and sound generally appear at the same time, but it is not limited that they must exist at the same time, which depends on the material of the first rib 225 and the second rib 214. Since the surgical robot has a certain noise after being turned on, when operating and installing the endoscope near it, the smaller sound may not be easily noticed by the user, so the force value mutation will be more reliable.

[0069] Furthermore, the side wall of the limiting ring 22 is also provided with a first limiting portion and a second limiting portion, and the side wall of the sleeve body 21 is provided with a third limiting portion and a fourth limiting portion. When the limiting ring 22 rotates to the first position along the first direction, the first limiting portion abuts against the third limiting portion, so that the limiting ring 22 cannot continue to rotate along the first direction, which is the first limit position of the limiting ring 22; when the limiting ring 22 rotates to the second position along the second direction (i.e., the opposite direction of the first direction), the second limiting portion abuts against the fourth limiting portion, so that the limiting ring 22 cannot continue to rotate along the second direction, which is the second limit position of the limiting ring 22. This embodiment can prevent the limiting ring 22 from excessive rotation by limiting the movement of the limiting ring 22 along the first direction and the second direction, improve the accuracy of the position of the limiting ring 22, and further ensure the smooth installation and reliable fixation of the endoscope handle 300. Specifically, the first limiting portion and the second limiting portion of the present embodiment are formed by two side surfaces of the connecting arm 223, and the third limiting portion and the fourth limiting portion are formed by two ends of the limiting groove 210 arranged in the sleeve body 21, and the limiting is performed by abutting the side surfaces of the connecting arm 223 against the ends of the limiting groove 210.

[0070] Optionally, a guide structure is further provided at the top of the sleeve body 21, and the guide structure includes a first extension wall 215 extending upward from the inner side wall of the sleeve body 21 and a second extension wall 216 extending upward from the outer side wall of the sleeve body 21, and a guide groove 217 is formed between the first extension wall 215 and the second extension wall 216, and a part of the side wall of the limiting ring 22 is used as a guide portion 227, and the thickness of the guide portion 227 is adapted to the width of the guide groove 217, so that the guide portion 227 can be stably inserted into the guide groove 217 and can rotate along the guide groove 217. In this embodiment, the rotation of the limiting ring 22 is guided by providing a guide structure, thereby improving the stability of the rotation of the limiting ring 22 and the position accuracy of the limiting ring 22 relative to the sleeve body 21.

[0071] Optionally, the limiting boss 222 is arranged near the top of the limiting ring 22 and extends along the circumference of the limiting ring 22, and the limiting boss 222 is located between the avoidance groove 221 and the connecting arm 223; there is a receiving space and a limiting step below the limiting boss 222, the receiving space is used to receive the protrusion 301 of the endoscope handle 300, and the limiting step is used to block the protrusion 301 of the endoscope handle 300 from passing therethrough. In this embodiment, the avoidance groove 221 and the limiting boss 222 are arranged adjacent to each other, and a space capable of receiving the protrusion 301 is arranged below the limiting boss 222, so that the switching of the limiting ring 22 between the first position and the second position is more convenient and quick.

[0072] Embodiment 2

[0073] like Figure 5-Figure 13As shown, this embodiment provides another endoscope sleeve, whose general structure is the same as that in the embodiment 1, and is a further improvement of the endoscope sleeve in the embodiment. This embodiment will not repeat the structure that is the same as that in the embodiment 1.

[0074] In this embodiment, the side wall of the sleeve body 21 is provided with a cantilever structure 213, one end of the cantilever structure 213 is connected to the side wall of the sleeve body 21, and the other end can move between the inner side and the outer side of the sleeve body 21 after being subjected to force, and the second rib 214 is provided on the cantilever structure 213, so that the mutual extrusion of the first rib 225 and the second rib 214 provides a movement space, which facilitates the first rib 225 to pass over the second rib 214. In this embodiment, the first rib 225 and the second rib 214 can be made of plastic material, or metal or other materials. Specifically, in this embodiment, the number of cantilever structures 213 on the sleeve body 21 is the same as the number of connecting arms 223 on the limit ring 22, and they are arranged one by one.

[0075] Furthermore, since the outer side surface of the connecting arm 223 is provided with the first rib 225 and the inner side wall of the sleeve body 21 is provided with the second rib 214, the outer side surface of the connecting arm 223 cannot be closely fitted with the inner side wall of the sleeve body 21, which will cause the limiting ring 22 to shake in the radial direction relative to the sleeve body 21. To solve this problem, the inner side wall of the limiting ring 22 of this embodiment is also evenly provided with at least two limiting arms 226 extending into the sleeve body 21, and the outer side surface of the limiting arm 226 is arranged more outward than the outer side surface of the connecting arm 223. When the limiting ring 22 is installed on the sleeve body 21, the outer side surface of each limiting arm 226 can be fitted with the inner side wall of the sleeve body 21, thereby effectively limiting the movement of the limiting ring 22 relative to the sleeve body 21 in the radial direction, making the assembly of the limiting ring 22 and the sleeve body 21 more stable and avoiding shaking. For example, in this embodiment, there are two connecting arms 223 and two limiting arms 226, and each limiting arm 226 is arranged close to a connecting arm 223. Such an arrangement has a reasonable layout, reliable connection, and stable structure, ensuring that the area near the connecting arm 223 is closely fitted with the sleeve body 21, thereby more effectively preventing the limiting ring 22 from shaking with the sleeve body 21. Figure 6 As shown, in this embodiment, the limiting boss 222 is located between the avoiding groove 221 and the limiting arm 226 .

[0076] In this embodiment, the specific arrangement positions of the first limiting portion, the second limiting portion, the third limiting portion and the fourth limiting portion are slightly different from those in the first embodiment. Specifically, the first limiting portion is formed by the side of the connecting arm 223 away from the limiting arm 226, the third limiting portion is formed by the side of the first convex strip 218 provided in the sleeve body 21, and the side of the connecting arm 223 and the side of the first convex strip 218 are abutted against each other to limit the limiting ring 22 to keep it in the first position; the second limiting portion is formed by the side of the limiting arm 226 away from the connecting arm 223, and the fourth limiting portion is formed by the side of the second convex strip 219 provided in the sleeve body 21, and the side of the limiting arm 226 and the side of the second convex strip 219 are abutted against each other to limit the limiting ring 22 to keep it in the second position.

[0077] It should be noted that, compared with the prior art, the first and second embodiments mainly add the stop ring 22 and related features, and utilize the protrusion 301 such as the button on the endoscope handle 300 itself, so that the stop ring 22 can resist the protrusion 301 after rotation, thereby preventing the endoscope handle 300 from coming out. However, on this basis, those skilled in the art can still insert the endoscope handle 300 into the sleeve body 21 to elastically deform the side wall of the sleeve body 21, and use the force generated by the elastic deformation to fix the endoscope handle 300 in the sleeve body 21, so as to further increase the reliability of the fixation between the endoscope handle 300 and the endoscope sleeve.

[0078] Embodiment 3

[0079] like Figure 14-15As shown, this embodiment provides another endoscope sleeve, which can also effectively fix the endoscope handle 300 and prevent the endoscope handle 300 from slipping out of the endoscope sleeve during use. The endoscope sleeve of this embodiment includes a base portion 11 and a sleeve portion 12, the base portion 11 is located at the bottom of the sleeve portion 12, and the base portion 11 is configured to be rotatably mounted on the transmission box; the base portion 11 has an inner cavity, the sleeve portion 12 is cylindrical and is located above the base portion 11, and the sleeve portion 12 and the base portion 11 together form a space for inserting the endoscope handle 300, and the space is adapted to the shape of the endoscope handle 300. Part of the side wall of the sleeve part 12 is connected to the base part 11 through the connecting part 13, and a first notch 14 is provided between the remaining side wall of the sleeve part 12 and the base part 11; the side wall of the sleeve part 12 is also provided with a second notch 123 that runs through the top and bottom ends thereof, and the second notch 123 is connected to the first notch 14, and the side walls between the two sides of the second notch 123 and the connecting part 13 are respectively a first side wall 121 and a second side wall 122, and the first side wall 121 and the second side wall 122 are both suspended relative to the base part 11. The above structure enables the first side wall 121 and the second side wall 122 to move closer to or away from each other when the sleeve part 12 is squeezed by an external force, thereby holding or releasing the endoscope handle 300. A first locking member is provided on the first side wall 121, and a second locking member is provided on the second side wall 122. Through the cooperation of the first locking member and the second locking member, the endoscope handle 300 can be locked in the endoscope sleeve. At the same time, the sleeve portion 12 is also provided with an unlocking member, which is connected to at least one of the first locking member and the second locking member. By operating the unlocking member, the sleeve portion 12 can release the endoscope handle 300. This embodiment has a simple structure and is easy to operate. The sleeve portion 12 squeezes and holds the endoscope handle 300, thereby effectively fixing the endoscope handle 300. Even in a stressed environment, it can ensure that the endoscope handle 300 does not fall out of the endoscope sleeve, thereby improving the safety of endoscope use.

[0080] Optionally, in the present embodiment, the second notch 123 is provided on a side of the sleeve portion 12 opposite to the connecting portion 13, and the first side wall 121 and the second side wall 122 are symmetrically arranged about the connecting portion 13, so that the squeezing force of the first side wall 121 and the second side wall 122 on the endoscope handle 300 is more balanced, thereby increasing the reliability of the installation of the endoscope handle 300 and preventing the endoscope handle 300 from loosening or affecting normal use due to uneven force. Optionally, in this embodiment, the arc length of the first notch 14 accounts for 60% to 80% of the entire circumference of the sleeve portion 12. By increasing the arc length of the first notch 14, the proportion of the suspended first side wall 121 and the second side wall 122 in the entire sleeve portion 12 can be increased, thereby improving the deformability of the first side wall 121 and the second side wall 122, and increasing the clamping force on the endoscope handle 300; and it is more convenient to pull or push the first side wall 121 and the second side wall 122, so that the first side wall 121 and the second side wall 122 are close to each other to clamp the endoscope handle 300, and move away from each other to release the endoscope handle 300. Of course, the arc length of the first notch 14 cannot be set too large, so as not to excessively shorten the arc length of the connecting portion 13, thereby affecting the connection stability and life between the sleeve portion 12 and the base portion 11. In this embodiment, the arc length of the first notch 14 is set to 60% to 80%, so that various factors can be combined to make the structure of the endoscope sleeve stable, easy to use, and reliable to clamp. For example, the arc length of the second notch 123 of this embodiment can be set to account for 75% of the circumference of the sleeve portion 12. Optionally, the endoscope sleeve of this embodiment can be made of plastic and manufactured by one-piece processing, which can simplify the processing technology of the endoscope sleeve, increase its structural strength, reduce costs, and extend its service life.

[0081] Continue to refer Fig.14 and Fig.15In this embodiment, the first locking member and the second locking member cooperate with each other through a buckle structure. When the endoscope handle 300 is inserted into the endoscope sleeve, the first side wall 121 and the second side wall 122 are brought close to each other by squeezing the sleeve portion 12, and the first locking member and the second locking member are locked with each other through the buckle connection, thereby locking the positions of the first side wall 121 and the second side wall 122 to achieve the clamping and fixing of the endoscope handle 300. The above scheme cooperates with the buckle structure, has a simple structure, is easy to operate, is easy to process, and effectively ensures the connection reliability between the first locking member and the second locking member. Exemplarily, the first locking member includes an extension arm 15 fixed to the first side wall 121, and a buckle 151 is provided on the extension arm 15; the second locking member includes a connecting ear 16 fixed to the second side wall 122, and a locking hole is provided on the connecting ear 16; the extension arm 15 extends in the direction of the connecting ear 16, and the buckle 151 can be engaged in the locking hole by squeezing the sleeve portion 12, so that the first locking member and the second locking member are reliably locked, and the buckle 151 and the locking hole are connected, which is convenient for medical staff to visually judge whether the endoscope handle 300 is fixed through visual observation, so as to facilitate the next step of operation. Further, in this embodiment, the unlocking member includes a release button 17, and the release button 17 is provided on the extension arm 15. By pressing the release button 17, the buckle 151 can be disengaged from the locking hole, which is simple to operate and convenient for putting in and taking out the endoscope handle 300. Of course, in other embodiments, the first locking member and the second locking member can also be locked by means of a lock tongue and a lock hole, Velcro, screws, etc., as long as the detachable fixation between the first locking member and the second locking member can be achieved, and it is not limited to the snap-on structure introduced in this embodiment.

[0082] It should be noted that the difference between the solution of this embodiment and the prior art is that this embodiment does not fix the endoscope handle 300 by deformation of the material itself, but by the squeezing force of the side wall of the sleeve on the endoscope handle 300 to hold and fix the endoscope handle 300. The advantage of such a setting is that the endoscope handle 300 can be plugged in and out many times without loosening, and the clamping force is large enough to ensure that the endoscope is not easy to loosen when subjected to external force. Of course, those skilled in the art can still insert the endoscope handle 300 into the sleeve part 12 on the basis of this embodiment, so that the side wall of the sleeve part 12 undergoes elastic deformation, and the endoscope handle 300 is fixed in the endoscope sleeve by the force generated by the elastic deformation, so that the reliability of the fixation between the endoscope handle 300 and the endoscope sleeve can be further increased.

[0083] Embodiment 4

[0084] This embodiment provides another endoscope sleeve, including a base portion 11, a sleeve portion 12, a first locking member, a second locking member, and an unlocking member, wherein the base portion 11 and the sleeve portion 12 have the same structure as that in the third embodiment, and the first locking member, the second locking member, and the unlocking member have different structures from those in the third embodiment. This embodiment will not repeat the same structure as that in the third embodiment.

[0085] like Fig.16 As shown, in this embodiment, the first locking member includes a first clamping plate 18, which is fixed to the first side wall 121 and extends to the second side wall 122; the second locking member includes a second clamping plate 19, which is fixed to the second side wall 122 and extends to the first side wall 121, and the first clamping plate 18 and the second clamping plate 19 are arranged at intervals in the axial direction of the sleeve portion 12. In this embodiment, the inner diameter of the space surrounded by the first clamping plate 18, the second clamping plate 19 and the sleeve portion 12 is smaller than the outer diameter of the endoscope handle 300. When the endoscope handle 300 is inserted into the space, the first clamping plate 18 and the second clamping plate 19 are stretched to both sides, and the first clamping plate 18 and the second clamping plate 19 clamp the endoscope handle 300 in an interference fit manner. Of course, in this embodiment, the material of the endoscope sleeve itself can also be elastically deformed under the extrusion of the endoscope handle 300 to further increase the clamping force on the endoscope handle 300. The advantage of such a configuration is that if the endoscope handle 300 is to be disengaged from the endoscope sleeve, it is necessary to overcome the pressure given by the interference fit and the force of deformation of the endoscope sleeve material itself, which greatly increases the difficulty of the endoscope handle 300 to be disengaged, thereby reducing the risk of the endoscope handle 300 being disengaged. Further, the unlocking member of this embodiment includes a first push button 181 and a second push button 191, the first push button 181 is arranged at the extension end of the first clamping plate 18, and the second push button 191 is arranged at the extension end of the second clamping plate 19. By pinching the first push button 181 and the second push button 191 at the same time, the first side wall 121 and the second side wall 122 can be moved away from each other, thereby increasing the space inside the sleeve part 12 and releasing the lock of the endoscope handle 300. At this time, the endoscope handle 300 can be freely inserted and removed in the endoscope sleeve, which is convenient for the installation and removal of the endoscope handle 300. The provision of the first push button 181 and the second push button 191 in this embodiment greatly simplifies the unlocking steps, facilitates the operation of medical personnel, and makes it easier for medical personnel to intuitively determine whether the endoscope handle 300 has been fixed in the endoscope sleeve.

[0086] Obviously, the above embodiments of the present application are merely examples for clearly illustrating the present application, and are not intended to limit the implementation methods of the present application. For those of ordinary skill in the art, various obvious changes, readjustments, and substitutions can be made without departing from the protection scope of the present application. It is not necessary and impossible to list all implementation methods exhaustively here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. An endoscope sleeve, characterized in that: include: The sleeve body is configured to be rotatably mounted on the transmission box, the sleeve body is used to insert the endoscope handle, the side wall of the sleeve body is provided with an escape opening that passes through the top of the sleeve body, and the escape opening is used to avoid the protrusion on the endoscope handle; A limiting ring is rotatably arranged on the top of the sleeve body, and a side wall of the limiting ring is provided with an avoidance groove and a limiting boss. When the limiting ring is rotated to a first position, the avoidance groove is opposite to the avoidance opening, so as to allow the protrusion on the endoscope handle to pass therethrough; when the limiting ring is rotated to a second position, at least a portion of the limiting boss is opposite to the avoidance opening, so as to limit the protrusion on the endoscope handle.

2. The endoscope sleeve according to claim 1, characterized in that: The limiting ring is provided with a connecting arm extending into the sleeve body, a sliding block is provided at the end of the connecting arm, a sliding groove extending along the circumference of the sleeve body is provided on the side wall of the sleeve body, and the sliding block is slidably connected in the sliding groove.

3. The endoscope sleeve according to claim 2, characterized in that: The connecting arm is provided with a first rib, and the side wall of the sleeve body is provided with a second rib. When the limiting ring rotates toward the second position, the first rib can squeeze and pass over the second rib to lock the limiting ring in the second position.

4. The endoscope sleeve according to claim 3, characterized in that: The side wall of the sleeve body is provided with a cantilever structure, one end of the cantilever structure is connected to the side wall of the sleeve body, and the other end can move between the inner side and the outer side of the sleeve body after being subjected to force, and the second rib is arranged on the cantilever structure.

5. The endoscope sleeve according to claim 3, characterized in that: The first rib and the second rib are both made of plastic, and when the first rib passes over the second rib, a sudden change in force value and / or an accompanying sound can be generated.

6. The endoscope sleeve according to claim 1, characterized in that: The limiting ring is also provided with at least two limiting arms extending into the sleeve body, and the side surfaces of each limiting arm are in contact with the side walls of the sleeve body to limit the radial shaking of the limiting ring relative to the sleeve body.

7. The endoscope sleeve according to claim 1, characterized in that: The side wall of the limit ring is provided with a first limit portion and a second limit portion, and the side wall of the sleeve body is provided with a third limit portion and a fourth limit portion. When the limit ring rotates to the first position, the first limit portion abuts against the third limit portion; when the limit ring rotates to the second position, the second limit portion abuts against the fourth limit portion.

8. The endoscope sleeve according to claim 1, characterized in that: A guide structure is also provided at the top of the sleeve body, and the guide structure includes a first extension wall extending upward from the inner wall of the sleeve body and a second extension wall extending upward from the outer wall of the sleeve body, a guide groove is formed between the first extension wall and the second extension wall, and a part of the side wall of the limit ring is inserted into the guide groove and can rotate along the guide groove.

9. The endoscope sleeve according to claim 6, characterized in that: The limiting boss extends along the circumference of the limiting ring, and the limiting boss is arranged between the avoidance groove and the limiting arm; an accommodating space and a limiting step are arranged below the limiting boss, the accommodating space is used to accommodate the protrusion of the endoscope handle, and the limiting step is used to limit the protrusion of the endoscope handle.

10. An endoscope connector, comprising a transmission box, the transmission box being used to be detachably connected to a power box of an endoscope holding arm, characterized in that: It also includes the endoscope sleeve as described in any one of claims 1 to 9, wherein the endoscope sleeve is rotatably mounted on the transmission box, and the endoscope handle is detachably mounted in the endoscope sleeve.

11. A surgical robot, comprising a master hand part and a slave hand part, wherein the master hand part is configured to be operated by a doctor and collect the doctor's operation signal to generate a control signal transmitted to the slave hand part, and the slave hand part is configured to perform a surgical operation under the control of the control signal, and the slave hand part comprises a mechanical arm and a mirror arm, characterized in that: The slave part also includes the endoscope connector as described in claim 10, the power box of the endoscope holding arm is detachably connected to the transmission box, and the endoscope handle is detachably installed in the endoscope sleeve.

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