Operating handle, endoscope and surgical robot

Abstract

The embodiment of the utility model discloses an operating handle, an endoscope and a surgical robot. The operating handle comprises a shell; the rotatable part is accommodated in the shell in a rotatable manner, the rotatable part is used for being connected with a pull wire, the pull wire is used for pulling the bending adjusting detection guide pipe along with rotation of the rotatable part, and a calibration hole is formed in the rotatable part; the button comprises a pressing part and a calibration part which are connected with each other, the calibration part can be inserted into the calibration hole, the pressing part is pressed to enable the calibration part to be inserted into the calibration hole so as to rotate the rotatable part, and when the rotatable part rotates, the pull wire is pulled to straighten the detection catheter. The endoscope comprises the operating handle, a detection catheter connected with the operating handle and a pull wire. The surgical robot comprises a mechanical arm and the endoscope connected with the mechanical arm. The operating handle provided by the embodiment of the utility model is simple in structure and can straighten the detection catheter.

Description

Technical Field

[0001] The embodiments of the utility model relate to the field of medical devices, and in particular to an operating handle, an endoscope and a surgical robot. Background Art

[0002] An endoscope is a commonly used imaging medical device, which usually includes a catheter and a control handle for manipulating the catheter. The catheter is suitable for entering the human body through a natural orifice of the human body or a small incision made by surgery, and its distal section is usually a bendable snake-bone structure, and the distal end of the bendable snake-bone structure is connected to a lens module and a light source for observation. A control component is usually provided in the control handle for pulling a pull wire or a guide wire, wherein the distal end of the pull wire or the guide wire is connected to the bendable snake-bone structure, so that the snake-bone structure can be bent by manipulating the control handle, thereby adjusting the viewing angle of the lens module. However, the existing control handle has a complex structure, and in the initial state, the snake-bone structure is often not in a straightened state due to factors such as assembly errors. Utility Model Content

[0003] The embodiments of the utility model provide an operating handle, an endoscope and a surgical robot. The operating handle has a simple structure and can straighten a detection catheter.

[0004] On the one hand, an embodiment of the utility model provides an operating handle, comprising: a shell; a rotatable part, the rotatable part is rotatably accommodated in the shell, the rotatable part is used to connect a pull wire, the pull wire is used to pull the bending detection catheter as the rotatable part rotates, and the rotatable part is provided with a calibration hole; and a button, the button comprises a pressing part and a calibration part connected to each other, the calibration part can be inserted into the calibration hole, pressing the pressing part causes the calibration part to be inserted into the calibration hole to rotate the rotatable part, and when the rotatable part rotates, the pull wire is pulled to straighten the detection catheter.

[0005] The operating handle of the embodiment of the utility model has a simple structure, and the detection catheter can be bent by pulling the wire only by rotating the rotatable part; in particular, the operating handle of the embodiment of the utility model has a calibration part set on the button and a calibration hole set on the rotatable part, so that the rotatable part can be rotated by inserting the calibration part into the calibration hole, thereby cleverly converting the movement of the button into the rotation of the rotatable part, thereby quickly straightening the detection catheter.

[0006] In a feasible solution, the operating handle further includes a first elastic reset member, the first elastic reset member is connected between the housing and the button, and the first elastic reset member is configured such that when the external force pressing the pressing portion is cancelled, the button is reset under the action of the first elastic reset member so that the calibration portion is disengaged from the calibration hole. The calibration portion can be easily disengaged from the calibration hole by the first elastic reset member so as not to affect the subsequent rotation of the rotatable member.

[0007] In a feasible solution, the operating handle further includes a transmission member, which is in transmission connection with the rotatable member to drive the rotatable member to perform rotational motion. As an example, the transmission member can perform linear motion. Alternatively, the transmission member can also perform rotational motion.

[0008] In a feasible solution, the rotatable member is provided with a gear ring, the transmission member is provided with a rack, and the gear ring is meshed with the rack. The meshing transmission of the rack and gear ring can realize more precise rotation of the rotatable member, thereby more accurately adjusting the bend of the detection catheter.

[0009] In a feasible solution, the calibration part has a conical structure, and when the button is pressed, the calibration part is guided and aligned by the conical structure and inserted into the calibration hole, and the calibration part applies force to the hole wall of the calibration hole to drive the rotatable part to rotate. The movement of the button is converted into the rotation of the rotatable part through the cooperation between the conical structure and the hole wall of the calibration hole, and the structure is simple and ingenious.

[0010] In a feasible solution, the rotatable member is further provided with a connection hole and a through hole connected to the connection hole, a connection block is arranged in the connection hole, one end of the pull wire passes through the through hole of the rotatable member and is fixedly connected to the connection block in the connection hole. Fixing the pull wire in this way is stable and reliable.

[0011] In a feasible solution, the operating handle further comprises a connector slidably connected to the housing and a second elastic reset member connected to the connector. When an external force presses the pressing portion, the button pushes the connector to slide toward the center line of the operating handle; when the external force pressing the pressing portion is removed, the second elastic reset member pushes the connector to slide and reset away from the center line of the operating handle. By pressing the button, not only can the aforementioned purpose of straightening the detection catheter be achieved, but also rapid disassembly and assembly with other equipment (such as a robotic arm) can be achieved based on the connector and the second elastic reset member, which is easy to operate, has diversified functions and a simple structure.

[0012] In a feasible solution, the button also includes two first wedges connected to the pressing part, the operating handle includes two plug-in parts, each of the plug-in parts includes a plug-in part and a second wedge connected to each other, the plug-in part can at least partially protrude outside the housing, and the second elastic reset part is located between the second wedges of the two plug-in parts; the inclined surface of the first wedge is located above the inclined surface of the corresponding second wedge, and the inclined surface of the first wedge and the inclined surface of the corresponding second wedge overlap in the direction of movement of the pressing part. When the pressing part is pressed by external force, the first wedge pushes against the second wedge to drive the plug-in part to slide toward the center line of the operating handle. Through the cooperation of the first wedge and the second wedge, the movement of the button is converted into the movement of the plug-in part, wherein the movement direction of the button is perpendicular to the movement direction of the plug-in part, and the transmission is stable and reliable.

[0013] On the other hand, an embodiment of the utility model provides an endoscope, comprising the aforementioned operating handle, a detection catheter connected to the operating handle, and a pull wire, one end of the pull wire is connected to the distal end of the detection catheter, and the other end is connected to the rotatable part of the operating handle. The technical effects that can be achieved by the endoscope refer to the technical effects of the aforementioned operating handle, which will not be repeated here.

[0014] In another aspect, the present invention provides a surgical robot, comprising a mechanical arm and the endoscope connected to the mechanical arm. The technical effects that can be achieved by the surgical robot refer to the technical effects of the operating handle, which will not be repeated here.

[0015] In a feasible solution, a plug hole is provided in the mechanical arm, and the operating handle of the endoscope further includes a plug connector and a second elastic reset member connected to the plug connector. When an external force presses the pressing portion, the button pushes the plug connector to slide toward the center line of the operating handle so that the plug connector is aligned with the plug hole; when the external force pressing the pressing portion is removed, the second elastic reset member pushes the plug connector to slide and reset away from the center line of the operating handle so that the plug connector is inserted into the plug hole. By pressing the button, not only can the aforementioned purpose of straightening the detection catheter be achieved, but also the quick disassembly and assembly with the mechanical arm can be achieved based on the plug connector and the second elastic reset member, which is convenient to operate.

[0016] In a feasible solution, the mechanical arm includes a socket, a receiving cavity is provided in the socket, and a flared groove and a strip groove are provided on the cavity wall of the receiving cavity, and the operating handle also includes a docking piece, one end of which is provided with a protrusion, one end of which is suitable for being inserted into the receiving cavity of the socket and the protrusion is suitable for being guided into the strip groove through the flared groove; the operating handle also includes a transmission piece, one end of which is transmission-connected to the rotatable piece and the other end is connected to the docking piece. The guidance of the protrusion on the docking piece by the flared groove greatly increases the deviation range of the insertion angle of the docking piece, which is conducive to the blind insertion of the docking piece. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 A schematic diagram of a surgical robot according to an embodiment of the present utility model;

[0019] Figure 2 for Figure 1 A three-dimensional view of the operating handle of the surgical robot shown;

[0020] Figure 3 for Figure 2 An exploded view of the operating handle shown;

[0021] Figure 4 for Figure 2 Another exploded view of the operating handle shown, wherein the upper shell is not shown;

[0022] Figure 5 for Figure 4 An exploded view of the rotatable part and the connecting block of the operating handle shown;

[0023] Figure 6 for Figure 3 A schematic diagram of the cooperation between the button of the control handle and the connector;

[0024] Figure 7 for Figure 3 An exploded view of the docking member of the illustrated joystick;

[0025] Figure 8 for Figure 3 A cross-sectional view of some parts of the docking piece of the control handle shown;

[0026] Fig. 9 for Figure 1 A three-dimensional schematic diagram of the socket of the robotic arm of the surgical robot is shown. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0029] In the present utility model, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection, an electrical connection, or a communication 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 limited. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to the specific circumstances. The technical solution of the present utility model is described in detail with specific embodiments below.

[0030] refer to Figure 1 A surgical robot according to an embodiment of the utility model includes a robotic arm 1 and an endoscope 2 connected to the robotic arm 1. The endoscope 2 includes an operating handle 3, a detection catheter 4 connected to the operating handle 3, and a pull wire 5. The detection catheter 4 refers to a catheter having a lens module for observation and a light source (not shown) connected to its distal end. One end of the pull wire 5 is connected to the operating handle 3, and the other end passes through the detection catheter 4 to be connected to the distal end of the detection catheter 4. Preferably, the endoscope 2 includes two pull wires 5 ( Figure 1In the figure, only one pull wire 5 is shown due to the viewing angle. In other embodiments, the endoscope 2 may include more than two pull wires 5. In this case, the pull wires 5 are preferably evenly distributed along the circumferential direction relative to the central axis of the detection catheter 4.

[0031] refer to Figure 2 and Figure 3 , the operating handle 3 includes a shell 30, a rotatable part 31 and a button 32. In this embodiment, the shell 30 includes an upper shell 300 and a lower shell 301. The material of the upper shell 300 and the lower shell 301 is preferably ABS (acrylonitrile-butadiene-styrene copolymer), which has good strength and good impact resistance. The upper shell 300 and the lower shell 301 are buckled and fixedly connected to each other (for example, by screws). The upper shell 300 and the lower shell 301 together enclose a receiving cavity 302.

[0032] In this embodiment, a connecting portion 303 is provided at the front end of the housing 30, and the connecting portion 303 is tubular and has an internal thread 304 therein for connecting the proximal end of the detection catheter 4. Optionally, the proximal end of the detection catheter 4 and the connecting portion 303 can be bonded with, for example, 4011 glue. It can be understood that in other embodiments, the detection catheter 4 can also be connected to the operating handle 3 through other structures. In this embodiment, a branch pipe 307 is provided on the side of the housing 30 for arranging a Y valve 308, and the Y valve 308 is used to establish a working clamp channel and a suction clamp channel. Optionally, the Y valve 308 and the catheter clamp channel can be connected through a Luer head 309.

[0033] The material of the rotatable part 31 is preferably POM (polyoxymethylene thermoplastic crystalline polymer), which has good wear resistance and self-lubrication, and good fatigue resistance.

[0034] The rotatable member 31 is rotatably received in the receiving cavity 302 of the housing 30. Figure 3 and Figure 4 In this embodiment, a rotating shaft 3010 and a support platform 3011 surrounding the rotating shaft 3010 are provided in the lower shell 301. A center hole 310 is provided at the center of the rotatable member 31. The rotating shaft 3010 is inserted into the center hole 310, and the rotatable member 31 is supported on the support platform 3011 and can rotate relative to the rotating shaft 3010. It can be understood that in other embodiments, the rotatable member 31 can also be rotatably connected to the housing 30 in other ways.

[0035] The rotatable member 31 is used to connect the pull wire 5, and the pull wire 5 is used to pull and bend the detection catheter 4 as the rotatable member 31 rotates. As mentioned above, two pull wires 5 are preferably provided, so that the detection catheter 4 can be bent in two different directions by rotating the rotatable member 31 forward and reversely.

[0036] In order to prevent the two pull wires 5 from getting entangled with each other and to protect the pull wires 5, preferably, a metal tube (not shown) can be arranged outside each pull wire 5, so that the pull wire 5 has a relatively fixed position in the detection catheter 4 and keeps extending in a straight line, thereby reducing the idle stroke. Examples of the fixing method of the metal tube are as follows: Figure 3 As shown, the lower shell 301 is provided with a wire seat 3012, and the wire seat 3012 is provided with two opposite wire grooves 3013, and a rivet tube can be clamped in each wire groove 3013 (preferably, the rivet tube is fixed in the wire groove 3013 with UV glue), and the tail end of the metal tube is welded to the corresponding rivet tube. Of course, in other embodiments, other methods can also be used to fix the metal tube.

[0037] For the connection method between the rotatable member 31 and the pull wire 5, refer to Figure 4 and Figure 5 In this embodiment, two connecting holes 311 and two first through-holes 312 are provided in the rotatable member 31. The connecting holes 311 extend along the axial direction of the rotatable member 31, and the two connecting holes 311 are respectively distributed around the central hole 310. A connecting block 313 is arranged in each of the connecting holes 311. Optionally, a second through-hole 314 is also provided in the connecting block 313. The first through-hole 312 extends along the radial direction of the rotatable member 31, one end of which is connected to the corresponding connecting hole 311, and the other end passes through the outer peripheral wall of the rotatable member 31. Preferably, the outer peripheral wall of the rotatable member 31 is also provided with an annular groove 315, and the first through-hole 312 is provided in the annular groove 315. When connecting the two pull wires 5, each pull wire 5 is wound along the annular groove 315, and then passes through the corresponding first lead hole 312 and then through the second lead hole 314 in the corresponding connection block 313, and finally fixedly connected with the corresponding connection block 313 (for example, the pull wire 5 and the connection block 313 can be wound and knotted, and / or the pull wire 5 and the connection block 313 can be bonded). It can be understood that in other embodiments, other methods can also be used to connect the pull wire 5 and the rotatable member 31.

[0038] refer to Figure 3 and Figure 4In this embodiment, the material of the button 32 is preferably POM (polyoxymethylene thermoplastic crystalline polymer), which has good wear resistance and self-lubricating properties, and good fatigue resistance. The button 32 includes a pressing portion 320 and a calibration portion 321 connected to each other. The rotatable member 31 is provided with a calibration hole 316, and the calibration hole 316 is located between the two connecting holes 311. The calibration portion 321 can be inserted into the calibration hole 316. Pressing the pressing portion 320 causes the calibration portion 321 to be inserted into the calibration hole 316 to rotate the rotatable member 31. When the rotatable member 31 rotates, the pull wire is pulled to straighten the detection catheter 4.

[0039] Preferably, the pressing portion 320 partially protrudes from the upper shell 300 so that the operator can press it manually. For example, a first through hole 305 can be opened in the upper shell 300, and the pressing portion 320 is slidably connected in the first through hole 305. It can be understood that in other embodiments, the pressing portion 320 may not protrude from the upper shell 300, and in this case, an external tool can be used to apply force to the pressing portion 320. Preferably, the calibration portion 321 is located above the calibration hole 316.

[0040] When the pressing portion 320 is pressed, the calibration portion 321 is inserted into the calibration hole 316 to rotate the rotatable member 31. When the rotatable member 31 rotates, the pull wire 5 can be pulled to straighten the detection catheter 4. This is particularly suitable for the case where the rotatable member 31 is not in the initial position (when in the initial position, the calibration hole 316 is on the center line of the operating handle 3) after the assembly is completed due to factors such as assembly errors, resulting in the detection catheter 4 not being in a straightened state. Due to factors such as assembly errors, the rotatable member 31 may rotate slightly by a small angle (for example, within the range of 0° to 5°) to cause the calibration hole 316 to deviate from the center line of the operating handle 3. At this time, by pressing the pressing portion 320 of the button 32, the calibration portion 321 is inserted into the calibration hole 316 to push the rotatable member 31 to rotate until the calibration hole 316 is on the center line of the operating handle 3, so that the rotatable member 31 is returned to its original position, thereby straightening the detection catheter 4.

[0041] In this embodiment, the calibration portion 321 has a conical structure. When the button 32 is pressed, the calibration portion 321 is guided and aligned by the conical structure and inserted into the calibration hole 316. The calibration portion 321 applies force to the hole wall of the calibration hole 316 to drive the rotatable member 31 to rotate. Even if the calibration hole 316 is slightly offset relative to the center line of the operating handle 3, the calibration portion 321 can still be inserted into the calibration hole 316 due to the inclined guiding effect of the conical structure. It can be understood that in other embodiments, other structures can also be used to convert the movement of the calibration portion 321 into the rotation of the rotatable member 31. For example, the calibration hole 316 can be set as a conical hole, and the calibration portion 321 can have a conical structure or not.

[0042] In this embodiment, the operating handle 3 further includes a first elastic reset member (not shown), which is connected between the housing 30 and the button 32. When the external force pressing the pressing portion 320 is removed, the button 32 is reset under the action of the first elastic reset member so that the calibration portion 321 is disengaged from the calibration hole 316, so as not to affect the subsequent rotation of the rotatable member 31.

[0043] Specifically, Figure 3 and Figure 4 As shown, two relative and spaced mounting tubes 3014 are provided in the lower shell 301, and the button 32 also includes two relative and spaced mounting posts 322 connected to the pressing portion 320, and each mounting post 322 is provided with a first elastic reset member (such as a compression spring, the material can be steel) and is accommodated in the corresponding mounting tube 3014. Thus, when the external force pressing the pressing portion 320 is cancelled, the button 32 can move upward under the action of the two first elastic reset members so that the calibration portion 321 is separated from the calibration hole 316. It can be understood that two mounting posts 322 and corresponding mounting tubes 3014 are provided, and the two opposite sides of the button 32 are supported, ensuring that the button 32 is more stable during the pressing and resetting process. In other embodiments, a first elastic reset member, a mounting post 322 and a mounting tube 3014 can also be used to achieve the reset of the button 32. Alternatively, in other embodiments, the reset of the button 32 can also be achieved without the first elastic reset member, and the button 32 can be reset manually or by external tools.

[0044] Preferably, the operating handle 3 further comprises a plug-in connector 33 slidably connected to the housing 30 and a second elastic reset member (not shown) connected to the plug-in connector 33. When an external force presses the pressing portion 320, the button 32 pushes the plug-in connector 33 to slide toward the center line of the operating handle 3, so as to allow the operating handle 3 to be inserted into the square hole 11 ( Figure 1When the external force pressing the pressing portion 320 is removed, the second elastic reset member pushes the connector 33 to slide and reset away from the center line of the operating handle 3, so as to allow the connector 33 to be connected to the plug hole 12 of the robot arm 1 ( Figure 1 Conversely, the plug connector 33 can be disengaged from the plug hole 12 of the robot arm 1 by pressing the pressing portion 320 to disassemble the operating handle 3. Thus, by pressing the button 32, not only the aforementioned purpose of straightening the detection catheter 4 can be achieved, but also the plug connector 33 and the second elastic reset member can be used to achieve rapid disassembly and assembly with the robot arm 1, which is convenient to operate, has diversified functions and a simple structure.

[0045] Specifically, Figure 4 and Figure 6 As shown, the button 32 also includes two opposite and spaced first matching parts 323 connected to the pressing part 320. In this embodiment, the first matching part 323 is configured as a first wedge, including a first inclined surface 324. The operating handle 3 includes two oppositely arranged plug-in parts 33. Each plug-in part 33 includes a connecting plate 330, a plug-in part 331 provided on the connecting plate 330 and extending in the lateral direction of the operating handle 3, and a second matching part 332 provided on the connecting plate 330 and corresponding to the first matching part 323. When an external force presses the pressing part 320, the first inclined surface 324 of the first matching part 323 abuts against the corresponding second matching part 332, and the two first matching parts 323 push the plug-in part 33 to slide toward the center line of the operating handle 3, so that the plug-in part 331 is retracted into the housing. When the external force pressing the pressing part 320 is removed, the second elastic reset member pushes the plug-in part 33 to slide and reset away from the center line of the operating handle 3.

[0046] In this embodiment, the plug-in portion 331 is configured as a plug-in column, which may at least partially protrude from the housing 30. For example, a second through hole 306 ( Figure 2 The plug-in part 331 is formed by the semicircular holes respectively opened on the upper shell 300 and the lower shell 301. The material of the plug-in part 33 is preferably POM (polyoxymethylene thermoplastic crystalline polymer), which has good wear resistance and self-lubrication, and good fatigue resistance.

[0047] Still for reference Figure 4 and Figure 6In this embodiment, the second matching portion 332 is configured as a second wedge and includes a second inclined surface 333. The first inclined surface 324 is located above the corresponding second inclined surface 333, and the projections of the first inclined surface 324 and the corresponding second inclined surface 333 in the direction in which the pressing portion 320 moves overlap. Thus, when an external force presses the pressing portion 320, the first inclined surface 324 abuts against the second inclined surface 333 to drive the connector 33 to slide toward the center line of the operating handle 3, and at this time, the two connectors 33 move toward each other. Through the cooperation of the first inclined surface 324 and the second inclined surface 333, the movement of the button 32 is converted into the movement of the connector 33, wherein the movement direction of the button 32 is perpendicular to the movement direction of the connector 33, and the transmission is stable and reliable.

[0048] In this embodiment, the second elastic reset member is located between the second mating portions 332 of the two connectors 33. Specifically, a convex column 334 is formed on the second mating portion 332 of one connector 33, and a convex ring 335 is formed on the second mating portion 332 of the other connector 33. The second elastic reset member (such as a compression spring, the material of which may be steel) is sleeved on the convex column 334 and received in the convex ring 335. Thus, when the external force pressing the pressing portion 320 is removed, the two connectors 33 move away from each other under the action of the second elastic reset member. It can be understood that in other embodiments, the second elastic reset member may also adopt other structural arrangements, or may also include other numbers of second elastic reset members, which will not be described in detail here.

[0049] In this embodiment, two mounting seats 3015 are provided in the lower shell 301, each mounting seat 3015 has a supporting step 3016, and each mounting seat 3015 has a mounting groove 3017. The connecting plate 330 is inserted into the mounting groove 3017, and the second matching portion 332 is slidably supported on the supporting step 3016, thereby realizing the sliding connection between the plug-in component 33 and the housing 30. It can be understood that in other embodiments, the plug-in component 33 and the housing 30 can also be slidably connected using other structures.

[0050] Also refer to Figure 3 and Figure 4In this embodiment, the operating handle 3 further includes a transmission member 34, and the material of the transmission member 34 is preferably POM (polyoxymethylene thermoplastic crystalline polymer), which has good wear resistance and self-lubricating properties, and good fatigue resistance. The transmission member 34 is connected to the rotatable member 31 in a transmission manner to drive the rotatable member 31 to rotate. As an example, in this embodiment, the transmission member 34 is suitable for reciprocating along a straight line (the axial movement of the carrier on the robot arm 1 drives the transmission member 34 to move axially). Specifically, a gear ring 317 is provided on the rotatable member 31. One end of the transmission member 34 is located in the receiving cavity 302 of the housing 30, and the other end extends out of the housing 30, and the transmission member 34 is arranged between the two mounting cylinders 3014 and between the two mounting seats 3015. In this embodiment, a rack 340 is provided at one end of the transmission member 34 located in the housing 30, and the gear ring 317 is meshed with the rack 340. The meshing transmission between the rack 340 and the ring gear 317 can realize more accurate rotation of the rotatable member 31, thereby more accurately bending the detection catheter 4. It can be understood that in other embodiments, the rotatable member 31 can also be driven to rotate by other structures, such as gears or conveyor belts.

[0051] Also refer to Figure 1-3 In this embodiment, the transmission member 34 is provided with a through hole 341 penetrating the transmission member 34 along its length direction, and the other end of the transmission member 34 located outside the shell 30 is also provided with a docking member 35 for docking with the robot arm 1.

[0052] Specifically, refer to Figure 3 , Figure 7-8In this embodiment, the docking member 35 is constructed as an aviation plug, including a connecting tube 350, a connecting cap 351 connected to the connecting tube 350, and a clamping member 352 connected to the connecting tube 350. The connecting tube 350 includes an outer tube 3500 and an inner tube 3501 that are fixedly connected, and an annular gap 3502 is provided between the outer tube 3500 and the inner tube 3501. The outer surface of the end of the outer tube 3500 has a protrusion 3503, and the protrusion 3503 is used to cooperate with the robot arm 1 for positioning during installation. The inner tube 3501 is used to accommodate the plug 353. The open end of the inner tube 3501 is provided with an external thread 3504 and a notch 3505. One end of the connecting cap 351 is provided with an internal thread 3510, and one end of the connecting cap 351 is inserted into the annular gap 3502, and the internal thread 3510 thereon is threadedly connected with the external thread 3504 on the inner tube 3501. The clamping member 352 includes a plurality of clamping pieces 3520 spaced apart along the circumferential direction, and the plurality of clamping pieces 3520 are provided with internal threads 3521 for threaded connection with the external threads 342 on the transmission member 34. Furthermore, a clamping block 3522 is provided on the outer surface of the clamping member 352 for engaging with the notch 3505 of the inner cylinder 3501. Preferably, a metal ring 354 is provided between the core insert 353 and the clamping member 352 to prevent the core insert 353 from shifting.

[0053] During assembly, firstly, the clamping part 352 is threadedly connected with the transmission part 34, and then the connecting cap 351 is sleeved on the outside of the clamping part 352, and then the lens module line on the detection catheter 4 is passed through the through hole 341 on the transmission part 34 and welded to the insert 353, and finally the insert 353 is installed into the inner tube 3501 and the connecting cap 351 and the clamping part 352 are respectively connected to the inner tube 3501 to complete the installation.

[0054] Also refer to Figure 1 and Fig. 9 In this embodiment, the robot arm 1 includes a socket 13 for connecting with the docking piece 35. Specifically, a connecting column 130 and a receiving cavity 131 surrounding the connecting column 130 are provided in the socket 13, and a plurality of pinholes 132 are provided on the connecting column 130 for connecting with the pins on the plug core 353. The outer cylinder 3500 of the docking piece 35 is inserted into the receiving cavity 131. Preferably, a flaring groove 133 and a strip groove 134 communicating with each other are provided on the cavity wall of the receiving cavity 131, and the protrusion 3503 on the outer cylinder 3500 is suitable for being guided into the strip groove 134 via the flaring groove 133. The guidance of the protrusion 3503 by the flaring groove 133 greatly increases the deviation range of the insertion angle of the docking piece 35, which is conducive to the blind insertion of the docking piece 35.

[0055] In the present invention, unless otherwise clearly specified and limited, a first feature being “on” or “under” a second feature may mean that the first feature and the second feature are in direct contact, or the first feature and the second feature are in indirect contact via an intermediate medium.

[0056] Moreover, the first feature being “above”, “above”, and “above” the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being “below”, “below”, and “below” the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0057] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. An operating handle, characterized in that: include: case; a rotatable member, the rotatable member being rotatably accommodated in the housing, the rotatable member being used to connect a pull wire, the pull wire being used to pull the bending detection catheter as the rotatable member rotates, and the rotatable member being provided with a calibration hole; and The button comprises a pressing part and a calibration part which are connected to each other. The calibration part can be inserted into the calibration hole. The pressing part is pressed to insert the calibration part into the calibration hole to rotate the rotatable part. When the rotatable part rotates, the pull wire is pulled to straighten the detection catheter.

2. The operating handle according to claim 1, characterized in that: The operating handle also includes a first elastic reset member, which is connected between the shell and the button. The first elastic reset member is configured so that when the external force pressing the pressing part is removed, the button is reset under the action of the first elastic reset member so that the calibration part is disengaged from the calibration hole.

3. The operating handle according to claim 1, characterized in that: The operating handle also includes a transmission member, which is in transmission connection with the rotatable member to drive the rotatable member to perform rotational motion.

4. The operating handle according to claim 3, characterized in that: The rotatable member is provided with a gear ring, the transmission member is provided with a rack, and the gear ring is meshed with the rack.

5. The operating handle according to claim 1, characterized in that: The calibration part has a conical structure. When the button is pressed, the calibration part is guided, aligned and inserted into the calibration hole by the conical structure. The calibration part applies force to the hole wall of the calibration hole to drive the rotatable part to rotate.

6. The operating handle according to claim 1, characterized in that: The rotatable member is also provided with a connecting hole and a through hole connected to the connecting hole, a connecting block is arranged in the connecting hole, one end of the pull wire passes through the through hole of the rotatable member and is fixedly connected to the connecting block in the connecting hole.

7. The operating handle according to claim 1, characterized in that: The operating handle also includes a connector slidably connected to the shell and a second elastic reset member connected to the connector. When an external force presses the pressing portion, the button pushes the connector to slide toward the center line of the operating handle; when the external force pressing the pressing portion is removed, the second elastic reset member pushes the connector to slide and reset away from the center line of the operating handle.

8. The operating handle according to claim 7, characterized in that: The button also includes two first wedge blocks connected to the pressing portion, and the operating handle includes two connectors, each of which includes a connector and a second wedge block connected to each other, and the connector can at least partially protrude outside the shell, and the second elastic return member is located between the second wedge blocks of the two connectors; the inclined surface of the first wedge block is located above the inclined surface of the corresponding second wedge block, and the inclined surface of the first wedge block and the inclined surface of the corresponding second wedge block overlap in the direction of movement of the pressing portion. When an external force presses the pressing portion, the first wedge block presses against the second wedge block to drive the connector to slide toward the center line of the operating handle.

9. An endoscope, characterized in that: It comprises an operating handle according to any one of claims 1 to 8, a detection catheter connected to the operating handle, and a pull wire, wherein one end of the pull wire is connected to the distal end of the detection catheter, and the other end is connected to the rotatable part of the operating handle.

10. A surgical robot, comprising a robotic arm and an endoscope connected to the robotic arm, characterized in that: The endoscope is the endoscope according to claim 9.

11. The surgical robot according to claim 10, characterized in that: A plug hole is provided in the mechanical arm, and the operating handle of the endoscope also includes a connector and a second elastic reset member connected to the connector. When an external force presses the pressing portion, the button pushes the connector to slide toward the center line of the operating handle so that the connector is aligned with the plug hole; when the external force pressing the pressing portion is removed, the second elastic reset member pushes the connector to slide and reset away from the center line of the operating handle so that the connector is inserted into the plug hole.

12. The surgical robot according to claim 10, characterized in that: The robotic arm includes a socket, a receiving cavity is provided in the socket, and a cavity wall of the receiving cavity is provided with a flared groove and a strip groove that are connected to each other. The operating handle also includes a docking piece, one end of which is provided with a protrusion, one end of the docking piece is suitable for being inserted into the receiving cavity of the socket and the protrusion is suitable for being guided into the strip groove through the flared groove; the operating handle also includes a transmission piece, one end of which is transmission-connected to the rotatable piece, and the other end is connected to the docking piece.

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