Endoscope driving device and surgical robot

Abstract

The utility model relates to an endoscope driving device and a surgical robot. The endoscope driving device comprises a switching mechanism and a driving mechanism. Wherein the switching mechanism comprises a switching piece and an opening and closing piece, a space for locking the endoscope can be formed between the opening and closing piece and the switching piece, and the opening and closing piece can move relative to the switching piece, so that the size of the space can be adjusted, and the endoscope driving device has a locking state and an unlocking state; the driving mechanism is connected with the adapter, and the driving mechanism can drive the adapter to rotate so as to drive the endoscope to rotate; wherein in the locking state, the opening and closing piece and the adapter piece jointly lock the endoscope; and in the unlocking state, the opening and closing piece and the adapter piece are unlocked so as to loosen the endoscope. The endoscope driving device is good in fixing effect, and the disassembly and assembly operation of the endoscope is more convenient and labor-saving.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to an endoscope drive device and a surgical robot. Background Art

[0002] Endoscopes are commonly used surgical instruments in laparoscopic surgery. In traditional laparoscopic surgery, the endoscope needs to be operated by the doctor, but the endoscope itself is heavy, and long-term operation puts a heavy burden on the doctor's hands, affecting the doctor's surgical operation. With the continuous development of medical device technology and electronic control technology, surgical robots that can assist doctors in performing surgical operations are gradually emerging.

[0003] Before a surgical robot performs a laparoscopic surgery, an endoscope needs to be connected to the robot arm of the surgical robot. However, in the related art, a drive box is installed on the robot arm, and an endoscope is installed on the drive box, but it is difficult to remove and install the endoscope from the drive box, and the assembly is very inconvenient. Summary of the invention

[0004] Based on this, it is necessary to provide an endoscope driving device and a surgical robot to address the problem that it is inconvenient to disassemble and assemble the endoscope on the driving box.

[0005] An endoscope driving device, characterized in that it comprises:

[0006] The adapter mechanism includes an adapter and an opening and closing member, a space for locking the endoscope can be formed between the opening and closing member and the adapter, and the opening and closing member can be movable relative to the adapter so that the size of the space can be adjusted, so that the endoscope drive device has a locked state and an unlocked state;

[0007] A driving mechanism, wherein the driving mechanism is connected to the adapter, and the driving mechanism can drive the adapter to rotate so as to drive the endoscope to rotate; wherein, in the locked state, the opening and closing member and the adapter jointly lock the endoscope; and in the unlocked state, the opening and closing member and the adapter unlock so as to release the endoscope.

[0008] The technical solution is further described below:

[0009] In one embodiment, a first connecting portion is provided on one of the opening and closing member and the adapter member, and the first connecting portion has a first engaging portion and a second engaging portion, and a second connecting portion is provided on the other member, and the second connecting portion can selectively engage with one of the first engaging portion and the second engaging portion to adjust the size of the space used to lock the endoscope, thereby realizing the locking state and unlocking state of the endoscope driving device.

[0010] In one of the embodiments, a notch is provided at one end of the adapter away from the driving mechanism, and the notch matches the opening and closing member; in the locked state, at least a portion of the opening and closing member is located in the notch, so that the opening and closing member and the adapter jointly abut against the outer periphery of the endoscope.

[0011] In one embodiment, the adapter comprises a locking section, a transition section and a connecting section connected in sequence, the locking section is provided with a first cavity, the notch is opened in the locking section and communicates with the first cavity; the connecting section is connected to the driving mechanism, the connecting section is provided with a second cavity, the inner diameter of the second cavity is smaller than the inner diameter of the first cavity, the transition section is provided with a tapered cavity, the tapered cavity communicates with the first cavity and the second cavity, and the inner diameter of the tapered cavity gradually decreases along the direction from the first cavity to the second cavity;

[0012] The locking section is also provided with a limiting groove for cooperating with the endoscope, and the limiting groove is communicated with the first cavity.

[0013] In one embodiment, the opening and closing member includes a C-shaped main body, the main body having a first end and a second end relative to each other, at least one of the first end and the second end is provided with a first connecting portion, the adapter is provided with a second connecting portion matching the first connecting portion, and the second connecting portion is snap-connected with the first connecting portion.

[0014] In one embodiment, the second connecting portion includes a first slot matching the first connecting portion, and the first connecting portion can be inserted into the first slot to enable the opening and closing member to be connected to the adapter;

[0015] The first connecting portion includes a thinning section and a thickening section, one end of the thinning section is connected to the main body, and the other end of the thinning end is connected to the thickening section; a step portion is provided at the connection between the thinning section and the thickening section, and a hook portion is provided at one end of the thickening section facing away from the thinning section; the second connecting portion also includes a avoidance port provided on the outer wall of the adapter, the avoidance port is connected to the first card slot, and a card wall is provided at the edge of the avoidance port; the card wall can selectively engage with one of the step portion and the hook portion to adjust the size of the space used to lock the endoscope, thereby realizing the locking state and unlocking state of the endoscope driving device.

[0016] In one embodiment, a slot wall in the first slot opposite to the avoidance opening is provided with an escape slot connected to the avoidance opening, and the escape slot can accommodate at least a portion of the thickened section; when the thickened section is pressed, at least a portion of the thickened section can move toward one side of the escape slot and be accommodated in the escape slot, so that the step portion is released from the engagement with the slot wall; and / or,

[0017] One of the adapter and the opening and closing member is provided with a guide column, and the other is provided with a guide hole. In the locked state, the guide column is inserted into the guide hole.

[0018] In one embodiment, the driving mechanism comprises:

[0019] Base;

[0020] A shell, the shell is connected to the base, the shell and the base together enclose a mounting cavity, the shell is provided with a avoidance hole communicating with the mounting cavity, and the adapter is passed through the avoidance hole;

[0021] A transmission assembly is arranged in the installation cavity, and the transmission assembly includes a sleeve, a driven gear and at least two driving gears. The sleeve is rotatably arranged on the base, and the sleeve is connected to the adapter; the driven gear is sleeved on the sleeve; all the driving gears are rotatably arranged on the base, and each of the driving gears is arranged at intervals, and all the driving gears are meshed with the driven gears.

[0022] In one of the embodiments, the base is provided with a second card slot extending therethrough, a card protrusion is provided on the slot wall of the second card slot, and the endoscope driving device further comprises an adapter mechanism, a buckle is provided on one end of the adapter mechanism close to the base, and the buckle is inserted into the second card slot and engaged with the card protrusion.

[0023] In one of the embodiments, the endoscope driving device further includes a button assembly and a lever, wherein the button assembly is movably disposed on the housing, and the lever is rotatably disposed on the base, one end of the lever corresponds to the position of the buckle, and the other end of the lever corresponds to the position of the button assembly, and when the button assembly is pressed, the button assembly can drive the lever to rotate so that the lever drives the buckle to separate from the latching protrusion.

[0024] On the other hand, the present application also provides a surgical robot, including an endoscope and an endoscope driving device as described above.

[0025] The above-mentioned endoscope drive device and surgical robot lock the endoscope by the cooperation of the adapter and the opening and closing member, and the driving mechanism drives the adapter mechanism to rotate so that the endoscope locked between the adapter and the opening and closing member rotates, thereby performing the corresponding surgical operation; since a space for locking the endoscope is formed between the adapter and the opening and closing member, by adjusting the size of the space for locking the endoscope formed between the adapter and the opening and closing member, the endoscope drive device can have a locked state and an unlocked state, thereby realizing rapid disassembly and assembly of the endoscope, facilitating the locking of the endoscope into the adapter mechanism or taking it out from the adapter mechanism, and making the operation more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] In addition, the drawings are not drawn to a 1:1 scale, and the relative sizes of the various elements are drawn only as examples in the drawings and are not necessarily drawn according to the true scale.

[0029] FIG. 1 is a schematic diagram showing the cooperation between an endoscope driving device and an endoscope according to an embodiment.

[0030] FIG. 2 is a structural exploded view of the endoscope drive device and the endoscope shown in FIG. 1 .

[0031] FIG. 3 is a second structural exploded view of the endoscope drive device and the endoscope shown in FIG. 1 .

[0032] FIG. 4 is an exploded view of the structure of an endoscope driving device according to an embodiment.

[0033] FIG. 5 is a schematic structural diagram of a switching mechanism according to an embodiment.

[0034] FIG. 6 is an exploded view of the structure of the switching mechanism shown in FIG. 5 .

[0035] FIG. 7 is a top view of an endoscope driving device according to an embodiment.

[0036] FIG8 is a cross-sectional view of the endoscope driving device shown in FIG7 at the AA section.

[0037] FIG. 9 is a cross-sectional view of the endoscope driving device shown in FIG. 7 at the BB cross section.

[0038] FIG. 10 is an exploded view of the structure of the driving mechanism of an embodiment after the housing is hidden.

[0039] FIG. 11 is a schematic diagram showing the cooperation between an adapting mechanism and a driving mechanism in one implementation.

[0040] FIG. 12 is an exploded view of the structure of a button assembly according to an embodiment.

[0041] Description of reference numerals:

[0042] 1. Endoscope drive device; 10. Adapter mechanism; 11. Opening and closing member; 110. Main body; 1101. First end; 1102. Second end; 111. First connecting portion; 1111. Thinning section; 1112. Thickening section; 1113. Step section; 1114. Hook section; 112. Reinforcement rib; 113. Guide column; 12. Adapter; 1201. Locking section; 1202. Transition section; 1203. Connecting section; 1204. First cavity; 1205. Conical cavity; 1206. Second cavity; 121. Notch; 122. First slot; 123. Avoidance; 1231. Card wall; 124. Limiting groove; 125. Avoidance groove; 126. Threaded hole; 127. Guide hole; 20, driving mechanism; 21, housing; 211, avoidance hole; 22, base; 221, second slot; 222, cam; 23, transmission assembly; 231, sleeve; 232, driven gear; 233, driving gear; 24, bearing bracket; 241, first bearing; 242, second bearing; 243, top screw; 25, button assembly; 251, button body; 2511, force arm; 2512, guide cam; 252, cover plate; 2521, guide groove; 253, spring return member; 26, lever; 261, rotating shaft; 262, torsion spring; 28, signal sensor; 30, adapter; 31, buckle; 40, endoscope; 41, cam structure; 42, instrument rod. DETAILED DESCRIPTION

[0043] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0044] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does 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 cannot be understood as a limitation on the present application.

[0045] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0046] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms 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 or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0047] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. 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.

[0048] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0049] As mentioned above, when a surgical robot performs laparoscopic surgery, an endoscope needs to be connected to the robot arm of the surgical robot. However, the traditional adapter mechanism makes it difficult to assemble and disassemble the endoscope.

[0050] Referring to FIG. 1 to FIG. 3 , based on this, an embodiment of the present application provides an endoscope drive device 1, which is arranged on a mechanical arm (not shown) of a surgical robot, and an endoscope 40 is arranged on the endoscope drive device 1, so as to achieve the purpose of arranging the endoscope 40 on the mechanical arm. Referring to FIG. 4 , an endoscope drive device 1 of an embodiment includes a switching mechanism 10 and a driving mechanism 20. Among them, the switching mechanism 10 includes a switching member 12 and an opening and closing member 11, and a space for locking the endoscope 40 can be formed between the opening and closing member 11 and the switching member 12, and the opening and closing member 11 can move relative to the switching member 12 so that the size of the space can be adjusted, so that the endoscope drive device has a locked state and an unlocked state. The driving mechanism 20 is connected to the switching member 12, and the driving mechanism 20 can drive the switching mechanism 10 to rotate, so as to drive the endoscope 40 to rotate. 5 , in the locked state, the opening and closing member 11 and the adapter 12 jointly lock the endoscope 40 ; in the unlocked state, the opening and closing member 11 and the adapter 12 are unlocked to release the endoscope 40 .

[0051] In the above-mentioned endoscope driving device 1, the endoscope 40 is locked by the cooperation between the adapter 12 and the opening and closing member 11, and the driving mechanism 20 drives the adapter mechanism to rotate, so that the endoscope locked between the adapter 12 and the opening and closing member 11 rotates, thereby performing corresponding surgical operations.

[0052] Since a space for locking the endoscope 40 is formed between the opening and closing piece 11 and the adapter 12, by adjusting the size of the space for locking the endoscope 40 formed between the opening and closing piece 11 and the adapter 12, the endoscope drive device can have a locked state and an unlocked state, thereby realizing rapid disassembly and assembly of the endoscope, making it easy to lock the endoscope into or take it out of the adapter mechanism, and making the operation more convenient.

[0053] For example, the opening and closing member 11 and the adapter 12 are detachably connected. When the opening and closing member 11 and the adapter 12 are folded and connected, the space becomes smaller, thereby locking the endoscope 40; and when the opening and closing member 11 and the adapter 12 are separated, the space becomes larger, thereby releasing the endoscope 40. The traditional operation of locking and releasing the endoscope 40 is converted into the locking and unlocking operation of only the opening and closing member 11 and the adapter 12, which greatly simplifies the assembly and disassembly operation of the endoscope 40.

[0054] The adapter 12 and the opening and closing member 11 are detachably connected, and the adapter 12 and the opening and closing member 11 have a common clamp on the endoscope to lock the endoscope in a locked state and release the endoscope 40 in an unlocked state. Therefore, when disassembling and assembling the endoscope 40, the endoscope driving device 1 can be put into an unlocked state first, which makes it easier to insert the endoscope 40 into the adapter mechanism 10 or take it out from the adapter mechanism 10. After the endoscope 40 is installed in place, the endoscope driving device 1 is put into a locked state to lock the endoscope 40. The fixing effect is good, and the disassembly and assembly operation of the endoscope 40 is more convenient and labor-saving.

[0055] In one embodiment, one of the opening and closing member 11 and the adapter member 12 is provided with a first connection portion, the first connection portion having a first engaging portion and a second engaging portion, and the other is provided with a second connection portion, the second connection portion can selectively engage with one of the first engaging portion and the second engaging portion to adjust the size of the space for locking the endoscope 40, thereby realizing the locking state and the unlocking state of the endoscope driving device. Specifically, the first engaging portion and the second engaging portion can both be hooks, and the second connection portion has a slot; or the first engaging portion and the second engaging portion are both slots, and the second connection portion is a hook.

[0056] The second connection part is engaged with one of the first engaging part and the second engaging part of the first connection part to realize the switching between the locked state and the unlocked state. For example, when the first engaging part is engaged with the second connection part, the second engaging part is not engaged with the second connection part, and at this time, the endoscope drive device is in a locked state; and when the endoscope drive device needs to be in an unlocked state, the first engaging part is unlocked from the second connection part, and the second engaging part is engaged with the second connection part, thereby switching to the unlocked state of the endoscope drive device, and in the unlocked state, the opening and closing member 11 and the adapter 12 are only loosened but not completely disengaged due to the engagement of the second engaging part with the second connection part, thereby preventing the opening and closing member 11 from falling due to complete disengagement and causing the risk of device infection.

[0057] Optionally, one end of the opening and closing member 11 can be rotatably connected to the adapter 12, and the other end is provided with a first engaging portion and a second engaging portion, and the second connecting portion is provided on the adapter 12. When the second connecting portion is engaged with one of the first engaging portion and the second engaging portion, the switching between the locked state and the unlocked state is realized.

[0058] Referring to FIG. 5 and FIG. 6 , in one embodiment, the adapter 12 is provided in a cylindrical shape, that is, the adapter 12 is a hollow structure with openings at both ends, for the endoscope 40 to pass through. A notch 121 is provided at one end of the adapter 12 away from the driving mechanism 20, and the notch 121 matches the opening and closing member 11, that is, the notch 121 can accommodate the opening and closing member 11. In the locked state, at least a portion of the opening and closing member 11 is located in the notch 121, so that the opening and closing member 11 and the adapter 12 are abutted against and clamped on the outer peripheral wall of the endoscope 40, thereby locking the endoscope 40 to the adapter mechanism.

[0059] Referring to Fig. 6, the opening and closing member 11 includes a C-shaped main body 110, the main body 110 has a first end 1101 and a second end 1102 opposite to each other, at least one of the first end 1101 and the second end 1102 is provided with a first connection portion, the adapter 12 is provided with a second connection portion matching the first connection portion, and the second connection portion is engaged with the first connection portion, thereby achieving the connection between the opening and closing member 11 and the adapter 12. It is worth noting that, in one embodiment, the first end 1101 and the second end 1102 are both provided with a first connection portion, and two second connection portions are correspondingly provided on the adapter 12, thereby improving the fixing effect.

[0060] Of course, in other embodiments, one of the first end 1101 and the second end 1102 may be connected to the adapter 12 via a first connecting portion, and the other may be connected to the adapter 12 via other means such as hinge, which is not limited here.

[0061] 6 and 9, optionally, in one embodiment, the second connection portion includes a first slot 122 that matches the first connection portion 111, and the first connection portion 111 can be inserted into the first slot 122 to engage the opening and closing member 11 with the adapter 12. The engagement between the first slot 122 and the first connection portion 111 facilitates assembly and disassembly of the opening and closing member 11 and the adapter 12, thereby shortening the time spent on assembly.

[0062] The first engaging portion and the second engaging portion are disposed on the first connecting portion 111 . When the first engaging portion and the second engaging portion are respectively engaged with the first engaging groove 122 of the second connecting portion, the endoscope driving device can be switched between a locked state and an unlocked state.

[0063] Specifically, as shown in Fig. 6 , the first connection portion 111 is substantially plate-shaped. For example, in the embodiment shown in Fig. 6 , the first connection portion 111 is an extension portion extending from the main body 110 . Of course, the first connection portion 111 may also be fixedly connected to the main body 110 .

[0064] As shown in Fig. 6, the first connection portion 111 includes a thinning section 1111 and a thickening section 1112, one end of the thinning section 1111 is connected to the main body 110, and the other end of the thinning section 1111 is connected to the thickening section 1112. For example, one end of the thinning section 1111 is fixedly connected to the main body 110, and the other end of the thinning section 1111 is fixedly connected to the thickening section 1112; or, the main body 110, the thinning section 1111 and the thickening section 1112 are an integrated structure.

[0065] As the name implies, the thickness of the thinning section 1111 is less than that of the thickening section 1112. A step portion 1113 is provided at the connection between the thinning section 1111 and the thickening section 1112. Further, in conjunction with FIG. 5 , the second connection portion further includes an escape opening 123 provided on the outer wall of the adapter 12, the escape opening 123 is communicated with the first card slot 122, and a card wall 1231 is provided at the edge of the escape opening 123. In the locked state, the thickening section 1112 is located at the escape opening 123, and the step portion 1113 is engaged with the card wall 1231, so that the opening and closing member 11 and the adapter 12 are engaged and fixed, so that the opening and closing member 11 and the adapter 12 can jointly lock the endoscope 40. At the same time, the thinning section 1111 makes the first connection portion 111 easier to deform, so that the thickening section 1112 can enter the escape opening 123 during installation so that the step portion 1113 can be engaged with the card wall 1231.

[0066] Further, referring to FIG. 5 and FIG. 6 , a hook portion 1114 is provided at one end of the thickened section 1112 that is away from the thinned section 1111; the locking wall 1231 can selectively engage with one of the step portion 1113 and the hook portion 1114 to adjust the size of the space for locking the endoscope 40, thereby realizing the locked state and unlocked state of the endoscope drive device. In the unlocked state, at least part of the thickened section 1112 is retracted into the first locking groove 122, and the hook portion 1114 is engaged with the locking wall 1231 to prevent the first connecting portion 111 from escaping from the first locking groove 122, so that the opening and closing member 11 and the adapter 12 are separated by a preset distance and connected to release the endoscope 40. In this way, it is ensured that in the unlocked state, the adapter 12 and the opening and closing member 11 will not be completely separated, thereby preventing the opening and closing member 11 from accidentally falling and causing the opening and closing member 11 to be contaminated.

[0067] In the above embodiment, the step portion 1113 is the first engaging portion, and the hook portion 1114 is the second engaging portion. When the endoscope driving device is in a locked state, the endoscope 40 is locked between the opening and closing member 11 and the adapter 12. At this time, the step portion 1113 is engaged with the engaging wall 1231 of the second connecting portion, and the hook portion 1114 is not engaged with the engaging wall 1231. When the endoscope driving device is in an unlocked state, the space between the opening and closing member 11 and the adapter 12 becomes larger, and the endoscope can be removed from the space between the opening and closing member 11 and the adapter 12. At this time, a part of the thickened section 1112 is retracted into the first engaging groove 122, and the step portion 1113 is no longer engaged with the engaging wall 1231, while the hook portion 1114 is engaged with the engaging wall 1231.

[0068] Referring to Figure 6, in one embodiment, a gap 125 connected to the avoidance opening 123 is provided in the groove wall of the first locking groove 122, and the gap 125 can accommodate at least a portion of the thickened section 1112; when the thickened section 1112 is pressed, at least a portion of the thickened section 1112 can move toward one side of the gap 125 and be accommodated in the gap 125, so that the step portion 1113 and the locking wall 1231 are released from the engagement. Specifically, when the endoscope 40 needs to be removed, the first connecting portion 111 can be pressed through the avoidance opening 123, so that the thickened section 1112 of the first connecting portion 111 is deformed inward and enters the avoidance groove 125, thereby separating the step portion 1113 from the avoidance opening 123, and then a part of the thickened section 1112 retreats and causes the hook portion 1114 to engage with the card wall 1231, thereby causing the adapter 12 and the opening and closing member 11 to enter an unlocked state to release the endoscope 40, while the opening and closing member 11 is not completely detached from the adapter 12.

[0069] 6 , it can be seen that the first card slot 122 penetrates the wall thickness of the adapter 12 roughly along the tangential direction of the adapter 12, so that the hook portion 1114 of the first connecting portion 111 passes through the first card slot 122 and reaches the avoidance opening 123 which is connected to the first card slot 122 and is roughly opened along the radial direction of the adapter 12, thereby further enabling the step portion 1113 to engage with the card wall 1231, thereby achieving clamping and ensuring that the first connecting portion 111 will not automatically withdraw. When it is necessary to release the endoscope 40, when the first connecting portion 111 is pressed inwardly along the radial direction of the adapter 12, the air avoidance groove 125 can provide space for the first connecting portion 111 (especially the thickened section 1112) to retreat inwardly along the radial direction of the adapter 12, thereby effectively disengaging the step portion 1113 from the clamping wall 1231, and further allowing the thickened section 1112 of the first connecting portion 111 to retreat along the tangential direction of the adapter 12, thereby releasing the endoscope 40 and engaging with the clamping wall 1231 through the hook portion 1114, thereby ensuring that the opening and closing member 11 is not completely separated from the adapter 12 and does not cause problems such as falling.

[0070] Continuing to refer to FIG. 6 , optionally, in one embodiment, a reinforcing rib 112 is further provided at the connection between the thinning section 1111 and the main body 110 to strengthen the connection strength between the thinning section 1111 and the main body 110 and avoid the connection between the thinning section 1111 and the main body 110 from breaking.

[0071] Referring to FIG. 6 and FIG. 9 , optionally, in one embodiment, one of the adapter 12 and the opening and closing member 11 is provided with a guide post 113, and the other is provided with a guide hole 127. In the locked state, the guide post 113 is inserted into the guide hole 127. For example, in the embodiment shown in FIG. 6 , the opening and closing member 11 is provided with guide posts 113 on both sides, and the adapter 12 is provided with guide holes 127 on both sides of the notch 121. In the locked state, the two guide posts 113 are respectively inserted into the two guide holes 127, thereby enhancing the alignment accuracy and connection stability of the adapter 12 and the opening and closing member 11. It is understandable that in another embodiment, the guide post 113 can also be provided on the adapter 12, and correspondingly, the opening and closing member 11 is provided with a guide hole 127. Further, the number of guide posts 113 and the number of guide holes 127 are also limited to two. In other embodiments, they can be one, three, four, five, six or more, which are not limited here.

[0072] Referring to FIG. 9 , optionally, in one embodiment, the adapter 12 includes a locking section 1201, a transition section 1202, and a connecting section 1203 connected in sequence, the locking section 1201 is provided with a first cavity 1204, the notch 121 is opened in the locking section 1201 and communicates with the first cavity 1204, the connecting section 1203 is connected to the driving mechanism 20, and the connecting section 1203 is provided with a second cavity 1206, and the inner diameter of the second cavity 1206 is smaller than the inner diameter of the first cavity 1204. The transition section 1202 is provided with a tapered cavity 1205, which connects the first cavity 1204 and the second cavity 1206, and the inner diameter of the tapered cavity 1205 gradually decreases from the first cavity 1204 to the second cavity 1206. In this way, it is ensured that the inner cavity of the adapter 12 matches the shape of the endoscope 40, and that after the endoscope 40 penetrates the adapter 12, the inner wall of the adapter 12 fits tightly with the endoscope, thereby improving the fixing effect of the endoscope 40.

[0073] Further, in conjunction with FIG. 1 , the locking section 1201 of the adapter 12 is further provided with a limiting groove 124 for limiting the endoscope 40, and the limiting groove 124 is communicated with the first cavity 1204. Further, the limiting groove 124 runs through the end of the adapter 12 away from the driving mechanism 20, and the limiting groove 124 is used for engaging with the endoscope 40. Specifically, the outer wall of the endoscope 40 is provided with a protruding structure 41, and the limiting groove 124 cooperates with the protruding structure 41 of the endoscope 40 to limit the circumferential rotation and axial downward movement of the endoscope 40, thereby preventing the endoscope 40 from rotating, shaking, and other problems during the operation. Further, in one embodiment, the limiting groove 124 is a U-shaped groove.

[0074] Referring to FIG. 4 , FIG. 7 and FIG. 8 , in one embodiment, the driving mechanism 20 includes a base 22, a housing 21 and a transmission assembly 23. The housing 21 is connected to the base 22, and the housing 21 and the base 22 are enclosed together to form an installation cavity. The housing 21 is provided with an avoidance hole 211 communicating with the installation cavity, the adapter 12 is inserted into the avoidance hole 211, and the transmission assembly 23 is arranged in the installation cavity. The transmission assembly 23 and the adapter 12 are detachably connected. In this way, the housing 21 and the base 22 are enclosed together outside the transmission assembly 23 to protect the transmission assembly 23, and then the adapter 12 is driven to rotate by the transmission assembly 23, so as to drive the endoscope 40 to rotate. Furthermore, a through hole for the instrument rod 42 of the endoscope 40 to pass through is also provided on the base 22, and the through hole is arranged opposite to the avoidance hole 211, so as to ensure that the instrument rod 42 of the endoscope 40 can pass through the driving mechanism 20 through the through hole and the avoidance hole 211.

[0075] Referring to FIGS. 9 to 11 , optionally, in one embodiment, the transmission assembly 23 includes a sleeve 231, a driven gear 232, and at least two driving gears 233. The sleeve 231 is rotatably disposed on the base 22, and the sleeve 231 is detachably connected to the adapter 12. Specifically, the sleeve 231 is a hollow structure with openings at both ends, and the sleeve 231 is sleeved outside the instrument rod 42 of the endoscope 40, so as to play a certain supporting role for the endoscope 40. The driven gear 232 is sleeved on the sleeve 231. All the driving gears 233 are rotatably disposed on the base 22, and each driving gear 233 is arranged at intervals, and all the driving gears 233 are meshed with the driven gears 232. In this way, all the driving gears 233 rotate synchronously, which can drive the driven gears 232 and the sleeve 231 to rotate, and then drive the adapter 12 and the endoscope 40 to rotate. Furthermore, at least two driving gears 233 synchronously drive a driven gear 232. When working, the driving gears 233 restrain each other, which can reduce the gear matching clearance caused by assembly error, manufacturing error or friction loss, thereby improving the transmission accuracy and transmission stability, and further improving the rotation accuracy and rotation stability of the endoscope 40. It is worth noting that the number of the driving gears 233 can be two, three, four, five or more, which is not limited here.

[0076] Furthermore, the sleeve 231 is detachably connected to the adapter 12, so that adapters 12 of different sizes can be replaced to adapt to endoscopes 40 of different sizes, thereby achieving the installation of endoscopes 40 of different manufacturers and different sizes on the surgical robot. Specifically, referring to FIG6, in one embodiment, the adapter 12 is provided with a plurality of threaded holes 126 along the circumferential direction, referring to FIG9 and FIG10, the sleeve 231 is provided with a plurality of blind holes (not shown) along the circumferential direction, and the threaded holes 126 are aligned with the blind holes one by one, and each threaded hole 126 is provided with a top screw 243, and the end of the top screw 243 extends into the blind hole and abuts against the bottom wall of the blind hole, thereby achieving the fixing of the sleeve 231 and the adapter 12, preventing the adapter 12 from being separated from the sleeve 231 as a whole upward or downward, and preventing the adapter 12 and the sleeve 231 from rotating relative to each other in the circumferential direction. It should be noted that, in other embodiments, the adapter 12 may also be threadedly connected to the sleeve 231 , which can also achieve fixation of the sleeve 231 and the adapter 12 and facilitate removal and replacement of the adapter 12 .

[0077] Further, referring to Fig. 8, the sleeve 231 is rotatably connected to the base 22 via a bearing. Optionally, in one embodiment, the sleeve 231 is provided with a first bearing 241 and a second bearing 242 at intervals along the axial direction, the first bearing 241 is connected to the base 22, and the driving mechanism 20 further includes a bearing bracket 24, which is disposed on the base 22 and connected to the second bearing 242, thereby ensuring the stability of the rotation of the sleeve 231.

[0078] 10 and 11, the endoscope drive device 1 further includes an adapter mechanism 30, which is connected to the drive mechanism 20, and is used to be connected to the mechanical arm of the surgical robot, so as to achieve the installation of the endoscope drive device 1 to the mechanical arm of the surgical robot. Optionally, in one embodiment, the base 22 is provided with a second card slot 221, and the slot wall of the second card slot 221 is provided with a card protrusion 222, and the adapter mechanism 30 is provided with a buckle 31 at one end close to the base 22, and the buckle 31 is engaged with the card protrusion 222, so as to achieve the connection and fixation between the drive mechanism 20 and the adapter mechanism 30. Furthermore, the base 22 is provided with a plurality of second card slots 221, and correspondingly, the adapter mechanism 30 is provided with a plurality of buckles 31, and each buckle 31 is correspondingly snapped into the second card slot 221. For example, in one embodiment, the base 22 is provided with four second card slots 221, and the four second card slots 221 are spaced apart along the edge of the base 22. The adapter mechanism 30 is provided with four buckles 31, and the four buckles 31 are correspondingly snapped into the four second card slots 221, thereby improving the fixing effect.

[0079] Further, referring to FIG. 11 , the endoscope driving device 1 further includes a button assembly 25 and a lever 26. The button assembly 25 is movably arranged on the housing 21, and the lever 26 is rotatably arranged on the base 22. One end of the lever 26 corresponds to the position of the buckle 31, and the other end of the lever 26 corresponds to the position of the button assembly 25. When the button assembly 25 is pressed, the button assembly 25 can drive the lever 26 to rotate, so that the lever 26 can shift the buckle 31 to separate from the protrusion 222, that is, the lever 26 can rotate under the drive of the button assembly 25 to drive the buckle 31 to separate from the protrusion 222. In this way, by pressing the button assembly 25 outside the housing 21, the button assembly 25 is abutted against one end of the lever 26 to drive the lever 26 to rotate, so that the other end of the lever 26 can be abutted against the buckle 31 to drive the buckle 31 to separate from the protrusion 222, thereby realizing the rapid disassembly of the driving mechanism 20 and the adapting mechanism 30, and the operation is simpler and more labor-saving.

[0080] Specifically, referring to Figure 12, in one embodiment, the button assembly 25 includes a button body 251, a cover plate 252, and a spring return member 253. The cover plate 252 is arranged on the base 22. A guide groove 2521 is formed on the cover plate 252. The button body 251 is provided with a guide protrusion 2512. The guide protrusion 2512 is slidably matched with the guide groove 2521. The cover plate 252 is also provided with a protruding force arm 2511. The force arm 2511 is used to cooperate with the lever 26. The spring return member 253 is arranged between the cover plate 252 and the button body 251. The spring return member 253 is used to provide a force for automatic reset after pressing the button body 251. Specifically, when the adapting mechanism 30 needs to be replaced, the button body 251 is pressed to slide relative to the cover plate 252, so that the force-bearing arm 2511 abuts against one end of the lever 26 to drive the lever 26 to rotate, so that the other end of the lever 26 abuts against the buckle 31 to drive the buckle 31 to separate from the protrusion 222. At this time, the button body 251 is released, and the button body 251 can be reset to the initial position under the elastic force of the spring reset member 253.

[0081] As shown in combination with FIG. 4 and FIG. 11 , the housing 21 is provided with an assembly opening adapted to the button body 251, and the assembly opening is set through along the thickness direction of the housing 21. The button body 251 is limited and matched with the housing 21 through the assembly opening, and the button body 251 is limited with the housing 21 in the axial direction of the housing 21, so that the button body 251 will not be separated from the housing 21 under the pressure of the spring return member 253. As shown in FIG. 11 , the button assembly 25 is provided with two and is respectively provided at opposite ends of the base 22, and correspondingly, the housing 21 is also provided with two assembly openings to adapt to the button body 251 of the button assembly 25.

[0082] Referring to Figure 10, in one embodiment, the lever 26 is rotatably connected to the base 22 via a rotating shaft 261, a torsion spring 262 is sleeved on the rotating shaft 261, and one end of the torsion spring 262 is connected to the lever 26, and the other end is connected to the base 22. In this way, when the lever 26 drives the buckle 31 to separate from the protrusion 222, the button body 251 is released, and the lever 26 can be reset to the initial position under the elastic force of the torsion spring 262.

[0083] Optionally, in one embodiment, there are multiple levers 26, and the levers 26 are arranged in a one-to-one correspondence with the buckles 31. A button assembly 25 is arranged between two adjacent levers 26. The button assembly 25 can cooperate with its two levers 26 at the same time, so that pressing the button assembly 25 can unlock the two buckles 31 at the same time, saving material costs and making the operation more convenient.

[0084] Referring to FIG. 9 , optionally, in one embodiment, a signal sensor sheet 28 is further provided on the base 22, and the signal sensor sheet 28 is used to store information such as the model and specifications of the endoscope 40, so that when the endoscope drive device 1 is connected to the surgical robot, the surgical robot can quickly identify the endoscope 40 by reading the stored information of the signal sensor sheet 28, thereby realizing intelligent control. Specifically, a mounting groove is provided on the base 22, and the signal sensor sheet 28 is disposed in the mounting groove, and the cover plate 252 blocks the notch of the mounting groove, thereby preventing the signal sensor sheet 28 from falling out.

[0085] In one embodiment, the present application further provides a surgical robot, which includes an endoscope 40 and an endoscope drive device 1 as in any of the above embodiments. Specifically, the endoscope drive device 1 is connected to the mechanical arm of the surgical robot, and the opening and closing member 11 and the adapter 12 of the adapter mechanism can lock or release the endoscope 40, and the operation of installing and removing the endoscope 40 is very convenient.

[0086] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0087] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. An endoscope driving device, characterized in that: include: The adapter mechanism includes an adapter and an opening and closing member, a space for locking the endoscope can be formed between the opening and closing member and the adapter, and the opening and closing member can be movable relative to the adapter so that the size of the space can be adjusted, so that the endoscope drive device has a locked state and an unlocked state; A driving mechanism, wherein the driving mechanism is connected to the adapter, and the driving mechanism can drive the adapter to rotate so as to drive the endoscope to rotate; wherein, in the locked state, the opening and closing member and the adapter jointly lock the endoscope; and in the unlocked state, the opening and closing member and the adapter unlock so as to release the endoscope.

2. The endoscope driving device according to claim 1, characterized in that: A first connecting portion is provided on one of the opening and closing member and the adapter member, and the first connecting portion has a first engaging portion and a second engaging portion. A second connecting portion is provided on the other member, and the second connecting portion can selectively engage with one of the first engaging portion and the second engaging portion to adjust the size of the space used to lock the endoscope, thereby realizing the locking state and unlocking state of the endoscope driving device.

3. The endoscope driving device according to claim 1, characterized in that: A notch is provided at one end of the adapter away from the driving mechanism, and the notch matches the opening and closing member; in the locked state, at least a portion of the opening and closing member is located in the notch, so that the opening and closing member and the adapter jointly abut against the outer periphery of the endoscope.

4. The endoscope driving device according to claim 3, characterized in that: The adapter comprises a locking section, a transition section and a connecting section which are connected in sequence, the locking section is provided with a first cavity, the notch is opened in the locking section and communicates with the first cavity; the connecting section is connected with the driving mechanism, the connecting section is provided with a second cavity, the inner diameter of the second cavity is smaller than the inner diameter of the first cavity, the transition section is provided with a tapered cavity, the tapered cavity communicates with the first cavity and the second cavity, and the inner diameter of the tapered cavity gradually decreases along the direction from the first cavity to the second cavity; The locking section is also provided with a limiting groove for cooperating with the endoscope, and the limiting groove is communicated with the first cavity.

5. The endoscope driving device according to claim 3, characterized in that: The opening and closing member includes a C-shaped main body having a first end and a second end opposite to each other, at least one of the first end and the second end is provided with a first connecting portion, the adapter is provided with a second connecting portion matching the first connecting portion, and the second connecting portion is snap-connected with the first connecting portion.

6. The endoscope driving device according to claim 5, characterized in that: The second connecting part comprises a first slot matching the first connecting part, and the first connecting part can be inserted into the first slot to enable the opening and closing part to be connected with the adapter; The first connecting portion includes a thinning section and a thickening section, one end of the thinning section is connected to the main body, and the other end of the thinning section is connected to the thickening section; a step portion is provided at the connection between the thinning section and the thickening section, and a hook portion is provided at one end of the thickening section facing away from the thinning section; the second connecting portion also includes an avoidance port provided on the outer wall of the adapter, the avoidance port is connected to the first card slot, and a card wall is provided at the edge of the avoidance port; the card wall can selectively engage with one of the step portion and the hook portion to adjust the size of the space used to lock the endoscope, thereby realizing the locking state and unlocking state of the endoscope driving device.

7. The endoscope driving device according to claim 6, characterized in that: A slot wall in the first slot opposite to the escape opening is provided with an escape groove connected to the escape opening, and the escape groove can accommodate at least a portion of the thickened section; when the thickened section is pressed, at least a portion of the thickened section can move toward one side of the escape groove and be accommodated in the escape groove, so that the step portion and the card wall are released from the engagement; and / or, One of the adapter and the opening and closing member is provided with a guide column, and the other is provided with a guide hole. In the locked state, the guide column is inserted into the guide hole.

8. The endoscope driving device according to any one of claims 1 to 7, characterized in that: The driving mechanism comprises: Base; A shell, the shell is connected to the base, the shell and the base together enclose a mounting cavity, the shell is provided with a avoidance hole communicating with the mounting cavity, and the adapter is passed through the avoidance hole; A transmission assembly is arranged in the installation cavity, and the transmission assembly includes a sleeve, a driven gear and at least two driving gears. The sleeve is rotatably arranged on the base, and the sleeve is connected to the adapter; the driven gear is sleeved on the sleeve; all the driving gears are rotatably arranged on the base, and each of the driving gears is arranged at intervals, and all the driving gears are meshed with the driven gears.

9. The endoscope driving device according to claim 8, characterized in that: The base is provided with a second card slot through it, and a card convex is convexly provided on the slot wall of the second card slot. The endoscope driving device also includes an adapting mechanism, and a buckle is convexly provided at one end of the adapting mechanism close to the base, and the buckle is inserted into the second card slot and engaged with the card convex; The endoscope driving device also includes a button assembly and a lever, wherein the button assembly is movably arranged on the housing, and the lever is rotatably arranged on the base, one end of the lever corresponds to the position of the buckle, and the other end of the lever corresponds to the position of the button assembly. When the button assembly is pressed, the button assembly can drive the lever to rotate so that the lever drives the buckle to separate from the bulge.

10. A surgical robot, characterized in that: It comprises an endoscope and an endoscope driving device as described in any one of claims 1 to 9, wherein the adapter and the opening and closing member can lock or release the endoscope.

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