Endoscope and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses an endoscope and a surgical robot system. The endoscope comprises an arm body, an imaging assembly and a spraying assembly. The imaging assembly is arranged at the far end of the arm body and comprises a lens. The spraying assembly is used for spraying cleaning liquid and comprises at least one spraying opening, and the at least one spraying opening is located at the far end of the endoscope and faces the lens. And the spraying assembly can wash the lens, so that pollution such as blood attached to the lens can be cleaned.

Description

Technical Field

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

[0002] Laparoscopic surgery has been a widely used surgical procedure that has grown in recent years. It offers advantages such as minimal invasiveness, significantly reducing patient recovery time, discomfort, and post-operative side effects. Laparoscopic surgery, particularly single-port laparoscopic surgery, performed using surgical robotic systems can optimize surgical procedures through computer remote control.

[0003] An endoscope is an imaging tool widely used in laparoscopic surgery. It can be inserted into the human body through a very small opening, allowing doctors to observe the patient's internal organs. During surgery, the lens can easily be contaminated by the patient's blood and other substances, obstructing the field of view. This cumbersome procedure requires frequent removal of the endoscope from the patient, wiping the lens, and then replacing it to restore the field of view. This compromises the continuity of the surgical procedure and prolongs the operation. Utility Model Content

[0004] In some embodiments, the present disclosure provides an endoscope comprising:

[0005] Arm body;

[0006] an imaging assembly, disposed at the distal end of the arm, the imaging assembly comprising a lens; and

[0007] The spray assembly is used to spray cleaning liquid. The spray assembly includes at least one spray port. The at least one spray port is located at the distal end of the endoscope and faces the lens.

[0008] In some embodiments, the endoscope further comprises:

[0009] The air blowing assembly includes at least one first air outlet, and the at least one first air outlet is located at the distal end of the endoscope and faces the lens.

[0010] In some embodiments, the spray assembly further comprises:

[0011] At least one liquid feeding pipe, the distal end of the at least one liquid feeding pipe is communicated with the at least one spray port, and the proximal end of the at least one liquid feeding pipe can be used to connect to the cleaning liquid storage tank.

[0012] In some embodiments, the air blowing assembly further includes a first air inlet, and the air blowing assembly further includes:

[0013] At least one first gas delivery pipe, the distal end of the at least one first gas delivery pipe is communicated with the at least one first gas outlet, and the proximal end of the at least one first gas delivery pipe is communicated with the first gas inlet.

[0014] In some embodiments, the endoscope further comprises a distal housing comprising:

[0015] The outer shell covers the imaging assembly, the proximal end of the outer shell is connected to the distal end of the arm body, and the distal ends of at least one liquid delivery tube and at least one first air delivery tube are arranged in the outer shell.

[0016] In some embodiments, the distal housing further comprises:

[0017] An inner shell, the inner shell covers the imaging assembly and the outer shell covers the inner shell, the distal end of the inner shell protrudes from the imaging assembly, at least one spray port and at least one first air outlet are arranged on the inner side of the distal end of the inner shell, and the distal ends of at least one liquid supply pipe and at least one first air supply pipe are located on the outer side of the inner shell.

[0018] In some embodiments, the blowing assembly further comprises:

[0019] a first vibration module disposed in the first gas pipe, wherein at least a portion of the first vibration module is capable of reciprocating vibration, thereby compressing the gas in the first gas pipe; and

[0020] The first one-way air valve is arranged at the proximal end of the first air supply pipe, the output end of the first one-way air valve is connected to the proximal end of the first air supply pipe, and the first air inlet is arranged at the input end of the first one-way air valve.

[0021] In some embodiments, the first vibration module includes:

[0022] The diaphragm is sealed and connected to the inner wall of the first air pipe in its circumference. The diaphragm includes at least one air hole. The diaphragm can vibrate back and forth and the vibration direction is parallel to the inner wall of the first air pipe.

[0023] In some embodiments, the first vibration module further includes:

[0024] a bracket, fixedly disposed in the first gas transmission pipe, and configured to provide a magnetic field; and

[0025] The vibration circuit includes a coil, which is coupled to the magnetic field provided by the bracket and connected to the diaphragm. The coil is used to vibrate back and forth in the magnetic field under the action of the alternating frequency current in the vibration circuit.

[0026] In some embodiments, the stent comprises:

[0027] a main body, which is fixedly disposed in the first gas pipe; and

[0028] The magnetic core is arranged on the main body and extends in a direction parallel to the inner wall of the first gas transmission pipe, and the coil is sleeved on the magnetic core.

[0029] In some embodiments, the first vibration module further includes:

[0030] The elastic member is sleeved on the magnetic core, one end of the elastic member is fixedly connected to the magnetic core, and the other end is connected to the coil.

[0031] In some embodiments, the endoscope further comprises:

[0032] An air suction assembly, the air suction assembly comprising at least one second air inlet and a second air outlet, wherein the at least one second air inlet is located at the distal end of the endoscope and the second air outlet is located at the proximal end of the endoscope;

[0033] The suction assembly also includes:

[0034] At least one second gas delivery pipe, the distal end of the at least one second gas delivery pipe is communicated with the at least one second gas inlet, and the proximal end of the at least one second gas delivery pipe is communicated with the second gas outlet.

[0035] In some embodiments, the getter assembly further comprises:

[0036] a second vibration module disposed in the second gas pipe, wherein at least a portion of the second vibration module is capable of reciprocating vibration, thereby compressing the gas in the second gas pipe; and

[0037] The second one-way air valve is arranged at the proximal end of the second air supply pipe, the input end of the second one-way air valve is connected to the proximal end of the second air supply pipe, and the second air outlet is arranged at the output end of the second one-way air valve.

[0038] In some embodiments, the arm comprises:

[0039] A first continuum structure, the first continuum structure comprising:

[0040] A first base plate, a plurality of first spacer plates and a plurality of first structural bones are provided. The plurality of first structural bones pass through the plurality of first spacer plates and the first base plate. The proximal ends of the plurality of first structural bones are used to receive push or pull drive to drive the first continuum structure to move.

[0041] In some embodiments, the arm further comprises:

[0042] The second continuum structure includes:

[0043] A second base plate, multiple second spacer plates and multiple second structural bones, the multiple second structural bones pass through the multiple second spacer plates and the second base plate, the proximal ends of the multiple second structural bones are used to receive push or pull drive to drive the second continuum structure to move, the first continuum structure is located at the distal end of the second continuum structure, and the multiple first structural bones pass through the multiple second spacer plates and the second base plate.

[0044] In some embodiments, the first base plate, multiple first spacer plates, the second base plate and multiple second spacer plates all include a middle through hole, and the proximal ends of at least one liquid delivery tube, at least one first air delivery tube and at least one second air delivery tube extend out of the arm body through the middle through hole.

[0045] In some embodiments, the endoscope further comprises:

[0046] a heat-conducting structure, the heat-conducting structure being disposed at the proximal end of the lens and thermally coupled to the lens; and

[0047] Heating circuit, the heating circuit includes:

[0048] a heating resistor, the heating resistor is used to generate heat, and the heating resistor is thermally coupled to the heat conductive structure; and

[0049] A controllable switch is connected to the heating resistor and is used to turn on or off the heating circuit.

[0050] In some embodiments, the endoscope further comprises:

[0051] Hydrophobic coating, a hydrophobic coating covers the surface of the lens.

[0052] In some embodiments, the present disclosure provides a surgical robot system comprising:

[0053] an operating table, comprising at least one robotic arm; and

[0054] As in any one of the embodiments of the present disclosure, the endoscope is disposed at the distal end of at least one robotic arm.

[0055] Some embodiments of the present disclosure have one or more of the following technical effects: being able to flush the lens of an endoscope, thereby cleaning contamination such as blood attached to the lens surface and restoring the surgical field of view; being able to blow air toward the lens of an endoscope to disperse the smoke outside the lens and to defog the lens of the endoscope, thereby making the surgical field of view clearer; being able to attract gas in the patient's body at the distal end of the endoscope, thereby removing the smoke and making the surgical field of view clearer; the arm of the endoscope includes a continuum structure, which can improve the flexibility of the endoscope in moving within the patient's body; being able to heat the lens of the endoscope through a heating circuit and a heat-conducting structure, thereby being able to defog the inside and outside of the lens, thereby making the surgical field of view clearer; the hydrophobic coating covering the surface of the lens is beneficial for preventing the lens from being contaminated by liquids and stains, thereby maintaining a clear field of view during surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly describes the drawings required for describing the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. Those skilled in the art can, without inventive effort, derive other embodiments based on the contents of the embodiments of the present disclosure and these drawings.

[0057] Figure 1 A schematic structural diagram of an endoscope according to some embodiments of the present disclosure is shown;

[0058] Figure 2 A schematic structural diagram of a distal portion of an endoscope according to some embodiments of the present disclosure is shown;

[0059] Figure 3 A schematic structural diagram of a liquid delivery tube of an endoscope according to some embodiments of the present disclosure is shown;

[0060] Figure 4 A schematic block diagram showing a partial structure of an endoscope according to some embodiments of the present disclosure;

[0061] Figure 5A and Figure 5B Schematic side views of a first vibration module of an endoscope according to some embodiments of the present disclosure are respectively shown;

[0062] Figure 6A A schematic structural diagram of an endoscope suction assembly according to some embodiments of the present disclosure is shown;

[0063] Figure 6B A schematic structural diagram showing an air blowing assembly and an air suction assembly of an endoscope according to some embodiments of the present disclosure is shown;

[0064] Figure 7 A schematic structural diagram showing a first continuum structure of an arm according to some embodiments of the present disclosure;

[0065] Figure 8 A schematic structural diagram of a driving device according to some embodiments of the present disclosure is shown;

[0066] Figure 9 A schematic diagram of a surgical robot system according to some embodiments of the present disclosure is shown.

[0067] List of reference numerals:

[0068] 100, endoscope; 101, end cap; 110, arm; 111, first continuum structure; 1111, first base plate; 1112, first spacer plate; 1113, first structural bone; 1114, first fixed plate; 112, second continuum structure; 1121, second base plate; 1122, second spacer plate; 1123, second structural bone; 1124, second fixed plate; 113, first straight rod segment; 114, second straight rod segment;

[0069] 120, imaging assembly; 121, lens; 130, spray assembly; 131, spray port; 132, liquid delivery pipe; 141, outer shell; 142, inner shell; 150, blowing assembly; 151, first air outlet; 152, first air inlet; 153, first air pipe; 1531, inner wall of first air pipe; 154, first vibration module; 1541, diaphragm; 1542, bracket; 15421, main body; 15422, Magnetic core; 154221, middle portion; 154222, side portions; 1543, vibration circuit; 15431, coil; 1544, connection structure; 155, first one-way air valve; 160, air suction assembly; 161, second air inlet; 162, second air outlet; 163, second air pipe; 164, second vibration module; 165, second one-way air valve; 171, heating resistor; 172, controllable switch; 180, air pipe;

[0070] 200, surgical robot system; cleaning fluid storage tank; 202, pressure pump; 203, spray control device; 204, blowing control device; 205, suction control device; 210, operating table; 211, robotic arm; 212, surgical tools; 220, main control table; 221, main manipulator; 222, first display; 223, second display;

[0071] 1000, driving device; 1010, first driving mechanism; 1020, second driving device; 1021, bracket; 1022, lead screw; 1023, slider; 10231, sleeve; 1024, motor; 1025, coupling. DETAILED DESCRIPTION

[0072] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0073] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of this disclosure. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0074] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," and "coupled" should be understood in a broad sense. For example, they can refer to fixed or detachable connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal connections between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0075] In this disclosure, the end closest to the operator (e.g., a doctor) is defined as the proximal end, near portion, or rear end, and the end opposite to the proximal end, near portion, or rear end is defined as the distal end, far end, or front end, or front end. Alternatively, the end closest to the operator (e.g., a surgical patient) is defined as the distal end, far end, or front end, or front end, and the end opposite to the distal end, far end, or front end is defined as the proximal end, near portion, or rear end, or rear end. Those skilled in the art will appreciate that the embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.

[0076] Some embodiments of the present disclosure provide an endoscope. Figure 1 A schematic structural diagram of an endoscope 100 according to some embodiments of the present disclosure is shown. Figure 2 A schematic diagram illustrating the distal end portion of an endoscope 100 according to some embodiments of the present disclosure is provided. In some embodiments, the endoscope 100 can be used in a surgical robotic system, such as various suitable surgical robotic systems, including a laparoscopic surgical robotic system. In some embodiments, the endoscope 100 can be positioned at the distal end of a robotic arm (e.g., a positioning arm) of the surgical robotic system, and can be moved under user control (e.g., teleoperation).

[0077] like Figure 1 and Figure 2As shown, endoscope 100 may include an arm 110, an imaging assembly 120, and a spray assembly 130. Imaging assembly 120 is disposed at the distal end of arm 110 and may include a lens 121. Lens 121 may be disposed at the distal end of imaging assembly 120 to facilitate capturing images of a target area (e.g., the internal environment of a patient). In some embodiments, lens 121 may include an optical lens assembly consisting of multiple lenses. The optical lens assembly may include one or more convex lenses and concave lenses, which are distributed to form an optical imaging system.

[0078] In some embodiments, the imaging assembly 120 may further include an imaging sensor (not shown). The imaging sensor may be positioned proximal to the lens 121, thereby facilitating the imaging sensor to capture an image of the target area through the lens 121. The photosensitive surface of the imaging sensor may be perpendicular to the axial direction of the endoscope 100, and the axial direction of the lens 121 may be perpendicular to the photosensitive surface of the imaging sensor. In some embodiments, the imaging sensor may include a CCD or CMOS imaging sensor. Those skilled in the art will appreciate that the imaging assembly 120 may photoelectrically convert light reflected from the target area received by the imaging sensor into an electronic signal for display on a display (e.g., a display of a surgical robot system).

[0079] In some embodiments, the imaging component 120 may include one or more imaging sensors. The number of lenses 121 may be equal to the number of imaging sensors, and at least one lens 121 may be respectively provided corresponding to an imaging sensor, so that each imaging sensor captures an image through its corresponding lens. In the case where the imaging component 120 includes one imaging sensor, the image captured by the imaging component 120 may be displayed as a two-dimensional image. In some embodiments, in the case where the imaging component 120 includes multiple imaging sensors, the imaging component 120 may capture images from different orientations, perform stereoscopic vision processing on the captured images, and display them as images with stereoscopic vision effects. In some embodiments, in the case where the imaging component 120 includes multiple imaging sensors, the image captured by the imaging component 120 may be displayed as a two-dimensional image. Figure 1 and Figure 2 As shown, in some embodiments, the imaging assembly 120 may include two lenses arranged side by side in the same plane. The imaging assembly 120 may also include two imaging sensors respectively arranged at the proximal ends of the two lenses, and the two imaging sensors may be arranged in parallel.

[0080] like Figure 1 and Figure 2As shown, the endoscope 100 further includes a spray assembly 130, which can be used to spray a cleaning solution. Those skilled in the art will appreciate that the cleaning solution can be physiological saline or pure water. The spray assembly 130 can include at least one spray port 131. The at least one spray port 131 can be located at the distal end of the endoscope 100 and directed toward the lens 121 to facilitate cleaning the surface of the lens 121. In some embodiments, as shown in FIG. Figure 1 and Figure 2 As shown, the spray assembly 130 may include a plurality of spray ports 131 disposed adjacently and in parallel, and the plurality of spray ports may spray in different directions to expand the cleaning range of the spray assembly 130. In some embodiments, the spray assembly 130 may include a plurality of spray ports 131 uniformly disposed circumferentially at the distal end of the endoscope 100 to expand the cleaning range of the spray assembly 130.

[0081] In some embodiments, the endoscope 100 may further include an illumination component (not shown in the figure), which may be used to illuminate the target area so that the imaging component 120 can capture images of the target area. Figure 2 As shown, the endoscope 100 may further include an end cap 101. The end cap 101 may include a channel for accommodating a lens 121 and an illumination assembly. The light source output terminal at the distal end of the illumination assembly and the distal end of the lens 121 may be coplanar with the end cap 101. In some embodiments, the distal end of the illumination assembly and the distal end of the lens 121 may be circumferentially connected to the end cap 101 by bonding or other means to achieve a seal. Those skilled in the art will appreciate that when the spray assembly 130 sprays cleaning fluid toward the lens, it can simultaneously clean the light source output terminal at the distal end of the illumination assembly, thereby restoring the light source of the endoscope.

[0082] Figure 3 FIG. 1 is a schematic diagram showing the structure of the liquid delivery tube 132 of the endoscope 100 according to some embodiments of the present disclosure. Figure 3 As shown, the spray assembly 130 may further include at least one liquid delivery pipe 132. The distal end of at least one liquid delivery pipe 132 may be connected to at least one spray port 131 (see Figure 2 ) are connected. In some embodiments, Figure 2 As shown, the spray assembly 130 includes a plurality of adjacently arranged spray ports 131, and the distal end of the liquid delivery tube 132 can be in communication with the plurality of adjacently arranged spray ports 131. In some embodiments, the spray assembly 130 can include a plurality of spray ports 131 uniformly arranged along the circumference at the distal end of the endoscope 100, and the spray assembly 130 can include a plurality of liquid delivery tubes 132, and the distal ends of the plurality of liquid delivery tubes 132 are respectively in communication with the plurality of spray ports 131.

[0083] Figure 4FIG. 1 is a schematic block diagram showing a partial structure of an endoscope 100 according to some embodiments of the present disclosure. Figure 4 As shown, the proximal end of at least one liquid delivery tube 132 can be connected to a cleaning liquid storage tank 201. The cleaning liquid storage tank 201 is used to store cleaning liquid. The cleaning liquid storage tank 201 can be a storage tank with a heat preservation function or a constant temperature function to maintain the cleaning liquid stored therein at a suitable temperature. Those skilled in the art will understand that if the spray assembly 130 includes multiple liquid delivery tubes 132, the proximal ends of the multiple liquid delivery tubes 132 can all be connected to the cleaning liquid storage tank 201.

[0084] like Figure 4 As shown, in some embodiments, the proximal end of the liquid delivery tube 132 can be connected to the cleaning liquid storage tank 201 via a pressure pump 202. The pressure pump 202 can pump the cleaning liquid in the cleaning liquid storage tank 201 into the liquid delivery tube 132, and then spray it out from the spray port 131 at the distal end of the liquid delivery tube 132. In some embodiments, the pressure pump 202 can be connected to a spray control device 203. The spray control device 203 can control the pressure pump 202 so that the spray assembly 130 can start spraying the cleaning liquid, stop spraying the cleaning liquid, start spraying the cleaning liquid and continue spraying for a preset time under control, etc.

[0085] like Figure 4 As shown, the cleaning liquid storage tank 201, the pressure pump 202 and the spray control device 203 can be arranged outside the endoscope 100. The proximal end of the liquid delivery tube 132 can be connected to the cleaning liquid storage tank 201 and the pressure pump 202 arranged outside the endoscope 100 through an interface.

[0086] like Figure 2 and Figure 3 As shown, the endoscope 100 may further include a distal housing. The distal housing may include an outer housing 141, which may cover the imaging assembly 120. The proximal end of the outer housing 141 may be connected to the distal end of the arm 110, for example, by bonding, welding, snap-fitting, threading, or the like. The distal end of at least one liquid delivery tube 132 may be disposed within the outer housing 141, for example, by bonding, snap-fitting, or other suitable means to the inner wall of the outer housing 141.

[0087] like Figure 2 and Figure 3As shown, in some embodiments, the distal housing of the endoscope 100 may further include an inner housing 142. The inner housing 142 may cover the imaging assembly 120 and the outer housing 141 may cover the inner housing 142. The inner housing 142 may be tubular, and the lens 121, imaging sensor, and lighting assembly of the imaging assembly 120 may be disposed in the middle cavity of the inner housing 142. The end cap 101 may be fixedly connected to the inner housing 142 in the circumferential direction by bonding, integral molding, or the like. The outer housing 141 may be tubular so as to cover the inner housing 142. The outer housing 141 and the inner housing 142 may be fixedly connected or integrally molded.

[0088] like Figure 2 and Figure 3 As shown, the distal end of the inner housing 142 can protrude from the imaging assembly 120. At least one spray port 131 can be disposed on the inner side of the distal end of the inner housing 142 to facilitate spraying toward the lens 121. The distal end of at least one liquid delivery tube 132 can be located on the exterior of the inner housing 142, for example, by bonding. The distal end of the outer housing 141 can also protrude from the imaging assembly 120, and can be fixedly connected or integrally formed with the inner housing 142 at the distal end.

[0089] In some embodiments, the endoscope 100 may also include a hydrophobic coating (not shown). The hydrophobic coating may cover the surface of the lens 121. This helps prevent contaminants such as blood from adhering to the surface of the lens 121, prevents moisture from the patient's body from fogging the lens 121, and prevents obstruction of the surgical field of view. In some embodiments, the hydrophobic coating may include nanomaterials, fluorine-containing materials (such as perfluoropolyether), etc. In some embodiments, the thickness of the hydrophobic coating covering the surface of the lens 121 may be between 2 and 10 microns to achieve optimal hydrophobicity. Those skilled in the art will appreciate that the materials included in the hydrophobic coating are not limited to those listed above and may include other suitable materials. The thickness of the hydrophobic coating is also not limited to the above range and may also be other suitable thicknesses. For example, the thickness of the hydrophobic coating may be appropriately reduced to reduce the weight of the endoscope 100.

[0090] like Figure 2 and Figure 3As shown, in some embodiments, the endoscope 100 may further include an air blowing assembly 150. The air blowing assembly 150 may include at least one first air outlet 151 located at the distal end of the endoscope 100 and facing the lens 121. Those skilled in the art will appreciate that after the lens 121 of the endoscope 100 is flushed by the spray assembly 130, cleaning fluid may remain on the surface of the lens 121, still obstructing the surgical field of view. The air blowing assembly 150 can blow air toward the lens 121 to disperse the residual cleaning fluid and restore the surgical field of view. During surgery, the use of surgical tools such as electrosurgical scalpels and ultrasonic scalpels may generate smoke. The air blowing assembly 150 can blow air to dispel smoke obstructing the lens 121 and restore the surgical field of view. In some embodiments, the air blowing assembly 150 may include multiple first air outlets 151 arranged adjacent and parallel to each other. These multiple first air outlets 151 can blow air in different directions to expand the blowing range of the air blowing assembly 150. In some embodiments, the blowing assembly 150 may include a plurality of first air outlets 151 uniformly arranged along the circumferential direction at the distal end of the endoscope 100 to expand the blowing range of the blowing assembly 150 .

[0091] like Figure 3 and Figure 4 As shown, in some embodiments, the blowing assembly 150 further includes a first air inlet 152 and at least one first air delivery pipe 153. The distal end of the at least one first air delivery pipe 153 can be connected to the at least one first air outlet 151 (see Figure 2 ) are connected. In some embodiments, Figure 2 As shown, the blowing assembly 150 may include a plurality of adjacently arranged first air outlets 151, and the distal end of the first air supply pipe 153 may be in communication with the plurality of adjacently arranged first air outlets 151. In some embodiments, the blowing assembly 150 may include a plurality of first air outlets 151 uniformly arranged along the circumference at the distal end of the endoscope 100, and the blowing assembly 150 may include a plurality of first air supply pipes 153, and the distal ends of the plurality of first air supply pipes 153 may be in communication with the plurality of first air outlets 151, respectively.

[0092] The proximal end of at least one first air delivery tube 153 can be connected to the first air inlet 152. In some embodiments, the air blowing assembly 150 includes multiple first air delivery tubes 153, and the proximal ends of the multiple first air delivery tubes 153 can be connected to different first air inlets 152. In some embodiments, the proximal ends of the multiple first air delivery tubes 153 can be connected to the same first air inlet 152. For example, the air blowing assembly 150 may include an air inlet cavity at the proximal end, and the air inlet cavity can be connected to the first air inlet 152. The proximal ends of the multiple first air delivery tubes 153 can all be connected to the air inlet cavity.

[0093] In some embodiments, the blowing assembly 150 may further include a waterproof and breathable membrane respectively sealed at least one first air outlet 151 and the first air inlet 152 to prevent liquid from entering the first air pipe 153 through the first air outlet 151 or the first air inlet 152, so as to keep the interior of the first air pipe 153 dry.

[0094] In some embodiments, as Figure 3 As shown, the distal end of the at least one first air delivery tube 153 can be disposed within the outer shell 141, for example, by bonding. In some embodiments, the distal end of the at least one first air delivery tube 153 can be located outside the inner shell 142, for example, by bonding. The at least one first air outlet 151 of the air blowing assembly 150 can be disposed inside the distal end of the inner shell 142 to facilitate blowing away cleaning fluid that blocks the lens 121.

[0095] Figure 5A and Figure 5B 1 and 2 respectively show side views of the first vibration module 154 of the endoscope 100 according to some embodiments of the present disclosure. Figure 4 、 Figure 5A and Figure 5B As shown, in some embodiments, the blowing assembly 150 may further include a first vibration module 154 and a first one-way air valve 155. The first vibration module 154 may be disposed within the first air pipe 153, and at least a portion of the first vibration module 154 may vibrate back and forth, thereby compressing the gas within the first air pipe 153. Those skilled in the art will appreciate that the vibration direction of at least a portion of the first vibration module 154 may be parallel to the axial direction of the first air pipe 153, thereby compressing the gas within the first air pipe 153.

[0096] In some embodiments, as Figure 5A and Figure 5B As shown, the first vibration module 154 may include a diaphragm 1541. Those skilled in the art will appreciate that the diaphragm 1541 may be any suitable diaphragm, such as a plastic diaphragm, a metal diaphragm, a paper diaphragm, or the like. The circumference of the diaphragm 1541 may be sealed and connected to the inner wall 1531 of the first gas pipe 153, for example, by bonding or other suitable means. The diaphragm 1541 may include at least one air hole to allow gas to pass through. The diaphragm 1541 can vibrate back and forth and the vibration direction is parallel to the inner wall 1531 of the first gas pipe 153. Those skilled in the art will appreciate that in Figure 5A and Figure 5B In the embodiment, the diaphragm 1541 reciprocates and vibrates to different positions.

[0097] like Figure 4As shown, the first one-way air valve 155 can be arranged at the proximal end of the first air pipe 153. The output end of the first one-way air valve 155 can be connected to the proximal end of the first air pipe 153. The first air inlet 152 can be arranged at the input end of the first one-way air valve 155. Those skilled in the art will understand that the first one-way air valve 155 can limit the gas to flow only from its input end to the output end, and cannot flow back. Based on this, when the diaphragm 1541 vibrates, the diaphragm 1541 can press the gas on the input end side of the first one-way air valve 155 to flow to the output end side, and the external gas can flow into the first air pipe 153 through the first one-way air valve 155, and the gas in the first air pipe 153 can flow to the distal end, so that the gas can be blown out at the distal end of the blowing component 150.

[0098] The first vibration module 154 may also include any suitable structure to drive the diaphragm 1541 to vibrate back and forth. Figure 5A and Figure 5B As shown, in some embodiments, the first vibration module 154 may further include a bracket 1542 and a vibration circuit 1543. The bracket 1542 may be fixedly disposed within the first gas pipe 153, for example, by being connected to the inner wall 1531 of the first gas pipe 153 through bonding or other means. In some embodiments, the bracket 1542 may include a main body 15421 fixedly disposed within the first gas pipe 153. The main body 15421 may include at least one vent for allowing gas to pass through. In some embodiments, the main body 15421 may be in the form of a circular sheet and circumferentially connected to the inner wall 1531 of the first gas pipe 153. In some embodiments, the main body 15421 may include at least one beam supporting the first gas pipe 153. Those skilled in the art will appreciate that the shape of the main body 15421 is not limited to the aforementioned shapes and may be any suitable shape.

[0099] The bracket 1542 can be used to provide a magnetic field. Figure 5A and Figure 5B As shown, in some embodiments, the bracket 1542 may include a magnetic core 15422 disposed on the main body 15421. The magnetic core 15422 may extend in a direction parallel to the inner wall 1531 of the first gas transmission pipe 153. In some embodiments, the magnetic core 15422 may be an E-shaped magnetic core, including a middle portion 154221 and two side portions 154222 disposed oppositely on either side of the middle portion. Those skilled in the art will appreciate that the shape of the magnetic core 15422 is not limited to the above-described shapes and may be any suitable shape.

[0100] like Figure 5A and Figure 5BAs shown, the vibration circuit 1543 may include a coil 15431. The coil 15431 may couple with the magnetic field provided by the bracket 1542. For example, the coil 15431 may be mounted on the magnetic core 15422 to couple with the magnetic field. In some embodiments, the coil 15431 may be mounted on the middle portion 154221 of the magnetic core 15422. The coil 15431 may be configured to vibrate back and forth within the magnetic field under the influence of the AC current in the vibration circuit 1543. In some embodiments, the vibration circuit 1543 may further include a power supply (not shown) and other components that can provide the coil 15431 with an appropriate AC current to enable stable vibration within the magnetic field. In some embodiments, the vibration circuit 1543 may further include a controllable switch that allows the user to control the on and off of the vibration circuit 1543, thereby controlling the start and stop of vibration of the coil 15431.

[0101] The coil 15431 can be connected to the diaphragm 1541 to drive the diaphragm 1541 to vibrate back and forth. In some embodiments, the coil 15431 can be connected to the diaphragm 1541 via a connecting structure 1544. In some embodiments, the connecting structure 1544 can be cylindrical, with both ends connecting the coil 15431 and the diaphragm 1541, respectively. In some embodiments, the connecting structure 1544 can include multiple connecting rods, each end of which connects the coil 15431 and the diaphragm 1541, respectively.

[0102] like Figure 4 As shown, in some embodiments, the first vibration module 154 can be connected to the blowing control device 204, and the blowing control device 204 can control the first vibration module 154 (for example, the controllable switch of the vibration circuit 1543) so that the blowing component 150 can start blowing, stop blowing, start blowing and continue blowing for a preset time under control, etc.

[0103] In some embodiments, the first vibration module 154 may further include an elastic member (not shown). The elastic member may be mounted on the magnetic core 15422, with one end of the elastic member fixedly connected to the magnetic core 15422 and the other end connected to the coil 15431. In some embodiments, the elastic member may be any suitable elastic element, such as a coil spring or a rubber spring. Those skilled in the art will appreciate that the elastic member may be used to support the coil 15431 and enable reciprocating vibrations with the coil 15431.

[0104] Those skilled in the art will appreciate that the structure of the first vibration module 154 is not limited to the above-described structure and may also have any suitable structure. In other embodiments, the first vibration module 154 may include multiple layers of stacked piezoelectric layers and electrode sheets, and a diaphragm connected to the piezoelectric layers. The electrode sheets can apply a voltage to the piezoelectric layer, which can rapidly vibrate under the voltage and drive the diaphragm to vibrate, thereby compressing the gas in the first gas pipe 153, causing the gas to be blown out from the far end of the blowing assembly 150.

[0105] In some embodiments, the blowing assembly 150 may include multiple first vibration modules 154, which may be sequentially arranged within the first gas pipe 153 along the axial direction of the first gas pipe 153. The multiple first vibration modules 154 (e.g., the diaphragms of each first vibration module 154) may each compress the gas within the first gas pipe 153, thereby improving the efficiency of squeezing the gas within the first gas pipe 153.

[0106] like Figure 4 As shown, in some embodiments, the distal end of the first gas tube 153 can be located inside the endoscope 100, and the proximal end can inhale ambient air outside the endoscope 100 through the first gas inlet 152. The first vibration module 154 and the first one-way air valve 155 can both be located outside the endoscope 100, and the first vibration module 154 can be located inside the proximal end of the first gas tube 153. In some embodiments, the radial dimension of the proximal end of the first gas tube 153 can be larger than that of the distal end of the first gas tube 153 to facilitate accommodating the first vibration module 154. The insufflation control device 204 can be located outside the endoscope 100 to facilitate connection with the first vibration module 154. In other embodiments, the first vibration module 154 can be located inside the distal end of the first gas tube 153, located inside the endoscope 100.

[0107] In other embodiments, the first air delivery tube 153 may be located within the endoscope 100, and the first air inlet 152 may be provided on the outer surface of the proximal end of the endoscope 100 to draw in ambient air. The first vibration module 154 and the first one-way air valve 155 may both be located within the endoscope 100. The insufflation control device 204 may be provided within or outside the endoscope 100 and connected to the first vibration module 154 via a cable or the like.

[0108] As an alternative embodiment to the first vibration module 154, in other embodiments, the blowing assembly 150 may include a first air pump (not shown). The first air pump may be disposed outside the endoscope 100 and connected to the proximal end of the first air supply tube 153. The first air pump is capable of pumping ambient air into the first air supply tube 153, thereby enabling the blowing assembly 150 to blow air out of the first air outlet 151. The blowing control device 204 may be in communication with the first air pump to control the first air pump, enabling the first air pump to start and stop pumping air under control.

[0109] Figure 6A FIG. 1 is a schematic structural diagram of an air suction component 160 of an endoscope 100 according to some embodiments of the present disclosure. In some embodiments, the endoscope 100 may further include an air suction component 160. Figure 2 and Figure 6A As shown, the suction assembly 160 may include at least one second air inlet 161 and a second air outlet 162. The at least one second air inlet 161 may be located at the distal end of the endoscope 100 to facilitate suctioning smoke generated by surgical tools such as electrosurgery and ultrasonic scalpels, thereby restoring the surgical field of view. The second air outlet 162 may be located at the proximal end of the endoscope 100 to facilitate exhausting smoke and other substances sucked by the suction assembly 160 to the outside of the body.

[0110] In some embodiments, the suction assembly 160 may include multiple second air inlets 161 arranged adjacent and parallel to each other, with the multiple second air inlets 161 oriented in different directions for suction. In some embodiments, the suction assembly 160 may include multiple second air inlets 161 uniformly arranged along the circumference of the distal end of the endoscope 100 to expand the suction range. Those skilled in the art will appreciate that the multiple second air inlets 161 may be oriented in any suitable direction to draw smoke from the patient's body.

[0111] like Figure 3 As shown, the suction assembly 160 may further include at least one second air supply pipe 163. The distal end of the at least one second air supply pipe 163 is connected to the at least one second air inlet 161. In some embodiments, the distal end of the second air supply pipe 163 may be connected to multiple second air inlets 161 arranged adjacent to and in parallel. In some embodiments, the suction assembly 160 may include multiple second air inlets 161 uniformly arranged along the circumference at the distal end of the endoscope 100. The suction assembly 160 may include multiple second air supply pipes 163, and the distal ends of the multiple second air supply pipes 163 may be connected to the multiple second air inlets 161, respectively.

[0112] The proximal end of at least one second gas pipe 163 is connected to the second gas outlet 162. In some embodiments, the air intake assembly 160 includes multiple second gas pipes 163, and the proximal ends of the multiple second gas pipes 163 can be respectively connected to different second gas outlets 162. In some embodiments, the proximal ends of the multiple second gas pipes 163 can be connected to the same second gas outlet 162. For example, the air intake assembly 160 may further include an air outlet cavity at the proximal end, and the air outlet cavity can be connected to the second gas outlet 162. The proximal ends of the multiple second gas pipes 163 can all be connected to the air outlet cavity.

[0113] In some embodiments, the air suction component 160 may also include a waterproof and breathable membrane that is respectively sealed at least one second air inlet 161 and second air outlet 162 to prevent liquid from entering the second air pipe 163 through the second air inlet 161 or the second air outlet 162, so that the interior of the second air pipe 163 remains dry.

[0114] In some embodiments, as Figure 3 As shown, the distal end of the at least one second air delivery tube 163 can be disposed within the outer housing 141, for example, by bonding. In some embodiments, the distal end of the at least one second air delivery tube 163 can be located outside the inner housing 142, for example, by bonding. The at least one second air inlet 161 of the suction assembly 160 can be disposed inside the distal end of the inner housing 142 to facilitate suction of smoke that obscures the lens 121.

[0115] In some embodiments, as Figure 6A As shown, the air suction assembly 160 may further include a second vibration module 164 and a second one-way air valve 165. The second vibration module 164 may be disposed within the second air pipe 163, and at least a portion of the second vibration module 164 may vibrate back and forth, thereby compressing the gas within the second air pipe 163. Those skilled in the art will appreciate that the vibration direction of at least a portion of the second vibration module 164 may be parallel to the axial direction of the second air pipe 163, thereby compressing the gas within the second air pipe 163.

[0116] like Figure 6AAs shown, the second one-way valve 165 can be disposed at the proximal end of the second gas pipe 163, and the input end of the second one-way valve 165 can be in communication with the proximal end of the second gas pipe 163. The second gas outlet 162 can be disposed at the output end of the second one-way valve 165. It will be understood by those skilled in the art that when at least a portion of the second vibration module 164 reciprocates, the gas at the input end side of the second one-way valve 165 can be pressed to flow toward the output end side, and the gas in the second gas pipe 163 can flow to the outside through the second one-way valve 165. The gas in the patient's body can enter the second gas pipe 163 through the second gas inlet 161, thereby achieving the purpose of suctioning the smoke in the patient's body.

[0117] In some embodiments, the second vibration module 164 can have a similar structure to the first vibration module 154, for example, including a bracket, a vibration circuit, and a diaphragm (not shown). The bracket can be positioned within the second gas supply tube 163 and can be used to provide a magnetic field. The bracket can include at least one vent for gas to pass through. The vibration circuit can include a coil, which can be mounted on at least a portion of the bracket to reciprocate in the magnetic field provided by the bracket under the influence of the alternating current in the vibration circuit. The coil can be connected to the diaphragm to drive the reciprocating motion of the diaphragm. The diaphragm can be circumferentially connected to the inner wall of the second gas supply tube 163. The vibration of the diaphragm can compress the gas within the second gas supply tube 163 to flow to the outside through the second one-way valve 165, allowing gas from the patient's body to flow into the second gas supply tube 163.

[0118] In other embodiments, the second vibration module 164 may include multiple layers of stacked piezoelectric layers and electrodes, and a diaphragm connected to the piezoelectric layers. The electrodes can apply a voltage to the piezoelectric layer, causing the piezoelectric layer to vibrate rapidly under the voltage and drive the diaphragm to vibrate, thereby forcing the gas within the second gas pipe 163 to flow to the outside through the second one-way valve 165, allowing the gas within the patient's body to flow into the second gas pipe 163. Those skilled in the art will appreciate that the structure of the second vibration module 164 is not limited to the aforementioned structures and may also be any suitable structure.

[0119] In some embodiments, the air suction assembly 160 may include multiple second vibration modules 164, which may be sequentially arranged within the second air pipe 163 along the axial direction of the second air pipe 163. The multiple second vibration modules 164 (e.g., the diaphragms of each second vibration module 164) may each compress the gas within the second air pipe 163, thereby improving the efficiency of squeezing the gas within the second air pipe 163.

[0120] like Figure 6AAs shown, in some embodiments, the second vibration module 164 can be connected to the inhalation control device 205. The inhalation control device 205 can control the second vibration module 164 (e.g., a vibration circuit) to enable the inhalation component 160 to start inhalation, stop inhalation, start inhalation and continue inhalation for a preset time period under control, etc.

[0121] like Figure 6A As shown, in some embodiments, the distal end of the second gas tube 163 can be located inside the endoscope 100, and the proximal end can blow the gas out of the endoscope 100. The second vibration module 164 and the second one-way air valve 165 can both be arranged outside the endoscope 100, and the second vibration module 164 can be arranged inside the proximal end of the second gas tube 163. In some embodiments, the radial dimension of the proximal end of the second gas tube 163 can be larger than the distal end of the second gas tube 163, so as to facilitate accommodating the second vibration module 164. The suction control device 205 can be arranged outside the endoscope 100 to facilitate connection with the second vibration module 164. In other embodiments, the second vibration module 164 can be arranged inside the distal end of the second gas tube 163, located inside the endoscope 100.

[0122] In other embodiments, the second gas delivery tube 163 may be located within the endoscope 100, and the second gas outlet 162 may be provided on the outer surface of the proximal end of the endoscope 100 to blow gas to the outside. The second vibration module 164 and the second one-way valve 165 may both be located within the endoscope 100. The suction control device 205 may be provided within or outside the endoscope 100 and connected to the second vibration module 164 via a cable or the like.

[0123] As an alternative embodiment to the second vibration module 164, in other embodiments, the suction assembly 160 may include a second air pump (not shown). The second air pump may be located outside the endoscope 100 and may be connected to the proximal end of the second air supply tube 163. The second air pump is capable of drawing gas from the second air supply tube 163 and pumping it to the outside, thereby aspirating smoke from the patient's body. The suction control device 205 may be in communication with the second air pump to control the second air pump, enabling the second air pump to start and stop suction under control.

[0124] Figure 6B FIG. 1 shows a schematic structural diagram of the blowing assembly 150 and the suction assembly 160 according to some embodiments of the present disclosure. Figure 6B As shown, the endoscope 100 may further include an air delivery tube 180, which may include an air port (not shown) at the distal end, and the air port may be located at the lens 121 (see FIG. Figure 2) distal end. The blowing assembly 150 and the suction assembly 160 can both be connected to the proximal end of the air supply tube 180. When the blowing assembly 150 is in operation, gas flows from the proximal end to the distal end of the air supply tube 180, thereby blowing gas out of the air port at the distal end of the air supply tube 180 to disperse residual cleaning fluid, etc., on the lens 121. When the suction assembly 160 is in operation, smoke can be inhaled through the air port at the distal end of the air supply tube 180. The smoke can flow from the proximal end to the distal end of the air supply tube 180 and be discharged out of the patient's body. In this embodiment, the blowing assembly 150 and the suction assembly 160 can reuse the air supply tube 180, which helps to simplify the structure of the endoscope 100.

[0125] In some embodiments, the endoscope 100 may further include a heat-conducting structure (not shown) and a heating circuit. The heat-conducting structure may be provided at the proximal end of the lens 121, for example, provided around the proximal end surface of the lens 121. In some embodiments, the heat-conducting structure may include heat-conducting silica gel, heat-conducting gel, heat-conducting silicone grease, or heat-conducting phase change material. The heat-conducting structure may be thermally coupled to the lens 121. Figure 6A and Figure 6B As shown, the heating circuit may include a heating resistor 171 and a controllable switch 172. The heating resistor 171 can be used to generate heat, and the heating resistor 171 can be thermally coupled with the heat-conducting structure. Those skilled in the art will understand that the heating resistor can convert a portion of electrical energy into thermal energy, thereby generating heat. In some embodiments, the heating resistor 171 can abut against the heat-conducting structure to improve the heat transfer efficiency. In some embodiments, the heating resistor 171 can be in different forms such as a resistance wire, a resistance block, etc.

[0126] Those skilled in the art will appreciate that when an endoscope is inserted into a patient's body, the temperature of the endoscope lens is often lower than that of the patient's internal body. Water vapor from the patient's body can condense on the surface of the endoscope lens, obstructing the surgical field of view. In this embodiment, the heat generated by the heating resistor 171 can be transferred to the heat-conducting structure, and then to the lens 121 through the heat-conducting structure, thereby increasing the temperature of the lens 121 and dissipating the water vapor on the surface of the lens 121.

[0127] like Figure 6A and Figure 6B As shown, a controllable switch 172 can be connected to the heating resistor 171, and the controllable switch 172 can be used to turn on or off the heating circuit. The controllable switch 172 can be set in the endoscope 100, or the controllable switch 172 can be set outside the endoscope 100 and connected to the heating resistor 171 set in the endoscope 100 via a cable. The user can control the on and off of the heating circuit by controlling the controllable switch 172, thereby controlling the start and stop of heating of the endoscope, etc.

[0128] In some embodiments, the arm 110 may be a flexible arm to increase the degree of freedom of the endoscope 100 and enhance the flexibility of the endoscope 100 in moving within the patient's body.

[0129] like Figure 1 As shown, in some embodiments, the arm 110 may include a first continuum structure 111 . Figure 7 FIG. 1 is a schematic structural diagram of the first continuous structure 111 of the arm 110 according to some embodiments of the present disclosure. Figure 7 As shown, the first continuum structure 111 may include a first base plate 1111, a plurality of first spacer plates 1112, and a plurality of first structural bones 1113. The plurality of first structural bones pass through the plurality of first spacer plates and the first base plate 1111, and the proximal ends of the plurality of first structural bones are used to receive a push or pull drive to drive the first continuum structure 111 to move. In some embodiments, as Figure 7 As shown, the first continuum structure 111 may further include a first fixing plate 1114. The distal ends of the plurality of first structural bones are fixedly connected to the first fixing plate 1114. In some embodiments, as shown in FIG. Figure 1 As shown, the proximal end of the outer shell 141 can be connected to the first fixing plate 1114, for example, by bonding, welding or other suitable means.

[0130] like Figure 7 As shown, a plurality of first spacer plates 1112 may be spaced apart to enhance the stability of the plurality of first structural bones 1113 when being pushed or pulled. Figure 7 The first continuum structure 111 shown includes three first spacer disks 1112 . Those skilled in the art will appreciate that the number of first spacer disks 1112 included in the first continuum structure 111 is not limited to three, and the first continuum structure 111 may include any appropriate number of first spacer disks 1112 .

[0131] In some embodiments, the first base plate 1111 , the first spacer plate 1112 and the first fixed plate 1114 may be in the shape of a ring structure, a disk structure or other suitable structures, and the cross section may be in various shapes such as a circle, a rectangle, a polygon or the like.

[0132] In some embodiments, as Figure 1 As shown, the arm 110 may further include a second continuum structure 112. The structure of the second continuum structure 112 may be similar to that shown in FIG. Figure 7 The structure of the first continuum structure 111 shown is similar. Figure 1As shown, the second continuum structure may include a second base plate 1121, a plurality of second spacer plates 1122, and a plurality of second structural bones 1123. The plurality of second structural bones 1123 pass through the plurality of second spacer plates 1122 and the second base plate 1121. The proximal ends of the plurality of second structural bones 1123 are used to receive a push or pull drive to drive the second continuum structure 112 to move. Figure 1 As shown, the first continuum structure 111 is located at the distal end of the second continuum structure 112, and a plurality of first structural bones 1113 pass through a plurality of second spacer disks 1122 and a second base disk 1121. In some embodiments, as shown in FIG. Figure 1 As shown, the second continuum structure 112 may further include a second fixing plate 1124 . The distal ends of the plurality of second structural bones 1123 are fixedly connected to the second fixing plate 1124 .

[0133] like Figure 1 As shown, the plurality of second spacer plates 1122 may be spaced apart to enhance the stability of the plurality of second structural bones 1123 when being pushed or pulled. Those skilled in the art will appreciate that the second continuum structure may include any appropriate number of second spacer plates 1122 .

[0134] In some embodiments, the second base plate 1121 , the second spacer plate 1122 and the second fixed plate 1124 may be in the shape of a ring structure, a disk structure or other suitable structures, and the cross section may be in various shapes such as a circle, a rectangle, a polygon or the like.

[0135] In some embodiments, as Figure 7 As shown, the first base plate 1111, the plurality of first spacer plates 1112, and the first fixed plate 1114 of the first continuum structure 111 may include a central through hole. The second base plate 1121, the plurality of second spacer plates 1122, and the second fixed plate 1124 of the second continuum structure 112 may also include a central through hole. The proximal ends of the at least one liquid delivery tube 132 of the spray assembly 130, the at least one first air delivery tube 153 of the blowing assembly 150, and the at least one second air delivery tube 163 of the suction assembly 150 may extend out of the arm body 110 through the central through hole to extend to the proximal end of the endoscope 100.

[0136] In some embodiments, the arm 110 may further include a first straight rod segment 113 disposed between the first continuum structure 111 and the second continuum structure 112. Figure 1As shown, the second fixing plate 1124 of the second continuum structure 112 can be fixedly connected to the proximal end of the first straight rod segment 113. In some embodiments, the arm 110 can further include a second straight rod segment 114 connected to the proximal end of the second continuum structure 112. For example, during surgery, the endoscope 100 can be inserted into the patient's body through an opening (e.g., an incision or a natural opening, etc.), and the second straight rod segment 114 can pass through the opening.

[0137] Those skilled in the art will appreciate that the structure for increasing the degree of freedom of the arm 110 is not limited to a continuum structure, but may also be a suitable structure such as a snake-bone structure, a combination of a rod and a joint, or the like.

[0138] The proximal ends of the plurality of first structural bones 1113 and the plurality of second structural bones 1123 can be connected to a driving device. Figure 8 FIG. 1 shows a schematic structural diagram of a driving device 1000 according to some embodiments of the present disclosure. In some embodiments, the driving device 1000 may include a first driving mechanism 1010. Figure 8 , the first driving mechanism 1010 is connected to the proximal end of the endoscope 100. In some embodiments, the plurality of first structural bones ( Figure 8 Not shown, e.g. Figure 1 The first structural bone 1113) and / or the plurality of second structural bones ( Figure 8 Not shown, e.g. Figure 1 The second structural bone 1123 shown connects to the first drive mechanism 1010 by passing through a plurality of second spacer plates 1122 and a second base plate 1121. The first drive mechanism 1010 drives the first continuum structure 111 to bend in different directions in space by pushing and pulling the plurality of first structural bones 1113, and drives the second continuum structure 112 to bend in different directions in space by pushing and pulling the plurality of second structural bones 1123. For example, the first drive mechanism 1010 may include multiple double-threaded screw assemblies, each of which may include a double-threaded screw and a pair of sliders threadedly connected to the two threaded segments of the double-threaded screw. The double-threaded screw can be driven to rotate, thereby driving the pair of sliders to move in opposite directions at the same speed. The pair of sliders can be connected to a pair of symmetrical first structural bones 1113 or second structural bones 1123, thereby pushing and pulling the pair of symmetrical first structural bones 1113 or second structural bones 1123 to drive the first continuum structure 111 or second continuum structure 112 to bend. In some embodiments, the first drive mechanism 1010 may further include a proximal continuum, and the first continuum structure 111 or the second continuum structure 112 may be connected to the proximal continuum to form a coupled dual continuum. The proximal continuum may be driven to bend by a double-headed screw assembly, thereby driving the first continuum structure 111 or the second continuum structure 112 to bend.

[0139] In some embodiments, as Figure 8 As shown, the drive device may further include a second drive mechanism 1020, which is connected to the arm 110 of the endoscope via the first drive mechanism 1010 and is used to drive the arm 110 forward or backward, thereby advancing or retracting the endoscope 100 within the patient's body, or allowing the endoscope 100 to enter or exit the patient's body. In some embodiments, the second drive mechanism 1020 may be a linear drive mechanism, which is used to drive the arm 110 in linear motion. In some embodiments, the second drive mechanism 1020 may include a base and a drive unit. The base may be used to support the first drive mechanism 1010, and the drive unit is used to drive the base forward or backward. In some embodiments, the second drive mechanism 1020 may include a bracket 1021 with a slide groove, on which a lead screw 1022 is rotatably mounted. A slider 1023 is mounted on the lead screw 1022 as a base. The slider 1023 is threadedly engaged with the lead screw 1022 and slidably disposed in the slide groove of the bracket 1021. A motor 1024 serving as a second drive unit may be provided at one end of the bracket 1021, and the output shaft of the motor 1024 may be fixedly connected to the lead screw 1022 via a coupling 1025. In some embodiments, the slider 1023 further includes a sleeve 10231 for mounting the continuum frame 211. The sleeve 10231 may be mounted on the slider 1023, or the sleeve 10231 may be integrally formed with the slider 1023. The motor 1024 drives the lead screw 1022, thereby driving the slider 1023 and the sleeve 10231 to move linearly along the slide groove, thereby enabling the endoscope 100 to be fed and retracted. It will be understood by those skilled in the art that the second drive mechanism 1020 is not limited to the above structure, and any drive mechanism capable of achieving the feeding motion of the surgical tool does not depart from the scope of the present disclosure.

[0140] Some embodiments of the present disclosure also provide a surgical robot system 200 . Figure 9 FIG. 2 is a schematic diagram showing a surgical robot system 200 according to some embodiments of the present disclosure. Figure 9 As shown, the surgical robot system 200 may include an operating trolley 210 and an endoscope according to any one of the embodiments of the present disclosure, such as the endoscope 100. The operating trolley 210 may include at least one robotic arm 211. The at least one robotic arm 211 may be Figure 9 The positioning arm of the surgical robot system 200 is shown. The endoscope 100 can be set at the distal end of at least one robotic arm 211. The distal end of at least one robotic arm 211 can also carry at least one surgical tool 212 (for example, clamps, scissors, suction device, etc.).

[0141] In some embodiments, as Figure 9As shown, the surgical robot system 200 may further include a main control trolley 220. The surgical trolley 210 and the main control trolley 220 may be connected to each other by wired transmission or wireless transmission. Figure 9 As shown, the master console cart 220 may include at least one master operator 221 , such as a left master operator for receiving an operation of a user's left hand and a right master operator for receiving an operation of a user's right hand.

[0142] During surgery, the main control cart 220 can be located on the user's side to facilitate user operations. The surgical cart 210 can be located on the patient's side to facilitate the surgical operation. In some embodiments, the user can operate the main operator 221 of the main control cart 220 to adjust the position of the endoscope 100 mounted on the surgical cart 210 to adjust the user's field of view. In some embodiments, the user can also operate the main operator 221 to adjust the position of at least one surgical tool 212 (e.g., clamps, shears, aspirator, etc.) and control the surgical tool 212 to perform operations (e.g., cutting, clamping, etc.).

[0143] In some embodiments, as Figure 9 As shown, the control cart 220 may include a first display 222 and a second display 223. The first display 222 may be a 2D display, and the second display 223 may be a 3D display. Images captured by the endoscope 100 during surgery may be displayed on the first display 222 and / or the second display 223 for easy viewing by a user on the control cart 220.

[0144] Those skilled in the art will appreciate that the surgical robot system 200 provided in this embodiment may be any suitable surgical robot system, including a laparoscopic surgical robot system.

[0145] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. An endoscope, characterized in that: include: Arm body; an imaging assembly, disposed at the distal end of the arm, the imaging assembly comprising a lens; and A spray assembly is used for spraying cleaning liquid. The spray assembly includes at least one spray port. The at least one spray port is located at the distal end of the endoscope and faces the lens.

2. The endoscope according to claim 1, wherein: Also includes: The air blowing assembly includes at least one first air outlet, and the at least one first air outlet is located at the distal end of the endoscope and faces the lens.

3. The endoscope according to claim 2, wherein: The spray assembly also includes: At least one liquid feeding pipe, the distal end of the at least one liquid feeding pipe is communicated with the at least one spray port, and the proximal end of the at least one liquid feeding pipe can be used to connect to a cleaning liquid storage tank.

4. The endoscope according to claim 3, wherein: The air blowing assembly further includes a first air inlet, and the air blowing assembly further includes: At least one first gas delivery pipe, wherein the distal end of the at least one first gas delivery pipe is communicated with the at least one first gas outlet, and the proximal end of the at least one first gas delivery pipe is communicated with the first gas inlet.

5. The endoscope according to claim 4, wherein: Also included is a distal housing comprising: An outer shell covers the imaging assembly, the proximal end of the outer shell is connected to the distal end of the arm, and the distal ends of the at least one liquid delivery tube and the at least one first air delivery tube are arranged in the outer shell.

6. The endoscope according to claim 5, characterized in that The distal housing further comprises: An inner shell, the inner shell covers the imaging assembly and the outer shell covers the inner shell, the distal end of the inner shell protrudes from the imaging assembly, the at least one spray port and the at least one first air outlet are arranged on the inner side of the distal end of the inner shell, and the distal ends of the at least one liquid supply pipe and the at least one first air supply pipe are located on the outer side of the inner shell.

7. The endoscope according to claim 4, characterized in that The blowing assembly also includes: a first vibration module disposed in the first gas pipe, wherein at least a portion of the first vibration module is capable of reciprocating vibration, thereby compressing the gas in the first gas pipe; and A first one-way air valve is arranged at the proximal end of the first air supply pipe, the output end of the first one-way air valve is connected to the proximal end of the first air supply pipe, and the first air inlet is arranged at the input end of the first one-way air valve.

8. The endoscope according to claim 7, wherein: The first vibration module includes: A diaphragm is sealed and connected to the inner wall of the first air pipe in a circumferential direction, the diaphragm includes at least one air hole, and the diaphragm can vibrate back and forth and the vibration direction is parallel to the inner wall of the first air pipe.

9. The endoscope according to claim 8, wherein: The first vibration module further includes: a bracket, fixedly disposed in the first gas transmission pipe, the bracket being used to provide a magnetic field; and A vibration circuit includes a coil, the coil is coupled to the magnetic field provided by the bracket, the coil is connected to the diaphragm, and the coil is used to vibrate back and forth in the magnetic field under the action of the alternating frequency current in the vibration circuit.

10. The endoscope according to claim 9, characterized in that The bracket comprises: a main body, the main body being fixedly disposed in the first gas pipe; and A magnetic core is provided on the main body and extends in a direction parallel to the inner wall of the first gas transmission pipe, and the coil is sleeved on the magnetic core.

11. The endoscope according to claim 10, wherein: The first vibration module further includes: An elastic member is sleeved on the magnetic core, one end of the elastic member is fixedly connected to the magnetic core, and the other end is connected to the coil.

12. The endoscope according to claim 4, wherein: Also includes: an air suction assembly, the air suction assembly comprising at least one second air inlet and a second air outlet, the at least one second air inlet being located at the distal end of the endoscope, and the second air outlet being located at the proximal end of the endoscope; The air intake assembly further comprises: At least one second gas delivery pipe, wherein the distal end of the at least one second gas delivery pipe is communicated with the at least one second gas inlet, and the proximal end of the at least one second gas delivery pipe is communicated with the second gas outlet.

13. The endoscope according to claim 12, wherein: The air intake assembly further comprises: a second vibration module disposed in the second gas pipe, wherein at least a portion of the second vibration module is capable of reciprocating vibration, thereby compressing the gas in the second gas pipe; and The second one-way air valve is arranged at the proximal end of the second air supply pipe, the input end of the second one-way air valve is connected to the proximal end of the second air supply pipe, and the second air outlet is arranged at the output end of the second one-way air valve.

14. The endoscope according to claim 12, wherein: The arm body comprises: A first continuum structure, the first continuum structure comprising: A first base plate, a plurality of first spacer plates and a plurality of first structural bones, wherein the plurality of first structural bones pass through the plurality of first spacer plates and the first base plate, and the proximal ends of the plurality of first structural bones are used to receive a push or pull drive to drive the first continuum structure to move.

15. The endoscope according to claim 12, wherein: The arm body also includes: A second continuum structure, the second continuum structure comprising: A second base plate, a plurality of second spacer plates, and a plurality of second structural bones, wherein the plurality of second structural bones pass through the plurality of second spacer plates and the second base plate, the proximal ends of the plurality of second structural bones are used to receive push or pull drive to drive the second continuum structure to move, the first continuum structure is located at the distal end of the second continuum structure, and the plurality of first structural bones pass through the plurality of second spacer plates and the second base plate.

16. The endoscope according to claim 15, characterized in that The first base plate, the multiple first spacer plates, the second base plate and the multiple second spacer plates all include a middle through hole, and the proximal ends of the at least one liquid delivery tube, the at least one first air delivery tube and the at least one second air delivery tube extend out of the arm body through the middle through hole.

17. The endoscope according to claim 1, wherein Also includes: a heat-conducting structure, the heat-conducting structure being disposed at a proximal end of the lens and thermally coupled to the lens; as well as A heating circuit, comprising: a heating resistor, the heating resistor being used to generate heat and thermally coupled to the heat-conducting structure; as well as A controllable switch is connected to the heating resistor and is used to turn on or off the heating circuit.

18. The endoscope according to any one of claims 1 to 17, characterized in that: Also includes: A hydrophobic coating covers the surface of the lens.

19. A surgical robot system, characterized in that: include: An operating table, comprising at least one robotic arm; as well as The endoscope according to any one of claims 1 to 18, wherein the endoscope is disposed at the distal end of the at least one robotic arm.

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