Endoscope sleeve, endoscope joint and surgical robot

Abstract

The utility model relates to the technical field of medical instruments, and discloses an endoscope sleeve, an endoscope connector and a surgical robot. The endoscope sleeve comprises a base part, a sleeve part, a first locking piece, a second locking piece and an unlocking piece; the base part is rotationally mounted on the transmission box; the sleeve part is connected with the base part, and a first notch is formed between the sleeve part and the base part; a second notch penetrating through the top end and the bottom end of the sleeve part is further formed in the side wall of the sleeve part, the second notch is communicated with the first notch, and the first side wall and the second side wall on the two sides of the second notch are suspended relative to the base part; the first locking piece and the second locking piece are respectively arranged on the first side wall and the second side wall and are used for enabling the sleeve part to tightly hold the endoscope handle; the unlocking piece is connected with at least one of the first locking piece and the second locking piece and used for enabling the sleeve part to loosen the endoscope handle. The structure is simple, operation is convenient, reliable installation of the endoscope handle and the endoscope sleeve is guaranteed, and the problem that the endoscope is disengaged from the sleeve due to loose connection is avoided.

Description

TECHNICAL FIELD

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

[0002] With the continuous development of medical devices, computer technology and control technology, minimally invasive surgery has been more and more widely used due to its small surgical trauma, short recovery time and less pain for patients. The minimally invasive surgical robot can avoid the operation limitations such as hand tremor during filtering operation due to its high dexterity, high control precision and intuitive surgical image, and is widely used in abdominal, pelvic and thoracic surgical areas.

[0003] At present, the minimally invasive surgical robot includes a doctor console and a patient surgery platform. The main control arm of the doctor console collects the operation signal of the doctor, generates the control signal of the multiple surgical arms on the patient surgery platform after processing by the control system, and the surgical instruments installed on the surgical arms reproduce the operation of the doctor to execute the surgical process. Before the robot surgery starts, the surgical arms are clamped with the surgical instruments and the 3D endoscope. The surgical instruments enter the patient's body through the stab card inserted into the incision on the patient's body surface, and the 3D endoscope provides the monitoring image in the patient's body. One of the surgical arms is used as a mirror holding arm, and the endoscope joint is installed on the mirror holding arm to hold and move the 3D endoscope, thereby providing the doctor with a suitable view angle during surgery.

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

[0005] In the above scheme, although the endoscope handle is convenient to install with the sleeve, the joint of the sleeve and the endoscope handle is realized by the extrusion deformation of the three points of the sleeve side wall. If the force on the endoscope exceeds the friction force generated by the extrusion of the endoscope handle and the sleeve, there is a risk of the endoscope coming out. Moreover, when the medical staff installs the endoscope handle, there is no clear feedback to know whether the endoscope handle is installed in place.

[0006] Therefore, there is an urgent need for an endoscope sleeve, an endoscope joint and a surgical robot to solve the above technical problems. CONTENT OF THE UTILITY MODEL

[0007] Based on the above, the purpose of the present application is to provide an endoscope sleeve, an endoscope joint and a surgical robot, which can effectively fix the endoscope handle and avoid the endoscope handle from coming out of the endoscope sleeve.

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

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

[0010] A base part configured to be rotatably installed on a transmission box;

[0011] A sleeve part which, together with the base part, forms a space for inserting an endoscope handle, part of the side wall of the sleeve part is connected to the base part through a connecting part, and the remaining side wall of the sleeve part has a first gap with the base part; the side wall between the two sides of the second gap and the connecting part is respectively a first side wall and a second side wall, and the first side wall and the second side wall are suspended relative to the base part;

[0012] A first locking part and a second locking part are respectively arranged on the first side wall and the second side wall, the first locking part cooperates with the second locking part, and the sleeve part can tightly hold the endoscope handle;

[0013] An unlocking part is connected to at least one of the first locking part and the second locking part, and by operating the unlocking part, the sleeve part can release the endoscope handle.

[0014] In some possible embodiments, the first locking part and the second locking part cooperate through a buckle structure, when the first locking part and the second locking part are buckled to each other, the first side wall and the second side wall can approach each other to tightly hold the endoscope handle.

[0015] In some possible embodiments, the first locking part comprises an extension arm fixed to the first side wall, and a buckle is arranged on the extension arm; the second locking part comprises a connecting lug fixed to the second side wall, and a buckle hole is arranged on the connecting lug; the extension arm extends towards the connecting lug, and by extruding the sleeve part, the buckle can be buckled in the buckle hole.

[0016] In some possible embodiments, the unlocking part comprises a release button arranged on the extension arm, by pressing the release button, the buckle can be buckled out of the buckle hole.

[0017] In some possible implementation manners, the first locking member comprises a first clamping plate fixed to the first side wall and extending towards the second side wall; the second locking member comprises a second clamping plate fixed to the second side wall and extending towards the first side wall, the first clamping plate and the second clamping plate are arranged in an axial direction of the sleeve part; and an inner diameter of a space enclosed by the first clamping plate, the second clamping plate and the sleeve part is less than an outer diameter of the handle of the endoscope, so that the handle of the endoscope is clamped by interference fit.

[0018] In some possible implementation manners, the unlocking member comprises a first push button arranged at an extending end of the first clamping plate and a second push button arranged at an extending end of the second clamping plate, and the first side wall and the second side wall are moved away from each other by simultaneously pinching the first push button and the second push button, so as to release the handle of the endoscope.

[0019] In some possible implementation manners, the second notch is located at a side opposite to the connecting part, and the first side wall and the second side wall are symmetrically arranged about the connecting part; and / or, an arc length of the first notch accounts for 60% to 80% of an entire circumferential length of the sleeve part.

[0020] In some possible implementation manners, the endoscope sleeve is manufactured by integral processing.

[0021] In a second aspect, the present application provides an endoscope joint, comprising a transmission box configured to be detachably connected with a power box of a holding arm, and an endoscope sleeve according to any one of the above-mentioned solutions, the endoscope sleeve being rotatably installed on the transmission box, and the endoscope sleeve being configured to detachably install a handle of an endoscope.

[0022] In a third aspect, the present application provides a surgical robot, comprising a master part and a slave part, the master part being configured to be operated by a doctor and collect operation signals of the doctor to generate control signals transmitted to the slave part, the slave part being configured to perform a surgical operation under control of the control signals, the slave part comprising a holding arm and a holding mirror arm, the slave part further comprising the endoscope joint, a power box of the holding mirror arm being detachably connected with the transmission box, and the handle of the endoscope being detachably installed in the endoscope sleeve.

[0023] The present application has at least the following beneficial effects:

[0024] The endoscope sleeve provided in this application has a portion of its sidewall connected to a base portion via a connecting part. The remaining sidewalls of the sleeve portion have a first notch between themselves and the base portion, and the sidewalls of the sleeve portion also have a second notch penetrating through their top and bottom ends. This allows the first and second sidewalls to be suspended relative to the base portion. When subjected to external force, the first and second sidewalls can move closer together or further apart, thereby clamping or releasing the endoscope handle. Furthermore, a first locking member and a second locking member are respectively connected to the first and second sidewalls. Through the cooperation of the first and second locking members, the sleeve portion can tightly hold the endoscope handle. Simultaneously, the sleeve portion is also provided with an unlocking member, which allows for easy unlocking of the endoscope handle. This application has a simple structure and is easy to operate. By squeezing and clamping the endoscope handle with the sleeve portion, it effectively fixes the endoscope handle, ensuring that the endoscope handle does not detach from the endoscope sleeve even under stress, thus improving the safety of endoscope use. The endoscope connector and surgical robot provided in this application facilitate the smooth insertion and removal of the endoscope handle from the endoscope sleeve, and ensure reliable installation of the endoscope handle and the endoscope sleeve, avoiding the problem of the endoscope handle coming out of the sleeve due to loose connection, thus ensuring the smooth progress of the operation. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the endoscope connector provided in a specific embodiment of this application;

[0026] Figure 2 This is a schematic diagram of the endoscope sleeve provided in Embodiment 1 of this application;

[0027] Figure 3 This is an assembly diagram of the endoscope sleeve and endoscope handle provided in Embodiment 1 of this application;

[0028] Figure 4 This is a schematic diagram of the endoscope sleeve provided in Embodiment 2 of this application;

[0029] Figure 5 This is a schematic diagram of the endoscope sleeve provided in Embodiment 3 of this application;

[0030] Figure 6 This is a schematic diagram of the limiting ring involved in Embodiment 3 of this application;

[0031] Figure 7 This is a schematic diagram of the sleeve body involved in Embodiment 3 of this application;

[0032] Figure 8 This is a schematic diagram of the endoscope sleeve provided in Embodiment 4 of this application;

[0033] Figure 9 This is a schematic diagram of the first angle structure of the limiting ring involved in Embodiment 4 of this application;

[0034] Figure 10 is a second angle structure schematic view of the limiting ring involved in the fourth embodiment of the present application;

[0035] Figure 11 is a first angle structure schematic view of the sleeve body involved in the fourth embodiment of the present application;

[0036] Figure 12 is a second angle structure schematic view of the sleeve body involved in the fourth embodiment of the present application;

[0037] Figure 13 is an assembly schematic view of the endoscope sleeve and the endoscope handle in the third and fourth embodiments of the present application (wherein the limiting ring is in the first position);

[0038] Figure 14 is a partial enlarged view of A in Figure 13

[0039] Figure 15 is an assembly schematic view of the endoscope sleeve and the endoscope handle in the third and fourth embodiments of the present application (wherein the limiting ring is in the second position);

[0040] Figure 16 is a partial enlarged view of B in Figure 15

[0041] in the figure:

[0042] 100, endoscope sleeve; 200, transmission box; 300, endoscope handle; 301, protruding part;

[0043] 11, base part; 12, sleeve part; 121, first side wall; 122, second side wall; 123, second notch; 13, connecting part; 14, first notch; 15, extension arm; 151, buckle; 16, connecting ear; 17, release button; 18, first clamping plate; 181, first push button; 19, second clamping plate; 191, second push button;

[0044] 21, sleeve body; 210, limiting groove; 211, avoiding opening; 212, sliding groove; 213, cantilever structure; 214, second rib; 215, first extension wall; 216, second extension wall; 217, guide groove; 218, first protruding strip; 219, second protruding strip; 22, limiting ring; 221, avoiding groove; 222, limiting boss; 223, connecting arm; 224, sliding block; 225, first rib; 226, limiting arm; 227, guide part. DETAILED DESCRIPTION

[0045] The technical solutions of the embodiments of the present application will be described below in combination with the drawings in the embodiments of the present application. ​​

[0046] In this specification, some embodiments of the present application are described based on detailed technical terms to help those skilled in the art to understand the complete technical solutions. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed description of technical details should not be regarded as a limitation of the present application, and the protection scope of the present application is only defined by the claims. In other places, well-known structures, connection / position relationships, circuits and / or other details can also not be shown in detail to avoid misleading the public about the inventive points of the present application.

[0047] In this specification, the drawings show the schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that mechanical structures, connection / position relationships, physical compositions, electricity and steps can be changed without departing from the spirit and scope of the present application. Such changes can be made by replacing or combining elements of several embodiments of the present application, or by replacing or combining well-known contents.

[0048] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present application. Spatial relative terms, such as "below", "lower", "above", "upper", "middle", "interior", "exterior", "center", "edge", and the like, are used to facilitate description and are used to describe the relationship between one component or feature shown in the drawings and another component or feature. It should be understood that the spatial relative terms are used in the orientation direction of the device in use or operation (except for the orientation direction specially limited in the drawings), and are not necessarily unique and unchanging. For example, if the device in the drawing is flipped 180° along the paper, the element described as "below" the other component or feature will become "above" the other component or feature. Therefore, the exemplary term "below" can cover both the above and below directions, depending on how the device is positioned. The device can also be positioned in other directions (e.g., rotated 90° or positioned in other directions), and the spatial relative description words used herein are interpreted accordingly.

[0049] As used herein, "a number of", "one", and "the" are intended to also include plural forms, unless the context indicates otherwise. It should be further understood that the terms "comprise" and / or "include" specify the presence of the described features, steps, operations, elements and / or components, without excluding the presence of one or more other features, steps, operations, elements, components and / or groups thereof.

[0050] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "part", "part", "module", "assembly" and "element" are used interchangeably.

[0051] The terms "instrument," "surgical instrument," and "surgical procedure instrument" are used herein to describe a medical device configured to be inserted into a patient and used to perform a surgical procedure or diagnostic operation, generally including an end effector. The end effector can be a surgical tool relevant to one or more surgical operations, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used by embodiments of the present application further provide articulated supports (sometimes referred to as "wrist joints," "jointed bases") for the surgical tools, so that the position and / or orientation of the end effector can be flexibly manipulated relative to the instrument shaft in one or more mechanical degrees of freedom. Further, many end effectors include functional mechanical degrees of freedom, such as opening or closing jaws or translating a blade along a particular path. The instruments can also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updatable by the surgical system. Accordingly, the system can provide one-way or two-way communication of information between the instrument and one or more system components.

[0052] The term "mating" (sometimes referred to as "connecting," "coupling," "mounting," "assembling") can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mated objects to operate in conjunction with one another. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to mate two or more objects. For example, objects A and B can be mated by using object C. Furthermore, the term "removably coupled" or "removably mated" can be interpreted to mean a non-permanent coupling or mating situation between two or more objects. This means that the removably coupled objects can be uncoupled and separated so that they no longer operate in conjunction.

[0053] Finally, the terms "or" and "and / or" as used herein are to be interpreted as inclusive or meaning any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means any of the following: A; B; C; A and B; A and C; B and C; A, B and C. An exception to this definition will occur only when two or more alternatives are inherently mutually exclusive from each other.

[0054] Overview of master-slave teleoperated laparoscopic surgical robot

[0055] Laparoscopic surgical robots typically include a surgeon control platform, a patient surgery platform, and an image platform. The surgeon sits at the surgeon control platform, watches a two- or three-dimensional video image of the surgical area transmitted by a laparoscope (sometimes referred to as an "endoscope") placed inside the patient's body, and manipulates the movement of a robotic arm on the patient surgery platform, as well as a surgical instrument or laparoscope attached to the robotic arm. The robotic arm is equivalent to simulating a human arm, and the surgical instrument is equivalent to simulating a human hand, both of which provide the surgeon with a series of actions that simulate the human wrist, while also filtering the tremors of the human hand itself, so they are increasingly widely used in surgery, especially in abdominal, thoracic, and general surgery.

[0056] The patient surgery platform typically includes a base, a column, a plurality of robotic arms connected to the column, and one or more surgical instrument manipulators at the end of a support assembly of each robotic arm. The surgical instrument and / or laparoscope are detachably coupled to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes that operate at a surgical site inside the patient's body. Various forms of control can be allowed for each surgical instrument manipulator to move the associated surgical instrument with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is limited by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient, which is typically located at the point where the surgical instrument enters the body wall, and which is generally referred to as a "telecentric point" or "fixed point".

[0057] The image platform typically includes one or more video displays with video image capture functionality (commonly an endoscope) and for displaying the captured images of the surgical instruments. In some laparoscopic surgical robots, the video image is delivered to the host computer of the image platform through optical devices that deliver the image from the inside of the patient's body to the distal end of the endoscope, one or more imaging sensors (e.g., CCD or CMOS sensors) that convert the image into an electrical signal, and the like. Subsequently, the processed image is displayed on the video display for observation by other doctors or assistants through image processing.

[0058] The surgeon control platform typically includes a base, a foot pedal assembly, a stereo monitor, a master control arm, and a hand controller connected to the end of the master control arm. The surgeon controls the hand controller and foot pedal assembly to effectuate specific actions of the surgical instruments and / or energy activation. The surgeon control platform can be at a single location in a surgical system composed of a laparoscopic surgical robot or it can be distributed at two or more locations in the system, and the teleoperated master / slave operation can be accomplished with a pre-determined level of control, such as one location as the master for the primary surgeon and another location as the slave for an assistant, where the master performs the primary surgical operation and the slave performs auxiliary operations such as laparoscope movement or tissue retraction. In some embodiments, the hand controller can be an input device capable of performing one or more manual operations, such as a joystick, an exoskeletal glove, a powered and gravity compensated manipulator, and the like. These input devices collect the surgeon's operation signals, which are processed by the control system to generate control signals for the manipulator of the surgical instrument, thereby controlling the teleoperated motors on the manipulator of the surgical instrument, which in turn controls the final movement of the surgical instrument.

[0059] Generally, the force generated by the teleoperated motors is transmitted through a transmission system to transfer the force from the teleoperated motors to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device that controls the manipulator can be located remotely from the patient, in the room where the patient is located or outside, or even in a different city. The input signals of the input device are then transmitted to the control system. Those familiar with telemanipulation, teleoperation, and telepresence surgery will appreciate such systems and their components, which are not described here in detail.

[0060] The present application provides a surgical robot including a master hand portion and a slave hand portion. The surgeon controls the slave manipulator arm of the slave hand portion indirectly by manipulating the master control arm of the master hand portion, specifically: the master control arm collects the surgeon's operation signals, which are processed by the control system to generate control signals for the slave manipulator arm of the slave hand portion, and the slave hand portion performs the surgical operation under the control of the control signals. The master hand portion and the slave hand portion of the surgical robot can be placed in the same space; they can also be located at different spatial positions, and data transmission between them can be wired or wireless. During the robot surgery, the slave manipulator arm clamps the surgical instrument and the 3D endoscope, the surgical instrument enters the patient's body through the stab card inserted into the incision on the patient's body surface, and the 3D endoscope provides monitoring images of the patient's body. The slave manipulator arm includes a tool holding arm for mounting the surgical instrument and a mirror holding arm for mounting the endoscope joint. Of course, in some embodiments, the tool holding arm can also be used as a mirror holding arm. The mirror holding arm is provided with a power box for detachable connection with the endoscope joint, and the 3D endoscope is detachably mounted in the endoscope joint, so that clamping and moving operations of the 3D endoscope can be realized, thereby providing a suitable viewing angle for the surgeon during surgery.

[0061] AsFigure 1 As shown, the present application also provides an endoscope joint which is adapted to the endoscope and meets the needs of endoscope movement function. The endoscope joint comprises an adapter part adapted to engage with the endoscope handle and a transmission box 200 for detachable connection with the power box on the mirror holding arm. The adapter part mainly comprises an endoscope sleeve 100; the transmission box 200 mainly comprises a housing and a transmission assembly arranged in the housing; the endoscope sleeve 100 is rotatably mounted on the transmission box 200, and the endoscope sleeve 100 is used for detachably mounting the endoscope handle. The present embodiment can realize the transmission of the power output by the power box to the endoscope handle in the endoscope sleeve 100 through the transmission box 200, so as to realize the control of the endoscope movement. It should be noted that the endoscope joint of the present application is mainly adapted to engage with the handheld endoscope, and for the non-handheld endoscope, the endoscope handle can be directly made into a structure capable of cooperating with the isolation plate, so that the endoscope sleeve 100 and the sleeve locking structure are not needed. However, by adapting the handheld endoscope through the endoscope joint, compared with the non-handheld robot special endoscope, the existing handheld endoscope of the hospital can be used, the expensive cost (about 1.5-5 million yuan) of purchasing 3D endoscope by the hospital is saved, the surgical cost of the patient is indirectly reduced, and the use is simple, which ensures the convenience of preoperative preparation.

[0062] Since the engagement of the endoscope handle with the endoscope sleeve 100 in the prior art is realized by the extrusion deformation of three points of the side wall of the endoscope sleeve 100, if the force on the endoscope exceeds the friction generated by the extrusion of the endoscope handle and the endoscope sleeve 100, there is a risk of the endoscope coming out. Moreover, the medical staff cannot get clear feedback when installing the endoscope handle, and cannot know whether the endoscope handle is installed in place. In view of the above technical problems, the endoscope sleeve 100 is improved in the present application, which can realize reliable locking and smooth unlocking of the endoscope handle, and prevent the endoscope handle from coming out of the endoscope sleeve 100 during use. For details, see embodiments one to four below.

[0063] Embodiment one

[0064] As Figures 2-3As shown, the embodiment provides an endoscope sleeve, which comprises a base part 11 and a sleeve part 12, the base part 11 is located at the bottom of the sleeve part 12, and the base part 11 is configured to be rotatably installed on a transmission box; the base part 11 has an inner cavity, and the sleeve part 12 is cylindrical and located above the base part 11, and the sleeve part 12 and the base part 11 jointly form a space for inserting an endoscope handle 300, which is matched with the shape of the endoscope handle 300. Part of the side wall of the sleeve part 12 is connected with the base part 11 through a connecting part 13, and the remaining side wall of the sleeve part 12 has a first gap 14 with the base part 11; the side wall of the sleeve part 12 is also provided with a second gap 123 penetrating through the top end and the bottom end, the second gap 123 is communicated with the first gap 14, and the side wall between the two sides of the second gap 123 and the connecting part 13 is respectively a first side wall 121 and a second side wall 122, and the first side wall 121 and the second side wall 122 are both suspended relative to the base part 11. The above structure makes the first side wall 121 and the second side wall 122 close to or away from each other when the sleeve part 12 is extruded by external force, so as to tightly hold or release the endoscope handle 300. The first side wall 121 is provided with a first locking part, and the second side wall 122 is provided with a second locking part, and through the cooperation of the first locking part and the second locking part, the endoscope handle 300 can be locked in the endoscope sleeve. At the same time, the sleeve part 12 is also provided with an unlocking part, which is connected with at least one of the first locking part and the second locking part, and through the operation of the unlocking part, the sleeve part 12 can release the endoscope handle 300. The embodiment has simple structure and convenient operation, and through the extrusion and holding of the sleeve part 12 to the endoscope handle 300, the effective fixation of the endoscope handle 300 is realized, and even in the stressed environment, the endoscope handle 300 can also be guaranteed not to come out of the endoscope sleeve, and the safety of the endoscope is improved.

[0065] Optionally, in the embodiment, the second notch 123 is arranged on the sleeve part 12 opposite to the connecting part 13, and the first side wall 121 and the second side wall 122 are symmetrically arranged about the connecting part 13, so that the extrusion force of the first side wall 121 and the second side wall 122 on the endoscope handle 300 is more balanced, the reliability of the installation of the endoscope handle 300 is increased, and the endoscope handle 300 is prevented from loosening or affecting normal use due to uneven force. Optionally, in the embodiment, the arc length of the first notch 14 accounts for 60% to 80% of the entire circumference of the sleeve part 12. By increasing the arc length of the first notch 14, the proportion of the suspended first side wall 121 and the second side wall 122 in the entire sleeve part 12 can be increased, thereby improving the deformability of the first side wall 121 and the second side wall 122 and increasing the clamping force on the endoscope handle 300. Moreover, it is more convenient to pull or push the first side wall 121 and the second side wall 122, so that the first side wall 121 and the second side wall 122 are close to each other to clamp the endoscope handle 300, and are away from each other to loosen the endoscope handle 300. Of course, the arc length of the first notch 14 cannot be set too large, so as to excessively shorten the arc length of the connecting part 13, thereby affecting the connection stability and service life between the sleeve part 12 and the base part 11. In the embodiment, the arc length of the first notch 14 accounts for 60% to 80%, so that various factors can be comprehensively considered, so that the structure of the endoscope sleeve is stable, convenient to use, and reliable in clamping. Exemplarily, the arc length of the second notch 123 of the embodiment can be set to 75% of the circumference of the sleeve part 12. Optionally, the material of the endoscope sleeve of the embodiment can be plastic and is obtained by integral processing, so that the processing technology of the endoscope sleeve can be simplified, the structural strength is increased, the cost is reduced, and the service life is prolonged.

[0066] With continued reference to Figure 2 and Figure 3In the embodiment, the first locking member and the second locking member are matched through the buckle structure. After the endoscope handle 300 is inserted into the endoscope sleeve, the first side wall 121 and the second side wall 122 are made close to each other by extruding the sleeve part 12, and the first locking member and the second locking member are locked to each other through the clamping, so as to lock the positions of the first side wall 121 and the second side wall 122, to achieve the tight fixing of the endoscope handle 300. The above scheme is matched through the buckle structure, which is simple in structure, convenient to operate, easy to process, and can effectively ensure the connection reliability between the first locking member and the second locking member. Exemplarily, the first locking member includes an extension arm 15 fixed to the first side wall 121, and the extension arm 15 is provided with a buckle 151; the second locking member includes a connecting lug 16 fixed to the second side wall 122, and the connecting lug 16 is provided with a clamping hole; the extension arm 15 extends to the direction where the connecting lug 16 is located, and the buckle 151 can be clamped in the clamping hole by extruding the sleeve part 12, so as to realize the reliable locking between the first locking member and the second locking member. Moreover, the buckle 151 and the clamping hole are connected, which is convenient for medical staff to visually observe and intuitively judge whether the endoscope handle 300 is fixed, and is convenient for the next operation. Further, in the embodiment, the unlocking member includes a release button 17 arranged on the extension arm 15. The buckle 151 can be disengaged from the clamping hole by pressing the release button 17, which is simple to operate and convenient for putting in and taking out the endoscope handle 300. Of course, in other embodiments, the first locking member and the second locking member can also be locked through the lock tongue and the lock hole, the magic tape, the screw and the like, as long as the detachable fixing between the first locking member and the second locking member can be realized, and the buckle structure introduced in the embodiment is not limited.

[0067] It should be noted that the scheme of the embodiment is different from the prior art. In the embodiment, the endoscope handle 300 is not fixed by the shape change of the material itself, but is tightly fixed and fixed by the extrusion force of the sleeve side wall on the endoscope handle 300. The advantage of such arrangement is that the endoscope handle 300 can be inserted and pulled out many times without loosening, and the clamping force is large enough to prevent the endoscope from loosening under the action of external force. Of course, based on the embodiment, those skilled in the art can further use the elastic deformation of the side wall of the sleeve part 12 to fix the endoscope handle 300 in the sleeve part 12, so as to further increase the fixing reliability of the endoscope handle 300 and the endoscope sleeve.

[0068] Embodiment two

[0069] The embodiment provides another endoscope sleeve, which comprises a base part 11, a sleeve part 12, a first locking part, a second locking part and an unlocking part, wherein the base part 11 and the sleeve part 12 are the same as those in the first embodiment, and the first locking part, the second locking part and the unlocking part are different from those in the first embodiment. The same structure as that in the first embodiment is not described herein again.

[0070] As shown in Figure 4 the first embodiment, the first locking part comprises a first clamping plate 18, the first clamping plate 18 is fixed to the first side wall 121 and extends towards the second side wall 122; the second locking part comprises a second clamping plate 19, the second clamping plate 19 is fixed to the second side wall 122 and extends towards the first side wall 121, and the first clamping plate 18 and the second clamping plate 19 are arranged in an up-down interval along the axial direction of the sleeve part 12. In the first embodiment, the inner diameter of the space formed by the first clamping plate 18, the second clamping plate 19 and the sleeve part 12 is smaller than the outer diameter of the endoscope handle 300, when the endoscope handle 300 is inserted into the space, the first clamping plate 18 and the second clamping plate 19 are stretched to both sides, and the first clamping plate 18 and the second clamping plate 19 tightly clasp the endoscope handle 300 through interference. Of course, in the first embodiment, the material of the endoscope sleeve itself can also be elastically deformed under the extrusion of the endoscope handle 300, so as to further increase the clamping force of the endoscope handle 300. The advantage of such arrangement is that, if the endoscope handle 300 is to be separated from the endoscope sleeve, not only the pressure given by the interference fit needs to be overcome, but also the force of the deformation of the material of the endoscope sleeve needs to be overcome, which greatly increases the difficulty of the endoscope handle 300 to be separated, thereby reducing the risk of the endoscope handle 300 to be separated. Further, the unlocking part of the first embodiment comprises a first push button 181 and a second push button 191, the first push button 181 is arranged at the extension end of the first clamping plate 18, and the second push button 191 is arranged at the extension end of the second clamping plate 19, by simultaneously pinching the first push button 181 and the second push button 191, the first side wall 121 and the second side wall 122 can be moved away from each other, so as to increase the space inside the sleeve part 12 and release the locking of the endoscope handle 300, at this time, the endoscope handle 300 can be freely inserted and pulled in the endoscope sleeve, which facilitates the installation and disassembly of the endoscope handle 300. The arrangement of the first push button 181 and the second push button 191 in the first embodiment greatly simplifies the unlocking step, facilitates the operation of medical staff, and is more convenient for medical staff to intuitively judge whether the endoscope handle 300 is fixed in the endoscope sleeve.

[0071] Embodiment three

[0072] As shown in Figures 5-7 and Figures 13-16As shown, the embodiment provides another endoscope sleeve, which can also effectively fix the endoscope handle 300 and prevent the endoscope handle 300 from being pulled out of the endoscope sleeve during use. The endoscope sleeve of the embodiment comprises a sleeve body 21 and a limiting ring 22. The sleeve body 21 is configured to be rotatably installed on the transmission box. The sleeve body 21 has an accommodating space matching the shape of the endoscope handle 300, which is used to insert the endoscope handle 300. The side wall of the sleeve body 21 is provided with an avoiding opening 211 extending through the top of the sleeve body 21, which is used to avoid the protruding part 301 on the endoscope handle 300. It should be noted that for handheld endoscopes, there are generally keys on the endoscope handle 300 to operate the endoscope functions, so the protruding part 301 can be caused by the keys on the endoscope handle 300 or can also be caused by other reasons. The limiting ring 22 is rotatably arranged on the top of the sleeve body 21. The inner side wall of the limiting ring 22 is provided with an avoiding groove 221 and a limiting boss 222. When the limiting ring 22 is rotated to a first position, the avoiding groove 221 is opposite to the avoiding opening 211. At this time, the endoscope handle 300 can be inserted into or pulled out of the endoscope sleeve. The protruding part 301 on the endoscope handle 300 can smoothly pass through the avoiding groove 221 and the avoiding opening 211. When the limiting ring 22 is rotated to a second position, at least part of the limiting boss 222 is opposite to the avoiding opening 211, thereby forming a blocking effect on the protruding part 301 on the endoscope handle 300. At this time, the endoscope handle 300 cannot be inserted into or pulled out of the endoscope sleeve.

[0073] When the endoscope sleeve of the embodiment is installed with the endoscope handle 300, the limiting ring 22 of the endoscope sleeve is in the first position by default (because the limiting ring 22 is necessarily in the first position after being unlocked last time, and there is a blocking force to be overcome when moving between the two positions, so the limiting ring 22 will not automatically rotate to the second position). The endoscope handle 300 is inserted into the endoscope sleeve. After being installed in place, the limiting ring 22 is rotated to the second position. The longitudinal movement of the endoscope handle 300 is limited by the limiting ring 22. When the endoscope is subjected to an external force, the external force will be transmitted to the limiting ring 22 through the protruding part 301 on the endoscope handle 300. Since the limiting ring 22 is connected with the sleeve body 21, an effective fixation of the endoscope handle 300 is formed. Even in an environment subjected to an external force, the endoscope handle 300 can be ensured not to be pulled out. When being unlocked, the endoscope handle 300 can be easily pulled out only by rotating the limiting ring 22 to the first position. The embodiment has a simple structure and is convenient to operate. The reliable fixation of the endoscope handle 300 is achieved, the safety of the endoscope is improved, and the smooth progress of the operation is ensured. By observing the position of the limiting ring 22 relative to the sleeve body 21, medical staff can intuitively determine whether the endoscope handle 300 is installed in place, which is convenient for the next operation.

[0074] Optionally, the inner side wall of the limiting ring 22 is provided with a connecting arm 223 extending downward into the sleeve body 21, the lower end of the connecting arm 223 is provided with a sliding block 224 protruding outward from the limiting ring 22, the side wall of the sleeve body 21 is provided with a sliding groove 212 extending along the circumference of the sleeve body 21, the sliding block 224 is inserted into the sliding groove 212 and can slide along the extension direction of the sliding groove 212. In this embodiment, by providing the sliding block 224 and the sliding groove 212, on the one hand, the stability of the rotation of the limiting ring 22 is ensured, and on the other hand, the sliding block 224 and the sliding groove 212 cooperate with each other to limit the movement of the limiting ring 22 along the axis direction of the endoscope sleeve, avoid the limiting ring 22 from being separated from the sleeve body 21, and further ensure the reliability of the fixation of the endoscope handle 300. Specifically, at least two connecting arms 223 can be uniformly provided on the limiting ring 22, and at least two sliding grooves 212 can be uniformly provided on the sleeve body 21. When the limiting ring 22 is installed with the sleeve body 21, each sliding block 224 is inserted into the sleeve body 21 by simultaneously pressing each connecting arm 223 towards the inner side of the limiting ring 22, until each sliding block 224 is inserted and cooperated with the corresponding sliding groove 212. Further, the sliding groove 212 of this embodiment is provided through the side wall of the sleeve body 21, which is easy to process (for example, the sleeve body 21 and the limiting ring 22 can be injection molded), easy to assemble (the limiting ring 22 can be inserted into the sleeve body 21), and can effectively prevent the sliding block 224 from being separated from the sliding groove 212.

[0075] Optionally, a first rib 225 is arranged on one side of the connecting arm 223 facing outward of the limiting ring 22, and the inner side wall of the sleeve body 21 is provided with a second rib 214 capable of interference fit with the first rib 225, when the limiting ring 22 is rotated to the second position, the first rib 225 can extrude and pass through the second rib 214, so as to lock the limiting ring 22 in the second position; conversely, when unlocking, the limiting ring 22 is rotated to the first position, the first rib 225 extrudes and passes through the second rib 214, so as to lock the limiting ring 22 in the first position. Optionally, the first rib 225 and the second rib 214 are both made of plastic material, so as to facilitate the mutual extrusion deformation of the first rib 225 and the second rib 214, and to generate a sudden change in force value and accompanied by a sound when passing through the extrusion position. Therefore, the first rib 225 and the second rib 214 in the embodiment have two functions, one is to lock the position of the limiting ring 22, to ensure reliable locking and smooth release of the endoscope handle 300; the other is that when the limiting ring 22 is twisted, the first rib 225 and the second rib 214 extrude each other, and a sudden change in force value and accompanied by a sound will occur when passing through the extrusion position, so as to increase the confirmation of the locked state or the unlocked state, and more conveniently for medical staff to know the installation state of the endoscope handle 300. Exemplarily, two connecting arms 223 are uniformly arranged on the limiting ring 22 in the embodiment, and one first rib 225 is arranged on each connecting arm 223, and two second ribs 214 are uniformly arranged on the inner side wall of the sleeve body 21, so that when the limiting ring 22 is rotated to the first position or the second position, the two first ribs 225 can simultaneously extrude and pass through the two second ribs 214, so that the stress of the limiting ring 22 is more uniform, the movement is more stable, and the force value mutation and the sound of the extrusion position are further increased, which is more convenient for medical staff to confirm the installation state of the endoscope handle 300. It should be noted that the force value mutation and the sound generally appear at the same time, but it is not limited that they must exist at the same time, which depends on the material of the first rib 225 and the second rib 214. Since the surgical robot has a certain noise after starting, when installing the endoscope near it, the smaller sound may not be easy to be noticed by the user, so the force value mutation will be more reliable.

[0076] Further, the side wall of the limiting ring 22 is further provided with a first limiting portion and a second limiting portion, and the side wall of the sleeve body 21 is provided with a third limiting portion and a fourth limiting portion. When the limiting ring 22 rotates to the first position along the first direction, the first limiting portion abuts against the third limiting portion, so that the limiting ring 22 cannot continue to rotate along the first direction, and at this time, it is the first limit position of the limiting ring 22. When the limiting ring 22 rotates to the second position along the second direction (i.e. the reverse direction of the first direction), the second limiting portion abuts against the fourth limiting portion, so that the limiting ring 22 cannot continue to rotate along the second direction, and at this time, it is the second limit position of the limiting ring 22. In this embodiment, the movement of the limiting ring 22 along the first direction and the second direction is limited, which can prevent the limiting ring 22 from rotating excessively, improve the accuracy of the position of the limiting ring 22, and further ensure the smooth installation and reliable fixation of the endoscope handle 300. Specifically, the first limiting portion and the second limiting portion of this embodiment are formed by the two side surfaces of the connecting arm 223, and the third limiting portion and the fourth limiting portion are formed by the two ends of the limiting groove 210 arranged in the sleeve body 21, and the limiting is achieved by the abutment of the side surfaces of the connecting arm 223 and the ends of the limiting groove 210.

[0077] Optionally, the top of the sleeve body 21 is further provided with a guide structure, which includes a first extension wall 215 extending upward from the inner side wall of the sleeve body 21 and a second extension wall 216 extending upward from the outer side wall of the sleeve body 21, and a guide groove 217 is formed between the first extension wall 215 and the second extension wall 216. Part of the side wall of the limiting ring 22 serves as a guide portion 227, and the thickness of the guide portion 227 is matched with the width of the guide groove 217, so that the guide portion 227 can be stably inserted into the guide groove 217 and can rotate along the guide groove 217. In this embodiment, the rotation of the limiting ring 22 is guided by the guide structure, which improves the smoothness of the rotation of the limiting ring 22 and the position accuracy of the limiting ring 22 relative to the sleeve body 21.

[0078] Optionally, the limiting boss 222 is arranged near the top of the limiting ring 22 and extends along the circumference of the limiting ring 22, and the limiting boss 222 is located between the avoiding groove 221 and the connecting arm 223. The lower part of the limiting boss 222 has an accommodation space and a limiting step, the accommodation space is used to accommodate the protruding portion 301 of the endoscope handle 300, and the limiting step is used to block the protruding portion 301 of the endoscope handle 300 from passing through. In this embodiment, the avoiding groove 221 and the limiting boss 222 are arranged adjacent to each other, and the lower part of the limiting boss 222 is provided with a space capable of accommodating the protruding portion 301, so that the switching of the limiting ring 22 between the first position and the second position is more convenient and fast.

[0079] Embodiment four

[0080] As Figures 8-16As shown, the embodiment provides another endoscope sleeve, which has the same structure as that in Embodiment Three and is a further improvement on the endoscope sleeve in Embodiment Three. The same structure as that in Embodiment Three will not be described herein.

[0081] In the embodiment, the side wall of the sleeve body 21 is provided with a cantilever structure 213, one end of which is connected to the side wall of the sleeve body 21 and the other end of which can move between the inside and outside of the sleeve body 21 under stress. The second rib 214 is arranged on the cantilever structure 213. Such arrangement provides a moving space for the mutual extrusion of the first rib 225 and the second rib 214, facilitating the first rib 225 to pass over the second rib 214. In the embodiment, the first rib 225 and the second rib 214 can be made of plastic, metal or other materials. Specifically, in the embodiment, the number of the cantilever structures 213 on the sleeve body 21 is the same as that of the connecting arms 223 on the limiting ring 22, and they are arranged one by one.

[0082] Further, since the outside of the connecting arm 223 is provided with the first rib 225 and the inside of the sleeve body 21 is provided with the second rib 214, the outside of the connecting arm 223 cannot be closely attached to the inside of the sleeve body 21, which will cause the limiting ring 22 to shake along the radial direction relative to the sleeve body 21. To solve this problem, the inside of the limiting ring 22 is also uniformly provided with at least two limiting arms 226 extending into the sleeve body 21, and the outside of the limiting arm 226 is arranged more outward than that of the connecting arm 223. When the limiting ring 22 is installed on the sleeve body 21, the outside of each limiting arm 226 can be attached to the inside of the sleeve body 21, thereby effectively limiting the movement of the limiting ring 22 along the radial direction relative to the sleeve body 21, making the assembly of the limiting ring 22 and the sleeve body 21 more stable and avoiding shaking. Exemplarily, in the embodiment, the number of the connecting arms 223 is two, and the number of the limiting arms 226 is also two. Each limiting arm 226 is arranged close to one connecting arm 223. Such arrangement is reasonable in layout, reliable in connection and stable in structure, which ensures the close attachment of the connecting arm 223 and the sleeve body 21 in the vicinity of the connecting arm 223, thereby more effectively preventing the limiting ring 22 from shaking relative to the sleeve body 21. Figure 9 As shown, for the embodiment, the limiting boss 222 is located between the avoiding groove 221 and the limiting arm 226.

[0083] In the embodiment, the specific setting positions of the first, second, third and fourth limiting parts are slightly different from those in Embodiment Three. Specifically, the first limiting part is formed by the side of the connecting arm 223 away from the limiting arm 226, the third limiting part is formed by the side of the first protrusion 218 arranged in the sleeve body 21, and the limiting is performed by the mutual abutment of the side of the connecting arm 223 and the side of the first protrusion 218 to keep the limiting ring 22 in the first position; the second limiting part is formed by the side of the limiting arm 226 away from the connecting arm 223, and the fourth limiting part is formed by the side of the second protrusion 219 arranged in the sleeve body 21, and the limiting is performed by the mutual abutment of the side of the limiting arm 226 and the side of the second protrusion 219 to keep the limiting ring 22 in the second position.

[0084] It should be noted that, compared with the prior art, Embodiments Three and Four mainly add the limiting ring 22 and related features, and use the protruding part 301 such as the button of the endoscope handle 300 to make the limiting ring 22 capable of abutting against the protruding part 301 after rotation, thereby blocking the endoscope handle 300 from coming out. However, on this basis, those skilled in the art can still use the endoscope handle 300 to be inserted into the sleeve body 21 to make the side wall of the sleeve body 21 elastically deform, and use the force generated by the elastic deformation to fix the endoscope handle 300 in the sleeve body 21, so as to further increase the fixing reliability of the endoscope handle 300 and the endoscope sleeve.

[0085] Obviously, the above embodiments of the present application are merely examples for clear illustration of the present application, and are not intended to limit the embodiments of the present application. Those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the protection scope of the present application. Here, it is not necessary and impossible to exhaust all the embodiments. Any modification, equivalent substitution and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. An endoscope sleeve, characterized in that The utility model relates to an endoscope sleeve, comprising: a base part configured to be rotatably mounted on a transmission box; a sleeve part, which, together with the base part, forms a space for inserting an endoscope handle, a part of the side wall of the sleeve part is connected with the base part through a connecting part, and the remaining side wall of the sleeve part has a first gap with the base part; the side wall of the sleeve part is further provided with a second gap penetrating through the top end and the bottom end thereof, the second gap is communicated with the first gap, and the side wall between the two sides of the second gap and the connecting part is respectively a first side wall and a second side wall, which are suspended relative to the base part; a first locking part and a second locking part, which are respectively arranged on the first side wall and the second side wall, and the first locking part and the second locking part are matched to enable the sleeve part to tightly hold the endoscope handle; an unlocking part connected with at least one of the first locking part and the second locking part, and the sleeve part can be loosened from the endoscope handle by operating the unlocking part.

2. The endoscope sleeve of claim 1, wherein, The first locking part and the second locking part are matched through a buckle structure, when the first locking part and the second locking part are buckled with each other, the first side wall and the second side wall can be close to each other to tightly hold the endoscope handle.

3. The endoscope sleeve of claim 2, wherein, The first locking part comprises an extension arm fixed to the first side wall, and a buckle is arranged on the extension arm; the second locking part comprises a connecting lug fixed to the second side wall, and a buckle hole is arranged on the connecting lug; the extension arm extends towards the connecting lug, and the buckle can be buckled in the buckle hole by extruding the sleeve part.

4. The endoscope sleeve of claim 3, wherein, The unlocking part comprises a release button arranged on the extension arm, and the buckle can be disengaged from the buckle hole by pressing the release button.

5. The endoscope sleeve of claim 1, wherein, The first locking part comprises a first holding plate fixed to the first side wall and extending towards the second side wall; the second locking part comprises a second holding plate fixed to the second side wall and extending towards the first side wall, and the first holding plate and the second holding plate are arranged in an axial direction of the sleeve part; the inner diameter of the space enclosed by the first holding plate, the second holding plate and the sleeve part is smaller than the outer diameter of the endoscope handle, so as to tightly hold the endoscope handle through interference fit.

6. The endoscope sleeve of claim 5, wherein, The unlocking part comprises a first push button arranged at the extension end of the first holding plate and a second push button arranged at the extension end of the second holding plate, and the first side wall and the second side wall can be away from each other by simultaneously pinching the first push button and the second push button, so as to loosen the endoscope handle.

7. The endoscope sleeve of claim 1, wherein, The second gap is located on the side opposite to the connecting part, and the first side wall and the second side wall are symmetrically arranged about the connecting part; and / or, the arc length of the first gap accounts for 60% to 80% of the entire circumferential length of the sleeve part.

8. The endoscope sleeve of any one of claims 1-7, wherein, The endoscope sleeve is manufactured through integral processing.

9. An endoscope joint comprising a transmission box for detachable connection with a power box of a scope holding arm, characterized in that, Also included is an endoscope sleeve as in any of claims 1-8, rotatably mounted on the transmission box, the endoscope sleeve having an endoscope handle removably mounted therein.

10. A surgical robot comprising a master hand portion configured to be operated by a physician and to pick up operation signals of the physician to generate control signals transmitted to a slave hand portion, the slave hand portion being configured to perform a surgical operation under control of the control signals, the slave hand portion comprising a tool holding arm and a scope holding arm, characterized in that, The hand portion further includes an endoscope joint as in claim 9, the power box of the mirror holding arm removably connected to the transmission box, the endoscope handle removably mounted in the endoscope sleeve.

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