Endoscope

Abstract

According to the endoscope, a multi-degree-of-freedom fine adjustment device is additionally arranged at the end of a mechanical arm, a lens assembly is arranged on the multi-degree-of-freedom fine adjustment device, three independently-driven connecting rod units jointly finely adjust the spatial posture of the lens assembly, and in the fine adjustment process, the spatial position of the mechanical arm does not need to be changed; the multi-degree-of-freedom fine adjustment device improves the accuracy and flexibility of position adjustment of the lens assembly, and interference of frequent swing adjustment of a mechanical arm in an operation on the operation is avoided.

Description

Technical Field

[0001] This utility model relates to the field of medical devices, specifically to an endoscope. Background Technology

[0002] In traditional endoscopic surgery, the surgeon holds the endoscope in one hand and operates it with the other, or in a two-person collaboration, one person holds the endoscope while the other operates it. The surgeon needs an assistant to manually adjust and fix the endoscope lens assembly to provide the best surgical field of view. However, holding the endoscope with one hand is not conducive to the surgeon's two-handed operation, and the assistant needs extensive training to achieve seamless coordination with the surgeon. Furthermore, the assistant is prone to fatigue from holding the endoscope for extended periods, leading to shaky surgical monitoring footage. In addition, holding the lens assembly by hand makes it difficult to guarantee the automation and precision required for position adjustment, which is not suitable for the current trend of automated surgery.

[0003] The application of endoscopic robotic arms, such as those described in CN117838319A and US20240016563A1, involves multi-degree-of-freedom robotic arms. The endoscope's lens assembly is positioned at the end of the robotic arm. During surgery, the robotic arm adjusts the position of the lens assembly to meet the surgeon's changing viewing angles. After adjustment, the robotic arm stably fixes the endoscope lens assembly in its spatial position. The use of endoscopic robotic arms avoids hand tremors caused by the surgeon holding the endoscope, resulting in a more stable surgical view. It frees up the surgeon's hand and the surgical assistant's hand, allowing the surgeon to perform surgical operations with both hands, enabling both the surgeon and assistant to focus more on the surgical procedure.

[0004] During endoscopic surgery, the position of the lens assembly often needs to be adjusted according to the progress of the surgery, observation needs, and instrument movement. The clear intraoperative field of view, with its varied and subtle changes in angle, demands that the lens assembly adjustment device be flexible, precise, and non-intrusive to the surgery. While existing technologies such as CN117838319A and US20240016563A1 offer improved stability and accuracy compared to handheld adjustments, the robotic arm's adjustment freedom still falls short of the requirements for fine-tuning the lens assembly's position. Furthermore, the large swing amplitude of the robotic arm during lens assembly fine-tuning requires a large workspace, easily interfering with normal surgery and affecting the surgeon's positioning and instrument transfer. In minimally invasive surgery using lens assemblies, the need for multi-angle observation at high magnification often necessitates frequent fine-tuning of the lens assembly's position. The frequent and large swings of the robotic arm during lens assembly adjustments interfere with the surgery and result in low adjustment precision. Therefore, how to flexibly and precisely adjust the lens assembly position without interfering with the surgery is a pressing problem to be solved in endoscopic surgical systems. Utility Model Content

[0005] To address the aforementioned issues, this invention proposes an endoscope that incorporates a multi-degree-of-freedom fine-tuning device at the end of a robotic arm. The lens assembly is mounted on this device, enabling flexible, micro-motion, and precise adjustment of the lens assembly's position. This reduces robotic arm swaying during surgery and minimizes interference from lens assembly position adjustments.

[0006] An endoscope includes a lens assembly, a position adjustment device, and a display. The lens assembly is mounted on the position adjustment device, and surgical images acquired by the lens assembly can be displayed on the display. The position adjustment device comprises a robotic arm and a multi-degree-of-freedom (DOF) fine-tuning device. The DDF fine-tuning device is mounted at the end of the robotic arm and includes a first mounting plate, a second mounting plate, a third mounting plate, and three identical linkage units. The first mounting plate is connected to the end of the robotic arm, the lens assembly is mounted on the second mounting plate, and the third mounting plate is disposed between the first and second mounting plates. Each linkage unit passes through the third mounting plate and connects the first and second mounting plates. Each linkage unit includes a first link and a second link. One end of the first link is connected to the first mounting plate and is axially extendable. The other end of the first link is connected to one end of the second link via a ball joint, and the other end of the second link is connected to the edge of the second mounting plate via a ball joint.

[0007] Preferably, the linkage unit further includes a linkage drive mechanism, the first linkage is connected to the first mounting plate through the linkage drive mechanism, and the first linkage extends and retracts axially under the drive of the linkage drive mechanism.

[0008] Preferably, the linkage drive mechanism includes a motor, a screw, and a slider. The motor is mounted on a first mounting plate. One end of the screw is connected to the motor for transmission, and the other end is rotatably connected to a third mounting plate. The slider is threadedly connected to the screw. One end of the first linkage is connected to the slider, and the other end of the first linkage passes through the third mounting plate and is connected to a second linkage.

[0009] Preferably, the linkage drive mechanism further includes a guide rod that passes through the slider and is supported between the first mounting plate and the third mounting plate, with the guide rod slidingly engaged with the slider.

[0010] Preferably, the three second connecting rods are arranged at equal angular intervals along the circumference of the second mounting plate.

[0011] Preferably, the first mounting plate, the second mounting plate, and the third mounting plate are arranged coaxially.

[0012] Preferably, the lens assembly includes a binocular camera.

[0013] Preferably, the multi-degree-of-freedom fine-tuning device further includes a mounting base, which is mounted on the surface of the third mounting plate facing the screw, and the end of the screw is rotatably connected to the third mounting plate through a rolling bearing in the mounting base.

[0014] Preferably, a first ball head and a second ball head are respectively provided at both ends of the second connecting rod, a first ball seat is provided at the connection between the second mounting plate and the second connecting rod, and a second ball seat is provided at the connection end between the first connecting rod and the second connecting rod; the first ball head and the first ball seat form a ball joint connection between the second connecting rod and the second mounting plate, and the second ball head and the second ball seat form a ball joint connection between the first connecting rod and the second connecting rod.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] This invention adds a multi-degree-of-freedom (DOF) fine-tuning device to the end of a robotic arm. The robotic arm quickly adjusts the lens assembly to a suitable surgical observation area, and the multi-DOF fine-tuning device finely adjusts the lens assembly position within this area to meet the needs of multi-angle observation under magnified vision. Three independently driven linkage units give the fine-tuning device multiple degrees of freedom. The extension and retraction of each first linkage drives the second linkage to rotate around a ball joint, and the three second linkages work together to finely adjust the spatial posture of the second mounting plate. During the fine-tuning process, the spatial position of the robotic arm remains unchanged; the spatial posture of the second mounting plate is adjusted by the linkage units in the multi-DOF fine-tuning device, meeting the need for subtle and flexible changes in the intraoperative observation angle. The multi-DOF fine-tuning device improves the accuracy of lens assembly position adjustment and avoids interference from frequent robotic arm swings during surgery. Attached Figure Description

[0017] Figure 1 Schematic diagram of a multi-degree-of-freedom fine-tuning device.

[0018] Figure 2 Schematic diagram of linkage drive mechanism.

[0019] Figure 3 Diagram of a ball joint connection.

[0020] In the diagram: 1-First mounting plate, 2-Second mounting plate, 21-First ball seat, 3-Third mounting plate, 4-Link unit, 5-Mounting base, 41-First link, 411-Second ball seat, 42-Second link, 421-First ball head, 422-Second ball head, 43-Link drive mechanism, 431-Motor, 432-Screw, 433-Slider, 434-Guide rod. Detailed Implementation

[0021] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0022] An endoscope includes a lens assembly, a position adjustment device, and a display. The lens assembly is mounted on the position adjustment device, and surgical images acquired by the lens assembly can be displayed on the display. The position adjustment device includes a robotic arm and a multi-degree-of-freedom fine-tuning device.

[0023] The robotic arm is a lens assembly position adjustment robotic arm in the prior art, and its structure is similar to the robotic arm structure in CN117838319A and US20240016563A1.

[0024] A multi-degree-of-freedom fine-tuning device is installed at the end of the robotic arm, such as... Figure 1 As shown, the multi-degree-of-freedom fine-tuning device includes a first mounting plate 1, a second mounting plate 2, a third mounting plate 3, and three identical linkage units 4. The first mounting plate 1 is connected to the end of the robotic arm, the second mounting plate 2 mounts a lens assembly, and the third mounting plate 3 is positioned between the first mounting plate 1 and the second mounting plate 2. Each linkage unit 4 passes through the third mounting plate 3, connecting the first mounting plate 1 and the second mounting plate 2. Each linkage unit 4 includes a first link 41 and a second link 42. One end of the first link 41 is connected to the first mounting plate 1 and is axially extendable. The other end of the first link 41 is connected to one end of the second link 42 via a ball joint, and the other end of the second link 42 is connected to the edge of the second mounting plate 2 via a ball joint.

[0025] A robotic arm, in conjunction with a multi-degree-of-freedom (DOF) fine-tuning device, adjusts the position of the lens assembly. The robotic arm performs large-stroke adjustments to quickly position the lens assembly within the appropriate surgical observation area. The multi-DOF fine-tuning device then fine-tunes the lens assembly position within this area to meet the needs of multi-angle observation under magnified vision. Three independently driven linkage units give the fine-tuning device multiple degrees of freedom. The extension and retraction of each first linkage drives the rotation of a second linkage around a ball joint. These three second linkages work together to precisely adjust the spatial orientation of the second mounting plate. During this fine-tuning process, the robotic arm's spatial position remains unchanged. The linkage units in the multi-DOF fine-tuning device adjust the spatial orientation of the second mounting plate, meeting the need for subtle and flexible changes in the intraoperative observation angle. The multi-DOF fine-tuning device improves the accuracy of lens assembly position adjustment and avoids interference from frequent robotic arm swings during the surgery.

[0026] Preferably, the linkage unit 4 further includes a linkage drive mechanism 43, and the first linkage 41 is connected to the first mounting plate 1 through the linkage drive mechanism 43. The first linkage 41 extends and retracts axially under the drive of the linkage drive mechanism 43.

[0027] Preferably, such as Figure 2The linkage drive mechanism 43 shown includes a motor 431, a screw 432, and a slider 433. The motor 431 is mounted on the first mounting plate 1. One end of the screw 432 is connected to the motor 431 for transmission, and the other end is rotatably connected to the third mounting plate 3. The slider 433 is threadedly connected to the screw 432. One end of the first connecting rod 41 is connected to the slider 433, and the other end of the first connecting rod 41 passes through the third mounting plate 3 and is connected to the second connecting rod 42.

[0028] When fine-tuning of the lens assembly position is required, the motor drives the screw to rotate, thereby driving the slider to move vertically. The first link extends and retracts axially under the action of the slider, thereby driving the second link to rotate around the ball joint. The three second links work together to adjust the spatial position and attitude of the second mounting plate, thereby achieving fine-tuning of the lens assembly on the second mounting plate.

[0029] Preferably, the linkage drive mechanism 43 further includes a guide rod 434, which passes through the slider 433 and is supported between the first mounting plate 1 and the third mounting plate 3. The guide rod 434 and the slider 433 are in sliding engagement.

[0030] By setting guide rods to guide the sliding of the slider, the transmission stability is increased.

[0031] Preferably, the three second connecting rods 42 are arranged at equal angular intervals along the circumference of the second mounting plate 2.

[0032] Preferably, the first mounting plate 1, the second mounting plate 2, and the third mounting plate 3 are coaxially arranged.

[0033] Preferably, the lens assembly includes a binocular camera.

[0034] Preferably, the multi-degree-of-freedom fine-tuning device further includes a mounting base 5, which is mounted on the surface of the third mounting plate 3 facing the screw 432, and the end of the screw 432 is rotatably connected to the third mounting plate 3 through a rolling bearing in the mounting base 5.

[0035] Preferably, such as Figure 3 The second connecting rod 42 shown has a first ball head 421 and a second ball head 422 at its two ends, respectively. A first ball seat 21 is provided at the connection between the second mounting plate 2 and the second connecting rod 42, and a second ball seat 411 is provided at the connection between the first connecting rod 41 and the second connecting rod 42. The first ball head 421 and the first ball seat 21 form a ball joint connection between the second connecting rod 42 and the second mounting plate 2, and the second ball head 422 and the second ball seat 411 form a ball joint connection between the first connecting rod 41 and the second connecting rod 42.

[0036] The ball joint connection between the first link and the second link, and the ball joint connection between the second link and the second mounting plate, allows the posture of the second mounting plate to be flexibly adjusted under the drive of the link unit, so as to adjust the position of the lens assembly on the second mounting plate to meet the needs of surgical observation.

[0037] The above is a detailed description of the preferred embodiments of the present utility model. The described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present utility model. Other embodiments that can be obtained are all within the protection scope of the present utility model.

Claims

1. An endoscope, comprising a lens assembly, a position adjustment device, and a display, wherein the lens assembly is mounted on the position adjustment device, and surgical images acquired by the lens assembly can be displayed on the display; characterized in that, The position adjustment device includes a robotic arm and a multi-degree-of-freedom fine-tuning device; A multi-degree-of-freedom fine-tuning device is installed at the end of the robotic arm. The multi-degree-of-freedom fine-tuning device includes a first mounting plate, a second mounting plate, a third mounting plate, and three identical linkage units. The first mounting plate is connected to the end of the robotic arm, the second mounting plate is equipped with a lens assembly, and the third mounting plate is positioned between the first and second mounting plates. Each linkage unit passes through the third mounting plate and connects the first and second mounting plates. Each linkage unit includes a first link and a second link. One end of the first link is connected to the first mounting plate and can extend and retract axially. The other end of the first link is connected to one end of the second link via a ball joint, and the other end of the second link is connected to the edge of the second mounting plate via a ball joint.

2. An endoscope as described in claim 1, characterized in that, The linkage unit also includes a linkage drive mechanism. The first linkage is connected to the first mounting plate through the linkage drive mechanism, and the first linkage extends and retracts axially under the drive of the linkage drive mechanism.

3. An endoscope as described in claim 2, characterized in that, The linkage drive mechanism includes a motor, a screw, and a slider. The motor is mounted on a first mounting plate. One end of the screw is connected to the motor for transmission, and the other end is rotatably connected to a third mounting plate. The slider is threadedly connected to the screw. One end of the first connecting rod is connected to the slider, and the other end of the first connecting rod passes through the third mounting plate and is connected to a second connecting rod.

4. An endoscope as described in claim 3, characterized in that, The linkage drive mechanism also includes a guide rod that passes through the slider and is supported between the first mounting plate and the third mounting plate. The guide rod slides in conjunction with the slider.

5. An endoscope as described in claim 4, characterized in that, The three second connecting rods are arranged at equal angular intervals along the circumference of the second mounting plate.

6. An endoscope as described in claim 5, characterized in that, The first mounting plate, the second mounting plate, and the third mounting plate are coaxially arranged.

7. An endoscope as described in claim 6, characterized in that, The lens assembly includes a binocular camera.

8. An endoscope as described in claim 7, characterized in that, The multi-degree-of-freedom fine-tuning device also includes a mounting base, which is mounted on the surface of the third mounting plate facing the screw. The end of the screw is rotatably connected to the third mounting plate through a rolling bearing inside the mounting base.

9. An endoscope as described in claim 8, characterized in that, The second link has a first ball head and a second ball head at its two ends, and a first ball seat at the connection between the second mounting plate and the second link. The first ball head and the first ball seat form a ball joint connection between the second link and the second mounting plate, and the second ball head and the second ball seat form a ball joint connection between the first link and the second link.

Images