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CN-116584866-B - Endoscope joint and surgical robot

CN116584866BCN 116584866 BCN116584866 BCN 116584866BCN-116584866-B

Abstract

The invention relates to an endoscope connector and a surgical machine, wherein the endoscope connector comprises a transfer part suitable for being engaged with a handle of an endoscope and a transmission box part, the transmission box part comprises a shell and a transmission assembly arranged in the shell, the transfer part comprises a sleeve, the sleeve is in transmission connection with the transmission assembly and is provided with an inner cavity capable of receiving the handle of the endoscope, and the sleeve is configured to maintain elastic deformation when the handle of the endoscope is positioned in the inner cavity so as to fix the handle of the endoscope in the sleeve, so that torque is transferred from the sleeve to the handle of the endoscope. The endoscope connector provided by the invention has the advantages that the clamping mode of directly butting the endoscope by using the sleeve is adopted, a release device is not needed, the use is simple, the service life is long, and the sleeve can be suitable for most endoscopes in the market.

Inventors

  • PENG CHENG
  • Request for anonymity
  • XU MIN

Assignees

  • 敏捷医疗科技(苏州)有限公司

Dates

Publication Date
20260508
Application Date
20230523

Claims (18)

  1. 1. An endoscope adapter comprising a transition portion adapted to engage a handle of an endoscope and a drive box portion, the drive box portion comprising a housing, and a drive assembly disposed within the housing, the transition portion comprising a sleeve drivingly connected to the drive assembly and having an interior cavity capable of receiving the handle of the endoscope, wherein the sleeve is configured to maintain elastic deformation while the handle of the endoscope is in the interior cavity to effect securement of the handle of the endoscope in the sleeve to transfer torque from the sleeve to the handle of the endoscope; the sleeve includes a barrel sidewall, the lumen is defined by the barrel sidewall, a notch is provided on the barrel sidewall, the notch is configured to expose a key portion of the handle when the handle of the endoscope is positioned in the sleeve, the notch is sized to match the key portion of the handle such that an edge of the notch abuts the key portion of the handle when the handle of the endoscope is positioned in the lumen.
  2. 2. The endoscopic adapter of claim 1 wherein the transmission assembly includes a power shaft configured to be rotated by a power motor and a driven shaft in driving connection with the power shaft, wherein the sleeve is fixedly disposed with the driven shaft to transfer torque of the power shaft to the sleeve through the driven shaft.
  3. 3. An endoscopic adapter according to claim 2, wherein said power shaft and said driven shaft are each sleeved with a gear member, said gear members being intermeshed with each other, or wherein said power shaft and said driven shaft are each sleeved with a winch member, said winch members being connected by a cable drive.
  4. 4. The endoscopic adapter of claim 2, wherein the barrel sidewall has a first end fixedly connected to the drive assembly and a second end remote from the first end, the lumen having an opening at the second end, the handle of the endoscope being insertable into the lumen through the opening.
  5. 5. The endoscopic adapter of claim 4, wherein the first end portion is removably fixedly coupled to the transmission assembly.
  6. 6. The endoscopic adapter of claim 5, wherein a locating stud is provided at the first end portion, and wherein a socket is provided on the drive assembly that mates with the locating stud, the locating stud being inserted into the socket when the sleeve is connected to the drive assembly.
  7. 7. The endoscopic adapter of claim 4, wherein the gap is divided into a first section and a second section along an insertion direction of a handle of the endoscope, the first section interfacing with the opening, the second section being remote from the opening, the first section having a caliber greater than a caliber of the second section.
  8. 8. The endoscopic adapter of claim 7, wherein the bore of the first section tapers along the insertion direction of the handle of the endoscope.
  9. 9. The endoscopic adapter of claim 4, wherein the barrel sidewall includes a first portion adjacent a first end portion configured to be insertable into the housing and a second portion adjacent the second end portion configured to be insertable by a handle of the endoscope and to be elastically deformable at least when the handle of the endoscope is fully inserted into the second portion.
  10. 10. The endoscopic adapter of claim 9, wherein an inner wall surface of the second portion is configured to multi-point abut a handle exterior profile surface of the endoscope at least when the handle of the endoscope is fully inserted into the second portion.
  11. 11. The endoscopic adapter of claim 4, wherein the barrel sidewall inner wall surface has a radial collar, the barrel sidewall inner diameter at the radial collar being smaller than the inner diameter at the opening, the radial collar configured to abut a handle outer contour surface of the endoscope when the handle of the endoscope is positioned in the lumen.
  12. 12. The endoscopic adapter of claim 4 wherein the drive assembly includes a bearing for supporting the sleeve and having opposed first and second end faces and an axial bore therethrough, a portion of the cartridge sidewall being located inside the axial bore, the cartridge sidewall including an outer peripheral surface having a radially stepped surface abutting the first end face.
  13. 13. The endoscopic adapter according to claim 12, wherein said peripheral surface has an annular groove, said annular groove being provided with a collar, said collar abutting said second end surface.
  14. 14. The endoscopic adapter of claim 12 wherein the transmission assembly includes an intermediate bracket, the bearing mounted on the intermediate bracket, and a pressure plate for compressing the bearing in an axial direction on the intermediate bracket, the pressure plate mounted on the intermediate bracket and located outboard of the first end face.
  15. 15. The endoscopic adapter of claim 4 wherein the housing comprises a bottom plate and an upper shell positioned on an upper side of the bottom plate and having an insertion port through which a portion of the sleeve is inserted into the housing.
  16. 16. The endoscopic adapter of claim 15, wherein the upper housing comprises a first housing and a second housing that are snapped into each other, the insertion port being located at a snap-fit location of the first housing and the second housing.
  17. 17. The endoscopic adapter of claim 15, wherein at least one wash port is provided at the upper housing and/or the bottom plate, the at least one wash port configured to be in fluid communication with a fluid supply.
  18. 18. A surgical robot comprising a master hand portion configured for a doctor to operate and collect a doctor's operation signal to generate a control signal for transmission to the slave hand portion, and a slave hand portion arranged to perform a surgical operation under control of the control signal, characterised in that the slave hand portion comprises a manipulator arm and a mirror arm, the mirror arm having mounted thereon an endoscope joint according to any of the preceding claims 1 to 17.

Description

Endoscope joint and surgical robot Technical Field The invention relates to the technical field of medical instruments, in particular to an endoscope joint and a surgical robot. Background With the continuous development of medical instruments, computer technology and control technology, minimally invasive surgery has been increasingly used with the advantages of small surgical trauma, short rehabilitation time, less pain of patients and the like. The minimally invasive surgery robot has the characteristics of high dexterity, high control precision, visual surgery images and the like, can avoid operation limitations, such as tremble of hands during filtering operation, and is widely applied to surgery areas such as abdominal cavities, pelvic cavities, thoracic cavities and the like. Currently, minimally invasive surgical robots include a master hand portion that includes a master control arm for a physician to operate and a slave hand portion that includes a slave manipulator arm. During operation, a doctor operates a master control arm of a master hand part, the master control arm acquires operation signals of the doctor and generates control signals transmitted to a slave control arm of a slave hand part after the operation signals are processed by a control system, and the slave control arm of the slave hand part executes operation under the control of the control signals. In the robotic surgery process, a surgical instrument and a 3D endoscope are clamped from a manipulator arm, the surgical instrument enters the patient through a poking card inserted into a body surface incision of the patient, and the 3D endoscope provides monitoring images in the patient. Wherein the slave manipulator arm comprises a mirror holding arm with an endoscope connector mounted thereon for holding and moving the 3D endoscope to provide a proper view of the surgeon during surgery. The Chinese patent document with the publication number of CN115721246A discloses an endoscope transmission device, which comprises a transmission box, an endoscope assembly, a clamping assembly and a release assembly, wherein the clamping assembly is used for connecting the transmission box and the endoscope assembly, the release assembly can be coupled with the clamping assembly to enable the endoscope assembly to be quickly separated from the transmission box, a driving assembly used for driving the endoscope assembly to move is arranged in the transmission box, and the clamping assembly can limit the displacement of the endoscope assembly in the axial direction and the radial direction. The technical scheme of the endoscope transmission device can realize transmission connection between the endoscope and the endoscope holding arm, but the scheme of directly butting the butting plate and the fixed plate below the endoscope is adopted, so that the transmission device has the defects of complex clamping process of the endoscope, poor universality of the endoscope, unstable shaking and the like of the endoscope in the process of driving the endoscope to rotate, and the like, so that the popularization and the use of the transmission device are limited. Disclosure of Invention In view of this, the present application provides an endoscope joint with high convenience in use and a surgical robot equipped with the endoscope joint. In a first aspect, the application provides an endoscope joint comprising a transition portion adapted to engage a handle of an endoscope and a drive box portion comprising a housing and a drive assembly disposed within the housing, the transition portion comprising a sleeve drivingly connected to the drive assembly and having an interior cavity capable of receiving the handle of the endoscope, wherein the sleeve is configured to maintain elastic deformation while the handle of the endoscope is in the interior cavity to effect securement of the handle of the endoscope in the sleeve to transfer torque from the sleeve to the handle of the endoscope. According to the scheme, the sleeve is directly connected with the endoscope in a clamping way, a releasing device is not arranged, the use is simple, the service life is long, and the sleeve can be suitable for most endoscopes in the market. In a specific embodiment, the transmission assembly comprises a power shaft configured to be driven to rotate by a power motor, and a driven shaft in transmission connection with the power shaft, wherein the sleeve is fixedly arranged with the driven shaft so as to transfer torque of the power shaft to the sleeve through the driven shaft. The transmission assembly design scheme provided in the embodiment has high reliability, easily obtained parts and low manufacturing cost. In a specific embodiment, the power shaft and the driven shaft are sleeved with a gear member, the two gear members are meshed with each other, or the power shaft and the driven shaft are sleeved with a winch member, and the two winch members are connected through a cable i