CN-224220239-U - Endoscope

CN224220239UCN 224220239 UCN224220239 UCN 224220239UCN-224220239-U

Abstract

An endoscope, through setting up multi freedom micromatic setting at the arm tip, with the lens subassembly setting on multi freedom micromatic setting, 3 independent driven connecting rod units fine setting lens subassembly space gesture jointly, fine setting in-process, arm space position need not to change, multi freedom micromatic setting has improved lens subassembly position adjustment's accuracy, flexibility, has avoided the frequent swing adjustment of intraoperative arm to the interference of operation.

Inventors

GAO FENGWEI
ZHANG TING
WU YANG
LAN TIAN
Cai Yunshi
XIE QINGYUN
Lv Yinghao
WU HONG

Assignees

四川天启九州医疗科技有限公司

Dates

Publication Date: 20260512
Application Date: 20241225

Claims (9)

1. The endoscope comprises a lens assembly and a position adjusting device, wherein the lens assembly is arranged on the position adjusting device, an operation image acquired by the lens assembly can be displayed on the display, and the endoscope is characterized in that the position adjusting device comprises a mechanical arm and a multi-degree-of-freedom fine adjusting device, the multi-degree-of-freedom fine adjusting device is arranged at the tail end of the mechanical arm and comprises a first mounting plate, a second mounting plate, a third mounting plate and 3 identical connecting rod units, the first mounting plate is connected at the tail end of the mechanical arm, the second mounting plate is provided with the lens assembly, the third mounting plate is arranged between the first mounting plate and the second mounting plate, each connecting rod unit penetrates through the third mounting plate and is connected with the first mounting plate and the second mounting plate, each connecting rod unit comprises a first connecting rod, one end of the first connecting rod is connected with the first mounting plate, the first connecting rod can axially stretch, the other end of the first connecting rod is connected with one end of the second connecting rod through a spherical hinge, and the other end of the second connecting rod is connected with the edge of the second mounting plate through the spherical hinge.
2. An endoscope as in claim 1 wherein the linkage unit further comprises a linkage drive mechanism, the first linkage being coupled to the first mounting plate by the linkage drive mechanism, the first linkage being axially retractable under the drive of the linkage drive mechanism.
3. An endoscope as in claim 2 wherein the linkage drive mechanism comprises a motor, a screw, and a slider, the motor being mounted to the first mounting plate, one end of the screw being drivingly connected to the motor, the other end being rotatably connected to the third mounting plate, the slider being threadably connected to the screw, one end of the first link being connected to the slider, the other end of the first link being connected to the second link through the third mounting plate.
4. An endoscope as in claim 3 wherein the linkage drive mechanism further comprises a guide rod extending through the slide and supported between the first mounting plate and the third mounting plate, the guide rod being in sliding engagement with the slide.
5. An endoscope according to claim 4 and wherein said 3 second links are circumferentially equiangularly spaced along said second mounting plate.
6. An endoscope as in claim 5 wherein the first mounting plate, the second mounting plate, and the third mounting plate are coaxially disposed.
7. An endoscope according to claim 6 and wherein said lens assembly comprises a binocular camera.
8. An endoscope according to claim 7 and also comprising a mount mounted to the surface of the third mounting plate facing the screw, the screw end being rotatably connected to the third mounting plate by a rolling bearing in the mount.
9. The endoscope of claim 8, wherein a first ball head and a second ball head are respectively arranged at two ends of the second connecting rod, a first ball seat is arranged at the joint of the second mounting plate and the second connecting rod, a second ball seat is arranged at the joint of the first connecting rod and the second connecting rod, the first ball head and the first ball seat form a ball hinge connection between the second connecting rod and the second mounting plate, and the second ball head and the second ball seat form a ball hinge connection between the first connecting rod and the second connecting rod.

Description

Endoscope Technical Field The utility model relates to the field of medical instruments, in particular to an endoscope. Background In conventional endoscopic surgery, an operator holds a mirror with one hand, holds the mirror with one hand or cooperates with two persons, and the doctor of the main surgeon needs an assistant to manually adjust and fix an endoscope lens assembly to provide an optimal surgical field. However, the single hand mirror is unfavorable for the operation of the doctor with both hands, the assistant hand mirror needs to be trained for a long time to be in an acquiescent fit with the doctor of the main knife, and the assistant hand mirror is easy to fatigue for a long time, so that the operation monitoring picture shakes. In addition, the mode of holding the lens component is difficult to ensure the automation and the precision requirements of position adjustment, and cannot adapt to the current development trend of automatic operation. The application of the endoscope holding mechanical arm is that a multi-degree-of-freedom mechanical arm is arranged as in CN117838319A, US20240016563A1, a lens component of an endoscope is arranged at the tail end of the mechanical arm, the position of the lens component is adjusted by the mechanical arm in the operation process, the requirement of viewing angle conversion of an operator is met, and the mechanical arm stably fixes the spatial position of the lens component of the endoscope after the adjustment is finished. The application of the endoscope mirror holding mechanical arm avoids the shake of hand mirror holding, the operation picture is more stable, the mirror holding hand of a doctor of a main knife and a mirror holding operation assistant are liberated, the doctor of the main knife can conveniently perform operation by hands, and the doctor of the main knife and the assistant can be more focused on the operation. During endoscopic surgery, the position of the lens assembly often needs to be adjusted according to the progress of the surgery, the viewing needs, and the movement of the instrument. The viewing field is clear in operation, the viewing angle is changeable and the change is tiny, and the requirements of flexibility, fineness and no interference to the operation are provided for the lens component position adjusting device. The stability and accuracy of the adjustment mode of the prior art such as CN117838319A, US20240016563A1 are improved compared with the hand-held adjustment mode. But the adjustment freedom degree of the mechanical arm still is difficult to meet the requirement of fine adjustment of the position of the lens assembly, and when the mechanical arm carries out fine adjustment of the position of the lens assembly, the swing amplitude is large, the required working space is large, normal operation is easy to interfere, and the station position of an operator and the instrument transmission are affected. In the minimally invasive surgery process by utilizing the lens component, the position of the lens component often needs to be frequently and finely adjusted due to the requirement of multi-angle observation under high magnification, the frequent and large swing of the position of the mechanical arm fine adjustment lens component causes interference to the surgery, and the adjustment precision is low. Therefore, how to flexibly and accurately adjust the position of the lens assembly without disturbing the operation is a problem to be solved in the endoscopic surgery system. Disclosure of utility model In order to solve the problems, the utility model provides an endoscope, wherein a multi-degree-of-freedom fine adjustment device is additionally arranged at the end part of a mechanical arm, and a lens assembly is arranged on the multi-degree-of-freedom fine adjustment device, so that the position of the lens assembly is flexibly, slightly and finely adjusted, the swing of the mechanical arm in the operation process is reduced, and the interference of the position adjustment of the lens assembly to the operation is reduced. The endoscope comprises a lens assembly and a position adjusting device, wherein the lens assembly is arranged on the position adjusting device, an operation image acquired by the lens assembly can be displayed on the display, and the endoscope is characterized in that the position adjusting device comprises a mechanical arm and a multi-degree-of-freedom fine adjusting device, the multi-degree-of-freedom fine adjusting device is arranged at the tail end of the mechanical arm and comprises a first mounting plate, a second mounting plate, a third mounting plate and 3 identical connecting rod units, the first mounting plate is connected at the tail end of the mechanical arm, the second mounting plate is provided with the lens assembly, the third mounting plate is arranged between the first mounting plate and the second mounting plate, each connecting rod unit penetrates through the third mounting pla