CN113520595B

CN113520595B - Endoscope switching structure, mounting jig, adapter, switching device, mounting method and surgical robot

Info

Publication number: CN113520595B
Application number: CN202110789677.8A
Authority: CN
Inventors: 李佳桂; 毛颖; 其他发明人请求不公开姓名
Original assignee: Ronovo Shanghai Medical Science and Technology Ltd
Current assignee: Ronovo Shanghai Medical Science and Technology Ltd
Priority date: 2021-07-13
Filing date: 2021-07-13
Publication date: 2022-05-27
Anticipated expiration: 2041-07-13
Also published as: CN113520595A

Abstract

The invention relates to the technical field of medical instruments, in particular to an endoscope switching structure, an installation jig, an adapter, a switching device, an installation method and an operation robot. The endoscope switching structure comprises a fixing ring and a locking ring, wherein the fixing ring can be sleeved outside an insertion part of an endoscope; the locking ring can be movably connected with the fixing ring and can be sleeved outside the inserting part; at least two clamping parts are arranged on either one of the fixing ring and the locking ring at intervals in the circumferential direction, and the at least two clamping parts can clamp the insertion part when the fixing ring and the locking ring are fixed. This chamber mirror switching structure has utilized the basically unanimous characteristics of diameter of inserted part, locates outside the inserted part and through the fixed inserted part of two at least clamping part centre gripping through solid fixed ring cover, can compatible different types or the chamber mirror of brand, realizes the installation of chamber mirror and arm through chamber mirror switching structure, can solve the problem of arm and compatible difficulty of chamber mirror.

Description

Endoscope switching structure, mounting jig, adapter, switching device, mounting method and surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to an endoscope switching structure, an installation jig, an adapter, a switching device, an installation method and an operation robot.

Background

Laparoscopic robotic surgery requires a laparoscope as surgical navigation, and can be effectively carried out only by providing a visual field for a doctor. In surgery, a laparoscope needs to be mounted on a robotic arm through an adapter. The existing laparoscopic surgical robot generally adopts a customized laparoscope, the customized laparoscope can be better installed on a mechanical arm of a surgical robot system, and the condition of difficult zero calibration (the zero calibration refers to the radial position of the laparoscope and the relative position of an adapter at a certain specified position) does not exist. If the laparoscope of other brands or models is replaced, the problems of difficulty in compatibility of the robot arm body and the laparoscope and difficulty in zero position alignment exist.

Disclosure of Invention

The invention aims to provide a cavity mirror switching structure which can be compatible with different types of cavity mirrors and is convenient for assembling the cavity mirrors of different types and a mechanical arm.

In order to achieve the purpose, the invention adopts the following technical scheme:

an endoscope switching structure, comprising:

the fixing ring can be sleeved outside the insertion part of the endoscope;

the locking ring can be movably connected with the fixing ring and can be sleeved outside the inserting part;

at least two clamping parts are arranged on either one of the fixing ring and the locking ring at intervals in the circumferential direction, and the at least two clamping parts can clamp the insertion part when the fixing ring and the locking ring are fixed.

The clamping part is connected with the inner wall of the fixing ring, the locking ring can extend into the space between the fixing ring and the clamping part and is in threaded connection with the fixing ring, and the locking ring can drive the clamping part to abut against the insertion part when being screwed with the fixing ring.

The clamping part is connected with the second inner diameter section, an inner thread is arranged on the first inner diameter section, and an outer thread is arranged on the locking ring.

Wherein the inner wall of the locking ring is configured with a first abutting guide surface which inclines towards the axis direction of the locking ring along the direction axially departing from the fixing ring; the clamping part is provided with a second abutting guide surface matched with the first abutting guide surface, and the first abutting guide surface can slide along the second abutting guide surface to drive the clamping part to be close to the inserting part.

Wherein, the locking ring cover is located outside the solid fixed ring and with gu fixed ring threaded connection, the clamping part by gu fixed ring's terminal surface is followed gu fixed ring's axial extends, be provided with on the clamping part along gu fixed ring's the flange that the circumference extends, be provided with the arc hole on the flange, the width in arc hole is followed gu fixed ring with the locking direction of locking ring reduces gradually, be provided with on the locking ring and follow the gliding first locking pin in arc hole.

The clamping part extends from the end face of the locking ring along the axial direction of the locking ring, a locking groove extending in a spiral manner is arranged on the clamping part, the depth of the locking groove is gradually reduced along the spiral direction, and a clamping groove is arranged at one end of the locking groove with the small depth;

the fixing ring is sleeved outside the locking ring, a second locking pin is arranged on the inner wall of the fixing ring in a protruding mode, the second locking pin can slide along the locking groove and can be clamped in the clamping groove.

Wherein the fixing ring comprises an adaptation inner diameter section, the inner diameter of the adaptation inner diameter section being equal to the outer diameter of the insertion portion.

Wherein, the fixed ring is provided with a first positioning part.

The second purpose of the invention is to provide an installation jig which can ensure that the cavity mirror and the cavity mirror switching structure are fixed according to the appointed relative position, and is convenient for zero calibration of the cavity mirror.

the utility model provides an installation tool for it is fixed with foretell chamber mirror switching structure with chamber mirror, be provided with the adaptation groove on the installation tool, the adaptation groove includes first groove section, second groove section and third groove section, first groove section with the handle looks adaptation of chamber mirror, the second groove section with chamber mirror switching structure looks adaptation, the third groove section with the insertion portion looks adaptation of chamber mirror, be provided with on the second groove section with the zero-bit calibration groove of first positioning portion looks adaptation.

A third object of the present invention is to provide an adapter capable of fixing a scope adapter structure so as to fix different kinds of scopes on a robot arm.

an adapter is used for fixing the cavity mirror switching structure and comprises a mounting seat, the mounting seat is used for being fixed with a mechanical arm, a concave portion for containing the fixing ring is arranged on the mounting seat, and a through hole allowing the inserting portion of the cavity mirror to penetrate through is formed in the concave portion.

The fixing ring is provided with a first positioning part, and the mounting seat is provided with a second positioning part matched with the first positioning part.

The first positioning part is a positioning bulge, the second positioning part is a positioning groove matched with the positioning bulge, and the positioning groove is formed in the top surface of the mounting seat and communicated with the recessed part.

Wherein, the mount pad includes:

a housing;

the driving ring is connected with the shell and can rotate around the axis of the driving ring relative to the shell, and the second positioning part is arranged on the driving ring.

Wherein the adapter further comprises:

and the driving mechanism is arranged on the mounting seat, is connected with the driving ring and is used for driving the driving ring to rotate.

Wherein the drive mechanism comprises:

the motor is arranged on the mounting seat;

the winding wheel is coaxially arranged with and connected with an output shaft of the motor;

and the driving rope is wound on the winding wheel, and two ends of the driving rope are respectively fixed on two opposite sides of the driving ring.

Wherein, be provided with on the mount pad with the breach of through-hole intercommunication, so that chamber mirror can get into the through-hole by the breach.

Wherein the adapter further comprises:

the locking and releasing assembly can selectively lock or unlock the cavity mirror adapter structure and the mounting seat along the axial direction of the cavity mirror adapter structure.

Wherein the lock release assembly comprises:

the locking piece is arranged on the cavity mirror switching structure and is arranged on the mounting seat in a sliding manner along the radial direction of the concave part, and one end of the locking piece can extend into the concave part and the locking groove;

one end of the elastic piece is abutted or connected with the locking piece, the other end of the elastic piece is abutted or connected with the mounting seat, and the elastic piece can drive the locking piece to slide towards the direction stretching into the locking groove;

and the release piece is arranged on the mounting seat in a sliding manner along the radial direction of the concave part and is connected with the locking piece.

The fourth purpose of the invention is to provide a switching device, which can improve the adaptability of the mechanical arm and different types of cavity mirrors.

a switching device comprises the endoscope switching structure and the adapter.

The fifth purpose of the invention is to provide a method for installing a cavity mirror, which can improve the adaptability of the mechanical arm and different types of cavity mirrors.

an endoscope installation method comprises the following steps:

assembling a cavity mirror switching structure with a cavity mirror, and carrying out zero position matching on the cavity mirror switching structure and the cavity mirror;

and installing the endoscope switching structure on an adapter and carrying out zero position registration.

Wherein, the zero position registration of the chamber mirror switching structure and the chamber mirror specifically comprises:

manually adjusting the circumferential relative position of the cavity mirror and the cavity mirror switching structure to a preset relative position;

or the zero position registration of the endoscope switching structure and the endoscope specifically comprises:

placing the endoscope in an installation jig according to a preset angle, placing the handle in the first groove section of the installation jig, and placing the insertion part in the third groove section of the installation jig;

and arranging the cavity mirror switching structure in a second groove section of the mounting jig so that a first positioning part on the fixing ring is matched with a zero calibration groove in the second groove section.

Wherein, installing chamber mirror switching structure to the adapter and carrying out zero position registration specifically includes:

and arranging the cavity mirror switching structure in the sunken part of the adapter, enabling the inserting part to penetrate through the through hole in the sunken part, and enabling the first positioning part on the fixing ring to be matched with the second positioning part on the adapter.

A sixth object of the present invention is to provide a surgical robot capable of adapting to different kinds of endoscopes.

a surgical robot comprises the endoscope switching structure and/or the adapter.

The invention has the beneficial effects that:

the endoscope switching structure provided by the invention utilizes the characteristic that the diameters of the insertion parts are basically consistent, the insertion parts are sleeved outside the insertion parts through the fixing rings and are clamped and fixed through the at least two clamping parts, endoscopes of different types or brands can be compatible, the endoscope switching structure is used for mounting the endoscope and the mechanical arm, and the problem that the mechanical arm is difficult to be compatible with the endoscope can be solved.

The installation auxiliary jig provided by the invention can fix the cavity mirror and the cavity mirror switching structure according to the specified circumferential relative position, and is favorable for zero calibration of the cavity mirror.

The adapter provided by the invention can be matched with the cavity mirror switching structure, so that the problem that the mechanical arm is difficult to be compatible with a cavity mirror is solved.

The endoscope switching device provided by the invention can solve the problem that the mechanical arm is difficult to be compatible with an endoscope.

The surgical robot provided by the invention can be compatible with different third-party endoscopes and has good adaptability.

Drawings

Fig. 1 is a schematic structural diagram of a cavity mirror adapter structure according to an embodiment of the present invention;

fig. 2 is a schematic structural view of the endoscope adapter structure and the endoscope after being fixed according to the first embodiment of the present invention;

fig. 3 is a cross-sectional view of the endoscope adapter structure and the endoscope after being fixed according to the first embodiment of the present invention;

fig. 4 is a schematic structural view of the endoscope adapter structure and the endoscope after being fixed according to the second embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a locking ring according to a second embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a retaining ring according to a second embodiment of the present invention;

fig. 7 is a schematic structural diagram of a cavity mirror switching structure provided in the second embodiment of the present invention;

fig. 8 is a schematic structural view of the endoscope adapter structure and the endoscope after being fixed according to the third embodiment of the present invention;

FIG. 9 is an exploded view of a third embodiment of the present invention;

fig. 10 is a schematic structural diagram of an auxiliary fixture for installation according to a fourth embodiment of the present invention;

fig. 11 is a schematic structural view of the auxiliary fixture for installation and the adapter structure of the endoscope according to the fourth embodiment of the present invention;

FIG. 12 is a schematic view of a cavity mirror adapter structure provided in accordance with a fifth embodiment of the present invention, ready for installation into an adapter;

FIG. 13 is a top view of the bottom housing and the lock release assembly as assembled in accordance with a fifth embodiment of the present invention;

FIG. 14 is a schematic structural diagram of a cavity mirror, a cavity mirror switching structure and an adapter (without an upper cover) provided in the fifth embodiment of the present invention after assembly;

FIG. 15 is a schematic structural view of a cavity mirror adapter structure provided in accordance with a fifth embodiment of the present invention, ready for assembly into an adapter (without an upper cover);

FIG. 16 is a top view of a mirror, base housing, lock release assembly and drive assembly mechanism as provided in fifth embodiment of the present invention;

FIG. 17 is a top cross-sectional view (not shown cross-section) of a scope, a scope adapter and an assembled scope adapter according to a fifth embodiment of the invention;

fig. 18 is a schematic structural diagram of an assembled cavity mirror adapter structure and an adapter (in an explosive state) according to the fifth embodiment of the present invention.

In the figure:

1. a cavity mirror switching structure; 11. a fixing ring; 111. a first inner diameter section; 1111. a first positioning portion; 112. a second inner diameter section; 113. adapting the inner diameter section; 1131. a locking groove; 114. a second locking pin; 12. locking a ring; 121. a locking section; 122. screwing sections; 123. a first locking pin; 13. a clamping part; 131. a flange; 1311. an arc-shaped hole; 132. a locking groove; 1321. a clamping groove;

201. a handle; 2011. marking; 202. an insertion portion;

3. installing an auxiliary jig; 31. a first groove section; 32. a second groove section; 321. a zero calibration tank; 33. a third groove section;

401. a recessed portion; 402. a notch; 403. a second positioning portion; 41. a housing; 411. a bottom case; 4111. a support portion; 4112. a through hole; 412. an upper cover; 413. a support member; 4131. a lug; 414. a drive ring; 42. a drive mechanism; 421. a motor; 422. a winding wheel; 423. a drive rope; 424. a tension wheel; 431. a locking member; 432. an elastic member; 433. and releasing the element.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

Example one

The embodiment provides a chamber mirror switching structure 1, can fix the chamber mirror to conveniently fix the chamber mirror in required position department through chamber mirror switching structure 1, wherein, above-mentioned "required position" can be adjusted according to the actual use condition of chamber mirror. As shown in fig. 1 and 2, the scope mirror adapter 1 includes a fixing ring 11, a locking ring 12, and a clamping portion 13. The fixing ring 11 and the locking ring 12 can be sleeved outside the insertion part 202 of the cavity mirror, and the fixing ring 11 and the locking ring 12 are movably connected. At least two clamping portions 13 are circumferentially provided at intervals on either one of the fixing ring 11 and the locking ring 12, and the at least two clamping portions 13 can clamp the insertion portion 202 when the fixing ring 11 and the locking ring 12 are fixed, thereby fixing the scope adapter 1 with the scope.

The scope generally includes a handle 201 and an insertion portion 202. Different types or brands of endoscopes may vary in the size and shape of handle 201 and the length of insert 202, but the diameter of insert 202 is substantially the same. The cavity mirror switching structure 1 in this embodiment utilizes the characteristic that the diameter of the insertion part 202 is basically consistent, the insertion part 202 is sleeved with the fixing ring 11, the insertion part 202 is clamped and fixed by the at least two clamping parts 13, so that the cavity mirror switching structure 1 can be compatible with cavity mirrors of different types or brands, the installation of the cavity mirror and the mechanical arm is realized through the cavity mirror switching structure 1, and the problem of difficulty in the compatibility of the mechanical arm and the cavity mirror is solved.

In addition, the clamping of chamber mirror can be realized when solid fixed ring 11 and locking ring 12 are fixed, convenient operation, the zero calibration of chamber mirror and chamber mirror switching structure 1 is convenient for adjust to make things convenient for the zero calibration of chamber mirror and arm.

It will be appreciated that the clamping portion 13 has a degree of flexibility to provide the clamping portion 13 with the ability to deform to clamp the insertion portion 202, avoiding fracture of the clamping portion 13 due to deformation.

In this embodiment, the fixing ring 11 and the locking ring 12 are fixed in a spiral rotation manner, and the clamping portion 13 can clamp and fix the insertion portion 202 by rotating the locking ring 12, so that the operation is more convenient.

In other embodiments, the fixing ring 11 and the locking ring 12 can be fixed in a snap-fit manner.

Fig. 3 is a cross-sectional view (not shown by hatching) of the endoscope adapter 1 after being fixed with the endoscope, the clamping portion 13 is connected with the inner wall of the fixing ring 11, and the locking ring 12 can extend between the fixing ring 11 and the clamping portion 13 and is in threaded connection with the fixing ring 11. When the locking ring 12 is screwed to the fixing ring 11, the amount of deformation of the locking ring 12 pushing the clamping portion 13 increases as the depth of the locking ring 12 extending between the fixing ring 11 and the clamping portion 13 increases, so that the clamping portion 13 can abut against the insertion portion 202, and the clamping and fixing of the insertion portion 202 can be achieved by the engagement of at least two clamping portions 13.

Further, at least two clamping portions 13 are uniformly distributed along the axis of the fixing ring 11 at intervals, so that the clamping force applied to the insertion portion 202 is more uniform, which is beneficial to ensuring that the insertion portion 202 is coaxial with the fixing ring 11, and thus, zero calibration is beneficial to being realized.

In order to facilitate the matching of the fixing ring 11 and the locking ring 12, the fixing ring 11 includes a first inner diameter section 111 and a second inner diameter section 112 connected to each other, the inner diameter of the first inner diameter section 111 is greater than the inner diameter of the second inner diameter section 112, the clamping portion 13 is connected to the second inner diameter section 112, an internal thread is provided on the first inner diameter section 111, and an external thread is provided on the locking ring 12. The locking ring 12 can penetrate between the first inner diameter section 111 and the clamping portion 13 to push the clamping portion 13 to clamp the insertion portion 202 against the increase of the screwing depth of the locking ring 12.

In this embodiment, the clamping portion 13 is disposed on the step surface formed between the first inner diameter section 111 and the second inner diameter section 112, and compared with the clamping portion 13 disposed on the inner wall of the second inner diameter section 112, the clamping portion is beneficial to reducing the size of the second inner diameter section 112, so that the structure of the cavity mirror adapter structure 1 is more compact.

In addition, the step surface at the joint of the first inner diameter section 111 and the second inner diameter section 112 can limit the screwing depth of the locking ring 12, and the structure damage caused by the overlarge screwing depth of the locking ring 12 and the fixing ring 11 is avoided.

Further, the locking ring 12 comprises a locking segment 121 and a screw segment 122, and the radial dimension of the screw segment 122 is larger than that of the locking segment 121. The external thread is arranged on the locking section 121, and the peripheral surface of the screwing section 122 is provided with friction lines to facilitate screwing. The end of the clamping portion 13 can abut against the end face of the screw section 122 to further limit the screwing-in depth of the locking ring 12.

To further facilitate the threaded connection of the securing ring 11 with the securing ring 12, the inner wall of the securing ring 12 is configured with a first abutment guide surface which is inclined towards the axis of the securing ring 12 in a direction axially away from the securing ring 11. When the locking ring 12 is screwed into the first inner diameter section 111, the first abutment guide surface can be slidably engaged with the clamping portion 13 and push the clamping portion 13 close to the insertion portion 202, thereby providing a space for screwing the locking ring 12 and ensuring that the fixing ring 11 can be screw-engaged with the locking ring 12.

Further, the clamping portion 13 is provided with a second abutting guide surface adapted to the first abutting guide surface, and the first abutting guide surface can slide along the second abutting guide surface to drive the clamping portion 13 to approach the insertion portion 202.

Further, the clamping portion 13 comprises an abutment section and a clamping section. The abutting section is connected with a step surface at the joint of the first inner diameter section 111 and the second inner diameter section 112 and extends obliquely to the axial direction close to the insertion portion 202, and the second abutting guide surface is provided on the abutting section so that the abutting section is matched with the first abutting guide surface. The clamping section is connected with a free end of the abutment section for abutment with the insertion portion 202. The clamping section may be substantially parallel to the axis of the insertion portion 202 so as to increase the contact area of the clamping section with the insertion portion 202, thereby enabling to improve the clamping effect of the clamping portion 13 on the insertion portion 202.

In the present embodiment, the inner diameter of the second inner diameter section 112 is larger than the diameter of the insertion portion 202 so that the fixing ring 11 can slide in the axial direction relative to the insertion portion 202.

Further, the fixing ring 11 further includes an adaptive inner diameter section 113, the adaptive inner diameter section 113 is connected to the second inner diameter section 112, and the inner diameter of the adaptive inner diameter section 113 is smaller than the inner diameter of the second inner diameter section 112 and equal to the outer diameter of the cavity mirror. By providing the adapted inner diameter section 113, a radial positioning of the insertion portion 202 can be achieved, which cooperates with the at least two clamping portions 13, which can further improve the fixing effect of the insertion portion 202.

In other embodiments, the inner diameter of the second inner diameter section 112 may be equal to the diameter of the insertion portion 202, and accordingly, the fitting inner diameter section 113 may not be provided, or the inner diameter of the fitting inner diameter section 113 may be equal to the second inner diameter section 112.

Further, as shown in fig. 1, the fixing ring 11 is provided with a first positioning portion 1111. First location portion 1111 can regard as the sign, conveniently adjusts chamber mirror and chamber mirror switching structure 1's circumference fixed angle to in realize the zero-bit calibration of chamber mirror. Specifically, as shown in fig. 2, a mark 2011 is generally disposed on the handle 201 of the endoscope, and when the endoscope and the endoscope adapter 1 are assembled, the mark 2011 and the first positioning portion 1111 may be adjusted to a preset relative position, so as to ensure circumferential fixing accuracy of the endoscope and the endoscope adapter 1.

Optionally, an adapter is arranged on the mechanical arm, and the adapter is used for being matched with the cavity mirror switching structure 1 so as to fix the cavity mirror on the mechanical arm. As shown in fig. 3, a locking groove 1131 is further disposed in the cavity mirror adapter structure 1, so as to facilitate fixing of the cavity mirror adapter structure 1 and the adapter on the robot arm.

Example two

As shown in fig. 4, the present embodiment provides a scope adapter structure 1, which is different from the first embodiment in the structure of the locking ring driving grip 13.

As shown in fig. 5 and 6, the locking ring 12 is sleeved outside the fixing ring 11 and is screwed with the fixing ring 11, the clamping portion 13 extends from the end surface of the fixing ring 11 in the axial direction of the fixing ring 11, the clamping portion 13 is provided with a flange 131 extending in the circumferential direction of the fixing ring 11, the flange 131 is provided with an arc-shaped hole 1311, the width of the arc-shaped hole 1311 is gradually reduced in the locking direction of the fixing ring 11 and the locking ring 12, and the locking ring 12 is provided with a first locking pin 123 capable of sliding along the arc-shaped hole 1311.

When the locking ring 12 is screwed to the fixing ring 11, the first locking pin 123 slides along the circular arc hole 1311 toward the end of the circular arc hole 1311 having a smaller width. As the width of the circular arc hole 1311 decreases, the abutting force of the first locking pin 123 against the inner wall of the circular arc hole 1311 gradually increases, pushing the clamping portions 13 to deform, so that at least two clamping portions 13 are fitted to clamp the insertion portion 202.

Chamber mirror switching structure 1 in this embodiment can reach the dynamics and the power of holding tightly that insert 202 is reasonable through the width variation trend of control locking groove 132, and chamber mirror switching structure 1 is fixed effectual with the chamber mirror.

Alternatively, the first locking pin 123 may be a cylinder, a sphere, an oval column, or a square column, and the specific shape thereof may be set as desired.

Further, in order to ensure that the abutting force of the first locking pin 123 against the clamping portion 13 drives the clamping portion 13 to deform from the inside of the fixing ring 11, as shown in fig. 5 and 7, the locking ring 12 has a stepped structure, that is, the end surface of the locking ring 12 is provided with a receiving groove, when the locking ring 12 and the fixing ring 11 are screwed together, the flange 131 is located in the receiving groove, and the inner diameter of the receiving groove is adapted to the outer diameter of the flange 131, so as to limit the deformation of the abutting portion from the outside of the fixing ring 11 by the abutting of the inner wall of the receiving groove and the flange 131.

EXAMPLE III

As shown in fig. 8, the present embodiment provides a scope mirror adapter structure 1 which is different from the first and second embodiments in the structure of the lock ring driving grip portion 13.

As shown in fig. 9, the clamping portion 13 extends from the end surface of the locking ring 12 in the axial direction of the locking ring 12, a locking groove 132 extending spirally is formed in the clamping portion 13, the depth of the locking groove 132 is gradually reduced in the spiral direction, and a retaining groove 1321 is formed at the end of the locking groove 132 having a smaller depth; the fixing ring 11 is sleeved outside the locking ring 12, and a second locking pin 114 is convexly disposed on an inner wall of the fixing ring 11, and the second locking pin 114 can slide along the locking groove 132 and can be clamped in the clamping groove 1321.

In this embodiment, the fixing ring 11 and the locking ring 12 are screw-coupled by the engagement of the second locking pin 114 and the locking groove 132. When the second locking pin 114 slides along the locking groove 132 toward the end having the smaller depth, the screwing depth of the locking ring 12 to the fixing ring 11 increases, and the abutting force of the second locking pin 114 against the locking groove 132 increases, so that the clamping portion 13 can be pushed to deform to gradually clamp the insertion portion 202. When the second locking pin 114 slides to the end of the locking groove 132 with the smaller depth, the second locking pin 114 is caught in the catching recess 1321, and the fixing of the fixing ring 11 and the locking ring 12 is achieved, and at the same time, the clamping portion 13 clamps the insertion portion 202.

Alternatively, the second locking pin 114 may be a hemisphere or the end surface of the second locking pin 114 may be a curved surface so as to contact the bottom surface of the locking groove 132 having a gradually changing depth.

The second locking pin 114 may be made of a resilient material, such as plastic or a particularly resilient metal, in order to control the clamping force on the insert 202 by setting the compression interference of the second locking pin 114.

Example four

The embodiment provides an installation auxiliary fixture 3 for fixing a cavity mirror and a cavity mirror adapter structure 1 in the first embodiment, the second embodiment or the third embodiment.

As shown in fig. 10, the auxiliary fixture 3 is provided with an adapting groove, the adapting groove includes a first groove section 31, a second groove section 32 and a third groove section 33, the first groove section 31 is adapted to the handle 201 of the endoscope, the second groove section 32 is adapted to the endoscope adapter structure 1, the third groove section 33 is adapted to the insertion portion 202 of the endoscope, and the second groove section 32 is provided with a zero calibration groove 321 adapted to the first positioning portion 1111.

When the cavity mirror and the cavity mirror switching structure 1 need to be fixed, the cavity mirror and the cavity mirror switching structure 1 are respectively arranged in the corresponding groove sections, so that the positioning of the cavity mirror and the cavity mirror positioning structure can be realized. Wherein, be provided with mark 2011 on the chamber mirror, through forming certain positional relationship with installation auxiliary jig 3 with mark 2011 on the chamber mirror, for example, in this embodiment, positional relationship is that one side that the chamber mirror was provided with mark 2011 is arranged in installation auxiliary jig 3 up on to make the cooperation of first location portion 1111 and zero-bit calibration groove 321, can realize chamber mirror and chamber mirror switching structure 1 along circumference according to the angular fixation who sets for, thereby through the relative position of guaranteeing chamber mirror switching structure 1 and arm, can realize the zero-bit calibration of chamber mirror, convenient operation.

Optionally, because the shapes and sizes of the different types of handles 201 may be different, in order to improve the compatibility of the installation auxiliary fixture 3, the first trough section 31 and the handle 201 of the endoscope may be adapted such that the shape and size of the first trough section 31 are the same as those of the handle 201 of the endoscope, or the size of the first trough section 31 is larger than that of the handle 201, and the shape of the first trough section 31 may be sufficient to accommodate the handle 201, so that the handles 201 of different shapes or sizes may be placed in the first trough section 31, so that the installation auxiliary fixture 3 may be suitable for different assembly of the endoscope.

It should be noted that in some cases, the zero calibration of the cavity mirror need not be strictly controlled to zero or a specific position, and may be within a certain error range, for example within ± 5 °.

In some embodiments, the cavity mirror adapter structure 1 may not be positioned with the cavity mirror by installing the auxiliary fixture 3, and may be estimated by human eyes of an assembler to ensure that the mark 2011 and the first positioning portion 1111 (or other structures on the cavity mirror adapter structure 1) form a certain positional relationship.

EXAMPLE five

The present embodiment provides an adapter, which is used to fix the scope adapter structure 1 in the first embodiment, the second embodiment or the third embodiment, so that the compatibility of the robot arm and different scope lenses is realized through the connection between the adapter and the robot arm.

As shown in fig. 12, the adaptor includes a mounting seat for fixing with the robot arm, a recess 401 is provided on the mounting seat for accommodating the fixing ring 11, and a through hole 4112 allowing the insertion portion 202 of the scope to pass through is provided in the recess 401. Cavity mirror switching structure 1 arranges in depressed part 401, through the cooperation of depressed part 401 with solid fixed ring 11, realizes the location to cavity mirror switching structure 1, and the portion of inserting 202 is worn out by through-hole 4112 for the use.

In order to further facilitate zero calibration, the fixing ring 11 is provided with a first positioning portion 1111, and the mounting base is provided with a second positioning portion 403 adapted to the first positioning portion 1111. When chamber mirror switching structure 1 was arranged in depressed part 401, through the angle of adjustment chamber mirror switching structure 1, can make first location portion 1111 and the cooperation of second location portion 403 to it is fixed according to the relative position stipulated to realize chamber mirror and the circumference of arm along the chamber mirror, realizes the zero-bit calibration of chamber mirror and arm, convenient operation, and the accuracy is good.

Specifically, the first positioning portion 1111 is a positioning protrusion, the second positioning portion 403 is a positioning groove matched with the positioning protrusion, and the positioning groove is disposed on the top surface of the mounting seat and is communicated with the recessed portion 401. Through the cooperation of location arch and constant head tank, can further simplify the zero calibration.

In this embodiment, the mounting base includes a housing 41, the housing 41 includes a bottom shell 411 and an upper cover 412, and the bottom shell 411 and the upper cover 412 are detachably connected to facilitate assembly and disassembly of the mounting base. The casing 41 is integrally L-shaped, the vertical part of the casing 41 is used for being fixed with a mechanical arm and can drive the cavity mirror to rotate through the mechanical arm, and the horizontal part of the casing 41 is used for fixing the cavity mirror adapter 1.

In order to facilitate the assembly of the adapter and the endoscope adapter structure 1, a notch 402 communicated with the through hole 4112 is further arranged on the mounting seat, the notch 402 allows the insertion part 202 to pass through, so that when the endoscope and the endoscope adapter structure 1 are mounted, the endoscope can enter the through hole 4112 through the notch 402, and moves downwards through the endoscope adapter structure 1 to place the endoscope adapter structure 1 on the mounting seat.

In the operation process, the mechanical arm controls the endoscope to operate in all directions, even under misoperation, the endoscope turns over (the insertion part 202 faces upwards), and in order to avoid the endoscope switching structure 1 from being separated from the adapter along the axial direction of the endoscope, the adapter further comprises a locking and releasing assembly which can selectively lock or unlock the endoscope switching structure 1 and the mounting seat along the axial direction of the endoscope switching structure 1, so that the endoscope switching structure 1 and the adapter are axially fixed or the endoscope switching structure 1 and the adapter are detached.

Specifically, as shown in fig. 13 and 14, the lock releasing assembly includes a locking member 431, an elastic member 432, and a releasing member 433. The cavity mirror adapter structure 1 is provided with a locking groove 1131 (see fig. 3), the locking piece 431 is arranged on the mounting seat in a sliding manner along the radial direction of the concave part 401, and one end of the locking piece can extend into the concave part 401 and extend into the locking groove 1131; one end of the elastic piece 432 is abutted or connected with the locking piece 431, the other end is abutted or connected with the mounting seat, and the elastic piece 432 can drive the locking piece 431 to slide towards the direction of extending into the locking groove 1131; the releasing member 433 is slidably disposed on the mounting seat along a radial direction of the positioning groove, and the releasing member 433 is connected to the locking member 431.

When the releasing member 433 is free from external force, the locking member 431 can extend into the locking groove 1131 under the action of the elastic member 432, and the axial fixation of the cavity mirror adapter structure 1 and the adapter is realized through the matching of the locking member 431 and the locking groove 1131. When the cavity mirror adapter 1 needs to be detached, the locking member 431 is moved to the outside of the recess 401 against the elastic force of the elastic member 432 by pushing the release member 433, so that the locking member 431 is disengaged from the locking groove 1131, and then the cavity mirror adapter 1 can be detached.

When the scope adapter 1 needs to be mounted on the adapter, as shown in fig. 15, the scope is first slid into the through hole 4112 from a position slightly above the notch 402 so that the scope adapter 1 is located above the recess 401. Thereafter, the push release member 433 is slid to retract the locking member 431 out of the recess 401 against the elastic force of the elastic member 432. The endoscope switching structure 1 is moved downwards, so that the endoscope switching structure 1 falls into the concave part 401, the release member 433 is released, and the locking member 431 extends into the locking groove 1131 under the action of the elastic member 432, so that the endoscope switching structure 1 and the adapter are axially fixed.

It will be appreciated that the operation of removing the scope adapter 1 is the reverse of the above process, and the release member 433 is pushed first and then the scope adapter 1 is removed, which will not be described in detail herein.

In order to improve the stability of the sliding of the locking member 431, the lock releasing assembly further includes a guiding post disposed in the housing 41 and extending along the radial direction of the recess 401, and the elastic member 432 is sleeved outside the guiding post to prevent the elastic member 432 from influencing the sliding direction of the locking member 431 after bending.

Alternatively, the elastic member 432 may be a spring, which is simple and low in cost. The number of the elastic members 432 may be plural, and the stability of the locking member 431 may be further improved.

In other embodiments, the lock releasing assembly may further include a guide sleeve slidably fitted with the guide member, and one of the guide member and the guide sleeve is fixed to the housing 41 and the other is connected with the locking member 431 to guide the locking member 431 to slide.

In this embodiment, at least a portion of the locking and releasing assembly is disposed in the housing 41 to protect the locking and releasing assembly and prevent dust or impurities from affecting the normal operation of the locking and releasing assembly.

Further, two releasing members 433 are disposed, two opposite ends of the locking member 431 are both provided with the releasing members 433, and the releasing members 433 are exposed outside the housing 41, so as to facilitate pushing the releasing members 433.

In the use process of the cavity mirror, the angle of the cavity mirror needs to be adjusted. For this purpose, the mounting base in this embodiment further includes a driving ring 414, the driving ring 414 is connected to the housing 41 and can rotate around the axis of the driving ring 414 relative to the base, and the second positioning portion 403 is disposed on the driving ring 414. The second positioning portion 403 is disposed on the driving ring 414, so that the endoscope adapter structure 1 and the driving ring 414 can be circumferentially fixed, and the driving ring 414 can rotate relative to the housing 41 to drive the endoscope adapter structure 1 to rotate, thereby adjusting the endoscope angle.

Further, the adapter further comprises a driving mechanism 42, wherein the driving mechanism 42 is disposed on the mounting seat and connected to the driving ring 414 for driving the driving ring 414 to rotate, so as to achieve automatic adjustment of the endoscope angle.

As shown in fig. 16-18, the drive mechanism 42 includes a motor 421, a take-up pulley 422, and a drive cord 423. The motor 421 is arranged on the mounting seat, the winding wheel 422 is coaxially arranged and connected with an output shaft of the motor 421, the driving rope 423 is wound on the winding wheel 422, and two ends of the driving rope 423 are respectively fixed on two opposite sides of the driving ring 414. The forward and reverse rotation of the winding wheel 422 can be realized through the forward and reverse rotation of the motor 421, so that the driving ring 414 is driven by the driving rope 423 to rotate forward and reverse, and the adjustment of the endoscope angle is realized. Compared with the traditional driving mode (such as gear transmission), the driving mechanism 42 is more flexible and reliable, has a simple and compact structure, and is beneficial to reducing the occupied space of the driving mechanism 42, thereby reducing the size of the adapter.

In order to improve the driving effect of the driving rope 423 on the driving ring 414, two ends of the driving rope 423 are crossed and then respectively connected with two opposite sides of the driving ring 414, so that each section of the driving rope 423 is wound outside the driving ring 414 for a certain distance, thereby improving the rotation precision of the driving ring 414.

In order to enable the driving rope 423 to be in a tensioning state in the forward and reverse rotation process of the driving ring 414, the driving mechanism 42 further comprises at least two tensioning wheels 424, and two ends of the driving rope 423 respectively pass through the at least one tensioning wheel 424 and then are connected with the driving ring 414 in a crossed manner, so that the tensioning effect of the driving rope 423 can be ensured.

In order to make the structure of the driving mechanism 42 more compact, the motor 421 and the winding wheel 422 are located above the tension wheel 424, and at least two tension wheels 424 have two arrangement states with vertical axes, so that the space is reasonably utilized.

In the present embodiment, the driving mechanism 42 is disposed in the housing 41 to protect the driving mechanism 42 by the housing 41. At least a portion of the drive ring 414 is positioned within the housing 41 to facilitate coupling of the drive mechanism 42 to the drive ring 414.

In order to realize the rotary connection between the driving ring 414 and the housing 41, a support 413 is further disposed in the housing 41, a support 4111 is disposed on the bottom inner wall of the housing 41, the support 413 is fixedly connected to the support 4111, and the driving ring 414 is rotatably disposed in the support 413.

Further, one of the support 413 and the driving ring 414 is provided with a sliding groove along the circumferential direction, and the other is provided with a sliding member engaged with the sliding groove, so that the driving ring 414 is guided by the sliding of the sliding member in the sliding groove, and the rotation of the driving ring 414 is more stable, and meanwhile, by the engagement of the sliding member and the sliding groove, the axial fixation of the driving ring 414 and the support 413 can be realized, and the separation of the two is avoided.

In order to facilitate the insertion of the locking member 431 into the drive ring 414 to be fitted to the fixed ring 11, the support member 413 is suspended in the housing 41 via the boss 4131 so that the locking member 431 can be inserted into the drive ring 414 through the gap between the support member 413 and the bottom surface of the housing 41.

To avoid the locking member 431 interfering with the rotation of the scope adapter 1, the locking groove 1131 is a closed annular groove extending along the circumference of the fixing ring 11 so that the locking member 431 can slide in the locking groove 1131.

EXAMPLE six

The embodiment provides an adapter device, which comprises an adapter in the fifth embodiment and a cavity mirror adapter structure 1 in the first embodiment, the second embodiment or the third embodiment, and the adapter device can solve the problem that a mechanical arm is difficult to be compatible with various cavity mirrors.

EXAMPLE seven

The embodiment provides an endoscope installation method, which comprises the following steps:

step 1: and assembling the endoscope switching structure 1 with an endoscope, and performing zero registration on the endoscope switching structure 1 and the endoscope.

First, the scope adapter 1 is fitted to the outside of the insertion portion 202. In the process, the fixing ring 11 and the locking ring 12 in the endoscope switching structure 1 are in an unlocked state, that is, they can move relatively.

Then, the auxiliary fixture 3 is installed to adjust the cavity mirror and the cavity mirror adapter structure 1 to a preset relative position, and the fixing ring 11 is fixed with the locking ring 12, so that the at least two clamping portions 13 clamp the insertion portion 202, and zero position registration of the cavity mirror adapter structure 1 and the cavity mirror is achieved.

Specifically, the cavity mirror and the cavity mirror switching structure 1 after being sleeved are arranged in an adaptive groove of the auxiliary fixture 3. The handle 201 of the endoscope is arranged in the first groove section 31, the inserting part 202 of the endoscope is arranged in the third groove section 33, and the endoscope switching structure 1 is arranged in the second groove section 32, so that the relative position precision of the endoscope and the endoscope switching structure 1 along the axial direction of the endoscope is ensured. Through the cooperation of first location portion 1111 and zero-bit calibration groove 321 to guarantee that mark 2011 on the chamber mirror sets up, can guarantee chamber mirror and chamber mirror switching structure 1's relative position precision along chamber mirror week upwards.

In other embodiments, if the requirement on the zero position precision of the cavity mirror is low, the zero position registration of the cavity mirror adapter structure 1 and the cavity mirror can be realized by manually adjusting the circumferential relative position of the cavity mirror and the cavity mirror adapter structure to a preset relative position without using an installation jig.

Step 2: and the cavity mirror adapter structure 1 is installed on the adapter and is subjected to zero position registration.

Specifically, the fixing ring 11 is mounted in the recess 401 of the adaptor on the robot arm, and the insertion portion 202 is passed through the through hole 4112. Specifically, through the cooperation of first location portion 1111 and second location portion 403, realize the axial fixity of solid fixed ring 11 and adapter through locking release assembly to avoid chamber mirror switching structure 1 and adapter to break away from.

Example eight

The embodiment provides a surgical robot, including arm and the switching device in the sixth embodiment, the adapter in the switching device is installed on the arm, chamber mirror switching structure 1 can with the chamber mirror cooperation of different kinds and brand, install the chamber mirror on the arm through chamber mirror switching structure 1, can improve surgical robot and chamber mirror's suitability.

In some embodiments, the surgical robot may only include the endoscope adapter structure 1, and the endoscope adapter structure 1 is fixed to the mechanical arm through other structures, so as to achieve the purpose of improving the adaptability of the surgical robot to the endoscope.

In some embodiments, the surgical robot may only include an adapter, and the adapter may directly fix the scope or fix the scope by matching with other structures, and the purpose of improving the adaptability of the surgical robot and the scope may also be achieved.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations, and substitutions will occur to those skilled in the art without departing from the scope of the present invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a chamber mirror switching structure which characterized in that includes:

the fixing ring can be sleeved outside the insertion part of the endoscope;

the locking ring can be movably connected with the fixing ring and can be sleeved outside the insertion part;

at least two clamping parts are arranged at intervals in the circumferential direction on any one of the fixing ring and the locking ring, and the at least two clamping parts can clamp the insertion part when the fixing ring and the locking ring are fixed;

the clamping part is connected with the inner wall of the fixing ring, the locking ring can extend into the space between the fixing ring and the clamping part and is in threaded connection with the fixing ring, and the locking ring can drive the clamping part to abut against the inserting part when being screwed with the fixing ring;

the fixing ring is provided with a first positioning part, the handle of the endoscope is provided with a mark, and when the endoscope and the endoscope switching structure are assembled, the first positioning part and the mark can be adjusted to a preset relative position so as to circumferentially position the endoscope and the endoscope switching structure.

2. The scope adapter structure of claim 1, wherein the fixing ring includes a first inner diameter section and a second inner diameter section connected to each other, the first inner diameter section having an inner diameter larger than that of the second inner diameter section, the clamping portion being connected to the second inner diameter section, the first inner diameter section having an inner thread formed thereon, and the fixing ring having an outer thread formed thereon.

3. The scope switching structure according to claim 1, wherein the inner wall of the locking ring is configured with a first abutment guide surface inclined toward the axis of the locking ring in a direction axially away from the fixing ring; the clamping part is provided with a second abutting guide surface matched with the first abutting guide surface, and the first abutting guide surface can slide along the second abutting guide surface to drive the clamping part to be close to the inserting part.

4. The endoscopic adaptor structure of any one of claims 1 to 3 wherein the fixation ring comprises an adapted inner diameter section having an inner diameter equal to the outer diameter of the insertion portion.

5. The utility model provides a chamber mirror switching structure which characterized in that includes:

the fixing ring can be sleeved outside the insertion part of the endoscope;

the locking ring is sleeved outside the fixing ring and is in threaded connection with the fixing ring, the clamping part extends from the end face of the fixing ring along the axial direction of the fixing ring, a flange extending along the circumferential direction of the fixing ring is arranged on the clamping part, an arc-shaped hole is formed in the flange, the width of the arc-shaped hole is gradually reduced along the locking direction of the fixing ring and the locking ring, and a first locking pin capable of sliding along the arc-shaped hole is arranged on the locking ring;

6. The endoscopic adaptor structure of claim 5 wherein said retaining ring comprises an adapted inner diameter section having an inner diameter equal to the outer diameter of said insertion portion.

7. An endoscope switching structure, its characterized in that includes:

the fixing ring can be sleeved outside the insertion part of the endoscope;

the clamping part extends from the end surface of the locking ring along the axial direction of the locking ring, a locking groove extending in a spiral manner is arranged on the clamping part, the depth of the locking groove is gradually reduced along the spiral direction, and a clamping groove is arranged at one end of the locking groove with the small depth;

the fixing ring is sleeved outside the locking ring, a second locking pin is convexly arranged on the inner wall of the fixing ring, and the second locking pin can slide along the locking groove and can be clamped in the clamping groove;

8. The endoscopic adaptor structure of claim 7 wherein said retaining ring comprises an adapted inner diameter section having an inner diameter equal to the outer diameter of said insertion portion.

9. A mounting fixture for a cavity mirror, which is used for fixing the cavity mirror with the cavity mirror switching structure as claimed in any one of claims 1 to 8, wherein the mounting fixture is provided with an adapting groove, the adapting groove comprises a first groove section, a second groove section and a third groove section, the first groove section is adapted to the handle of the cavity mirror, the second groove section is adapted to the cavity mirror switching structure, the third groove section is adapted to the insertion part of the cavity mirror, and the second groove section is provided with a zero position calibration groove adapted to the first positioning part.

10. An adapter for a scope, for fixing the scope adapter structure of any one of claims 1 to 8, the adapter comprising a mounting seat for fixing with a robot arm, the mounting seat being provided with a recess for receiving the fixing ring, the recess being provided with a through hole for allowing the insertion portion of the scope to pass therethrough;

and a second positioning part matched with the first positioning part is arranged on the mounting seat.

11. The adapter as claimed in claim 10, wherein the first positioning portion is a positioning protrusion, and the second positioning portion is a positioning groove fitted with the positioning protrusion, the positioning groove being provided on the top surface of the mounting seat and communicating with the recessed portion.

12. The adapter of claim 10 wherein said mount comprises:

a housing;

13. The adapter as claimed in claim 12, further comprising:

14. The adapter of claim 13 wherein said drive mechanism comprises:

the motor is arranged on the mounting seat;

15. An adapter according to any of claims 10-14, wherein the mounting is provided with a notch communicating with the through hole, such that the cavity mirror can enter the through hole through the notch.

16. The adapter as claimed in any one of claims 10-14, further comprising:

17. The adapter of claim 16 wherein said lock release assembly comprises:

18. An adapter device comprising a scope adapter structure according to any of claims 1-8 and an adapter for a scope according to any of claims 10-17.

19. An endoscope installation method is characterized by comprising the following steps:

assembling a scope adapter according to any one of claims 1-8 with a scope and zero registering the scope adapter with the scope;

mounting the scope adapter structure onto an adapter for a scope according to any one of claims 10-17 and making zero registration.

20. The mounting method of an endoscope according to claim 19, wherein said zero registration of said endoscope adapter structure with said endoscope specifically comprises:

21. The cavity mirror mounting method according to claim 19, wherein said mounting said cavity mirror adaptor structure to an adaptor and zeroing specifically comprises:

and arranging the cavity mirror switching structure in the concave part of the adapter, enabling the insertion part to penetrate through the through hole in the concave part, and enabling the first positioning part on the fixing ring to be matched with the second positioning part on the adapter.

22. A surgical robot comprising an endoscopic adaptor structure as claimed in any of claims 1 to 8 and/or an adaptor for an endoscope as claimed in any of claims 10 to 17.