CN114190867B

CN114190867B - Endoscope and surgical robot

Info

Publication number: CN114190867B
Application number: CN202210150631.6A
Authority: CN
Inventors: 王迎智; 李浩泽; 王干
Original assignee: Apeiron Surgical Beijing Co Ltd
Current assignee: Apeiron Surgical Beijing Co Ltd
Priority date: 2022-02-18
Filing date: 2022-02-18
Publication date: 2022-04-29
Anticipated expiration: 2042-02-18
Also published as: CN114190867A

Abstract

The invention relates to the technical field of instruments for inspecting cavities or tubes of human bodies visually or by photography, in particular to an endoscope and a surgical robot. The endoscope comprises a mirror rod assembly and a plurality of lens assemblies, wherein the mirror rod assembly and the lens assemblies are detachably connected; the lens assembly includes a 3D lens assembly and a 2D high resolution lens assembly. According to the endoscope, an operator can switch and use the 3D lens assembly and the 2D high-resolution lens assembly at any time according to actual requirements in the same operation, so that the respective advantages of the 3D lens assembly and the 2D high-resolution lens assembly are brought into play in the same operation, and diagnosis and treatment of doctors are facilitated; and a plurality of independent endoscopes do not need to be used at the same time, so that the use cost can be effectively reduced.

Description

Endoscope and surgical robot

Technical Field

The invention relates to the technical field of instruments for inspecting cavities or tubes of human bodies visually or by photography, in particular to an endoscope and a surgical robot.

Background

The endoscope is a detection instrument integrating traditional optics, ergonomics, precision machinery, modern electronics, mathematics and software into a whole. One has an image sensor, optical lens, light source illumination, mechanical device, etc. that may enter the stomach orally or through other orifices. The endoscope can be used for seeing the pathological changes which can not be displayed by X-ray, thereby being beneficial to the diagnosis and treatment of doctors. Many types of endoscopes exist, such as 3D endoscopes, 2K resolution endoscopes, and 4K resolution endoscopes.

The 3D endoscope has the advantages compared with a 2D endoscope in certain operation scenes such as suture, knot and other complex operation scenes, and has great value in the aspects of shortening the operation time of the operation, reducing the training time of beginners and the like. However, the 3D endoscope also has the inherent disadvantage of causing 3D vertigo after long-term use, and especially, shaking of the hand of the endoscope during the operation or rapid adjustment of the small-amplitude lens causes the video image to shake more significantly, which may cause visual discomfort or fatigue such as vertigo, headache, double image, etc. to the operator.

When an operator performs operation, the 2K resolution endoscope, the 4K resolution endoscope or the 2D endoscope with higher resolution can provide clearer operation visual field and vivid picture for the operator, the reality degree is obviously enhanced, and the full magnification can bring better positioning and orientation force for the operator, so that the precision degree of the operation is improved. The fine anatomical imaging under the 4K high-definition imaging technology can help to improve the anatomical recognition degree of an operator and improve the operation accuracy, so that the fine anatomy can be completed more smoothly. For example, the identification degree of the laparoscope visual field to nerve, blood vessel, mesentery, lymph and fat tissue is increased, and the fine dissection dissociation based on the increased identification degree can reduce bleeding during operation, protect important nerve function, and accurately clean the range and the boundary of lymph nodes.

At present, an operator cannot use a 3D endoscope and a 2D high-resolution endoscope together according to actual requirements in the same operation, and cannot exert respective advantages simultaneously; meanwhile, the cost of the endoscope is high, and the cost of the endoscope is increased if the 3D endoscope and the 2D high resolution endoscope are used simultaneously.

Disclosure of Invention

Therefore, the invention provides an endoscope, which solves or partially solves the problem that the prior art cannot use a 3D endoscope and a 2D high-resolution endoscope together according to actual requirements in the same operation.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

an endoscope, comprising a plurality of endoscopes,

the lens module comprises a lens rod assembly and a plurality of lens assemblies, wherein the lens rod assembly and the lens assemblies are detachably connected;

the lens assembly includes a 3D lens assembly and a 2D high resolution lens assembly.

Optionally, one end of the lens assembly is provided with a first mechanical interface and a first electrical interface, and one end of the mirror rod assembly is provided with a second mechanical interface and a second electrical interface;

the first mechanical interface and the second mechanical interface are detachably connected, and the first mechanical interface and the second mechanical interface are connected to fixedly connect the lens assembly and the mirror rod assembly;

the first electrical interface and the second electrical interface are detachably connected, and the image information of the lens assembly is transmitted to the lens rod assembly through the first electrical interface and the second electrical interface.

Optionally, the first mechanical interface includes an insertion groove, the second mechanical interface includes an insertion protrusion, and the insertion groove is inserted into the insertion protrusion to fixedly connect the lens component and the mirror rod component.

Optionally, the first mechanical interface further includes a cylindrical connection portion, the outer wall of the cylindrical connection portion is formed with the insertion groove recessed into the cylindrical connection portion, the extending direction of the insertion groove is parallel to the central line of the lens assembly, an opening is formed at one end of the insertion groove, and a first clamping portion is formed at a groove wall and/or a groove bottom of the insertion groove;

the grafting arch is the strip structure, the bellied surface of grafting is formed with second joint portion, the grafting arch passes through the opening inserts in the grafting recess, second joint portion with first joint portion joint.

Optionally, the first clamping portion is a concave portion formed by recessing the groove bottom into the cylindrical connecting portion, the second clamping portion is a first convex portion protruding towards the central line of the mirror rod assembly, and the first convex portion is suitable for being inserted into the concave portion.

Optionally, the first clamping portion is located at an end portion of the insertion groove far away from the opening.

Optionally, the plurality of insertion grooves are uniformly distributed around the axis of the cylindrical connecting part.

Optionally, the insertion groove includes a first insertion groove and a second insertion groove, and a cross-sectional area of the first insertion groove is smaller than a cross-sectional area of the second insertion groove;

the shape of the insertion protrusion is matched with that of the insertion groove.

Optionally, the depth of the first insertion groove is the same as the depth of the second insertion groove, and the width of the first insertion groove is smaller than the width of the second insertion groove.

Optionally, the first plugging groove has one, and the second plugging groove has three.

Optionally, the endoscope further comprises a lock ring, wherein a plurality of limiting protrusions are arranged on the inner wall of the lock ring, the limiting protrusions are distributed around the axis of the lock ring, and the inner wall of the lock ring between every two adjacent limiting protrusions is arranged corresponding to the insertion protrusion;

after the inserting protrusion is inserted into the inserting groove, the locking ring is positioned on the outer sides of the inserting protrusion and the cylindrical connecting part, and the locking ring is rotated until the limiting protrusion abuts against the inserting protrusion to limit the inserting protrusion to move out of the inserting groove.

Optionally, a slope is arranged on one side of the limiting protrusion in the direction around the axis of the lock ring;

when the lock ring is rotated, the slope surface is firstly contacted with the insertion bulge.

Optionally, the end of the outer wall of the cylindrical connecting part far away from the opening is formed with a first step,

a boss is formed at one end of the mirror rod assembly, and one end of the insertion bulge is connected with one side, close to the middle part, of the end face of the boss;

after the inserting protrusion is inserted into the inserting groove, one end of the locking ring is in contact with the first step, and the other end of the locking ring is in contact with one side, far away from the middle part, of the end face of the boss.

Optionally, a second step connected with the first step is formed on the outer wall of the cylindrical connecting part, the diameter of the second step is smaller than that of the first step, and the second step is located on one side, away from the opening, of the insertion groove;

a second convex part protruding towards the central line far away from the mirror rod assembly is formed on the outer wall of the inserting protrusion;

the limiting bulge is positioned at one end of the lock ring;

after the inserting protrusion is inserted into the inserting groove, the outer surface of the inserting protrusion is flush with the outer wall of the cylindrical connecting part, the inserting protrusion between the second convex part and the boss is arranged corresponding to the limiting protrusion, and the second convex part and the second step are arranged corresponding to the inner wall of the other end of the locking ring.

Optionally, the inner wall of the cylindrical connecting part extends outwards to form an annular extending part, and the outer peripheral wall of the extending part is flush with the bottom of the insertion groove;

after the inserting protrusion is inserted into the inserting groove, the extending part is inserted into the middle cavity of the boss.

Optionally, the first electrical interface includes a plurality of female terminals, and the second electrical interface includes a plurality of male terminals, and the male terminals are connected to the female terminals in a plugging manner.

Optionally, an end face of the other end of the lens assembly is provided with an optical module, and the optical module is used for collecting optical information;

a sensor is arranged in the lens assembly and corresponds to the optical module, the sensor comprises a first chip and a second chip, the first chip is used for receiving the optical information and outputting MIPI signals, and the second chip is used for receiving the MIPI signals and converting the MIPI signals into serial signals to be output;

female terminal includes the female terminal of signal, public terminal includes the public terminal of signal, the female terminal of signal with the sensor is connected, the female terminal of signal with the transmission after the public terminal of signal is connected serial signal.

Optionally, the serial signal is a V-by-OneHS video signal.

Optionally, a package size of the first chip is smaller than 9mm × 9 mm.

Optionally, a package size of the second chip is less than or equal to 5mm × 5 mm.

Optionally, the lens assembly further comprises an information module having lens information of the lens assembly;

female terminal is including discerning female terminal, public terminal is including discerning public terminal, discernment female terminal with the information module is connected, discernment female terminal with discernment public terminal transmits after connecting lens information.

Optionally, the lens information includes a model and a category of the lens component.

According to the endoscope, the lens rod component and the lens component are detachably connected; the lens assembly comprises a 3D lens assembly and a 2D high-resolution lens assembly, namely, an operator can switch and use the 3D lens assembly and the 2D high-resolution lens assembly at any time according to actual requirements in the same operation, so that respective advantages of the 3D lens assembly and the 2D high-resolution lens assembly are exerted in the same operation, and diagnosis and treatment of doctors are facilitated; and in addition, the use cost is effectively reduced.

Another object of the present invention is to provide a surgical robot to solve or partially solve the problem that the existing surgical robot cannot use a 3D endoscope and a 2D high resolution endoscope together according to actual needs in the same operation.

a surgical robot comprises the endoscope.

The surgical robot has the same advantages as the endoscope compared with the prior art, and the description is omitted here.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic view of an endoscope according to the present invention;

fig. 2 is a schematic structural diagram of a 3D lens assembly and a mirror bar assembly according to the present invention in a separated state;

fig. 3 is a schematic structural view illustrating a separated state of a 2D high resolution lens assembly and a mirror bar assembly according to the present invention;

FIG. 4 is a schematic view of a mirror stem assembly according to the present invention;

FIG. 5 is a schematic structural diagram of a lens assembly according to the present invention;

FIG. 6 is a schematic structural view of a perspective view of the locking ring of the present invention;

FIG. 7 is a front view of the locking ring according to the present invention;

FIG. 8 is a first schematic structural view of a cross-sectional view through the axis of the lock ring when the lens module and the rod module of the present invention are not connected;

FIG. 9 is a second schematic structural view of a cross-sectional view through the axis of the lock ring when the lens assembly and the rod assembly are not connected according to the present invention;

FIG. 10 is a first schematic structural view of a cross-sectional view through the axis of the lock ring when the lens module and the rod module are connected according to the present invention;

fig. 11 is a first structural schematic diagram of a cross-sectional view of the lens assembly and the mirror bar assembly of the present invention when they are connected.

Description of reference numerals:

411-lens assembly; 4110-3D lens assembly; 4111-2D high resolution lens assembly; 4112-signal female terminals; 4113-identifying a female terminal; 4114-signal male terminals; 4115-identifying a male terminal;

4116-a cylindrical connection; 4117-a plug groove; 41171-a first plugging groove; 41172-a second plugging groove; 4118-opening; 4119-a recess; 4120 — first step; 4121-a second step; 4122-an extension;

4123-insert projection; 41231 — first fitting projection; 41232-second engaging projection; 4124-first convex portion; 4125-second protrusions; 4126-boss;

4127-locking ring; 4128-stop protrusion; 4129-slope surface;

412-a mirror stem assembly; 413-bendable portion; 417-an abdominal component; 419-control handle.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being 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," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the prior art, a 3D endoscope can achieve a 2D display effect by closing one channel, but the image quality of the 2D display effect is poor. Meanwhile, the lens of the 3D endoscope needs two channels, and the two channels need a certain interval, so that the size of the endoscope cannot be reduced; if a channel is directly added on a high-resolution 2D endoscope lens such as a 4k lens to form a high-resolution 3D lens, the size of a single photosensitive element in the lens is 4 times larger, and the size of a single lens is also increased by multiple, so that the size of the manufactured high-resolution 3D lens is not smaller than 20mm, and the large size is unacceptable in the field of medical instruments, that is, the technical problem exists in the prior art that the high-resolution 2D endoscope cannot be used together with the 3D endoscope. How to solve the technical problem will be described in detail below.

As shown in fig. 1 to 3, an embodiment of the present invention discloses an endoscope, which includes a lens bar assembly 412 and a plurality of lens assemblies 411, wherein the lens bar assembly 412 and the lens assemblies 411 are detachably connected; the lens assembly 411 includes a 3D lens assembly 4110 and a 2D high resolution lens assembly 4111.

Specifically, as shown in fig. 1, the endoscope includes a lens assembly 411, a scope bar assembly 412, and a control handle 419 connected in this order from left to right. Wherein the lens rod assembly 412 further comprises a bendable part 413 and a belly assembly 417, the lens assembly 411 is detachably connected with the bendable part 413, the bendable part 413 is connected with the belly assembly 417, and the belly assembly 417 is connected with the control handle 419. Wherein the bendable portion 413 can be bent to enable the lens assembly 411 to obtain a larger field of view.

The high resolution means that the imaging resolution is greater than or equal to 1080P, and in practical application, the 2D high-resolution lens assembly 4111 includes a 2K-resolution lens, a 4K-resolution lens, or an 8K-resolution lens.

The lens rod assembly 412 and the lens assembly 411 in the embodiment of the invention are detachably connected; the lens assembly 411 includes a 3D lens assembly 4110 and a 2D high resolution lens assembly 4111, that is, an operator can switch between the 3D lens assembly 4110 and the 2D high resolution lens assembly 4111 according to actual needs at any time in the same operation, so that advantages of the 3D lens assembly 4110 and the 2D high resolution lens assembly 4111 are brought into play in the same operation, which is more beneficial to diagnosis and treatment of a doctor; and in addition, the use cost is effectively reduced.

As shown in fig. 2 and 3, in an embodiment, one end of the lens assembly 411 is provided with a first mechanical interface and a first electrical interface, and one end of the mirror bar assembly 412 is provided with a second mechanical interface and a second electrical interface; the first mechanical interface and the second mechanical interface are detachably connected, and the first mechanical interface and the second mechanical interface are connected to fixedly connect the lens assembly 411 and the mirror bar assembly 412; the first electrical interface and the second electrical interface are detachably connected, and the image information of the lens assembly 411 is transmitted to the mirror bar assembly 412 through the first electrical interface and the second electrical interface.

Through the arrangement of the first mechanical interface and the second mechanical interface and the arrangement of the first electrical interface and the second electrical interface, the lens assembly 411 and the mirror bar assembly 412 are mechanically and electrically connected, and the image information of the lens assembly 411 can be transmitted to the mirror bar assembly 412.

As shown in fig. 4, 5, 8 to 11, in an embodiment, the first mechanical interface includes a plugging groove 4117, the second mechanical interface includes a plugging protrusion 4123, and the plugging groove 4117 is plugged with the plugging protrusion 4123 to fixedly connect the lens module 411 and the mirror rod module 412.

The connection mode that the inserting protrusion 4123 is inserted into the inserting groove 4117 is simple to operate, and an operator can quickly switch the required lens assembly 411 according to actual requirements in the same operation.

As shown in fig. 4, 5, 8 to 11, in an embodiment, the first mechanical interface further includes a cylindrical connection portion 4116, the outer wall of the cylindrical connection portion 4116 is formed with the insertion groove 4117 recessed into the cylindrical connection portion 4116, the insertion groove 4117 extends in a direction parallel to a central line of the lens component 411, an opening 4118 is formed at one end of the insertion groove 4117, and a first clamping portion is formed on a groove wall and/or a groove bottom of the insertion groove 4117; the inserting protrusion 4123 is of a strip structure, a second clamping portion is formed on the surface of the inserting protrusion 4123, the inserting protrusion 4123 is inserted into the inserting groove 4117 through the opening 4118, and the second clamping portion is clamped with the first clamping portion.

In first mechanical interface and the connection process of second mechanical interface, grafting arch 4123 inserts the in-process through opening 4118 to grafting recess 4117, the cell wall and/or the tank bottom contact of second joint portion and grafting recess 4117, when grafting arch 4123 inserts grafting recess 4117 in through opening 4118, second joint portion and first joint portion joint, second joint portion can prevent to peg graft protruding 4123 and deviate from in grafting recess 4117 with the joint of first joint portion to make first mechanical interface and second mechanical interface reliably connect.

As shown in fig. 8 to 11, in an embodiment, the first clamping portion is a concave portion 4119 formed by the groove bottom being recessed into the cylindrical connecting portion 4116, the second clamping portion is a first convex portion 4124 protruding toward the centerline of the mirror lever assembly 412, and the first convex portion 4124 is adapted to be inserted into the concave portion 4119.

In the process that the inserting protrusion 4123 is inserted into the inserting groove 4117 through the opening 4118, the first protrusion 4124 contacts with the bottom of the inserting groove 4117, the inserting protrusion 4123 deforms in a direction away from the bottom of the inserting groove 4117, when the inserting protrusion 4123 is inserted into the inserting groove 4117, the first protrusion 4124 is inserted into the recess 4119, and the inserting protrusion 4123 contacts with the bottom of the inserting groove. The engagement of the first protrusion 4124 and the recess 4119 may enable the first mechanical interface and the second mechanical interface to be reliably connected.

As shown in fig. 8, in an embodiment, the first clamping portion is located at an end of the plugging groove 4117 far away from the opening 4118.

When first joint portion was located grafting recess 4117 and keeps away from the tip of opening 4118, the path length that passes through when second joint portion deviates from first joint portion reduces and deviates from the possibility.

As shown in fig. 4 and 5, in an embodiment, a plurality of the plugging grooves 4117 are uniformly arranged around an axis of the cylindrical connecting portion 4116.

A plurality of grafting grooves 4117 are uniformly distributed around the axis of the cylindrical connecting part 4116, and when the grafting grooves 4117 and the grafting protrusions 4123 are spliced, force is exerted more uniformly, so that splicing is facilitated.

As shown in fig. 5, in an embodiment, the plugging groove 4117 includes a first plugging groove 41171 and a second plugging groove 41172, and a cross-sectional area of the first plugging groove 41171 is smaller than a cross-sectional area of the second plugging groove 41172; the shape of the insertion protrusion 4123 is adapted to the shape of the insertion groove 4117.

When the cross-sectional area of the first inserting groove 41171 is smaller than the cross-sectional area of the second inserting groove 41172, an operator can easily distinguish the direction of the lens component 411 and the inserting direction of the lens rod component 412 and the lens component 411 during the inserting process, so that the connecting position of the lens rod component 412 and the lens component 411 is accurate.

In an embodiment, the depth of the first insertion groove 41171 is the same as the depth of the second insertion groove 41172, and the width of the first insertion groove 41171 is smaller than the width of the second insertion groove 41172.

The width of the first inserting groove 41171 is smaller than the width of the second inserting groove 41172, so that the first inserting groove 41171 can be easily distinguished by an operator. As shown in fig. 4, the insertion protrusion 4123 includes a first insertion protrusion 41231 and a second insertion protrusion 41232, and the width of the first insertion protrusion 41231 is smaller than the width of the second insertion protrusion 41232. The first plugging protrusion 41231 is adapted to be inserted into the first plugging groove 41171, and the second plugging protrusion 41232 is adapted to be inserted into the second plugging groove 41172.

As shown in fig. 4 and 5, in an embodiment, the first plugging groove 41171 has one, and the second plugging groove 41172 has three.

The first insertion groove 41171 and the three second insertion grooves 41172 are provided around the outer periphery of the cylindrical connecting portion 4116.

In an alternative embodiment, the lens module 411 has a second mechanical interface at one end thereof, and the mirror bar module 412 has a first mechanical interface at one end thereof, and the first mechanical interface and the second mechanical interface are connected to achieve an effective connection between the lens module 411 and the mirror bar module 412.

As shown in fig. 4, 6 and 7, in an embodiment, the endoscope further comprises a lock ring 4127, the inner wall of the lock ring 4127 is provided with a limiting protrusion 4128, a plurality of limiting protrusions 4128 are distributed around the axis of the lock ring 4127, and the inner wall of the lock ring 4127 between two adjacent limiting protrusions 4128 is arranged corresponding to the insertion protrusion 4123; after the plugging protrusion 4123 is inserted into the plugging groove 4117, the locking ring 4127 is located outside the plugging protrusion 4123 and the cylindrical connecting portion 4116, and the locking ring 4127 is rotated until the limiting protrusion 4128 abuts against the plugging protrusion 4123 to limit the plugging protrusion 4123 from being removed from the plugging groove 4117.

In the process that the plugging protrusion 4123 is inserted into the plugging groove 4117, due to the arrangement of the first protrusion 4124, the plugging protrusion 4123 moves in the direction away from the bottom of the plugging groove 4117, and the inner wall of the lock ring 4127 between the two adjacent limiting protrusions 4128 is arranged corresponding to the plugging protrusion 4123, so that a moving space is provided for the plugging protrusion 4123, and the plugging protrusion 4123 can be ensured to be inserted into the plugging groove 4117. After the plugging protrusion 4123 is inserted into the plugging groove 4117, the lock ring 4127 rotates to the position-limiting protrusion 4128 to abut against the plugging protrusion 4123, and the position-limiting protrusion 4128 can limit the plugging protrusion 4123 to move in a direction away from the bottom of the plugging groove 4117, so as to limit the plugging protrusion 4123 to move out of the plugging groove 4117.

As shown in fig. 6 and 7, the outer wall of the lock ring 4127 is provided with a concave-convex structure to increase friction and facilitate rotation.

As shown in fig. 6 and 7, in one embodiment, a slope 4129 is formed on one side of the limiting protrusion 4128 around the axial direction of the locking ring 4127; when the lock ring 4127 is rotated, the slope 4129 first contacts the insertion protrusion 4123.

The ramp 4129 is configured to provide a rotational direction for the lock ring 4127 to reduce resistance to rotation of the lock ring 4127.

As shown in fig. 4 to 11, in an embodiment, an end portion of an outer wall of the cylindrical connecting portion 4116 away from the opening 4118 is formed with a first step 4120, one end of the mirror lever assembly 412 is formed with a boss 4126, and one end of the insertion protrusion 4123 is connected to a side of an end surface of the boss 4126 near a middle portion; after the insertion protrusion 4123 is inserted into the insertion groove 4117, one end of the locking ring 4127 contacts the first step 4120, and the other end contacts one side of the end surface of the boss 4126 away from the middle.

The first step 4120 and the side of the end surface of the boss 4126 away from the middle portion are used for clamping the locking ring 4127 and limiting the movement of the locking ring 4127 in the axial direction thereof, so that the structure after the first mechanical interface and the second mechanical interface are connected is stable and reliable.

As shown in fig. 4 to 11, in an embodiment, the outer wall of the cylindrical connecting portion 4116 is formed with a second step 4121 connected to the first step 4120, the diameter of the second step 4121 is smaller than that of the first step 4120, and the second step 4121 is located on a side of the plugging groove 4117 away from the opening 4118; the outer wall of the insertion projection 4123 is formed with a second projection 4125 projecting away from the centerline of the mirror lever assembly 412; the stop protrusion 4128 is located at one end of the lock ring 4127; after the insertion protrusion 4123 is inserted into the insertion groove 4117, the outer surface of the insertion protrusion 4123 is flush with the outer wall of the cylindrical connecting portion 4116, the insertion protrusion 4123 between the second protrusion 4125 and the boss 4126 is disposed corresponding to the limiting protrusion 4128, and the second protrusion 4125 and the second step 4121 are disposed corresponding to the inner wall of the other end of the locking ring 4127.

As shown in fig. 11, the plugging protrusion 4123 is inserted into the plugging groove 4117, and after the locking ring 4127 rotates until the limiting protrusion 4128 abuts against the plugging protrusion 4123, the second protrusion 4125 is disposed corresponding to the inner wall of the other end of the locking ring 4127, and the limiting protrusion 4128 can prevent the second protrusion 4125 from moving towards the right side, so that the structure after the first mechanical interface and the second mechanical interface are connected is stable and reliable.

As shown in fig. 10 and 11, in an embodiment, an inner wall of the cylindrical connecting portion 4116 extends outward to form an annular extension 4122, and an outer peripheral wall of the extension 4122 is flush with a groove bottom of the insertion groove 4117; after the inserting protrusion 4123 is inserted into the inserting groove 4117, the extending portion 4122 is inserted into the middle cavity of the boss 4126.

The extension 4122 is inserted into the middle cavity of the boss 4126, so that the cylindrical connection portion 4116 and the insertion protrusion 4123 are connected in an embedded manner, and the structure of the first mechanical interface and the second mechanical interface after connection is stable and reliable.

In one embodiment, the first electrical interface includes a plurality of female terminals, and the second electrical interface includes a plurality of male terminals that are plugged into the female terminals.

The connecting terminal is an accessory product for realizing electrical connection, is industrially divided into the category of connectors, and comprises a female terminal and a male terminal, wherein the female terminal and the male terminal are connected to realize the transmission of image information and electricity.

In an embodiment, an end surface of the other end of the lens assembly 411 is provided with an optical module, and the optical module is used for collecting optical information; a sensor is arranged in the lens assembly 411, the sensor is arranged corresponding to the optical module, the sensor includes a first chip and a second chip, the first chip is used for receiving the optical information and outputting an MIPI signal, and the second chip is used for receiving the MIPI signal and converting the MIPI signal into a serial signal for outputting; female terminal includes signal female terminal 4112, male terminal includes signal male terminal 4114, signal female terminal 4112 with the sensor is connected, signal female terminal 4112 with the transmission after signal male terminal 4114 is connected the serial signal.

The MIPI signal has the defect of short transmission distance, and the serial signal has the advantage of long output distance, so that the arrangement of the second chip can ensure high-quality transmission of optical information.

In one embodiment, the serial signal is a V-by-OneHS video signal.

In one embodiment, the package size of the first chip is less than 9mm by 9 mm.

In one embodiment, the package size of the second chip is less than or equal to 5mm × 5 mm.

The package size of the first chip is less than 9mm × 9mm, and the package size of the second chip is less than or equal to 5mm × 5mm, so that the size of the lens assembly 411 can be 10mm or less. The lens assembly 411 has both features of small size and high resolution display.

In one embodiment, the lens assembly 411 further comprises an information module having lens information of the lens assembly 411; the female terminal includes discernment female terminal 4113, the male terminal includes discernment male terminal 4115, discernment female terminal 4113 with the information module is connected, discernment female terminal 4113 with the transmission after discernment male terminal 4115 connects the lens information.

The identification female terminal 4113 and the identification male terminal 4115 are connected to transmit lens information, so that the lens information of the lens assembly 411 is transmitted for the endoscope to select corresponding operations and display.

In one embodiment, the lens information includes a model and a category of the lens assembly 411. The endoscope is switched to an appropriate display mode, operation mode, and the like according to the model and category information of the lens assembly 411.

It can be understood that, in practical applications, in order to implement different functions, the lens information may be adjusted accordingly, which is not limited in the embodiment of the present invention.

In another embodiment, a second electrical interface is disposed at one end of the lens assembly 411, and a first electrical interface is disposed at one end of the mirror bar assembly 412, and the first electrical interface and the second electrical interface are detachably connected.

As shown in fig. 4 and 5, the first electrical interface is located inside the first mechanical interface and the second electrical interface is located inside the second mechanical interface. The female signal terminal 4112 is located in the middle of the first electrical interface, and the male signal terminal 4114 is located in the middle of the second electrical interface.

In practical applications, referring to fig. 4 and 5, for example, the signal female terminal 4112 is a 2.5mm 50 Ω coaxial interface directly connected to the second chip, and the signal female terminal 4112 is used to output a high-speed serial signal to the signal male terminal 4114. Four pin terminals are arranged around the signal female terminal 4112, the four pin terminals are respectively Vcc, GND and two coding pins, wherein the two coding pins are two identification female terminals 4113, and the corresponding identification male terminal 4115 is a jack matched with the pins.

The lens assembly 411 further includes a light source component, which can output white light with high luminous flux and high color rendering index to illuminate the observation area of the endoscope, for example, the light source component applies 5W CRI >90 high brightness white LED lamp bead light source in practical use.

In practical applications of the optical module, for example, the 3D lens assembly 4110 selects two modules with the same specification and viewing angle greater than 70 °, and the central field resolution MTF @50lp/mm within the depth of field range is greater than or equal to 0.8. For another example, the 2D high resolution lens assembly 4111 selects a single module with a viewing angle > 80 °, and the central field resolution MTF @100lp/mm within the depth of field is greater than or equal to 0.7.

When the lens assembly 411 is the 3D lens assembly 4110, the first chip is selected from two small-sized large-pixel CMOS chips, which can ensure that a two-channel 1080P 60fps video is output in a limited spatial range. When the lens assembly 411 is a 2D high resolution lens assembly 4111, the first chip is a 1/2.5' 4K resolution chip or a 2K resolution chip, which can output high quality video at 4K 60fps 10bit or 2K 60fps 10 bit. The CMOS chip, the 4K resolution chip or the 2K resolution chip output MIPI signals, the MIPI signal transmission distance is limited, the second chip adopts the THCV241 chip, and the second chip converts the MIPI signals into serial signals to be output to a longer distance. The THCV241 is transmission of a maximum 4lane MIPI CSI-2 image signal which can be converted into a V-by-One HS image signal, and the THCV241 has a maximum rate 4.0Gbps V-by-One HS output capacity. In the 3D lens component 4110, the THCV241 serially processes 1080PMIPI video data, and transmits the data to the image processing module through a coaxial cable in a V-By-One protocol; in the 2D high resolution lens assembly 4111, the THCV241 serially processes the lens 4K/2K 60fpsMIPI video data, and transmits the video data to the image processing module through the coaxial cable in the V-By-One protocol. The transmission distance of the video data processed in series through the coaxial cable is larger than 15m, and the video data processing device has the characteristic of long transmission distance.

When the endoscope is used, the first plugging protrusion 41231 is aligned with the first plugging groove 41171, the second plugging protrusion 41232 is aligned with the second plugging groove 41172, and then the endoscope is inserted, the lock ring 4127 is rotated, and the limit protrusion 4128 is correspondingly connected with the first plugging protrusion 41231 and the second plugging protrusion 41232 in a one-to-one manner. And in the process of connecting the first mechanical interface and the second mechanical interface, the first electrical interface and the second electrical interface are connected. When the endoscope is electrically connected, the lens information of the lens unit 411 is recognized, and the endoscope outputs an endoscope video in an appropriate display mode.

The endoscope adopts a modular design, so that an operator can switch the 3D lens component 4110 and the 2D high-resolution lens component 4111 at any time according to actual requirements in the same operation, and the advantages of the two lens components 411 can be exerted at the same time; meanwhile, the use cost of the endoscope is greatly reduced. The first mechanical interface and the second mechanical interface are detachably connected, so that the structure is simple and stable, the convenience of replacing the lens assembly 411 in an operation is ensured, and the safety in the use process is ensured. Moreover, the lens assembly 411 is a single sealed lens design with excellent and broad sterilization options and applicability. The endoscope can switch different display modes according to different lens assemblies 411, and has the advantages of convenience and high efficiency.

The embodiment of the invention also discloses a surgical robot, which comprises the endoscope of the embodiment.

Because the endoscope has and can switch at any time and use 3D lens subassembly 4110 and 2D high resolution lens subassembly 4111 according to actual demand in same operation, and then exert the respective advantage of 3D lens subassembly 4110 and 2D high resolution lens subassembly 4111 in same operation, more be favorable to the diagnosis and treatment of surgical robot.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims

1. An endoscope, characterized by comprising,

a mirror bar assembly (412) and a plurality of lens assemblies (411), the mirror bar assembly (412) and the lens assemblies (411) being removably connected;

the lens assembly (411) comprises a 3D lens assembly (4110) and a 2D high resolution lens assembly (4111);

one end of the lens component (411) is provided with a first mechanical interface, one end of the mirror rod component (412) is provided with a second mechanical interface, the first mechanical interface and the second mechanical interface are detachably connected, and the first mechanical interface and the second mechanical interface are connected to fixedly connect the lens component (411) and the mirror rod component (412);

the first mechanical interface comprises a plug-in groove (4117), the second mechanical interface comprises a plug-in protrusion (4123), and the plug-in groove (4117) is plugged with the plug-in protrusion (4123) to fixedly connect the lens component (411) and the mirror rod component (412);

the first mechanical interface further comprises a cylindrical connecting part (4116), and the outer wall of the cylindrical connecting part (4116) is provided with the plug-in groove (4117) which is sunken into the cylindrical connecting part (4116);

the inner wall of the lock ring (4127) is provided with a limiting protrusion (4128), a plurality of limiting protrusions (4128) are distributed around the axis of the lock ring (4127), and the inner wall of the lock ring (4127) between every two adjacent limiting protrusions (4128) is arranged corresponding to the inserting protrusion (4123);

after the plugging protrusion (4123) is inserted into the plugging groove (4117), the locking ring (4127) is positioned outside the plugging protrusion (4123) and the cylindrical connecting part (4116), and the locking ring (4127) is rotated until the limiting protrusion (4128) abuts against the plugging protrusion (4123) to limit the plugging protrusion (4123) from moving out of the plugging groove (4117).

2. An endoscope as in claim 1, wherein one end of the lens assembly (411) is provided with a first electrical interface and one end of the mirror bar assembly (412) is provided with a second electrical interface;

the first electrical interface and the second electrical interface are detachably connected, and the image information of the lens assembly (411) is transmitted to the mirror rod assembly (412) through the first electrical interface and the second electrical interface.

3. The endoscope of claim 1, wherein the insertion groove (4117) extends in a direction parallel to a center line of the lens assembly (411), an opening (4118) is formed at one end of the insertion groove (4117), and a first clamping portion is formed on a groove wall and/or a groove bottom of the insertion groove (4117);

the inserting protrusion (4123) is of a strip-shaped structure, a second clamping portion is formed on the surface of the inserting protrusion (4123), the inserting protrusion (4123) is inserted into the inserting groove (4117) through the opening (4118), and the second clamping portion is clamped with the first clamping portion.

4. The endoscope of claim 3, wherein the first clamping portion is a recess (4119) formed by recessing the groove bottom into the cylindrical connecting portion (4116), and the second clamping portion is a first protrusion (4124) protruding toward a center line of the mirror shaft assembly (412), and the first protrusion (4124) is adapted to be inserted into the recess (4119).

5. An endoscope according to claim 3 or 4, characterized in that the first snap-in part is located at an end of the plugging groove (4117) remote from the opening (4118).

6. An endoscope according to claim 3, characterized in that a plurality of said plug grooves (4117) are arranged uniformly around the axis of said cylindrical connecting portion (4116).

7. The endoscope according to claim 1, wherein the plug groove (4117) comprises a first plug groove (41171) and a second plug groove (41172), the first plug groove (41171) having a cross-sectional area smaller than the cross-sectional area of the second plug groove (41172);

the shape of the plugging protrusion (4123) is matched with the shape of the plugging groove (4117).

8. The endoscope according to claim 7, characterized in that a depth of the first plugging groove (41171) and a depth of the second plugging groove (41172) are the same, a width of the first plugging groove (41171) being smaller than a width of the second plugging groove (41172).

9. The endoscope according to claim 8, characterized in that the first plug groove (41171) has one and the second plug groove (41172) has three.

10. The endoscope according to claim 3, wherein a slope (4129) is provided on one side of the stopper protrusion (4128) in the axial direction of the lock ring (4127);

when the lock ring (4127) is rotated, the slope surface (4129) is firstly contacted with the insertion protrusion (4123).

11. The endoscope of claim 10,

a first step (4120) is formed at the end part, far away from the opening (4118), of the outer wall of the cylindrical connecting part (4116);

a boss (4126) is formed at one end of the mirror rod assembly (412), and one end of the inserting protrusion (4123) is connected with one side, close to the middle part, of the end face of the boss (4126);

after the inserting protrusion (4123) is inserted into the inserting groove (4117), one end of the locking ring (4127) is in contact with the first step (4120), and the other end is in contact with one side of the end face of the boss (4126) far away from the middle.

12. The endoscope of claim 11,

the outer wall of the cylindrical connecting part (4116) is provided with a second step (4121) connected with the first step (4120), the diameter of the second step (4121) is smaller than that of the first step (4120), and the second step (4121) is positioned on one side, away from the opening (4118), of the plugging groove (4117);

the outer wall of the inserting projection (4123) is provided with a second convex part (4125) which protrudes far away from the central line of the mirror rod component (412);

the limit protrusion (4128) is located at one end of the lock ring (4127);

after the inserting protrusion (4123) is inserted into the inserting groove (4117), the outer surface of the inserting protrusion (4123) is flush with the outer wall of the cylindrical connecting part (4116), the inserting protrusion (4123) between the second convex part (4125) and the boss (4126) is arranged corresponding to the limiting protrusion (4128), and the second convex part (4125) and the second step (4121) are arranged corresponding to the inner wall of the other end of the locking ring (4127).

13. The endoscope of claim 11,

the inner wall of the cylindrical connecting part (4116) extends outwards to form an annular extending part (4122), and the outer peripheral wall of the extending part (4122) is flush with the groove bottom of the inserting groove (4117);

after the inserting protrusion (4123) is inserted into the inserting groove (4117), the extending part (4122) is inserted into the middle cavity of the boss (4126).

14. The endoscope of claim 2, wherein the first electrical interface comprises a plurality of female terminals and the second electrical interface comprises a plurality of male terminals that plug-connect with the female terminals.

15. The endoscope of claim 14,

an optical module is arranged on the end face of the other end of the lens component (411) and used for collecting optical information;

a sensor is arranged in the lens assembly (411), the sensor is arranged corresponding to the optical module, the sensor comprises a first chip and a second chip, the first chip is used for receiving the optical information and outputting MIPI signals, and the second chip is used for receiving the MIPI signals and converting the MIPI signals into serial signals to be output;

the female terminal includes signal female terminal (4112), the male terminal includes signal male terminal (4114), signal female terminal (4112) with the sensor is connected, signal female terminal (4112) with the transmission after signal male terminal (4114) is connected the serial signal.

16. The endoscope of claim 15, wherein the serial signal is a V-by-OneHS video signal.

17. The endoscope of claim 15, wherein the package size of the first chip is less than 9mm x 9 mm.

18. The endoscope of claim 15, wherein the package size of the second chip is equal to or less than 5mm x 5 mm.

19. The endoscope of claim 14,

the lens arrangement (411) further comprises an information module having lens information of the lens arrangement (411);

the female terminal is including discerning female terminal (4113), the male terminal is including discerning male terminal (4115), discernment female terminal (4113) with the information module is connected, discernment female terminal (4113) with the transmission after discernment male terminal (4115) is connected the lens information.

20. The endoscope of claim 19, wherein the lens information includes a model and a category of the lens assembly (411).

21. A surgical robot comprising the endoscope of any one of claims 1-20.