CN113081283A

CN113081283A - Electronic endoscope and surgical robot

Info

Publication number: CN113081283A
Application number: CN202110462540.1A
Authority: CN
Inventors: 陈正坤; 孙强
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2021-04-27
Filing date: 2021-04-27
Publication date: 2021-07-09

Abstract

The invention discloses an electronic endoscope and a surgical robot. The invention can clearly acquire the image of the focus area of the patient in the minimally invasive surgery process, thereby helping doctors to accurately execute the surgery operation.

Description

Electronic endoscope and surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to an electronic endoscope and a surgical robot.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like. Accordingly, there is a need for an electronic endoscope for use during minimally invasive surgical procedures.

Disclosure of Invention

The invention mainly aims to provide an electronic endoscope and a surgical robot, and aims to provide the electronic endoscope used in a minimally invasive surgery process.

In order to achieve the above object, the present invention provides an electronic endoscope including a housing and an image acquisition section provided in the housing and located at a front end thereof.

Preferably, the image acquiring section includes:

an optical assembly fixed to a front end of the housing;

an electronic component section connected to the optical module;

and an insulating part which is wrapped on the optical component and the electronic component part to insulate the electronic component part and the optical component.

Preferably, the electronic component part comprises a Printed Circuit Board (PCB), and the insulating part comprises a first insulating cover wrapped on the PCB.

Preferably, the optical assembly comprises a lens; the insulating part further comprises a second insulating cover which is connected with the first insulating cover and covers the optical assembly, and the second insulating cover comprises a lens mount used for installing the lens and connected with the first insulating cover and a protection part which covers the lens mount and is connected with the lens mount.

Preferably, the optical assembly further includes an image sensor fixed on the PCB, the image sensor corresponding to a position of the lens.

Preferably, the electronic endoscope further comprises a connecting wire connected with the PCB, a through hole for the connecting wire to pass through is formed in the second insulating cover, and the connecting wire is wrapped by an insulating sleeve.

Preferably, the protection part comprises a lens insulating cover covering the lens mount and connected with the lens mount, and a window part arranged on the lens insulating cover.

Preferably, the electronic endoscope further comprises a light guide part penetrating through the housing, and the image acquisition part further comprises a lens cover covering the optical assembly and fastened with the housing; the lens hood is provided with a channel, one end of the light guide part is accommodated in the channel, and the other end of the light guide part extends in the direction far away from the lens hood.

Preferably, be equipped with two of relative setting on the lens cover the passageway, light guide portion includes the main part and certainly first branch portion and the second branch portion that the main part extends, first branch portion with the end of second branch portion is fixed in two respectively in the passageway.

Preferably, the image acquiring section includes:

the supporting part is fixedly connected with the shell and is provided with a butting wall at one side close to the front end;

a window part disposed on the support part and connected with the support part;

the lens cover is arranged on the window part and connected with the shell;

the lens cap includes the accepting groove, the accepting groove have with the relative first lateral wall that sets up of conflict wall, first lateral wall with conflict wall is used for conflicting respectively the both sides of window portion, in order to restrict the window portion is relative the lens cap removes.

Preferably, the accommodating groove includes a first accommodating groove for accommodating the window portion and a second accommodating groove communicated with the first accommodating groove; the window part comprises a protective body accommodated in the first accommodating groove and a protruding part protruding from the protective body, and the protruding part is accommodated in the second accommodating groove; the second holding tank still has with the second lateral wall that first lateral wall adjoined, first holding tank still has with the third lateral wall that first lateral wall adjoined, the second lateral wall is used for contradicting the protective body, the third lateral wall is used for contradicting the bellying to the restriction window portion along with the axis vertical direction removal of casing.

Preferably, the image acquiring section includes:

the lens seat is fixedly connected with the shell and is provided with a top wall at one side close to the front end;

the protection part covers the lens mount and is connected with the lens mount;

the lens cover is arranged on the protection part and connected with the shell;

the lens hood comprises an accommodating groove, the accommodating groove is provided with a first side wall opposite to the top wall, and the first side wall and the top wall are used for abutting against two sides of the protection part respectively so as to limit the protection part to move relative to the lens hood.

Preferably, the protection part including cover in on the lens mount and with the lens insulating boot that the lens mount is connected and locate window portion on the lens insulating boot, first lateral wall is used for conflicting window portion, the roof is used for conflicting lens insulating boot.

Preferably, the accommodating groove includes a first accommodating groove for accommodating the window portion and a third accommodating groove communicated with the first accommodating groove for accommodating the lens insulating cover; the first accommodating groove is provided with a first side wall, and the first side wall and the lens insulating cover are used for respectively abutting against the window part so as to limit the window part to move along the direction parallel to the axis of the shell.

Preferably, the first receiving groove further has a third side wall adjacent to the first side wall, and the third side wall is configured to interfere with the window portion to limit the movement of the window portion along a direction perpendicular to the axis.

Preferably, the accommodating groove includes a first accommodating groove for accommodating the window portion and a second accommodating groove communicated with the first accommodating groove; the window portion comprises a protective body accommodated in the first accommodating groove and a protruding portion protruding from the protective body, the protruding portion is used for being accommodated in the second accommodating groove, the second accommodating groove is further provided with a second side wall adjacent to the first side wall, the first accommodating groove is further provided with a third side wall adjacent to the first side wall, the third side wall is used for abutting against the protective body, and the second side wall is used for abutting against the protruding portion so as to limit the window portion to move along the direction perpendicular to the axis of the shell.

Preferably, the convex portion is flush with a front end edge of the lens hood.

Preferably, the lens cover and the housing are made of metal.

To achieve the above object, the present invention also provides a surgical robot including the electronic endoscope as described above.

According to the electronic endoscope and the surgical robot, the shell and the image acquisition part which is arranged in the shell and is positioned at the front end are arranged, so that the image of the focus area of a patient can be clearly acquired in the minimally invasive surgery process, and a doctor can be helped to accurately execute the surgery operation.

Drawings

FIG. 1 is a schematic structural diagram of an electronic endoscope according to an embodiment of the present invention;

FIG. 2 is an exploded view of the perspective of FIG. 1;

FIG. 3 is an exploded view of FIG. 1 from another perspective;

FIG. 4 is a schematic view of a partially assembled structure of FIG. 1;

FIG. 5 is a schematic partial cross-sectional view of the embodiment of FIG. 1;

FIG. 6 is an enlarged view of the structure at O in FIG. 5;

FIG. 7 is a schematic view, partially in cross-section, of another embodiment of FIG. 1;

fig. 8 is an enlarged schematic view of the structure at O in fig. 7.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.

It should be noted that all directional indicators (such as up, down, left, right, front, and back) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The invention provides a surgical robot, which comprises a main operating platform and a slave operating device, wherein the main operating platform is used for sending a control command to the slave operating device according to the operation of a doctor so as to control the slave operating device; the slave operation equipment is used for responding to the control command sent by the main operation table and carrying out corresponding operation. The slave operation equipment comprises a mechanical arm, a power mechanism and an operation arm, wherein the power mechanism and the operation arm are arranged on the mechanical arm, the operation arm is used for extending into a body under the driving action of the power mechanism, performing operation through a tail end instrument positioned at the far end of the operation arm, and acquiring in-vivo images through an electronic endoscope positioned at the far end of the operation arm. The main operating platform is also used for displaying images acquired by the electronic endoscope.

As shown in fig. 1 and 2, the present invention provides an electronic endoscope 100, and the electronic endoscope 100 may be of a bendable structure or an inflexible structure. The electronic endoscope 100 may include a housing 1, an image acquisition section 2 provided in the housing 1 at a front end, and a light guide section 3 penetrating the housing 1. Of course, in other embodiments, the image capturing unit 2 may be located outside the housing 1 and at the front end. Wherein the front end is the side close to the patient; in contrast, the other side opposite to the front end, i.e., the side away from the patient, is the back end. By arranging the shell 1 and the image acquisition part 2 which is arranged in the shell 1 and is positioned at the front end, the image of the focus area of a patient can be clearly acquired in the minimally invasive surgery process, so that a doctor can be helped to accurately perform the surgery operation.

In an embodiment, as shown in fig. 2, the image capturing unit 2 includes an optical component 21 fixed at a front end of the housing 1, an electronic component unit 22 connected to the optical component 21, an insulating unit 23 covering the optical component 21 and the electronic component unit 22, and a lens cover 24 covering the optical component 21 and engaged with the housing 1. At present, an endoscope used in a minimally invasive surgery process is easy to cause unstable image pictures under the condition of not in place insulation due to the fact that the front end of the endoscope usually relates to an electronic element, and even can cause the problems of equipment damage and the like when the endoscope is serious. For example, when the foreign object contacted by the electronic endoscope 100 is charged with static electricity, the static electricity may penetrate air into the electronic component part 22 inside the electronic endoscope 100, causing the electronic component part 22 to be burnt; when a high-frequency electric knife exists in the same space where the electronic endoscope 100 is located, the electric frequency carried by the high-frequency electric knife can also mistakenly touch the electronic endoscope 100 and hit the electronic element part 22 in the electronic endoscope 100, so that the electronic element part 22 is burnt; when a high-frequency knife exists in the same space where the electronic endoscope 100 is located, an induced current may be generated in the housing 1 of the electronic endoscope 100, and the induced current may interfere with a signal circuit of the electronic endoscope 100, thereby causing an image to be unstable. In the present embodiment, the insulating portion 23 is used to insulate the electronic component portion 22 from the optical assembly 21, so that the electronic components at the front end of the electronic endoscope 100 can be better insulated, and thus, the problems of unstable image obtained by the electronic endoscope 100, damage to the equipment, and the like can be avoided.

Further, as shown in fig. 2, the electronic component part 22 includes a printed circuit board PCB221, and the PCB221 is connected with a connecting line 222. Specifically, the connection line 222 may be disposed in the housing 1 and extend from the PCB221 to the rear end opposite to the front end. The PCB221 may be a double-layer PCB, or may be a T-shaped PCB. The optical assembly 21 includes a lens 211 and an image sensor 212 fixed on the PCB221, and the image sensor 212 corresponds to a position of the lens 211. It is understood that the number of the lens 211 and the image sensor 212 may be 1, or 2 or more.

Further, as shown in fig. 3, the insulating portion 23 includes a first insulating cover 231 and a second insulating cover 232. The first insulating cover 231 is covered on the PCB221, and the second insulating cover 232 is connected with the first insulating cover 231 and covered on the optical assembly 21. The second insulating cover 232 is provided with a through hole 236 for the connection wire 222 to pass through, and the connection wire 222 is wrapped with an insulating sleeve 237. By wrapping the insulating sleeve 237 on the connecting wire 222 and wrapping the insulating part 23 on the optical assembly 21 and the electronic component part 22, the shell 1 and the connecting wire 222 are both provided with insulating structures, so that the interference of external induced current on a signal circuit of the electronic endoscope 100 is avoided, and the stable image quality of the electronic endoscope 100 can be ensured.

As shown in fig. 3, the second insulating cover 232 may further include a lens mount 238 for mounting the lens 211 and connected to the first insulating cover 231, and a protection portion 239 covering the lens mount 238 and connected to the lens mount 238. The lens mount 238 may be sleeved in the housing 1, and the two may be fixedly coupled by adhering, welding or fastening. The protection member 239 may further include a lens insulating cover 251 covering the lens holder 238 and connected to the lens holder 238, and a window portion 252 disposed on the lens insulating cover 251. It is understood that the protection portion 239 may be a split structure as described above, or may be an integrated structure. When the lens insulating cover 251 and the window portion 252 are of a split structure, the optical module 21 is covered by the two at the front end portions, and meanwhile, the window portion 252 not only has an insulating function, but also can transmit light and prevent substances such as air and water from entering, and the like, so that the lens 211, the image sensor 212, and other structures can be protected. When the lens insulating cover 251 and the window portion 252 are of an integrated structure, the lens insulating cover 251 is of a structure made of the same material as the window portion 252, that is, the protection portion 239 has functions of insulation, light transmission, protection and the like.

Further, as shown in fig. 3, a channel 240 is disposed on the lens hood 24, one end of the light guide portion 3 is accommodated in the channel 240, and the other end extends in a direction away from the lens hood 24. Specifically, the lens cover 24 is provided with two channels 240 arranged oppositely, as shown in fig. 4, the light guide portion 3 includes a main body 31 and a first branch portion 32 and a second branch portion 33 extending from the main body 31, and ends of the first branch portion 32 and the second branch portion 33 are respectively fixed in the two channels 240. The light guide portion 3 may be a multi-bundle optical fiber structure, the main body 31 is an optical fiber structure converging into a large bundle, and the first branch portion 32 and the second branch portion 33 are both partial optical fiber structures, that is, the first branch portion 32 and the second branch portion 33 are two branch structures extending from the main body 31, and the number of the optical fiber bundles of the first branch portion and the number of the optical fiber bundles of the second branch portion may be equal or different, and are set reasonably according to actual needs.

In another embodiment, as shown in fig. 5, the image capturing unit 2 includes a supporting unit 4 fixedly connected to the housing 1, a window unit 252 disposed on the supporting unit 4 and connected to the supporting unit 4, and a lens cover 24 disposed on the window unit 252 and connected to the housing 1. The support portion 4 may be an integral structure or a split structure. When the support portion 4 is of an integral structure, the support portion 4 has an interference wall 40 on a side near the front end; when the supporting portion 4 is a split structure, the supporting portion 4 may further include the lens holder 238 and the lens insulating cover 251, wherein the abutting wall 40 is disposed on the lens insulating cover 251.

Further, as shown in fig. 6, the lens cover 24 includes an accommodating groove 241 for accommodating the window portion 252, the accommodating groove 241 has a first side wall 242 opposite to the abutting wall 40, and the first side wall 242 and the abutting wall 40 are respectively configured to abut against two sides of the window portion 252 to limit the movement of the window portion 252 relative to the lens cover 24. Specifically, the receiving groove 241 may include a first receiving groove 243 and a second receiving groove 244 communicating with the first receiving groove 243. The window portion 252 may include a protection body 255 received in the first receiving groove 243, and a protrusion 256 protruding from the protection body 255, wherein the protrusion 256 is received in the second receiving groove 244. The second receiving groove 244 further has a second sidewall 245 adjacent to the first sidewall 242, the first receiving groove 243 further has a third sidewall 246 adjacent to the first sidewall 242, the third sidewall 246 is used for abutting against the protection body 255, and the second sidewall 245 is used for abutting against the protrusion 256 to limit the movement of the window portion 252 in a direction perpendicular to the axis a of the housing 1. Through the arrangement of the protruding part 256, the window part 252 and the lens cover 24 can be flush with each other at the front end edge, so that the residues of substances such as blood in the operation process are prevented, and the influence on the cleaning and disinfection of the electronic endoscope 100 is avoided. Of course, in other embodiments, the protrusion 256 may not be provided, and in this case, the movement of the protection body 255 along the direction parallel to the axis of the housing 1 may be limited by the interference between the first side wall 242 and the interference wall 40; when the size of the protective body 255 matches the size of the receiving groove 241, the movement of the protective body 255 in the direction perpendicular to the axis may be restricted.

At present, the protective glass at the front end of the endoscope used in the minimally invasive surgery process is usually fixed through an adhesive layer, when the endoscope is sterilized in a high-temperature damp-heat environment, the adhesive force of the adhesive layer to the protective glass at the front end is not enough, the protective glass is easy to loosen and even fall off, and the sealing requirement cannot be met. In the present embodiment, the window portion 252 is limited from moving relative to the lens hood 24 by the interference of the first side wall 242 and the interference wall 40. In this way, when the electronic endoscope 100 is sterilized in a high-temperature, humid and hot environment, the protective glass at the front end can be prevented from loosening, and the lens 211 and the image sensor 212 are prevented from being damaged by substances such as air and water entering the electronic endoscope 100, so that the service life of the electronic endoscope 100 is prolonged while the sealing requirement is met.

In another embodiment, as shown in fig. 7, the image capturing unit 2 includes a lens mount 238 fixedly connected to the housing 1, a protecting unit 239 covering the lens mount 238 and connected to the lens mount 238, and a lens cover 24 disposed on the protecting unit 239 and connected to the housing 1. As shown in fig. 8, the lens holder 238 has a top wall 8 on a side near the front end. The lens cover 24 includes an accommodating groove 241 for accommodating the protection portion 239, the accommodating groove 241 has a first side wall 242 opposite to the top wall 8, and the first side wall 242 and the top wall 8 are respectively configured to abut against two sides of the protection portion 239 so as to limit the movement of the protection portion 239 relative to the lens cover 24. At present, the protective glass at the front end of the endoscope used in the minimally invasive surgery process is usually fixed through an adhesive layer, when the endoscope is sterilized in a high-temperature damp-heat environment, the adhesive force of the adhesive layer to the protective glass at the front end is not enough, the protective glass is easy to loosen and even fall off, and the sealing requirement cannot be met. The present embodiment limits the movement of the protection portion 239 relative to the lens hood 24 by the interference between the first side wall 242 and the top wall 8. In this way, when the electronic endoscope 100 is sterilized in a high-temperature, humid and hot environment, the protective glass at the front end can be prevented from loosening, and the lens 211 and the image sensor 212 are prevented from being damaged by substances such as air and water entering the electronic endoscope 100, so that the service life of the electronic endoscope 100 is prolonged while the sealing requirement is met.

The protection portion 239 may be an integrated structure or a separate structure. When the protection part 239 is of an integral structure, one side of the protection part 239, which is far away from the front end, abuts against the top wall 8; when the protection part 239 is a split structure, the protection part 239 may further include a lens insulation cover 251 covering the lens mount 238 and connected to the lens mount 238, and a window part 252 disposed on the lens insulation cover 251, wherein a side of the lens insulation cover 251 away from the front end abuts against the top wall 8. That is, the first side wall 242 abuts against the window portion 252, and the top wall 8 abuts against the lens insulating cover 251, so that the window portion 252 is prevented from moving relative to the lens cover 24.

Further, the receiving groove 241 may include a first receiving groove 243, a second receiving groove 244 communicating with the first receiving groove 243, and a third receiving groove 249 communicating with the first receiving groove 243. That is, the second receiving groove 244, the first receiving groove 243, and the third receiving groove are sequentially arranged at the front end. The window portion 252 is accommodated in the first accommodating groove 243, or the window portion 252 is accommodated in the first accommodating groove 243 and the second accommodating groove 244, and the lens insulating cover 251 is accommodated in the third accommodating groove. The first sidewall 242 is disposed on the first receiving groove 243, and the first sidewall 242 and the lens insulating cover 251 respectively abut against the window portion 252, so that the window portion 252 can be limited from moving along a direction parallel to the axis of the housing 1.

The window portion 252 may specifically include a protection body 255 received in the first receiving groove 243, and a protrusion 256 protruding from the protection body 255, wherein the protrusion 256 is received in the second receiving groove 244. The second receiving groove 244 further has a second sidewall 245 adjacent to the first sidewall 242, the first receiving groove 243 further has a third sidewall 246 adjacent to the first sidewall 242, the third sidewall 246 is used for abutting against the protection body 255, and the second sidewall 245 is used for abutting against the protrusion 256 to limit the movement of the window part 252 in a direction perpendicular to the axis of the housing 1. Through the arrangement of the protruding part 256, the window part 252 and the lens cover 24 can be flush with each other at the front end edge, so that the residues of substances such as blood in the operation process are prevented, and the influence on the cleaning and disinfection of the electronic endoscope 100 is avoided. Of course, in other embodiments, the protrusion 256 may not be provided, and in this case, the movement of the protection body 255 along the direction parallel to the axis of the housing 1 may be limited by the interference of the first side wall 242 and the top wall 8; when the size of the protective body 255 matches the size of the receiving groove 241, the movement of the protective body 255 in the direction perpendicular to the axis may be restricted.

Further, the lens cover 24 and the housing 1 are made of metal. That is, the electronic endoscope 100 is an all-metal endoscope body, so that not only the electromagnetic shielding effect can be ensured, but also the appearance of the electronic endoscope 100 can be more beautiful. In addition, the lens hood 24 can be conveniently fixedly connected with the shell 1 by welding and other methods.

The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. An electronic endoscope is characterized by comprising a shell and an image acquisition part which is arranged in the shell and is positioned at the front end.

2. The electronic endoscope of claim 1, wherein the image acquisition section comprises:

an optical assembly fixed to a front end of the housing;

an electronic component section connected to the optical module;

3. The electronic endoscope of claim 2 wherein said electronics portion comprises a Printed Circuit Board (PCB) and said insulation portion comprises a first insulating cap over said PCB.

4. The electronic endoscope of claim 3 wherein the optical assembly comprises a lens; the insulating part further comprises a second insulating cover which is connected with the first insulating cover and covers the optical assembly, and the second insulating cover comprises a lens mount used for installing the lens and connected with the first insulating cover and a protection part which covers the lens mount and is connected with the lens mount.

5. The electronic endoscope as defined in claim 4 wherein the optical assembly further comprises an image sensor affixed to the PCB, the image sensor corresponding to a position of the lens.

6. The electronic endoscope as defined in claim 4, further comprising a connecting wire connected to said PCB, wherein a through hole for passing said connecting wire is provided on the second insulating cover, and said connecting wire is covered with an insulating sheath.

7. The electronic endoscope of claim 4, wherein the protective portion comprises a lens insulating cover covering the lens mount and connected to the lens mount, and a window portion disposed on the lens insulating cover.

8. The electronic endoscope of claim 2 further comprising a light guide extending through the housing, the image capture section further comprising a lens cover overlying the optical assembly and snap-fit to the housing; the lens hood is provided with a channel, one end of the light guide part is accommodated in the channel, and the other end of the light guide part extends in the direction far away from the lens hood.

9. The electronic endoscope of claim 8, wherein the lens hood has two of the channels disposed opposite to each other, and the light guide portion includes a main body and a first branch portion and a second branch portion extending from the main body, and distal ends of the first branch portion and the second branch portion are respectively fixed in the two channels.

10. The electronic endoscope of claim 1, wherein the image acquisition section comprises:

a window part disposed on the support part and connected with the support part;

the lens cover is arranged on the window part and connected with the shell;

11. The electronic endoscope of claim 10, wherein the receiving slot includes a first receiving slot for receiving the window portion and a second receiving slot communicating with the first receiving slot; the window part comprises a protective body accommodated in the first accommodating groove and a protruding part protruding from the protective body, and the protruding part is accommodated in the second accommodating groove; the second holding tank still has with the second lateral wall that first lateral wall adjoined, first holding tank still has with the third lateral wall that first lateral wall adjoined, the second lateral wall is used for contradicting the protective body, the third lateral wall is used for contradicting the bellying to the restriction window portion along with the axis vertical direction removal of casing.

12. The electronic endoscope of claim 1, wherein the image acquisition section comprises:

the protection part covers the lens mount and is connected with the lens mount;

the lens cover is arranged on the protection part and connected with the shell;

13. The electronic endoscope as defined in claim 12, wherein said protection portion includes a lens insulating cover covering said lens holder and connected to said lens holder, and a window portion disposed on said lens insulating cover, said first side wall is configured to abut against said window portion, and said top wall is configured to abut against said lens insulating cover.

14. The electronic endoscope of claim 13, wherein the receiving groove includes a first receiving groove for receiving the window portion and a third receiving groove communicating with the first receiving groove for receiving the lens insulating cover; the first accommodating groove is provided with a first side wall, and the first side wall and the lens insulating cover are used for respectively abutting against the window part so as to limit the window part to move along the direction parallel to the axis of the shell.

15. The electronic endoscope of claim 14 wherein the first receiving channel further has a third side wall adjacent the first side wall, the third side wall for interfering with the viewing window portion to limit movement of the viewing window portion in a direction perpendicular to the axis.

16. The electronic endoscope of claim 13, wherein the receiving slot includes a first receiving slot for receiving the window portion and a second receiving slot in communication with the first receiving slot; the window portion comprises a protective body accommodated in the first accommodating groove and a protruding portion protruding from the protective body, the protruding portion is used for being accommodated in the second accommodating groove, the second accommodating groove is further provided with a second side wall adjacent to the first side wall, the first accommodating groove is further provided with a third side wall adjacent to the first side wall, the third side wall is used for abutting against the protective body, and the second side wall is used for abutting against the protruding portion so as to limit the window portion to move along the direction perpendicular to the axis of the shell.

17. The electronic endoscope of claim 11 or 16 wherein the raised portion is flush with a front edge of the lens cover.

18. The electronic endoscope of claim 10 or 12, wherein the lens hood and the housing are made of metal.

19. A surgical robot, characterized in that it comprises an electronic endoscope according to any one of claims 1 to 18.