CN113854935B - Endoscope and surgical robot - Google Patents

Abstract

The invention relates to the technical field of endoscopes, in particular to an endoscope and a surgical robot. The endoscope comprises a lens assembly, a universal joint, an abdomen entering assembly and an adjusting handle which are sequentially connected, wherein the universal joint comprises a vertebra joint and a first sealing element, a first connecting end of the vertebra joint is connected with a first connecting part of the abdomen entering assembly, a second connecting end of the vertebra joint is connected with a third connecting part of the lens assembly, the first sealing element is sequentially sleeved on the first connecting part, the vertebra joint and the third connecting part, and a second connecting part and a fourth connecting part of the abdomen entering assembly. The endoscope used by the surgical robot has good sealing performance, and can effectively avoid infection caused by using the endoscope in the surgical process.

Description

Endoscope and surgical robot

Technical Field

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

Background

With the popularization of the endoscope minimally invasive technology and the improvement of the endoscope processing technology, in the current medical diagnosis and treatment, the application of the endoscope covers the department of gastroenterology, department of respiration, general surgery, department of otorhinolaryngology, orthopaedics, urology surgery, gynecology and the like, becomes indispensable medical diagnosis equipment and operation equipment, and is one of the products which grow faster in the global medical appliance industry. More and more endoscopes are currently used in surgical robotic devices and successfully used in various fields of surgery.

The endoscope can enter a natural channel of a human body or a lumen created by a doctor, and the endoscope has a complex structure, so that the endoscope has a high risk of infection of a patient when applied to a surgical operation process. Even if the sterilization treatment is strictly performed through a plurality of procedures, bacteria can be easily brought into the body cavity. There is therefore a need for improved endoscope configurations.

Disclosure of Invention

In view of the above, the present invention proposes an endoscope and a surgical robot so as to overcome the above problems or at least partially solve the above problems.

The invention provides an endoscope which comprises a lens assembly, a universal joint, an abdomen entering assembly and an adjusting handle which are connected in sequence. Go into abdomen subassembly and include first connecting portion and second connecting portion, the camera lens subassembly includes the third connecting portion, and adjustment handle includes the fourth connecting portion, and universal condyle includes vertebra festival and first sealing member, and vertebra festival includes first link and second link. The first connecting end is connected with the first connecting part of the abdomen entering component, the second connecting end is connected with the third connecting part of the lens component, the first sealing element is sequentially sleeved on the first connecting part, the vertebra joint and the third connecting part, and the second connecting part of the abdomen entering component is connected with the fourth connecting part.

Preferably, the third connecting portion include first section and second section, and the external diameter of first section is greater than the external diameter of second section, and the external diameter of second section and the internal diameter looks adaptation of the second link of vertebra festival, the second section and the second link of third connecting portion wear to establish fixedly.

Preferably, the universal joint further comprises at least two fixing rings, the first sealing member is sleeved with the fixing rings, one of the fixing rings is sleeved at the connecting position of the third connecting portion and the second connecting end of the vertebral joint, and the other fixing ring is sleeved at the connecting position of the first connecting end and the first connecting portion of the abdomen entering component.

Preferably, the first connecting end of the vertebral level comprises a first flange and a fixing portion which are sequentially arranged, the first flange is radially arranged along the first connecting end, the outer diameter of the first flange is larger than that of the fixing portion, the outer diameter of the first connecting portion is larger than that of the fixing portion, the outer diameter of the first flange is larger than that of the first connecting portion, and the fixing portion of the first connecting end penetrates through and is fixed on the first connecting portion of the abdominal component.

Preferably, go into abdomen subassembly and include outer pipe, the second connecting portion are located the tip that outer pipe is close to adjustment handle, and the second connecting portion cover is equipped with first nut, base and pressure cap, and the base includes front end and rear end, and the external diameter of front end is less than the external diameter of rear end. The base is sleeved on the second connecting portion, the rear end of the base is located at the end portion of the second connecting portion, and the pressing cap is sleeved on the connecting position of the front end and the rear end. The outer surface of the front end is provided with threads, and the first nut is sleeved on the outer pipe and is in threaded connection with the front end. And under the state that the first nut is fixed, the pressing cap is tightly pressed at the rear end of the base.

Preferably, the connecting position of the front end and the rear end is provided with a connecting part, the outer diameters of the front end, the connecting part and the rear end are sequentially increased in a step shape, a first step is arranged at the connecting position of the pressing cap and the base, the first step is matched with a second step formed by the connecting part and the rear end, and a second sealing element is arranged between the first step and the second step in a surrounding mode.

Preferably, press the cap inner wall to be provided with the screw thread, adjustment handle includes the casing, and fourth connecting portion are located the casing and are close to the tip of going into the abdomen subassembly, and the surface of fourth connecting portion is provided with the screw thread, presses cap and fourth connecting portion threaded connection, and threaded connection position is provided with sealing glue layer.

Preferably, the adjusting handle further comprises a push-pull rod and an adjusting assembly, and the push-pull rod is rotatably connected with the adjusting assembly. The adjusting component comprises a rotating shaft, the shell comprises a first through hole, the push-pull rod is located outside the shell and corresponds to the first through hole in position, the rotating shaft sequentially penetrates through the first through holes of the push-pull rod and the shell, and the rotating shaft is fixedly connected with the push-pull rod and the shell.

Preferably, the adjusting assembly further comprises an outer shaft sleeve and a second nut, wherein the outer surface of the outer shaft sleeve is provided with threads, the inner wall of the first through hole is provided with threads, the outer shaft sleeve is sleeved on the rotating shaft and is fixed to the first through hole through threads, the second nut is fixed to the outer shaft sleeve through threads, a universal plug seal is arranged between the outer shaft sleeve and the rotating shaft, and when the second nut is in a fixed state, the second nut abuts against the inner wall of the shell.

Preferably, the adjusting assembly further comprises an elastic member and a pressure spring which are sequentially sleeved on the rotating shaft, and the elastic member is located between the second nut and the pressure spring. When the pressure spring is in a fixed state, the elastic piece abuts against the second nut.

Preferably, the adjusting handle further comprises a light guide column and a cable outer sheath assembly, a first fixing hole and a second fixing hole which are formed in the axial direction are formed in the end portion, far away from the abdomen entering assembly, of the shell, the light guide column is fixedly connected with the first fixing hole, and the cable outer sheath assembly is fixedly connected with the second fixing hole.

Preferably, the light guide column comprises a first end and a second end, the outer surface of the first end is provided with threads, the inner wall of the first fixing hole is provided with threads, the first end of the light guide column is in threaded fixation with the first fixing hole, a second flange radially arranged along the light guide column is arranged at the connecting position of the first end and the end part of the first fixing hole, and the outer diameter of the second flange is larger than the inner diameter of the first fixing hole.

Preferably, a third seal is provided between the end of the first fixing hole and the first end adjacent to the second flange.

Preferably, the cable outer sheath assembly comprises a cable fixing hole sleeve, a cable fixing clamp and a cable outer sheath which are connected in sequence, the cable fixing clamp comprises a second fixing section and a first fixing section which are connected in sequence, threads are arranged on the outer surface of the second fixing section, threads are arranged on the inner wall of the second fixing hole, the second fixing section is in threaded fixing with the second fixing hole, one end of the cable fixing hole sleeve is axially inserted into the second fixing section, the other end of the cable fixing hole sleeve is located outside the second fixing section, and the cable outer sheath is fixedly connected with the first fixing section.

Preferably, the second fixed section end and the outer surface of the cable fixing hole sleeve are provided with threads, and a third nut is sleeved at the connecting position of the second fixed section end and the cable fixing hole sleeve.

Preferably, a fourth sealing element is arranged at the connecting position of the second fixing section and the end part of the second fixing hole.

Preferably, the lens assembly comprises a lens front cover, a lens shell, a lens rear cover and an optical fiber module, the lens shell is connected between the lens front cover and the lens rear cover to form an installation cavity in an enclosing mode, the optical fiber module is installed in the installation cavity, and the third connecting portion is located on the lens rear cover.

The invention provides a surgical robot comprising any one of the endoscopes.

Preferably, the surgical robot further comprises a multi-functional channel comprising a plurality of mounting channels, the endoscope being mounted in one of the mounting channels.

Preferably, the surgical robot further comprises a surgical instrument, and the surgical instrument is installed in the other installation channel of the multifunctional channel device.

In the scheme of the invention, the endoscope comprises a lens component, a universal bone joint, an abdomen entering component and an adjusting handle which are sequentially connected, wherein the universal bone joint comprises a vertebra joint and a first sealing element, a first connecting end of the vertebra joint is connected with a first connecting part of the abdomen entering component, a second connecting end of the vertebra joint is connected with a third connecting part of the lens component, the first sealing element is sequentially sleeved on the first connecting part, the vertebra joint and the third connecting part, and a second connecting part of the abdomen entering component is connected with a fourth connecting part.

The endoscope is applied to a surgical robot with a plurality of multifunctional channels, wherein the multifunctional channels comprise a plurality of mounting channels, the endoscope is mounted in one of the mounting channels, and the surgical instrument is mounted in the other mounting channels of the multifunctional channels. The endoscope used by the surgical robot has good sealing performance, and can effectively avoid infection caused by using the endoscope in the surgical process.

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

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings.

In the drawings:

FIG. 1 is a schematic structural view of an endoscope provided by an embodiment of the present invention;

FIG. 2 is a cross-sectional view of an adjustment handle provided by an embodiment of the present invention;

FIG. 3 is an enlarged view of B in FIG. 2;

FIG. 4 is a cross-sectional view A-A of FIG. 2;

FIG. 5 is a block diagram of an access tube according to an embodiment of the present invention;

FIG. 6 is an exploded view of a gimbaled vertebral joint according to an embodiment of the present invention;

FIG. 7 is a cross-sectional view of a gimbal vertebral level of the present invention in an exploded configuration;

fig. 8 is an assembled cross-sectional view of a lens module according to an embodiment of the invention;

FIG. 9 is an assembled schematic view of FIG. 8;

fig. 10 is an assembled top view of a lens module according to an embodiment of the invention.

Reference numerals:

411. a lens assembly; 4111. a lens front cover; 4112. a lens housing; 4113. a lens rear cover; 4114. an optical fiber module; 4111a and a third connecting part; 4111b, a first section; 4111c, a second section; 412. a light guide pillar; 4121. a first end; 4122. a second end; 4123. a second flange; 4124. a third seal member; 414. a cable jacket assembly; 4141. a cable fixing hole sleeve; 4142. a cable fixing clamp; 4142b, a second fixed section; 4142a, a first fixed segment; 4143. a cable outer jacket; 4144. a third nut; 4145. a fourth seal member; 415. a universal joint; 4151. a vertebral level; 4151a, a first connection end; 4151b, a second connection end; 4151c, first flange; 4151d, a fixing portion; 4152. a first seal member; 4153. a fixing ring; 417. an abdominal component; 4171. a first connection portion; 4172. a second connecting portion; 4172a, a first nut; 4172b, a base; 4172c, pressing the cap; 4172d, front end; 4172e, rear end; 4172f, a connecting portion; 4172g, second seal; 4173. an outer tubular member; 419. an adjusting handle; 4191. a push-pull rod; 4192. a housing; 4192a, 4192b, first fixing holes; 4192c, second fixing holes; a first through hole; 4193. an adjustment assembly; 4193a, a rotating shaft; 4193b, an outer sleeve; 4193c, a second nut; 4193d, an elastic member; 4193e, pressure spring; 4194. and a fourth connecting portion.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The endoscope comprises a lens assembly 411, a universal joint 415, an abdomen-entering assembly 417 and an adjusting handle 419 which are connected in sequence. The abdominal assembly 417 includes a first connection portion 4171 and a second connection portion 4172, the lens assembly 411 includes a third connection portion 4111a, the adjustment handle 419 includes a fourth connection portion 4194, the universal joint 415 includes a vertebra 4151 and a first seal 4152, and the vertebra 4151 includes a first connection end 4151a and a second connection end 4151 b. The first connection portion 4151a is connected to the first connection portion 4171 of the abdomen-in component 417, the second connection portion 4151b is connected to the third connection portion 4111a of the lens component 411, the first sealing member 4152 is sequentially sleeved on the first connection portion 4171, the vertebral segments 4151 and the third connection portion 4111a, and the second connection portion 4172 of the abdomen-in component 417 is connected to the fourth connection portion 4194.

Referring to fig. 1, there is shown an embodiment provided by the present invention, the endoscope comprises a lens assembly 411, a universal joint 415, an abdomen entering assembly 417 and an adjusting handle 419 which are connected in sequence, wherein the universal joint 415 comprises a vertebra 4151 and a first sealing member 4152, a first connecting end 4151a of the vertebra 4151 is connected with a first connecting portion 4171 of the abdomen entering assembly 417, a second connecting end 4151b of the vertebra 4151 is connected with a third connecting portion 4111a of the lens assembly 411, the first sealing member 4152 is sleeved on the first connecting portion 4171, the vertebra 4151 and the third connecting portion 4111a in sequence, a second connecting portion 4172 of the abdomen entering assembly 417 is connected with a fourth connecting portion 4194, the structure of the present invention enables the endoscope assemblies to be connected in a sealing manner, and the first sealing member 4152 is arranged to enable the lens assembly 411 and the universal joint 415 to be better sealed.

Preferably, the third connecting portion 4111a includes a first section 4111b and a second section 4111c, the first section 4111b has an outer diameter larger than that of the second section 4111c, the second section 4111c has an outer diameter matched with an inner diameter of the second connecting end 4151b of the vertebra joint 4151, and the second section 4111c of the third connecting portion 4111a and the second connecting end 4151b are fixedly inserted.

Referring to fig. 7, in an embodiment provided by the present invention, the second section 4111c of the third connecting portion 4111a in the lens assembly 411 is inserted into the second connecting end 4151b of the vertebral segment 4151, and the end of the second connecting end 4151b abuts against the first section 4111b of the third connecting portion 4111a, so as to prevent the third connecting portion 4111a from sliding into the second connecting end 4151b completely, and after assembly, the welding seam is flattened by using a high-frequency and low-power welding method. The lens assembly 411 and the vertebral joint 4151 are coupled together using a high precision fit and a high frequency, low power weld to provide a tight, clearance-free coupling of the lens assembly 411 and the gimbal 415.

Preferably, the universal joint 415 further comprises at least two fixing rings 4153, the fixing rings 4153 are sleeved on the first sealing member 4152, one fixing ring 4153 is sleeved on the third connecting portion 4111a and the second connecting end 4151b of the vertebral segment 4151, and the other fixing ring 4153 is sleeved on the first connecting end 4151a and the first connecting portion 4171 of the abdomen entering component 417.

Referring to fig. 1, 6 and 7, in an embodiment of the present invention, gimbal 415 further comprises at least two retaining rings 4153. When the first connection end 4151a of the vertebra joint 4151 is connected to the first connection portion 4171 of the abdomen module 417 and the second connection end 4151b of the vertebra joint 4151 is connected to the third connection portion 4111a of the lens module 411, the first sealing member 4152 is sequentially sleeved on the first connection portion 4171, the vertebra joint 4151 and the third connection portion 4111a, and the fixing rings 4153 are respectively fixed to both end portions of the first sealing member 4152. The fixing ring 4153 is made of a nickel-titanium alloy material, the nickel-titanium alloy material is a special material which is easy to deform after being heated, the nickel-titanium alloy material deforms under external force at a certain temperature, the shape after the external force is removed can still keep the shape after the deformation, and the nickel-titanium alloy material can automatically recover the original shape after being heated at a higher temperature. Fixing rings 4153 are fixed to both end portions of the first sealing member 4152, respectively, the inner diameter of the fixing ring 4153 is smaller than the outer diameter of the vertebral segments 4151, the nitinol material is heated, the outer diameter of the fixing ring 4153 is expanded by external force and is sleeved on the end portions of the first sealing member 4152, and after the assembly is completed, the fixing ring 4153 is reduced to a certain extent by secondary heating, so that the first sealing member 4152 is hooped on the vertebral segments 4151, and both end portions of the first sealing member 4152 are better sealed.

Preferably, the first coupling end 4151a of the vertebral level 4151 includes a first flange 4151c and a fixing portion 4151d disposed sequentially, the first flange 4151c is radially disposed along the first coupling end 4151a, an outer diameter of the first flange 4151c is greater than an outer diameter of the fixing portion 4151d, an outer diameter of the first coupling portion 4171 is greater than an outer diameter of the fixing portion 4151d, and an outer diameter of the first flange 4151c is greater than an outer diameter of the first coupling portion 4171, the fixing portion 4151d of the first coupling end 4151a is configured to be secured to the first coupling portion 4171 of the abdominal assembly 417.

Referring to fig. 6 and 7, in an embodiment of the present invention, the fixing portion 4151d of the vertebral level 4151 is inserted into the first attachment portion 4171 of the abdominal component 417 and positionally constrained by the first flange 4151c to prevent the fixing portion 4151d from sliding completely into the first attachment portion 4171, and after assembly, the weld is filled using high frequency, low power welding. The gimbal 415 and the abdominal component 417 are coupled to each other by high-precision connection and high-frequency, low-power welding, so that the gimbal 415 and the abdominal component 417 are tightly connected without any gap, and have a good sealing effect.

Preferably, referring to FIG. 5, the web-feed assembly 417 is shown including an outer tube 4173, a second connector 4172 at an end of the outer tube 4173 proximate the adjustment handle 419, the second connector 4172 being sleeved with a first nut 4172a, a base 4172b and a crimp cap 4172c, the base 4172b including a front end 4172d and a rear end 4172e, the front end 4172d having an outer diameter less than an outer diameter of the rear end 4172 e. The base 4172b is sleeved on the second connecting portion 4172, the rear end 4172e is located at the end of the second connecting portion 4172, and the pressing cap 4172c is sleeved on the connecting position of the front end 4172d and the rear end 4172 e. The outer surface of the front end 4172d is provided with threads, and the first nut 4172a is sleeved on the outer tube 4173 and is in threaded connection with the front end 4172 d. In a state where the first nut 4172a is fixed, the pressing cap 4172c is pressed against the rear end 4172e of the base 4172 b.

Referring to FIG. 5, in one embodiment of the present invention, when the male member 417 is coupled to the adjustment handle 419, the male member 4173 of the male member 417 is inserted into the base 4172b, and the male member 4173 is flush with the end of the base 4172b, and the compression cap 4172c is placed over the base 4172b, and then the first nut 4172a is placed over the male member 4173 and the front end 4172d of the base 4172b, and is threaded. With the first nut 4172a secured, the compression cap 4172c compresses the rear end 4172e of the base 4172b, fixedly connecting the belly assembly 417 to the adjustment handle 419.

In the assembling process, after the outer pipe 4173 is inserted into the base 4172b, the periphery of the connecting position of the outer pipe 4173 and the base 4172b is subjected to laser welding, so that the matching between the outer pipe 4173 and the base 4172b is high-precision excessive matching, and the outer pipe 4173 and the base 4172b are connected through the high-precision matching and the high-frequency and low-power welding matching, so that the strength and the sealing performance between the outer pipe 4173 and the base 4172b can be ensured.

The base 4172b is in threaded engagement with the first nut 4172a, and a thread sealant is added. The thread sealant is a single-component sealing adhesive prepared by utilizing the principle of oxygen-to-free radical polymerization inhibition, and can be used for bonding and sealing. Thereby ensuring a secure connection between the base 4172b and the first nut 4172a and maintaining an efficient seal therebetween.

Preferably, the connecting position of the front end 4172d and the rear end 4172e is provided with a connecting part 4172f, the outer diameters of the front end 4172d, the connecting part 4172f and the rear end 4172e are sequentially increased in a step shape, the connecting position of the pressing cap 4172c and the base 4172b is provided with a first step, the first step is matched with a second step formed by the connecting part 4172f and the rear end 4172e, and a second sealing member 4172g is annularly arranged between the first step and the second step.

Referring to fig. 5, in an embodiment provided by the present invention, the base 4172b and the pressing cap 4172c are connected in a step, and a second sealing member 4172g is disposed at the step connection position, and the second sealing member 4172g uses a silicone sealing ring, so that the silicone has a strong oxidation resistance, and can maintain a good sealing performance after being sterilized and disinfected for a plurality of times. By using the silicone ring, it is possible to ensure efficient sealing performance between the base 4172b and the press cap 4172 c.

Preferably, the inner wall of the pressing cap 4172c is provided with threads, the adjusting handle 419 comprises a housing 4192, a fourth connecting portion 4194 is positioned at the end of the housing 4192 close to the abdomen component 417, the outer surface of the fourth connecting portion 4194 is provided with threads, the pressing cap 4172c is in threaded connection with the fourth connecting portion 4194, and the threaded connection position is provided with a sealant layer.

Referring to fig. 5, in an embodiment provided by the present invention, the fourth connecting portion 4194 of the outer housing 4192 of the adjusting handle 419 and the pressing cap 4172c are connected by a screw, and a sealant layer is disposed at the screw connection position, so that the adjusting handle 419 and the abdominal component 417 are connected and fixed by the screw, and the screw sealant has good adhesion and sealing performance, and ensures the connection firmness and sealing performance between the two.

Preferably, the adjustment handle 419 further includes a push-pull rod 4191 and an adjustment assembly 4193, the push-pull rod 4191 being pivotally coupled to the adjustment assembly 4193. The adjusting assembly 4193 includes a rotating shaft 4193a, the housing 4192 includes a first through hole 4192a, the push-pull rod 4191 is disposed outside the housing 4192 and corresponds to the first through hole 4192a, the rotating shaft 4193a sequentially penetrates through the push-pull rod 4191 and the first through hole 4192a of the housing 4192, and the rotating shaft 4193a is fixedly connected to the push-pull rod 4191 and the housing 4192.

Referring to fig. 4, in an embodiment provided by the present invention, the adjusting assembly 4193 includes a rotating shaft 4193a, the push-pull rod 4191 is rotatably connected to the adjusting assembly 4193 through the rotating shaft 4193a, the push-pull rod 4191 is located outside the housing 4192 and corresponds to the first through hole 4192a of the housing 4192, the rotating shaft 4193a sequentially penetrates through the push-pull rod 4191 and the first through hole 4192a of the housing 4192, the rotating shaft 4193a is axially provided with a fixing through hole, an inner wall of the fixing through hole is provided with a thread, a bolt penetrates through the fixing through hole to fix the rotating shaft 4193a, the push-pull rod 4191 and the housing 4192, and the push-pull rod 4191 can be pushed back and forth, and a sealing rubber layer is disposed at a position of the thread connection to ensure sealing performance thereof.

Preferably, the adjustment assembly 4193 further includes an outer sleeve 4193b having threads formed on an outer surface thereof, and a second nut 4193c, wherein the first through hole 4192a has threads formed on an inner wall thereof, the second nut 4193c is threadedly fastened to the outer sleeve 4193b, the outer sleeve 4193b is sleeved on the outer sleeve 4193b by the second nut 4193c, and when the second nut 4193c is fastened, the second nut 4193c abuts against an inner wall of the housing 4192.

Referring to fig. 4, showing an embodiment provided by the present invention, the rotating shaft 4193a of the adjusting assembly 4193 is sleeved with an outer sleeve 4193b, the outer sleeve 4193b is threadedly connected with the first through hole 4192a of the housing 4192, and the outer sleeve 4193b is fixed on the rotating shaft 4193a through a second nut 4193c, when the second nut 4193c is in a fixed state, the second nut 4193c abuts against the inner wall of the housing 4192, and a flooding seal is provided between the outer sleeve 4193b and the rotating shaft 4193a, the flooding seal is a high performance seal of a U-shaped teflon built-in special spring, and a proper spring force is added to a system fluid pressure to push out a seal lip to lightly press a sealed metal surface to generate an excellent sealing effect. The spring actuation effect can overcome slight eccentricity of the metal mating surfaces and wear of the sealing lips to maintain the desired sealing performance. Thereby ensuring sealability and smoothness of rotation between the outer sleeve 4193b and the rotary shaft 4193 a.

Preferably, the adjusting unit 4193 further includes an elastic member 4193d and a compression spring 4193e sleeved on the rotating shaft 4193a in sequence, and the elastic member 4193d is located between the second nut 4193c and the compression spring 4193 e. When the pressing spring 4193e is in a fixed state, the elastic member 4193d abuts against the second nut 4193 c.

Referring to fig. 4, in an embodiment of the present invention, the rotating shaft 4193 is sleeved with an elastic member 4193d and a compression spring 4193e for fixing the elastic member 4193d, and when the compression spring 4193e is in a fixed state, an interaction force exists between the compression spring 4193e and the elastic member 4193d, so that the elastic member 4193d is pressed against the second nut 4193c, and thus the fixing is firmer.

Preferably, the adjusting handle 419 further includes a light guide 412 and a cable outer sheath assembly 414, an end portion of the housing 4192 far away from the abdomen-entering assembly 417 is provided with a first fixing hole 4192b and a second fixing hole 4192c which are axially opened, the light guide 412 is fixedly connected with the first fixing hole 4192b, and the cable outer sheath assembly 414 is fixedly connected with the second fixing hole 4192 c.

Referring to FIG. 2, an embodiment of the present invention is shown in which the adjustment handle 419 secures the light guide 412 and the cable jacket assembly 414 to the housing 4192 through the first fixing hole 4192b and the second fixing hole 4192c of the housing 4192.

Preferably, the light guide column 412 includes a first end 4121 and a second end 4122, the outer surface of the first end 4121 is provided with threads, the inner wall of the first fixing hole 4192b is provided with threads, the first end 4121 of the light guide column 412 is fixed with the first fixing hole 4192b in a threaded manner, a second flange 4123 arranged along the radial direction of the light guide column 412 is arranged at the connecting position of the first end 4121 and the end of the first fixing hole 4192b, and the outer diameter of the second flange 4123 is larger than the inner diameter of the first fixing hole 4192 b. A third seal 4124 is provided between the end of the first fixing hole 4192b and the first end 4121 adjacent to the second flange 4123.

Referring to fig. 2 and 3, in an embodiment of the present invention, the light guide column 412 is fixedly connected to the first fixing hole 4192b by a screw, and a third sealing member 4124 is provided at the connection position to improve the sealing performance of the connection.

Preferably, the cable outer sheath assembly 414 includes a cable fixing hole sleeve 4141, a cable fixing clamp 4142 and a cable outer sheath 4143 which are connected in sequence, the cable fixing clamp 4142 includes a second fixing section 4142b and a first fixing section 4142a which are connected in sequence, the outer surface of the second fixing section 4142b is provided with threads, the inner wall of the second fixing hole 4192c is provided with threads, the second fixing section 4142b is fixed with the second fixing hole 4192c by the threads, one end of the cable fixing hole sleeve 4141 is axially inserted into the second fixing section 4142b, the other end is located outside the second fixing section 4142b, and the cable outer sheath 4143 is fixedly connected with the first fixing section 4142 a. The end of the second fixing section 4142b and the outer surface of the cable fixing hole housing 4141 are provided with threads, and a third nut 4144 is fitted to a connection position of the end of the second fixing section 4142b and the cable fixing hole housing 4141. The second fixing section 4142b is provided with a fourth sealing member 4145 at a position connected to the end of the second fixing hole 4192 c.

Referring to fig. 2, in an embodiment provided by the present invention, the cable outer sheath assembly 414 is fixed to the housing 4192 through the second fixing hole 4192c, the cable outer sheath assembly 414 includes a cable fixing hole 4141, a cable fixing clip 4142 and a cable outer sheath 4143 which are connected in sequence, the cable fixing clip 4142 is fixed to the second fixing hole 4192c by a screw, the cable fixing clip 4142 and the cable fixing hole 4141 are fixed by a third nut 4144, and the cable outer sheath 4143 is connected to the cable fixing clip 4142 by a snap. And the connecting position of the cable fixing clip 4142 with the second fixing hole 4192c is sealed by the fourth sealing member 4145. The structure of the invention ensures that the cable outer sheath component 414 and the shell 4192 are fixed more firmly, and meanwhile, the sealing effect is excellent.

Preferably, the lens assembly 411 includes a lens front cover 4111, a lens housing 4112, a lens rear cover 4113 and a fiber module 4114, the lens housing 4112 is connected between the lens front cover 4111 and the lens rear cover 4113 to form a mounting cavity, the fiber module 4114 is installed in the mounting cavity, and a third connecting portion 4111a is located on the lens rear cover 4113.

Referring to fig. 8 to 10, in an embodiment provided by the present invention, as shown in fig. 8 and 10, a lens assembly 411 includes a lens front cover 4111, a lens housing 4112, a lens rear cover 4113, and a fiber module 4114, where the lens housing 4112 is connected between the lens front cover 4111 and the lens rear cover 4113 to form a mounting cavity, and the fiber module 4114 is mounted in the mounting cavity, as shown in fig. 9. And adopt high accuracy excessive fit assembly between lid 4113 behind lens front cover 4111, lens housing 4112, the camera lens, after the assembly, can closely laminate between two adjacent hookup locations. The smoothness of the assembly of the lens assembly 411 can be ensured, and no overlarge gap exists between two adjacent connecting positions after the assembly. The outer surfaces of the lens front cover 4111, the lens housing 4112 and the lens rear cover 4113 adopt a form of controlling the tolerance thereof, so that the assembled lens front cover 4111, the assembled lens housing 4112 and the assembled lens rear cover 4113 are smoothly and excessively connected, and the condition that a part of a connecting position is protruded cannot be caused. By such an arrangement, there is no obstacle to the entry and exit of the endoscope due to the protrusion of a certain portion when the endoscope enters the passage. After assembly, the lens front cover 4111, the lens housing 4112, and the lens rear cover 4113 are welded together by high-frequency and low-power welding. The assembly method of high accuracy and high frequency, the welding mode of low power use of mutually supporting, can be with the clearance welding between the lid 4113 behind lens front cover 4111, the lens housing 4112, the lens firm in, can also provide good leakproofness.

The present invention provides a surgical robot including any of the endoscopes described above. The surgical robot further comprises a multifunctional channel device, the multifunctional channel device comprises a plurality of mounting channels, and the endoscope is mounted in one of the mounting channels. The surgical robot also comprises a surgical instrument, and the surgical instrument is arranged in other installation channels of the multifunctional channel device.

In one embodiment of the present invention, the endoscope described in any of the above is applied to a surgical robot having a plurality of multi-functional channels, wherein the multi-functional channels comprise a plurality of installation channels, the endoscope is installed in one of the installation channels, and the surgical instrument is installed in the other installation channels of the multi-functional channel. The endoscope used by the surgical robot has good sealing performance, and can effectively avoid infection caused by using the endoscope in the surgical process.

As is readily imaginable to the person skilled in the art: any combination of the above embodiments is possible, and thus any combination between the above embodiments is an embodiment of the present invention, but the present disclosure is not necessarily detailed herein for reasons of space.

The endoscope and the surgical robot provided by the invention are described in detail, and the principle and the implementation mode of the invention are explained by applying specific examples, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (18)

1. An endoscope is characterized by comprising a lens assembly (411), a universal joint (415), an abdomen-entering assembly (417) and an adjusting handle (419) which are connected in sequence;

the abdominal assembly (417) includes a first connection portion (4171) and a second connection portion (4172), the lens assembly (411) includes a third connection portion (4111 a), the adjustment handle (419) includes a fourth connection portion (4194), the gimbal (415) includes a vertebral segment (4151) and a first seal (4152), the vertebral segment (4151) includes a first connection end (4151 a) and a second connection end (4151 b); the first connecting end (4151 a) is connected with a first connecting portion (4171) of the abdomen entering component (417), the second connecting end (4151 b) is connected with a third connecting portion (4111 a) of the lens component (411), the first sealing member (4152) is sleeved on the first connecting portion (4171), the vertebral bone section (4151) and the third connecting portion (4111 a) in sequence, and the second connecting portion (4172) of the abdomen entering component (417) is connected with a fourth connecting portion (4194);

the abdominal assembly (417) comprises an outer pipe (4173), the second connecting part (4172) is positioned at the end part of the outer pipe (4173) close to the adjusting handle (419), the second connecting part (4172) is sleeved with a first nut (4172 a), a base (4172 b) and a pressing cap (4172 c), the base (4172 b) comprises a front end (4172 d) and a rear end (4172 e), and the outer diameter of the front end (4172 d) is smaller than that of the rear end (4172 e);

the base (4172 b) is sleeved on the second connecting part (4172) and the rear end (4172 e) is positioned at the end part of the second connecting part (4172), and the pressing cap (4172 c) is sleeved on the connecting position of the front end (4172 d) and the rear end (4172 e);

the outer surface of the front end (4172 d) is provided with threads, and the first nut (4172 a) is sleeved on the outer pipe element (4173) and is in threaded connection with the front end (4172 d);

the pressing cap (4172 c) is pressed against the rear end (4172 e) of the base (4172 b) in a state where the first nut (4172 a) is fixed;

the connecting position of the front end (4172 d) and the rear end (4172 e) is provided with a connecting part (4172 f), the outer diameters of the front end (4172 d), the connecting part (4172 f) and the rear end (4172 e) are sequentially increased in a step shape, the connecting position of the pressing cap (4172 c) and the base (4172 b) is provided with a first step, the first step is matched with a second step formed by the connecting part (4172 f) and the rear end (4172 e), and a second sealing element (4172 g) is arranged between the first step and the second step in a surrounding mode.

2. The endoscope according to claim 1, characterized in that the third connecting portion (4111 a) comprises a first section (4111 b) and a second section (4111 c) connected in series, the first section (4111 b) has an outer diameter larger than that of the second section (4111 c), the second section (4111 c) has an outer diameter adapted to an inner diameter of a second connecting end (4151 b) of the vertebral segment (4151), and the second section (4111 c) is fixedly inserted into the second connecting end (4151 b).

3. The endoscope of claim 1, wherein the universal joint (415) further comprises at least two securing rings (4153), the securing rings (4153) being sleeved on the first sealing member (4152), one of the securing rings (4153) being sleeved on a connection position of the third connecting portion (4111 a) and the second connecting end (4151 b) of the vertebral segment (4151), the other securing ring (4153) being sleeved on a connection position of the first connecting end (4151 a) and the first connecting portion (4171) of the abdominal component (417).

4. The endoscope of claim 1, wherein the first coupling end (4151 a) of the vertebral segment (4151) comprises a first flange (4151 c) and a fixing portion (4151 d) disposed sequentially, the first flange (4151 c) being radially disposed along the first coupling end (4151 a), an outer diameter of the first flange (4151 c) being greater than an outer diameter of the fixing portion (4151 d), an outer diameter of the first coupling portion (4171) being greater than an outer diameter of the fixing portion (4151 d), and an outer diameter of the first flange (4151 c) being greater than an outer diameter of the first coupling portion (4171), the fixing portion (4151 d) of the first coupling end (4151 a) being pierced to the first coupling portion (4171) of the abdominal assembly (417).

5. The endoscope according to claim 1, wherein the inner wall of the pressing cap (4172 c) is provided with threads, the adjustment handle (419) comprises a housing (4192), the fourth connecting portion (4194) is located at an end of the housing (4192) close to the abdominal assembly (417), the outer surface of the fourth connecting portion (4194) is provided with threads, the pressing cap (4172 c) is screwed with the fourth connecting portion (4194), and the screwed position is provided with a sealant layer.

6. The endoscope of claim 5, wherein the adjustment handle (419) further comprises a push-pull rod (4191) and an adjustment assembly (4193), the push-pull rod (4191) being rotationally coupled to the adjustment assembly (4193);

the adjusting assembly (4193) comprises a rotating shaft (4193 a), the housing (4192) comprises a first through hole (4192 a), the push-pull rod (4191) is located outside the housing (4192) and corresponds to the first through hole (4192 a), the rotating shaft (4193 a) sequentially penetrates through the push-pull rod (4191) and the first through hole (4192 a) of the housing (4192), and the rotating shaft (4193 a) is fixedly connected with the push-pull rod (4191) and the housing (4192).

7. The endoscope of claim 6, wherein the adjustment assembly (4193) further comprises an outer sleeve (4193 b) having threads on an outer surface thereof and a second nut (4193 c), wherein the first through hole (4192 a) has threads on an inner wall thereof, the outer sleeve (4193 b) is sleeved on the rotating shaft (4193 a) and is threadedly fixed in the first through hole (4192 a), the second nut (4193 c) is threadedly fixed with the outer sleeve (4193 b), and a jamming seal (4193 f) is disposed between the outer sleeve (4193 b) and the rotating shaft (4193 a), and when the second nut (4193 c) is in a fixed state, the second nut (4193 c) abuts against the inner wall of the housing (4192).

8. The endoscope of claim 7, wherein the adjustment assembly (4193) further comprises a resilient member (4193 d) and a compression spring (4193 e) sleeved in sequence about the rotational shaft (4193 a), the resilient member (4193 d) being located between the second nut (4193 c) and the compression spring (4193 e); when the pressure spring (4193 e) is in a fixed state, the elastic member (4193 d) abuts against the second nut (4193 c).

9. The endoscope of claim 5, wherein the adjustment handle (419) further comprises a light guide pillar (412) and a cable outer sheath assembly (414), wherein the end of the housing (4192) far away from the abdomen entering assembly (417) is provided with a first fixing hole (4192 b) and a second fixing hole (4192 c) which are axially opened, the light guide pillar (412) is fixedly connected with the first fixing hole (4192 b), and the cable outer sheath assembly (414) is fixedly connected with the second fixing hole (4192 c).

10. The endoscope of claim 9, wherein the light guide pillar (412) comprises a first end (4121) and a second end (4122), the first end (4121) is provided with threads on the outer surface thereof, the first fixing hole (4192 b) is provided with threads on the inner wall thereof, the first end (4121) of the light guide pillar (412) is fixed to the first fixing hole (4192 b) by the threads, and a second flange (4123) is provided at the end of the first end (4121) connected to the first fixing hole (4192 b) and radially arranged along the light guide pillar (412), and the outer diameter of the second flange (4123) is larger than the inner diameter of the first fixing hole (4192 b).

11. The endoscope of claim 10, wherein a third seal (4124) is disposed between the end of the first securement aperture (4192 b) and the first end (4121) proximate the second flange (4123).

12. The endoscope of claim 9, wherein the cable outer sheath assembly (414) comprises a cable fixing hole sleeve (4141), a cable fixing clamp (4142) and a cable outer sheath (4143) which are connected in sequence, the cable fixing clamp (4142) comprises a second fixing section (4142 b) and a first fixing section (4142 a) which are connected in sequence, the outer surface of the second fixing section (4142 b) is provided with threads, the inner wall of the second fixing hole (4192 c) is provided with threads, the second fixing section (4142 b) is fixed with the second fixing hole (4192 c) in a threaded manner, one end of the cable fixing hole sleeve (4141) is axially inserted into the second fixing section (4142 b), the other end of the cable fixing hole sleeve is positioned outside the second fixing section (4142 b), and the outer sheath cable (4143) is fixedly connected with the first fixing section (4142 a).

13. The endoscope of claim 12, wherein the second fixing section (4142 b) end and the cable fixing hole sleeve (4141) are provided with threads on the outer surface thereof, and a third nut (4144) is sleeved on the connecting position of the second fixing section (4142 b) end and the cable fixing hole sleeve (4141).

14. The endoscope of claim 12, wherein a fourth sealing member (4145) is provided at a position where the second fixing section (4142 b) is connected to the end of the second fixing hole (4192 c).

15. An endoscope according to claim 1, wherein the lens assembly (411) comprises a lens front cover (4111), a lens housing (4112), a lens rear cover (4113) and a fiber optic module (4114), the lens housing (4112) is connected between the lens front cover (4111) and the lens rear cover (4113) to form a mounting cavity, the fiber optic module (4114) is installed in the mounting cavity, and the third connecting portion (4111 a) is located on the lens rear cover (4113).

16. A surgical robot comprising the endoscope of any one of claims 1-15.

17. A surgical robot as claimed in claim 16, further comprising a multi-functional channel comprising a plurality of mounting channels, the endoscope being mounted in one of the mounting channels.

18. A surgical robot as claimed in claim 17, further comprising a surgical instrument mounted within the other of the mounting channels of the multi-functional tunneler.

Images