CN216317969U

CN216317969U - Endoscope quick-change clamping and rotating device and minimally invasive surgery robot

Info

Publication number: CN216317969U
Application number: CN202122521697.5U
Authority: CN
Inventors: 程皓; 徐敏
Original assignee: Agile Medical Technology Suzhou Co ltd
Current assignee: Agile Medical Technology Suzhou Co ltd
Priority date: 2021-10-20
Filing date: 2021-10-20
Publication date: 2022-04-19
Anticipated expiration: 2031-10-20

Abstract

The utility model discloses an endoscope quick-change clamping and rotating device and a minimally invasive surgery robot; the minimally invasive surgery robot comprises an endoscope quick-change clamping rotating structure; the endoscope quick-change clamping rotating structure comprises a sleeve and a locking mechanism; the sleeve is detachably connected with the endoscope through the locking mechanism, and the sleeve is sleeved on the outer wall of the endoscope; when the sleeve is driven to move by external force, the endoscope can move along with the sleeve in the same direction. The endoscope quick-change clamping and rotating device and the minimally invasive surgery robot are simple in structure, low in cost and simple to operate.

Description

Endoscope quick-change clamping and rotating device and minimally invasive surgery robot

Technical Field

The utility model relates to the technical field of medical instruments, in particular to an endoscope quick-change clamping and rotating device and a minimally invasive surgery robot.

Background

Endoscopes are widely used in the medical field, and in recent years, endoscopic minimally invasive surgery has been rapidly developed and has achieved a very good surgical effect in practice.

In traditional chamber mirror minimal access surgery, the endoscope passes to stab the card by the handheld endoscope of doctor and gets into internally, and medical personnel need carry out internal observation through handheld endoscope, owing to need use different fields of vision at the operation in-process, so medical personnel need often carry out angle and position control to the endoscope, can make parts such as medical personnel's arm and wrist produce the ache for a long time, causes the hand shake to influence the imaging quality simultaneously.

The endoscopic surgical robot system has the characteristics of small wound, quick recovery and the like, and is widely popularized and applied in recent years. The endoscope is an important part in an endoscopic surgical robot system, can enter a human body through a natural pore passage of the human body or a small incision made by operation, and can obtain a clearer image observed by naked eyes than the human body.

At present, endoscope manufacturers develop a matched endoscope holding system to fix an endoscope beside an operating bed, but the automation degree of the endoscope fixing and adjusting technology of related equipment is lower at present. The endoscope and the rotating component are fixed through a thread locking mode in the endoscope holding system, the structure is simple, the manufacturing cost is low, time and labor are wasted in the operation of rotary locking, the screwing is needed by means of tools, the screwing torque is not easy to control, the over-tightening is easy to clamp, the over-tightening clamp is not tight, and the endoscope and the rotating component cannot be widely popularized and applied.

The endoscope interface disclosed in chinese patent CN109975971B comprises a body having an axially extending lumen. The wall of the inner cavity is provided with an accommodating hole which is communicated with the inner cavity in the radial direction; the endoscope tube passes through the lumen. A gap is arranged between the endoscope tube and the wall of the inner cavity so as to accommodate a positioning sleeve in the endoscope power locking and adjusting mechanism. The positioning sleeve is inserted into the inner cavity and matched with the locking piece and the positioning part, so that the fixing of the endoscope interface is realized, and the endoscope is further fixed. Or the positioning sleeve is provided with a first limiting part and a second limiting part which correspond to the positioning part and the locking part respectively. When the positioning sleeve is inserted into the inner cavity, the locking piece moves away from the inner cavity under the pressure of the positioning sleeve, so that the positioning sleeve is smoothly inserted. Then, the locking piece resets under the elastic force of the elastic piece and is matched with the second limiting part, and the axial relative movement between the positioning sleeve and the endoscope is limited. As can be seen from the above, the solution disclosed in this patent requires a relatively large number of parts and a relatively complex structure.

SUMMERY OF THE UTILITY MODEL

Based on the technical problems, the utility model provides the quick-change clamping and rotating structure of the endoscope, which is simple in structure, low in cost and simple in operation.

In order to realize the purpose of the utility model, the technical scheme adopted by the utility model is as follows:

a quick-change clamping and rotating structure of an endoscope comprises a sleeve and a locking mechanism;

the sleeve is detachably connected with the endoscope through the locking mechanism, and the sleeve is sleeved on the outer wall of the endoscope; when the sleeve is driven to move by external force, the endoscope can move along with the sleeve in the same direction.

Preferably, the locking mechanism comprises a locking assembly and an annular gripping assembly having at least one opening; the sleeve is provided with an installation through groove along the circumferential direction, the annular clamping assembly is arranged in the installation through groove, and the annular clamping assembly is fixedly connected with the side wall of the sleeve; the locking assembly is arranged at the opening end of the annular clamping assembly; the locking assembly has a locking position and a releasing position; when the locking assembly moves from the releasing position to the locking position, the inner diameter of the annular clamping assembly gradually decreases until the endoscope is held tightly; when the locking assembly moves from the locking position to the releasing position, the inner diameter of the annular clamping assembly gradually increases until the endoscope is released.

Preferably, the locking assembly comprises a cam handle and a pull rod, and the cam handle can rotate; the pull rod penetrates through two ends of an opening of the annular clamping assembly, the cam handle is arranged on the outer side of one end of the opening, and the cam handle is rotatably connected with one end of the pull rod; when the cam handle rotates towards the opening, the inner diameter of the annular clamping assembly gradually decreases until the annular clamping assembly holds the endoscope tightly; when the cam handle rotates towards the direction far away from the opening, the inner diameter of the annular clamping assembly is gradually increased until the annular clamping assembly releases the endoscope.

Preferably, the locking assembly further comprises a spacer mounted on the pull rod between an outer wall of the annular clamping assembly and the cam handle.

Preferably, the locking assembly comprises a locking lever; the two ends of each opening of the annular clamping assembly are provided with the locking rods in a penetrating manner; when all the locking rods are locked, the openings of the annular clamping components gradually become smaller until the annular clamping components hold the endoscope tightly; when the locking rod is released, the opening of the annular clamping assembly is gradually enlarged until the annular clamping assembly releases the endoscope.

Preferably, the annular clamping assembly is a split clamping ring, and the closed end of the split clamping ring is fixedly connected with the side wall of the sleeve.

Preferably, the annular clamping assembly comprises two semicircular clamping rings which are oppositely arranged and form two openings, wherein at least one semicircular clamping ring is fixedly connected with the side wall of the sleeve.

Preferably, the locking assembly further comprises a press block; the two ends of the annular clamping assembly are respectively connected with the pressing blocks; the locking rod penetrates through the two pressing blocks.

Preferably, the two pressing blocks are formed by extending both ends of the annular clamping assembly to the outer diameter respectively.

Preferably, the sleeve comprises a cylinder and a conical cylinder, and the lower end surface of the cylinder is smoothly connected with the large end surface of the conical cylinder.

Preferably, the side wall of the sleeve is provided with a through hole; when the sleeve is sleeved on the endoscope, the side wall button of the endoscope is accommodated in the through hole.

Preferably, the top of the through hole is hinged with a top cover, and the side wall button is accommodated in an accommodating cavity formed by the through hole and the top cover; the top cover is a film or a cover plate with a corresponding key structure.

Preferably, a drive wheel is mounted on the upper end of the sleeve.

Preferably, the drive wheel is a pulley or a gear.

The utility model also provides the following technical scheme:

a minimally invasive surgery robot comprises a doctor platform, a patient platform and an image platform which are communicated with each other; the patient platform comprises a patient trolley and a plurality of operation arms arranged on the patient trolley, wherein an instrument driving box of one operation arm is connected with a driving wheel of any one of the endoscope quick-change clamping rotating structures.

Compared with the prior art, the utility model has the following beneficial effects:

the quick-change clamping rotating structure of the endoscope comprises the sleeve and the locking mechanism, and therefore, the quick-change clamping rotating structure needs fewer parts, so that the cost is lower, and the structure is simpler. In addition, the

The sleeve is sleeved on the outer wall of the endoscope, the sleeve and the endoscope can be fixed together through the locking mechanism, and when the sleeve is driven to move by external force, the endoscope can move in the same direction along with the sleeve, so that the operation is simple.

Drawings

FIG. 1 shows a partial schematic view of a minimally invasive surgical robot of the present invention;

FIG. 2 is a partial cross-sectional view of a quick-change clamping rotary structure of an endoscope without a driving wheel;

FIG. 3 is a block diagram of an endoscope quick-change clamping rotating structure of the present invention in mounting a driving wheel, wherein a locking mechanism shows a first embodiment;

FIG. 4 is a view showing the construction of a quick-change clamping rotary structure of an endoscope without a driving wheel attached, in which a locking mechanism shows a first embodiment;

FIG. 5 is a schematic view showing an assembled structure of a locking mechanism and a sleeve of the present invention, wherein the locking mechanism shows a first embodiment;

FIG. 6 shows a partial cross-sectional view of an assembled structure of a locking mechanism and a sleeve of the present invention, wherein the locking mechanism shows a first embodiment;

FIG. 7 shows a block diagram of a locking mechanism of the present invention showing a second embodiment when mounting a drive wheel;

FIG. 8 shows a block diagram of a locking mechanism of the present invention showing a second embodiment when the drive wheel is not mounted;

FIG. 9 is a view showing the construction of the locking mechanism of the present invention showing the third embodiment when the locking lever is not installed;

fig. 10 shows a block diagram of the locking mechanism of the present invention showing a third embodiment when the lock lever is installed.

The reference numbers are as follows:

10 endoscope 2 locking mechanism

20 instrument drive cartridge 21 annular clutch assembly

30 surgical arm 211 opening

1 Sleeve 22 handle

101 sidewall button 221 cam

11 through hole 23 rotating shaft

3 drive wheel 241 lugs

25 lock lever 242 press block

26 semicircular clamping ring 27 gasket

28 locking hole 29 pull rod

Detailed Description

In order to make the purpose and technical solution of the present invention clearer, the following will clearly and completely describe the technical solution of the present invention with reference to the embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring now to fig. 1, a partial schematic view of a minimally invasive surgical robot is shown. The minimally invasive surgical robot includes a doctor platform (not shown), a patient platform (not shown), and an imaging platform (not shown).

A physician platform for receiving input from a user to control the patient platform. The doctor platform, the image platform and the patient platform can be arranged in the same room or different rooms; usually, the doctor platform and the image platform, and the patient platform can be disposed in the same room.

The patient operating platform mainly comprises an operating trolley (not shown in the figures). In fig. 1, a portion of a surgical arm 30 is shown, and the surgical cart is equipped with a plurality of remotely operable surgical arms 30, each surgical arm 30 having an instrument drive cassette 20 mounted thereon, and instrument drive cassette 20 having a spacer (not shown) mounted thereon, the spacer being adapted to couple to an instrument and optionally endoscope 10. One of the surgical arms 30 mounts the endoscope 10 via the instrument drive cartridge 20, and the endoscope 10 is capable of acquiring images of the surgical field. The images are processed by an image processor and then transmitted to a display system of a doctor platform. The other surgical arms 30 mount the instruments necessary for the surgery through the instrument drive cartridge 20.

In an exemplary embodiment, the signal(s) or input(s) transmitted from the surgeon console are transmitted to the patient platform, which interprets the input(s) and generates instruction(s) or output(s), and ultimately arrives at the telecontrolled instrument and endoscope 10 for work.

When the endoscope 10 is connected with the instrument driving box 20, in order to ensure that the endoscope 10 can work according to the operation requirement, an endoscope quick-change clamping and rotating structure is adopted to install the endoscope 10 and the instrument driving box 20 together.

Referring to fig. 2 and 3, the endoscope quick-change clamping rotating structure comprises a sleeve and a locking mechanism 2; the sleeve 1 is sleeved on the outer wall of the endoscope 10; preferably, the spatial structure formed by the inner wall of the sleeve 1 corresponds to the structure formed by the outer wall of the endoscope 10. When the sleeve 1 is sleeved on the endoscope 10, the inner wall of the sleeve 1 is attached to the outer wall of the endoscope 10. The quick-change clamping rotating structure needs fewer parts, so the cost is lower, and the structure is simpler.

Referring to fig. 2 and 3, the sleeve 1 and the endoscope 10 are detachably connected through the locking mechanism 2, and when the sleeve 1 is driven by an external force to move, the endoscope 10 can move along with the sleeve 1 in the same direction. Specifically, when the sleeve 1 is driven by external force to perform counterclockwise rotation movement, the endoscope 10 also performs counterclockwise rotation movement synchronously; when the sleeve 1 is driven by external force to rotate clockwise, the endoscope 10 also synchronously rotates clockwise; alternatively, when the sleeve 1 is driven to swing in a certain direction by an external force, the endoscope 10 also moves in synchronization with the swing direction of the sleeve 1.

As shown in fig. 3, a driving wheel 3 is mounted on the upper end of the sleeve 1. External forces may be applied to rotate the drive wheel 3, which in turn drives the sleeve 1 and endoscope 10 into motion. Specifically, the instrument drive cassette 20 can be driven by the endoscope 10 drive device to rotate the drive wheel 3.

The drive wheel 3 can be designed as a pulley or as a gear. Pulleys and gears are respectively mounted on the upper end of the sleeve 1 through bearings 23.

Referring to fig. 2, the locking mechanism 2 comprises a ring-shaped clamping assembly 21 having at least one opening 211 and a locking assembly; the sleeve 1 is provided with an installation through groove (not marked in the figure) along the circumferential direction, and the annular clamping assembly 21 is arranged in the installation through groove and sleeved on the endoscope 10; in the initial state, the ring-shaped clamping assembly 21 is in clearance fit with the endoscope 10, i.e. the inner diameter of the clamping assembly is larger than the outer dimension of the endoscope 10. The annular clamping assembly 21 is fixedly connected with the side wall of the sleeve 1;

the locking assemblies are installed at the openings 211 of the ring-shaped clamping assemblies 21, in other words, one locking assembly is installed at the opening 211 of each ring-shaped clamping assembly 21; the locking assembly has a locked position and a released position, see fig. 4-8.

Referring to fig. 2 and 3, as the locking assembly moves from the release position to the locked position, the inner diameter of the ring clamp assembly 21 gradually decreases until the endoscope 10 is clasped; as the locking assembly moves from the locked position to the released position, the inner diameter of the ring clamp assembly 21 gradually increases until the endoscope 10 is released.

Referring to fig. 4 to 8, the first embodiment of the locking assembly comprises a cam handle 22 and a pull rod 29, and the cam handle 22 can rotate; the pull rod 29 is arranged at two ends of the opening 211 of the annular clamping assembly 21 in a penetrating manner, the cam handle 22 is arranged at the outer side of one end of the opening 211, and the cam handle 22 is rotatably connected with one end of the pull rod 29. Preferably, the cam 221 of the cam handle 22 is in an eccentric wheel structure.

Further, the cam handle 22 is connected to one end of the pull rod 29 through a rotating shaft 23. The cam handle 22 is sleeved on the rotating shaft 23, the cam handle 22 can rotate around the rotating shaft 23, and the cam 221 of the cam handle 22 faces the outer wall of the annular clamping component 21.

When the cam handle 22 rotates towards the corresponding opening 211, the cam handle 22 can apply pressure to the corresponding end of the opening 211, the opening 211 is gradually reduced, and then the inner diameter of the ring-shaped clamping assembly 21 is gradually reduced until the ring-shaped clamping assembly 21 holds the endoscope 10; when the cam handle 22 is rotated in a direction away from the opening 211, the pressure applied by the cam handle 22 to the corresponding end of the opening 211 is gradually reduced, and the inner diameter of the ring-shaped clamp assembly 21 is gradually increased until the inner diameter returns to the initial state, at which time the ring-shaped clamp assembly 21 releases the endoscope 10. Therefore, the operation is very simple.

Referring to fig. 6, the locking assembly further includes a spacer 27, the spacer 27 is mounted on the pull rod 29, and the spacer 27 is located between the outer wall of the ring-shaped clamping assembly 21 and the cam handle 22 and is close to the cam handle 22. The area of the gasket 27 is larger than that of the end part of the opening of the annular clamping assembly, so that when the cam handle 22 applies pressure to the gasket 27, the stress area is large, the service life of the locking mechanism can be prolonged, and the locking effect is good.

When the cam handle 22 rotates towards the corresponding opening 211, the cam handle 22 applies pressure to the gasket 27, the gasket 27 applies pressure to the corresponding end of the opening 211 after being pressed, the opening 211 is gradually reduced, and then the inner diameter of the ring-shaped clamping assembly 21 is gradually reduced until the ring-shaped clamping assembly 21 holds the endoscope 10; when the cam handle 22 is rotated in a direction away from the spacer 27, the pressure exerted on the spacer 27 by the cam handle 22 is gradually reduced, the pressure exerted on the corresponding end of the opening 211 by the spacer 27 is gradually reduced, the inner diameter of the ring-shaped clamping assembly 21 is gradually increased until the inner diameter returns to the initial state, and the ring-shaped clamping assembly 21 releases the endoscope 10.

Referring to fig. 7 to 8, a second embodiment of the locking assembly includes a locking lever 25; the locking rods 25 penetrate through the openings of the annular clamping assembly 21, specifically, locking holes 28 are formed at two ends of each opening of the annular clamping assembly 21, and one locking rod 25 is installed in the locking holes 28 at two ends of each opening; when the locking rod 25 is locked, the opening of the corresponding annular clamping assembly 21 is gradually reduced, and the opening of the annular clamping assembly 21 is gradually reduced until the annular clamping assembly 21 holds the endoscope 10; when the locking lever 25 is released, the opening of the ring clamp assembly 21 becomes progressively larger until the ring clamp assembly 21 releases the endoscope 10.

Specifically, referring to fig. 7 to 8, the locking rod 25 is a screw, two ends of each opening of the annular clamping assembly 21 are respectively provided with a locking hole 28, the screw is inserted into the two locking holes 28, when a nut or other locking member is assembled with the screw, i.e., the screw is locked, the nut or other locking member applies pressure to one end of the opening of the corresponding annular clamping assembly 21, and at this time, the pressed end of the annular clamping assembly 21 moves towards the direction of the other end of the corresponding annular clamping assembly, so that the distance between the two ends of the opening of the annular clamping assembly 21 is gradually reduced, i.e., the opening of the annular clamping assembly 21 is gradually reduced; further, the inner diameter of the annular clamping assembly 21 is gradually reduced, so that the annular clamping assembly 21 can clasp the endoscope 10. During the disassembly process, the nut or other locking member moves towards the direction far away from the opening of the annular clamping assembly 21, the pressure on the corresponding opening of the annular clamping assembly 21 is gradually reduced, and meanwhile, the pressed end of the opening of the annular clamping assembly 21 moves towards the direction far away from the other end, so that the distance between two ends of the opening of the annular clamping assembly 21 is gradually increased, namely, the opening of the annular clamping assembly 21 is gradually increased; further, the inner diameter of the annular clamping assembly 21 is gradually increased, and finally the annular clamping assembly 21 is restored to the initial state, so that the annular clamping assembly 21 releases the endoscope 10. Therefore, the operation is very simple.

Preferably, both ends of the ring-shaped clamping assembly 21 extend outwards and form a vertical portion, which forms an included angle with the outer surface of the ring-shaped clamping assembly 21, preferably perpendicular to the outer surface of the ring-shaped clamping assembly 21.

For increased strength, the locking assembly further includes a press block 242; the two ends of the opening of the annular clamping assembly 21 are respectively connected with the pressing blocks 242; the two pressing blocks 242 are oppositely arranged, a locking hole 28 is formed in each pressing block 242, and the locking rod 25 is arranged in the two locking holes 28 in a penetrating manner, as shown in fig. 6 and 8.

The pressing block 242 may be directly welded to both ends of the opening of the annular clamping assembly 21, or may be fixed to both ends of the opening of the annular clamping assembly 21 by screws; preferably, the pressing piece 242 is integrally formed with the ring-shaped clamping assembly 21.

Preferably, two pressing pieces 242 are formed by extending both ends of the opening of the ring-shaped clamping unit 21 to the outer diameter, respectively. The pressing piece 242 has a thickness much greater than that of the ring-shaped chucking assembly 21, and thus has a high strength.

Referring to fig. 3 to 8, the annular clamping assembly 21 is designed as a split clamping ring, and the closed end of the split clamping ring is fixedly connected with the side wall of the sleeve 1. One locking assembly is installed at the opening of the split snap ring. Specifically, the two ends of the opening of the snap ring are provided with projections 241, and the pull rod 29 passes through the two projections 241.

As shown in fig. 9 and 10, the annular clamping assembly 21 includes two semicircular clamping rings 26 arranged oppositely, wherein at least one semicircular clamping ring 26 is fixedly connected with the side wall of the sleeve 1. When two of the semi-circular snap rings 26 are installed in the installation through groove and the locking assembly is in the release position, the two semi-circular snap rings 26 can form two openings. Locking holes 28 are formed in two ends of each opening, the two locking holes are opposite, and one locking assembly is arranged in the two opposite locking holes 28.

Specifically, one semicircular snap ring 26 is fixedly connected with the side wall of the sleeve 1; preferably, the semicircular snap ring 26 is integrally formed with the sleeve 1; the other semicircular snap ring 26 is a separate component, see fig. 8, which can be placed in the mounting through groove or can be directly removed from the mounting through groove.

The two semicircular clamping rings 26 are fixedly connected with the side wall of the sleeve 1, and specifically, one semicircular clamping ring 26 is fixedly connected with the upper groove wall of the mounting through groove; the other semicircular snap ring 26 is fixedly connected with the lower groove wall of the mounting through groove; the upper groove wall and the lower groove wall are two opposite surfaces.

In this embodiment, referring to fig. 1 to 10, the sleeve 1 includes a cylinder and a tapered cylinder, and a lower end surface of the cylinder is smoothly connected to a large end surface of the tapered cylinder. When the locking assembly is in the release position, the tapered barrel can provide a supporting force for the endoscope 10, and the endoscope 10 is prevented from being separated from the sleeve 1 and falling.

Preferably, the side wall of the sleeve 1 is provided with a through hole 11; when the sleeve 1 is sleeved on the endoscope 10, the side wall button 101 of the endoscope 10 is accommodated in the through hole 11; the sidewall buttons 101 of the endoscope 10 include settings, photographs, etc., see fig. 3, 5, and 7.

Preferably, a top cover (not shown) is hinged to the top of the through hole 11, and the sidewall button 101 is accommodated in an accommodating cavity (not shown) formed by the through hole 11 and the top cover. Pressure may be applied to the corresponding sidewall button 101 by pressing the cover plate. Further, the top cover is a film or a cover plate with a corresponding key structure.

Referring to fig. 3, 5 and 7, the top surface of the sidewall button 101 may be exposed outside the sleeve 1, or the top surface of the sidewall button 101 may be designed not to be higher than the outer surface of the sleeve 1. When the side wall button 101 is operated, the corresponding side wall button 101 is pressed lightly, so that an additional auxiliary tool is not needed, and the operation is very convenient.

Preferably, the annular clamping assembly 21 is integrally formed with the sleeve 1.

The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the utility model. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.

Claims

1. A quick-change clamping and rotating structure of an endoscope is characterized by comprising a sleeve and a locking mechanism; the sleeve is detachably connected with the endoscope through the locking mechanism, and the sleeve is sleeved on the outer wall of the endoscope; when the sleeve is driven to move by external force, the endoscope can move along with the sleeve in the same direction.

2. The endoscope quick-change clamping rotation structure according to claim 1, wherein the locking mechanism comprises a locking assembly and a ring-shaped clamping assembly having at least one opening; the sleeve is provided with an installation through groove along the circumferential direction, the annular clamping assembly is arranged in the installation through groove, and the annular clamping assembly is fixedly connected with the side wall of the sleeve; the locking assembly is arranged at the opening end of the annular clamping assembly; the locking assembly has a locking position and a releasing position; when the locking assembly moves from the releasing position to the locking position, the inner diameter of the annular clamping assembly gradually decreases until the endoscope is held tightly; when the locking assembly moves from the locking position to the releasing position, the inner diameter of the annular clamping assembly gradually increases until the endoscope is released.

3. The endoscope quick-change clamping rotating structure according to claim 2, wherein the locking assembly comprises a cam handle and a pull rod, and the cam handle is rotatable; the pull rod penetrates through two ends of an opening of the annular clamping assembly, the cam handle is arranged on the outer side of one end of the opening, and the cam handle is rotatably connected with one end of the pull rod; when the cam handle rotates towards the opening, the inner diameter of the annular clamping assembly gradually decreases until the annular clamping assembly holds the endoscope tightly; when the cam handle rotates towards the direction far away from the opening, the inner diameter of the annular clamping assembly is gradually increased until the annular clamping assembly releases the endoscope.

4. The endoscope quick-change clamping rotation structure according to claim 3, wherein the locking assembly further comprises a washer mounted on the pull rod between an outer wall of the annular clamping assembly and the cam handle.

5. The endoscope quick-change clamping rotation structure of claim 2, wherein the locking assembly comprises a locking lever; the two ends of each opening of the annular clamping assembly are provided with the locking rods in a penetrating manner; when all the locking rods are locked, the openings of the annular clamping components gradually become smaller until the annular clamping components hold the endoscope tightly; when the locking rod is released, the opening of the annular clamping assembly is gradually enlarged until the annular clamping assembly releases the endoscope.

6. The endoscope quick-change clamping rotating structure according to any one of claims 2 to 5, wherein the annular clamping assembly is a snap ring, and the closed end of the snap ring is fixedly connected with the side wall of the sleeve.

7. The endoscope quick-change clamping rotating structure according to claim 5, wherein the annular clamping assembly comprises two semicircular clamping rings which are oppositely arranged and form two openings, and at least one semicircular clamping ring is fixedly connected with the side wall of the sleeve.

8. The endoscope quick-change clamping rotation structure according to claim 5, wherein the locking assembly further comprises a pressure block; the two ends of the annular clamping assembly are respectively connected with the pressing blocks; the locking rod penetrates through the two pressing blocks.

9. The endoscope quick-change clamping rotating structure according to claim 8, wherein two pressing blocks are formed by extending both ends of the annular clamping assembly to the outer diameter respectively.

10. The endoscope quick-change clamping rotating structure according to claim 1, wherein the sleeve comprises a cylinder and a conical cylinder, and the lower end surface of the cylinder is smoothly connected with the large end surface of the conical cylinder.

11. The endoscope quick-change clamping rotating structure according to claim 1, wherein a through hole is formed in a side wall of the sleeve; when the sleeve is sleeved on the endoscope, the side wall button of the endoscope is accommodated in the through hole.

12. The endoscope quick-change clamping rotating structure according to claim 11, wherein a top cover is hinged to the top of the through hole, and the side wall button is accommodated in an accommodating cavity formed by the through hole and the top cover; the top cover is a film or a cover plate with a corresponding key structure.

13. The endoscope quick-change clamping rotating structure according to claim 1, wherein a driving wheel is mounted at the upper end of the sleeve.

14. The endoscope quick-change clamping rotating structure according to claim 13, wherein the driving wheel is a pulley or a gear.

15. A minimally invasive surgery robot is characterized by comprising a doctor platform, a patient platform and an image platform which are communicated with each other; the patient platform comprises a patient trolley and several surgical arms arranged on the patient trolley, wherein an instrument drive cassette of one of the surgical arms is connected with a drive wheel of an endoscope quick-change clamping rotary structure according to any of the claims 1 to 14.