CN216364976U

CN216364976U - Endoscope, surgical instrument operation arm and surgical robot

Info

Publication number: CN216364976U
Application number: CN202122778047.9U
Authority: CN
Inventors: 孙强
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2021-11-12
Filing date: 2021-11-12
Publication date: 2022-04-26
Anticipated expiration: 2031-11-12

Abstract

The application provides an endoscope, surgical instrument operation arm and surgical robot, this endoscope includes: an instrument cartridge; the tail end of the endoscope rod is provided with an image acquisition part, one end of the endoscope rod is connected with the instrument box, the other end provided with the image acquisition part extends in the direction departing from the instrument box, and the endoscope rod receives the driving force of the instrument box to move; the rotating device is arranged in the instrument box and connected with the mirror rod, and the rotating device is used for pushing the mirror rod to rotate to a zero position when the mirror rod does not receive the driving force of the instrument box. According to the technical scheme, the rotation device is utilized, when the mirror rod is not subjected to external force, the mirror rod can be pushed to rotate to the zero position, so that the preoperative preparation time is saved, and the readjustment time of the visual field of the endoscope in the operation is shortened.

Description

Endoscope, surgical instrument operation arm and surgical robot

Technical Field

The application relates to the technical field of medical instruments, in particular to an endoscope, a surgical instrument operating arm and a surgical robot.

Background

An endoscope is a common medical instrument and is widely applied to minimally invasive surgery. The endoscope can enter the body through natural pore passages or incisions such as the oral cavity and the like, and is used for acquiring image information of tissues and organs in the human body, such as the focal region of the stomach, the esophagus, the duodenum and the like, or observing related actions and poses of surgical instruments in a working space. Endoscopes belong to interventional medical instruments, and therefore need to be disassembled, replaced and sterilized after each operation.

During the pre-operative preparation phase, the endoscope needs to be reassembled. Because the rotation angle of the endoscope rod of the endoscope is random, the difficulty of the alignment and assembly of the endoscope is increased, and the preoperative preparation time is longer. Or in the operation, when the doctor needs to readjust the visual field, the problem of too long adjustment time exists.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides an endoscope, a surgical instrument operation arm and a surgical robot, which can save preoperative preparation time or shorten readjustment time of an intraoperative field.

In a first aspect, there is provided an endoscope comprising: an instrument cartridge; the tail end of the endoscope rod is provided with an image acquisition part, one end of the endoscope rod is connected with the instrument box, the other end provided with the image acquisition part extends in the direction departing from the instrument box, and the endoscope rod receives the driving force of the instrument box to move; the rotating device is arranged in the instrument box and connected with the mirror rod, and the rotating device is used for pushing the mirror rod to rotate to a zero position when the mirror rod does not receive the driving force of the instrument box.

In one possible implementation, the rotation device includes a rotation torsion spring, the rotation torsion spring includes a first end and a second end, the first end is fixed to the instrument box, and the second end is linked with the mirror rod to push the mirror rod to rotate to a zero position when the mirror rod does not receive the driving force of the instrument box.

In a possible implementation manner, the instrument box is provided with an angle limiting ring, a first groove is formed in the angle limiting ring, and the first end of the rotary torsion spring is fixed in the first groove.

In a possible implementation manner, the instrument box comprises a shell, a transmission part arranged in the shell and a transmission chuck arranged on the shell, wherein the transmission part comprises a first gear sleeved on the transmission chuck and a second gear sleeved on the mirror rod and meshed with the first gear; the instrument box drives the first gear and the second gear to rotate through the transmission chuck so as to drive the mirror rod to rotate, and the second end of the rotary torsion spring is fixed on the second gear.

In a possible implementation, the transmission part further includes a third gear, which is located between the first gear and the second gear and is engaged with the first gear and the second gear, respectively.

In one possible implementation, the endoscope further comprises: a drive section; one end of the quick-change plate mechanism is connected with the driving part, the other end of the quick-change plate mechanism is connected with the transmission chuck, and the driving part drives the transmission chuck to rotate through the quick-change plate mechanism so as to drive the mirror rod to rotate.

In one possible implementation, the distal end of the mirror shaft further includes a flexible tube connected to the image capturing part so that the distal end of the mirror shaft can be bent.

In a second aspect, there is provided an endoscope comprising: an instrument cartridge; the tail end of the endoscope rod is provided with an image acquisition part, one end of the endoscope rod is connected with the instrument box, and the other end provided with the image acquisition part extends towards the direction departing from the instrument box; the driving device comprises a driving part and a rotating part, and the driving part is connected with the instrument box and used for driving the mirror rod to rotate; the rotary part is arranged in the instrument box and connected with the mirror rod, and the rotary part is used for pushing the mirror rod to rotate to a zero position when the mirror rod does not receive the driving force of the driving part.

In a third aspect, there is provided a surgical instrument handling arm comprising a robotic arm for adjusting an endoscope as described in the first aspect or any one of the possible implementations of the first aspect to perform an examination or a surgical operation on a focal zone.

In a fourth aspect, a surgical robot is provided, the surgical robot comprising an endoscope according to any one of the above-mentioned first aspect or possible implementation manners of the first aspect of the present application.

In the related art, the rotation angle of the shaft of the endoscope is random. The embodiment of the application provides an endoscope, and a turning device is arranged in the endoscope, so that a mirror rod can return to a zero position when the mirror rod is not subjected to external force. Because the rotation angle of the preoperative mirror rod is fixed at the zero position when the external force is not applied, the assembly difficulty of the endoscope is reduced. For example, when external force is not applied, the rotating device can push the mirror rod to return to the zero position, so that the transmission chuck is driven to return to the zero position. Compared with the random angle of the transmission chuck, the scheme can quickly find the angle of the transmission chuck for assembling the endoscope, thereby saving the preoperative preparation time. In addition, in the operation, compared with the mode that the driving motor drives the mirror rod to slowly readjust the visual field, the mirror rod can quickly return to the zero position without external force through the no-load of the motor, so that the readjustment time of the visual field in the operation is shortened.

Drawings

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

FIG. 2 is a schematic view of the instrument box of the endoscope shown in FIG. 1;

FIG. 3 is a schematic view of the structure of the driving portion of the endoscope shown in FIG. 2;

FIG. 4 is a schematic structural view of a torsional torsion spring of the endoscope shown in FIG. 2;

FIG. 5 is a schematic structural diagram of a housing of an angle limiting ring base and an instrument box according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of the quick-change plate mechanism of the endoscope shown in FIG. 1;

fig. 7 is a schematic configuration diagram of a surgical robot including the endoscope shown in fig. 1.

Detailed Description

Minimally invasive surgery refers to a surgical method for performing surgery inside a human body cavity by using modern medical instruments such as endoscopes and scissors 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.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. In a robot system for minimally invasive surgery, an endoscope (e.g., a laparoscope, a thoracoscope, etc.) is often used as a feedback path of visual information, and is widely used in minimally invasive surgery. The endoscope can enter the body of a patient through natural pore passages or incisions such as an oral cavity and the like, and is used for acquiring image information of a focal region of tissues and organs (such as a stomach, an esophagus, a duodenum and the like) in the human body or observing related actions and poses of surgical instruments in a working space so as to assist a doctor in completing an operation. Endoscopes belong to interventional medical instruments, and therefore need to be disassembled, replaced and sterilized after each operation. For the above reasons, the endoscope needs to be reassembled during the preoperative preparation phase. Because the rotation angle of the endoscope rod of the endoscope is random, the difficulty of the alignment and assembly of the endoscope is increased, and the preoperative preparation time is longer. Or in the operation, when the doctor needs to readjust the visual field, the problem of too long adjustment time exists.

The embodiment of the application provides an endoscope, which can save preoperative preparation time or shorten readjustment time of an intraoperative field. The structure of the endoscope provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1, the endoscope 100 may include a main control box 1, an instrument box 2, a quick-change plate mechanism 3, a driving portion 4, a scope lever 5, and the like, which are connected in sequence. The quick-change plate mechanism 3 can enable the instrument box 2 and the driving part 4 to be quickly connected or separated, so that the assembly or disassembly time of the endoscope 100 can be saved.

The main control box 1 may include an encoder (not shown in the figure) and a signal processing module (not shown in the figure) for compiling and converting the image signals or data acquired by the front end of the endoscope 100 into image signals which can be communicated, transmitted and stored.

As shown in fig. 2, the instrument cartridge 2 includes a housing 21 and a lock portion 23 connected to the housing 21. It will be appreciated that the housing 21 is provided with a receiving portion (not shown) for receiving the locking portion 23 and facilitating the pressing operation by the operator. The instrument box 2 is connected with the main control box 1, and when the locking part 23 is applied with external force, the main control box 1 and the instrument box 2 can be quickly separated. Because the main control box includes electrical apparatus structures such as encoder and signal processing module, consequently, can not utilize modes such as steam, high temperature, high pressure to disinfect, otherwise can lead to main control box 1 to receive the damage in the in-process of disinfecting to unable normal use. For the above reasons, the locking portion 23 is provided to quickly separate the main control box 1 and the instrument box 2, so that the main control box 1 is separated from the endoscope 100, thereby performing sterilization treatment on other structures of the endoscope 100.

The driving part 4 is connected with the instrument box 2 to drive the mirror rod 5 to rotate. A driving motor (not shown) may be provided inside the driving part 4. Under the driving action of the driving motor, a rotating shaft (not shown in the figure) in the instrument box 2 is driven to rotate correspondingly, and then the mirror rod 5 is driven to rotate. The driving motor may be, for example, a stepping motor, a servo motor, or the like, and the present application is not particularly limited thereto.

With continued reference to fig. 1, the scope bar 5 is connected at one end to the instrument box 2 and at the other end (i.e., the tip) carries an image pickup section 51 and extends in a direction away from the instrument box 2. The image capturing section 51 may be, for example, a cold light source lens. The shaft 5 of the endoscope 100 can enter the body of the patient through a natural orifice such as an oral cavity or an incision, acquire an image signal in the body by the image acquisition unit 51, and transmit the acquired image signal to the main control box 1 via the instrument box 2.

In some embodiments, the distal end of the shaft 5 further includes a flexible tube 52 connected to the image capturing portion 5, and the flexible tube 52 can be bent arbitrarily to facilitate the image capturing portion 51 to capture the image information of the focal zone. In other embodiments, the whole of the mirror shaft 5 may be a bendable flexible tube, and it should be understood that the mirror shaft 5 may be a bendable flexible tube in part and a rigid and inflexible rigid tube in part, which is not particularly limited in this application.

As shown in fig. 3, the instrument box 2 further comprises a swivel device 8 arranged in the housing 21 and connected to the mirror bar 5. When the mirror rod 5 is free from external force or the driving motor in the driving part 4 is unloaded, the slewing device can push the mirror rod 5 to rotate to the zero position. It should be understood that the present application is not particularly limited as to whether the swivel device is connected to the mirror bar 5, as long as the mirror bar can be rotated to the zero position under the action of the swivel device when the mirror bar is not subjected to an external force.

The present application does not specifically limit the type of the swing device. As an example, the swiveling device may be a swiveling drive motor, and when the mirror lever 5 is not subjected to an external force or the drive motor in the driving portion 4 is unloaded, the operator may drive the mirror lever 5 to rotate to the zero position by controlling the swiveling drive motor.

As another example, the swivel device may be a swiveling torsion spring having an energy storing characteristic. Under the condition that the rotary torsion spring is free from external force torque, the mirror rod 5 is in a zero position state due to the structural design. When the mirror rod 5 rotates under the torque of external force, the rotary torsion spring is in an energy storage state. When the external force torque disappears, the elastic potential energy of the rotary torsion spring is released, and the mirror rod 5 is rotated to the zero position. Such an implementation is described in detail below in conjunction with fig. 3, and will not be described in detail here.

The endoscope 100 provided by the present application has a function of returning to a zero position, that is, when the external force torque on the scope shaft 5 disappears, the scope shaft 5 can return to the zero position. Therefore, when the mirror lever 5 is not subjected to external force torque, the rotation angle of the mirror lever 5 in the embodiment of the present application is not random but fixed. The angle may be, for example, a zero bit angle. The scheme in this application can reduce the counterpoint degree of difficulty when endoscope 100 assembles, has practiced thrift preoperative preparation time. Meanwhile, in the operation, the no-load of the driving motor in the driving part 4 can make the mirror rod 5 quickly return to the zero position, thereby shortening the readjustment time of the field of vision in the operation.

In some embodiments, as shown in fig. 3, the endoscope 100 may include a transmission part 6, and one end of the transmission part 6 may be connected to the mirror rod 5, and the other end may be connected to the driving part 4, so that the driving motor in the driving part 4 may drive the mirror rod 5 to rotate through the transmission part. The transmission part may include, for example, a pulley, or may include a plurality of gears that mesh with each other. This is not specifically limited by the present application.

One possible implementation of the transmission is given below in connection with fig. 2 and 3.

As shown in fig. 2 and 3, the transmission 6 may be connected to the housing 21. The transmission section 6 may include, for example, a first gear 61, a second gear 62, a third gear 63, and a transmission chuck 64. Wherein, the first gear 61 is sleeved on the transmission chuck 64, the second gear 62 is sleeved on the mirror rod 5, the third gear 63 is positioned between the first gear 61 and the second gear 62, and the third gear 63 is respectively meshed with the first gear 61 and the second gear 62. One end of the transmission chuck 64 may be connected with the driving part 4, so that the driving part 4 may drive the transmission chuck 64 to rotate, thereby driving the first gear 61, the third gear 63 and the second gear 62, which are engaged with each other, to rotate, and further driving the mirror lever 5 to rotate.

The number of a plurality of gears in transmission portion 6 is not specifically limited by this application, as long as can make the rotation of transmission chuck 64 can drive mirror pole 5 synchronous rotation can. As an example, the transmission part 6 may include only the first gear 61 and the second gear 62 that mesh with each other. That is to say the transmission 6 may not comprise the third gear 63. As another example, when the third gear 63 is provided in the power transmission portion 6, the rotation of the first gear 61 and the second gear 62 can be reversed while also compensating for the diameters of the first gear 61 and the second gear 62.

As mentioned above, as one possible implementation, the swiveling means may be a swiveling torsion spring. As shown in fig. 3 and 4, the swiveling means may be a swiveling torsion spring 8. The torsion spring 8 has a first end 81 and a second end 82, the first end 81 being fixable, for example, to the housing 21 and the second end 82 being rotatable following the mirror lever 5. When the mirror rod 5 is not subjected to external force or the driving motor in the driving mechanical mechanism 4 is in no-load state, the rotary torsion spring 8 can push the mirror rod 5 to rotate to the zero position.

As shown in fig. 3 and 5, the endoscope 100 may include an angle limiting ring 71 and an angle limiting ring base 72, the angle limiting ring base 72 may be disposed on the housing 21, and the angle limiting ring 71 may be mounted on the angle limiting ring base 72 for limiting the rotation angle of the scope shaft 5.

Alternatively, the angle limiting ring 71 may be provided with a positioning hole 711, a first groove 712, a first positioning portion 713, and a second positioning portion 714. The angle-limiting ring base 72 may be provided with a protrusion 721, a second groove 722, a first limiting portion 723 and a second limiting portion 724. It is understood that the positioning hole 711 is adapted to be positioned and connected with the protruding portion 721 when the angle limiting ring 71 and the angle limiting ring 72 are installed. The first positioning portion 713 may first perform rough positioning to penetrate into the second limiting portion 724, then the first positioning portion 713 performs fine positioning to penetrate into and connect to the first limiting portion 723, and the second positioning portion 714 is connected to the second limiting portion 724, so as to achieve assembly of the angle limiting ring 71 and the angle limiting ring base 72, and further achieve limiting of the rotation angle of the mirror rod 5.

In some embodiments, the first end 81 of the torsion spring 8 may be fixed on the housing 21, or may be fixed in the first groove 712 on the angle-limiting ring 71, and when the first end 81 is slightly longer, the first end 81 may pass through the first groove 712 and enter the second groove, so as to reduce the requirement for the length precision of the first end 81, and further reduce the manufacturing process of the torsion spring 8. As an example, the second end 82 of the torsion spring 8 can be fixed to the mirror lever 5 and also to the second gear wheel 62. It will be appreciated that the second gear is also provided with a corresponding recess (not shown in the figures). In this way, the second end 82 can rotate along with the rotation of the mirror lever 5, and when the mirror lever 5 is not subjected to an external force or the driving motor in the driving mechanism 4 is idle, the rotary torsion spring 8 can push the mirror lever 5 to rotate to the zero position.

As shown in fig. 1, 2 and 6, the endoscope 100 may further include a quick-change plate mechanism 3 between the housing 21 and the driving portion 4 of the instrument box 2. The provision of the quick-change plate mechanism 3 in the endoscope 100 enables the instrument box 2 and the driving portion 4 to be quickly coupled or decoupled, so that the assembly or disassembly time of the endoscope 100 can be saved.

In some embodiments, two opposite fastening elements 33 may be provided on the quick-change plate mechanism 3, and the fastening elements 33 are adapted to be connected to the fastening holes 22 of the instrument box. The fastener 33 may be, for example, a T-shaped or L-shaped snap structure having elasticity. It will be understood that when the fastener 33 is a snap feature, the fastener hole 22 adapted to be connected therewith may be a corresponding snap feature or a hole feature. The number of the fastening members 33 is not particularly limited, and for example, the number of the fastening members 33 may be one or more.

In some embodiments, the quick-change plate mechanism 3 may further include a chuck slot 31 and a card slot 32. The number of the chuck slots 31 may be one or more, and the application is not particularly limited. The chuck slot 31 may be adapted to the transmission chuck 64 at one end and to the driving portion 4 at the other end. The chuck slot 31 is driven to rotate by a driving motor in the driving part 4, and the mirror rod 5 is driven to rotate through the transmission of the transmission chuck 64. The locking groove 32 can be used to lock the mirror rod 5 in order to quickly connect the quick-change plate mechanism 3 to the instrument box 2.

Referring back to fig. 6, in some embodiments, the quick-change plate mechanism 3 is provided with a stop wall 34 on a side close to the first direction a, in particular, the stop wall 34 is provided protruding from the quick-change plate mechanism in a direction close to the cartridge 2. The height of the stop wall 34 can be lower than the height of the cartridge 2, can be higher than the height of the cartridge 2, and can also correspond to the height of the cartridge 2. The shape of the stop wall 34 is not particularly limited in the embodiments of the present application, so as not to affect the operation of the operator or the appearance of the instrument box 2. Illustratively, after the main control box 1, the instrument box 2 and the quick-change plate mechanism 3 are assembled, even if the locking part 23 is acted by an acting force, the main control box 1 and the instrument box 2 are not separated due to the existence of the stop wall 34 on the quick-change plate mechanism 3. Thus, the risk that the main control box 1 falls from the instrument box 2 due to the false touch operation can be prevented, and the service life of the endoscope is prolonged.

The detailed structure of the endoscope 100 is described in the upper part, and the working process of the endoscope 100 is described in detail in the following.

As an example, before operation, the endoscope 100 of the present application connects the angle limiting ring 71 and the second gear 62 sleeved on the mirror rod 5 in series through the rotary torsion spring 8 with energy storage property. Under the condition that the rotary torsion spring 8 is free from external force and torque, the mirror rod 5 rotates to the zero position and is horizontally aligned with the zero position of the transmission chuck 64 through the structural design. That is, when the mirror lever 5 is rotated at the zero position, the driver chuck 64 is also at the zero position. When the transmission chuck 64 is rotated by external force torque, the mirror rod 5 is driven to rotate under the action of the transmission part 6. When the external force torque on the transmission chuck 64 is eliminated, the elastic potential energy of the rotary torsion spring 8 is released, and the mirror rod 5 is pushed to rotate to the zero position. Meanwhile, the transmission chuck 64 is driven to rotate to the zero position through the linkage among the second gear 62, the third gear 63 and the first gear 61 which are meshed with each other. By utilizing the causal rotation zeroing relationship, the driving chuck 64 of the endoscope 100 can be conveniently and conveniently aligned with the chuck groove 31 on the quick-change plate 3, so that the endoscope 100 can be quickly assembled, and the preoperative preparation time is saved.

As another example, in an operation, when the operator needs to readjust the field of view of the endoscope 100, the drive motor in the driving part 4 may be unloaded first. Then, the mirror lever 5 can be quickly rotated to the zero position by the rotation torsion spring 8 based on the rotation principle of the rotation torsion spring 8. Further, the mirror rod 5 is driven to rotate again by the driving part 4 according to the needs of the operator to find the ideal visual field range, thereby saving the visual field readjusting time of the endoscope 100.

The endoscope 100 according to the embodiment of the present application may be provided with the driving portion 4 (for example, a driving motor) inside the instrument box 2, or may be provided with the driving portion 4 outside the instrument box 2, for example, but the present application is not limited to this.

The endoscope 100 provided in the embodiment of the present application may be, for example, an electronic endoscope or an optical endoscope. The present application is not specifically limited in contrast.

The endoscope 100 provided in the embodiment of the present application may be used in, for example, a handheld application scenario and may also be applied in an application scenario in which a robot controlling a surgical operation performs a surgical operation, and the present application is not limited in particular.

The present application also proposes an endoscope which may comprise, for example, a cartridge 2, a mirror shaft 5, and a drive device which may comprise, for example, a drive portion 4, which may be, for example, a torsion spring 8, and a swivel portion, the drive portion 4 being connected to the cartridge 2 for driving the mirror shaft 5 in rotation; the rotary part is arranged in the instrument box 2 and is connected with the mirror rod 5, and the rotary part can be used for pushing the mirror rod 5 to rotate to a zero position when the mirror rod 5 is not subjected to external driving force.

The present application also proposes a surgical robot comprising an endoscope 100 as described above. As described in detail below in conjunction with fig. 7.

As shown in fig. 7, the surgical robot 1000 includes a robot arm 103, an endoscope 100 disposed on the robot arm 103, an image host 101, an image display 102, and the like, wherein the robot arm 103 is used for adjusting the position of the endoscope 100, for penetrating into the body, and for performing an examination or a surgical operation on a focal region.

Illustratively, the scope shaft 5 of the endoscope 100 extends into the body of a patient under the driving action of the mechanical arm 103, acquires an image signal in the body through an image acquisition part at the distal end thereof, and transmits the acquired image signal to the image host 101. The image host 101 is configured to analyze and process the received image signal. As an example, the image host 101 may perform decoding processing on the received image signal and then output the video signal to the image display 102 for display. Of course, the image host 101 may also perform noise reduction, white balance, and other processing on the received image signal to obtain an image with higher picture quality.

The present application also provides a surgical instrument manipulator arm, which includes a mechanical arm 103, wherein the mechanical arm 103 can be used to adjust the endoscope 100 described above to perform examination or surgical operation on a focal zone.

It should be noted that the device embodiments described in the embodiments of the present application are merely illustrative, for example, the division of the modules is only one logical function division, and there may be another division manner in actual implementation. In addition, functional modules in the embodiments of the present application may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one processing unit.

It should be noted that the terms "first", "second", and the like in the embodiments of the present application are only used for distinguishing one entity or operation from another entity or operation, and do not indicate or imply any actual relationship or order between the entities or operations. Terms referring to "left", "right", "upper", "lower", "center", "bottom", and the like in the embodiments of the present application, which indicate orientations or positional relationships, are only based on the orientations or positional relationships shown in the drawings, and do not indicate or imply that the known devices or elements must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Moreover, the technical features of the above embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An endoscope, comprising:

an instrument cartridge;

the tail end of the endoscope rod is provided with an image acquisition part, one end of the endoscope rod is connected with the instrument box, the other end provided with the image acquisition part extends in the direction departing from the instrument box, and the endoscope rod receives the driving force of the instrument box to move;

the rotating device is arranged in the instrument box and connected with the mirror rod, and the rotating device is used for pushing the mirror rod to rotate to a zero position when the mirror rod does not receive the driving force of the instrument box.

2. The endoscope of claim 1, wherein the swiveling device comprises a swiveling torsion spring including a first end fixed to the instrument box and a second end coupled to the mirror shaft to urge the mirror shaft to rotate to a zero position when the mirror shaft does not receive a driving force from the instrument box.

3. The endoscope of claim 2, wherein the instrument box is provided with an angle limiting collar having a first groove disposed thereon, the first end of the torsion spring being secured within the first groove.

4. The endoscope of claim 2 or 3, wherein the instrument box comprises a housing, a transmission part arranged in the housing, and a transmission chuck arranged on the housing, wherein the transmission part comprises a first gear arranged on the transmission chuck in a sleeved mode, and a second gear arranged on the mirror rod in a sleeved mode and meshed with the first gear;

the instrument box drives the first gear and the second gear to rotate through the transmission chuck so as to drive the mirror rod to rotate, and the second end of the rotary torsion spring is fixed on the second gear.

5. The endoscope of claim 4, wherein the transmission portion further comprises a third gear positioned between and in meshing engagement with the first and second gears, respectively.

6. The endoscope of claim 4, further comprising:

a drive section;

one end of the quick-change plate mechanism is connected with the driving part, the other end of the quick-change plate mechanism is connected with the transmission chuck, and the driving part drives the transmission chuck to rotate through the quick-change plate mechanism so as to drive the mirror rod to rotate.

7. The endoscope of claim 1, wherein the distal end of the shaft further comprises a flexible tube connected to the image capturing section to allow the distal end of the shaft to bend.

8. An endoscope, characterized in that it comprises:

an instrument cartridge;

the tail end of the endoscope rod is provided with an image acquisition part, one end of the endoscope rod is connected with the instrument box, and the other end provided with the image acquisition part extends towards the direction departing from the instrument box;

the driving device comprises a driving part and a rotating part, and the driving part is connected with the instrument box and used for driving the mirror rod to rotate;

the rotary part is arranged in the instrument box and connected with the mirror rod, and the rotary part is used for pushing the mirror rod to rotate to a zero position when the mirror rod does not receive the driving force of the driving part.

9. A surgical instrument manipulator arm comprising a robotic arm for adjusting an endoscope as claimed in any one of claims 1 to 8 to perform an examination or a surgical procedure on a focal zone.

10. A surgical robot, characterized in that it comprises an endoscope according to any one of claims 1 to 8.