CN220175234U - Flexible instrument robot operating handle and flexible instrument robot system - Google Patents

Abstract

The utility model discloses a flexible instrument robot operating handle and a flexible instrument robot system, which belong to the technical field of medical instruments and comprise: the handle body comprises a first body part and a second body part which can be opened and closed, and a clamping channel for clamping the endoscope body is formed between the handle body and the first body part; an operating device arranged on one of the first main body part and the second main body part and used for being in communication connection with a flexible instrument robot so as to control a surgical instrument on the flexible instrument robot; the locking device comprises a buckle assembly and a clamping groove assembly, one of the buckle assembly and the clamping groove assembly is arranged on the first main body part, the other one of the buckle assembly and the clamping groove assembly is arranged on the second main body part, and the buckle assembly is used for being matched with the clamping groove assembly in a clamping mode so as to lock the first main body part and the second main body part in a closed state. The utility model has compact structure and simple operation, and can control the surgical instrument to execute the operation while finishing the operation of delivering the mirror.

Description

Flexible instrument robot operating handle and flexible instrument robot system

Technical Field

The utility model relates to the technical field of flexible instrument robots, in particular to a flexible instrument robot operating handle and a flexible instrument robot system.

Background

The natural cavity of the digestive tract, the respiratory tract and the like is a good part of human diseases, and the morbidity and mortality of the diseases such as gastric cancer, esophageal cancer, lung cancer and the like tend to rise year by year. The soft endoscope is matched with related flexible instruments to perform diagnosis and treatment as a main stream treatment means, has the characteristics of small wound, small bleeding amount and low complication occurrence rate, and is widely popularized.

The human body cavity channel interventional operation is different from the conventional large incision operation, and the operation space reserved for doctors is often narrow, so that the doctor is mostly dependent on flexible instruments for diagnosis and treatment operation. The existing flexible instrument is rich in variety and can meet different operation requirements in a narrow environment. Most of the current soft endoscope operations need to be completed by a plurality of medical staff, when the instruments are needed to be used, most nurses assist doctors from the side to complete the operations, so that the burden of staff is increased, the surgical instruments are flexible and are one to two meters long, when the soft endoscope operations are used, the medical staff need to hold the instruments to be sent into the endoscope biopsy cavity, the operations are complex, cross infection is easy to cause in the contact process, and the use process is also very unstable.

Therefore, aiming at the intervention operation of the natural cavity of the human body, the flexible instrument robot system is an auxiliary robot system capable of providing simple operation steps and stable operation effects, and the operation robot is used for assisting a doctor to finish the work of conveying, retracting, taking out and the like of flexible surgical instruments in the soft endoscopic operation by replacing nurses with an operation robot, so that the aims of reducing the participation of medical staff and the contact of the medical instruments and reducing the risk of cross infection are fulfilled, and the doctor can also realize more acquiescence of matching the endoscope with the surgical instruments by independently finishing the operation.

However, the current flexible instrument robot system reduces the participation of nurses and increases the workload of doctors, and the doctors need to hold the operation part of the flexible endoscope by the left hand and carry out the operation of delivering the endoscope by the right hand when operating the flexible endoscope, so that the flexible instrument robot system cannot be controlled to carry out the intervention of surgical instruments.

Therefore, how to make a doctor control a surgical instrument to perform a surgical operation while completing a lens feeding operation is a technical problem that needs to be solved currently by those skilled in the art.

Disclosure of Invention

Accordingly, an object of the present utility model is to provide a flexible robotic manipulator for a medical staff to perform a surgical operation while performing a endoscopic procedure;

Another object of the present utility model is to provide a flexible instrument robot system having the flexible instrument robot operating handle described above.

In order to achieve the above object, the present utility model provides the following technical solutions:

a flexible instrument robotic manipulator comprising:

the handle body comprises a first body part and a second body part which can be opened and closed, a clamping channel for clamping an endoscope body of the soft endoscope is formed between the first body part and the second body part when the first body part and the second body part are in a closed state, and after the first body part and the second body part are opened, the endoscope body can be placed in the clamping channel;

an operating device arranged on one of the first main body part and the second main body part and used for being in communication connection with a flexible instrument robot so as to control a surgical instrument on the flexible instrument robot;

the locking device comprises a buckle assembly and a clamping groove assembly, one of the buckle assembly and the clamping groove assembly is arranged on the first main body part, the other one of the buckle assembly and the clamping groove assembly is arranged on the second main body part, and the buckle assembly is used for being matched with the clamping groove assembly in a clamping mode so as to lock the first main body part and the second main body part in a closed state.

Optionally, in the flexible instrument robot operating handle, the buckle assembly includes a pressing buckle disposed on the first main body, and a locking groove is disposed on the pressing buckle;

the clamping groove assembly comprises a shrinkage piece, a supporting groove body and a reset elastic piece, wherein the supporting groove body is arranged on the second main body part, one end, close to the pressing buckle, of the shrinkage piece is provided with a locking claw used for being clamped into the locking groove, the supporting groove body is provided with a sliding groove, the shrinkage piece is in sliding fit with the sliding groove and slides between a locking position and an unlocking position, when the shrinkage piece is located at the locking position, the locking claw is clamped into the locking groove, when the shrinkage piece is located at the unlocking position, the locking claw is separated from the locking groove, when the first main body part and the second main body part are in a closed state, the pressing buckle pushes the shrinkage piece to the locking position, when the first main body part and the second main body part are in an open state, and the reset elastic piece pushes the shrinkage piece to the unlocking position.

Optionally, in the flexible instrument robot operating handle, the two locking claws are symmetrically arranged at two sides of the end part of the main body part of the contraction piece, the first end of each locking claw is connected to the main body part of the contraction piece, and the second end of each locking claw is provided with a claw clamped with the locking groove;

The distance between the two locking claws gradually decreases from the second end to the first end of the locking claw, and the second end of the locking claw extends out of the opening side of the chute;

the locking claw is an elastic locking claw and acts between a furled state and an opened state, when the locking claw is in the furled state, the claw is clamped into the locking groove, and when the locking claw is in the opened state, the claw is separated from the locking groove;

the pressing buckle is positioned between the two locking claws and is used for pushing the main body part of the contraction piece, and when the first main body part and the second main body part are in a closed state, the pressing buckle pushes the main body part of the contraction piece so that the side wall of the sliding groove pushes the locking claws to be in a furled state.

Optionally, in the flexible instrument robot operating handle, a track groove is formed on the side wall of the supporting groove body;

the clamping groove assembly further comprises a push-pull rod, one end of the push-pull rod is a hinge part hinged to the hinge hole of the contraction piece, and the other end of the push-pull rod is provided with a guide block part in sliding fit with the track groove;

the track groove comprises a locking guide track groove and an unlocking guide track groove, wherein the starting end of the locking guide track groove is communicated with the terminal end of the unlocking guide track groove, the terminal end of the locking guide track groove is communicated with the starting end of the unlocking guide track groove, and a locking groove part is formed at the intersection of the terminal end of the locking guide track groove and the starting end of the unlocking guide track groove;

When the contraction piece slides from the unlocking position to the locking position, the guide block part slides from the initial end of the locking guide rail groove to the terminal end of the locking guide rail groove until the contraction piece is clamped into the locking groove part;

when the contraction piece slides from the locking position to the unlocking position, the guide block part enters the starting end of the unlocking guide rail groove from the locking groove part and slides from the starting end of the unlocking guide rail groove to the terminal end of the unlocking guide rail groove.

Optionally, in the flexible instrument robot operating handle, the locking guide track groove comprises a locking inclined guide groove, a locking straight guide groove and a locking return chute which are sequentially communicated in the direction from the starting end to the terminal end;

the two ends of the locking inclined guide groove are respectively positioned at two sides of the hinge part along the sliding direction of the contraction piece;

when the push-pull rod swings to an included angle larger than 0 degrees with the sliding direction of the contraction piece, the reset elastic piece is used for driving the push-pull rod to slide in a direction parallel to the sliding direction of the contraction piece.

Optionally, in the flexible instrument robot operating handle, the unlocking guide rail groove includes an unlocking oblique guide groove and an unlocking return chute which are sequentially communicated in a direction from a start end to a terminal end, and the unlocking return chute is communicated with the locking oblique guide groove.

Optionally, in the flexible instrument robot operating handle, a guide post is arranged in a chute of the supporting chute body, a guide hole is formed in the contraction piece, the resetting elastic piece is sleeved on the guide post, one end of the resetting elastic piece abuts against the bottom of the chute, and the other end of the resetting elastic piece stretches into the guide hole.

Optionally, in the flexible instrument robot operating handle, a shrink piece guiding groove parallel to the sliding direction of the shrink piece is formed in a side wall of the supporting groove body, and the shrink piece is provided with a shrink piece guiding block in sliding fit with the shrink piece guiding groove.

Optionally, in the flexible instrument robot operating handle, the first side of the first main body part and the first side of the second main body part are hinged through an opening and closing device;

the locking device is arranged on the second sides of the first main body part and the second main body part.

Optionally, in the flexible instrument robot operating handle, the opening and closing device includes:

the first hinge seat is arranged on the first main body part;

the second hinge seat is arranged on the second main body part;

the opening and closing hinge shaft is hinged with the first hinge seat and the second hinge seat;

The opening and closing torsion spring is sleeved on the opening and closing hinge shaft, a first elastic arm of the opening and closing torsion spring is abutted to the first main body part, and a second elastic arm of the opening and closing torsion spring is abutted to the second main body part.

Optionally, in the flexible instrument robot operating handle, the first body portion is provided with a first clamping channel portion, the second body portion is provided with a second clamping channel portion, and when the first body portion and the second body portion are in a closed state, the first clamping channel portion and the second clamping channel portion form the clamping channel;

the novel handle further comprises a sterile sleeve sleeved outside the handle main body, and the first main body part and the second main body part are respectively corresponding to the matched sterile sleeve.

Optionally, in the flexible instrument robot operating handle described above, the sterile sleeve includes:

the sterile isolation clothes are provided with sleeved inlets for the handle main body to enter;

the mirror body isolation glue part is arranged on the sterile isolation clothes and is positioned at a position corresponding to the clamping channel;

and the sealing device is used for sealing the sleeved inlet.

Optionally, in the flexible instrument robot operating handle, one end of the first body portion is an operating device mounting seat, the operating device is disposed on the operating device mounting seat, the buckle assembly is disposed on the operating device mounting seat, and the clamping groove assembly is disposed on the second body portion.

Optionally, in the flexible instrument robot operating handle, the operating device includes:

the operation main board is fixed on the operation device mounting seat and is provided with an operation part;

the operation panel is fixed on the operation device mounting seat and buckled on the outer side of the operation main board, and an operation part extending hole for extending the operation part is formed in the operation panel.

Optionally, in the above flexible instrument robot operating handle, the operating portion includes:

the rocker device is used for controlling the extension and retraction of the surgical instrument;

an instrument open button for controlling the opening motion of the surgical instrument;

an instrument close button for controlling the closing motion of the surgical instrument.

Optionally, in the flexible instrument robot operating handle, the flexible instrument robot operating handle further comprises an auxiliary unit for assisting the operation of the operating device, wherein the auxiliary unit comprises at least one of a vibration feedback device, a light prompting device, an automatic start-stop device, a fingerprint recording device, a state display device and a pressure feedback device which are electrically connected to the operating main board;

the vibration feedback device is used for prompting opening and closing actions of the surgical instrument;

The lamplight prompting device is used for being lightened after the flexible instrument robot operating handle is started;

the automatic start-stop device is arranged on the holding side of the handle main body and is used for detecting whether a hand of a user holds the holding side of the handle main body, starting the flexible instrument robot operating handle when the hand of the user is detected to hold the holding side of the handle main body, and closing the flexible instrument robot operating handle when the hand of the user is detected to be separated from the holding side of the handle main body;

the fingerprint recording device is arranged on one of the operation parts and is used for identifying user information;

the state display device is arranged on the operation panel and used for displaying the use state of the operation handle of the flexible instrument robot;

the pressure feedback device is arranged in the clamping channel and is used for detecting the pressure value of the endoscope body and the resistance value when the endoscope body is conveyed.

Optionally, in the above flexible instrument robot operating handle, the wireless charging device further comprises a rechargeable battery and a wireless charging box, the rechargeable battery is disposed in the handle body, the wireless charging box is disposed on the flexible instrument robot, and the handle body can be inserted into the wireless charging box for charging.

Optionally, in the flexible instrument robot operating handle, the flexible instrument robot further comprises a magnetic component, wherein the magnetic component comprises:

a fixed base, a first side of which is provided with a first magnetic module, and a second side of which is provided with an elastic band for being fixed on an endoscope operation part of the soft endoscope;

the second magnetic module is arranged on the handle main body and is used for being in adsorption connection with the first magnetic module.

Optionally, in the flexible instrument robot operating handle, a first side of the fixing base is provided with a limiting arm capable of being embraced at the outer side of the handle main body, a docking groove is formed between the limiting arms, and the first magnetic module is arranged in the docking groove.

The utility model provides a flexible instrument robot operating handle which is provided with a handle main body, an operating device and a locking device. The first main body part and the second main body part of the handle main body can be connected in an opening and closing mode, after the first main body part and the second main body part are opened, the endoscope body of the soft endoscope can be placed in the clamping channel between the first main body part and the second main body part, then the first main body part and the second main body part are controlled to be closed, the endoscope body can be clamped in the clamping channel, and then the first main body part and the second main body part are locked in a closed state through the locking device, so that the purpose of clamping the operation handle of the flexible instrument robot on the endoscope body can be achieved. The operation device is in communication connection with the flexible instrument robot and is used for controlling the surgical instrument on the flexible instrument robot to perform corresponding actions.

When the flexible instrument robot system is applied to diagnosis and treatment of a soft endoscope, a sterilized flexible instrument robot operating handle is connected to the flexible instrument robot before operation, and the flexible instrument robot operating handle is clamped to an endoscope body; after the endoscope body is delivered to the focus of a human body by a doctor, judging the surgical instrument to be used, loading the corresponding surgical instrument into a flexible instrument robot, controlling the flexible instrument robot through an operation handle of the flexible instrument robot, and delivering the surgical instrument to an outlet of an instrument channel of the flexible endoscope, wherein the operation device on the operation handle of the flexible instrument robot can be operated to extend, open, close and the like to enable the surgical instrument to extend, open, close and the like to finish the operations of biopsy, injection and the like while the endoscope body is operated to be aligned to the focus through an endoscope operation part of the flexible endoscope; after the diagnosis and treatment are completed, the doctor puts the operation handle of the flexible instrument robot into the cleaning device for decontamination and sterilization. The utility model has compact structure and simple operation, and can control the surgical instrument to execute the operation while finishing the operation of delivering the mirror.

A flexible instrument robot system comprising a flexible instrument robot and a flexible instrument robot handle as claimed in any one of the preceding claims, the flexible instrument robot handle being in communication with the flexible instrument robot for manipulating a surgical instrument on the flexible instrument robot.

The flexible instrument robot system provided by the utility model has all the technical effects of the flexible instrument robot operating handle because the flexible instrument robot operating handle is added, and the detailed description is omitted herein.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of an endoscope flexible instrument robot operating handle in a first view angle in accordance with an embodiment of the present utility model;

FIG. 2 is a schematic view of the endoscope flexible instrument robot operating handle in a second view angle in accordance with an embodiment of the present utility model;

FIG. 3 is a schematic view of an endoscope flexible instrument robot operating handle according to an embodiment of the present utility model after being opened;

FIG. 4 is a schematic view of a manipulator handle of an endoscopic flexible instrument robot in accordance with another embodiment of the present utility model;

FIG. 5 is a schematic view of the structure of an endoscope flexible instrument robot operating handle for holding an endoscope body according to an embodiment of the present utility model;

FIG. 6 is a schematic view of an endoscope flexible instrument robot manipulator according to an embodiment of the present utility model with an operating section removed;

FIG. 7 is a schematic view of the structure of the opening and closing device of the operating handle of the endoscope flexible instrument robot according to the embodiment of the present utility model;

fig. 8 is a schematic structural view of a locking device according to a first view angle disclosed in an embodiment of the present utility model;

fig. 9 is a schematic structural view of a locking device according to a second embodiment of the present utility model;

FIG. 10 is a cross-sectional view of a locking device according to an embodiment of the present utility model taken along a first cross-section;

FIG. 11 is a cross-sectional view of a locking device according to an embodiment of the present utility model along a second cross-section;

FIG. 12 is a cross-sectional view of a support channel as disclosed in an embodiment of the present utility model;

FIG. 13 is a view of the track of the guide block in the track groove according to the embodiment of the present utility model;

FIG. 14 is a schematic view of a configuration of an endoscope flexible instrument robot operating handle with another locking device in accordance with an embodiment of the present utility model;

FIG. 15 is a schematic view of an endoscope flexible instrument robot operating handle with an operating panel removed in accordance with an embodiment of the present utility model;

FIG. 16 is a schematic view of a configuration of a robotic manipulator of an endoscopic flexible instrument with a magnetic assembly in accordance with an embodiment of the present utility model;

FIG. 17 is a schematic view of a fixing base according to an embodiment of the present utility model;

FIG. 18 is a schematic view of a configuration of an endoscope flexible instrument robot operating handle with a wireless charging device in accordance with an embodiment of the present utility model;

fig. 19 is a schematic structural view of a first body portion according to an embodiment of the present utility model;

FIG. 20 is a schematic diagram of a flexible instrument robotic system according to an embodiment of the present disclosure;

fig. 21 is a schematic view showing a structure in which an operation handle of an endoscope flexible instrument robot is fixed to an endoscope operation portion according to an embodiment of the present utility model.

The meaning of the individual reference numerals in the figures is as follows:

1-a flexible instrument robot; 01-endoscope body; 11-an endoscope operation section;

2-a flexible instrument robot operating handle;

100-a handle body; 101-a first body portion; 102-a second body portion; 103-a wire slot cover plate; 104-wiring grooves; 105-clamping channel;

200-operating means; 201-an operation panel; 202-an operation portion protruding hole; 203-a rocker device; 204-instrument open button; 205-operating a motherboard; 206-fingerprint recording means; 207-a light prompting device; 208-vibration feedback means; 209-an instrument off button; 210-rocker portion; 211-automatic start-stop device; 212-a status display device; 213-pressure feedback means;

300-opening and closing device; 301-a first hinge seat; 302-a second hinge base; 303-opening and closing torsion springs; 304-an opening and closing hinge shaft;

400-sterile sleeve; 401-mirror body isolation glue part; 402-fitting an inlet; 403-sealing device; 404-sterile barrier coat;

500-wireless charging box;

600-magnetic component; 610-a second magnetic module; 620-fixing the base; 621-limiting arm; 622—a first magnetic module; 623-elastic bands;

700-locking device; 701-elastic hook; 702-a clamping groove; 710-press down the buckle; 711-locking groove; 720-supporting the groove body; 721-track grooves; 7211-locking oblique guide groove; 7212-locking straight guide groove; 7213-locking return chute; 7214-locking groove portion; 7215-unlocking the oblique guide groove; 7216-unlocking the return chute; 722-return spring; 723-a chute; 724-constriction guide slot; 725-guide posts; 730-push-pull rod; 731-a guide block portion; 7311-guide block portion locking position; 7312-guide block portion unlocking; 732-hinge; 740-constriction; 741 locking claws; 7411-expanding torsion springs; 742-constriction guide block; 743-guide holes; 744-hinge holes.

Detailed Description

The utility model discloses a flexible instrument robot operating handle, which enables medical staff to control surgical instruments to execute surgical operation while completing the operation of delivering a mirror;

Another core of the present utility model is to disclose a flexible instrument robot system having the flexible instrument robot operating handle described above.

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

As shown in fig. 1, 2, 5, 20 and 21, the embodiment of the utility model discloses a flexible instrument robot operating handle 2, and the flexible instrument robot 1 can be controlled by using the flexible instrument robot operating handle 2, when the flexible instrument robot operating handle 2 is used, the flexible instrument robot operating handle 2 is clamped on an endoscope body 01 of a soft endoscope, so that the distance between the flexible instrument robot operating handle 2 and an endoscope operating part 11 of the soft endoscope is relatively short, and the operation of both hands of a doctor is facilitated.

The flexible instrument robot operating handle 2 disclosed in the embodiment of the present utility model includes a handle body 100, an operating device 200, and a locking device 700. The handle body 100 includes a first body 101 and a second body 102 that can be opened and closed, in this embodiment, the handle body 100 is divided into two parts, i.e. the first body 101 and the second body 102, and the first body 101 and the second body 102 can be opened and closed to facilitate the handle body 100 to be clamped on the endoscope body 01.

As shown in fig. 6, when the first body 101 and the second body 102 are in the closed state, a holding channel 105 for holding the endoscope body 01 of the soft endoscope is formed therebetween, and after the first body 101 and the second body 102 are opened, the endoscope body 01 can be placed in the holding channel 105. Specifically, the shape of the clamping channel 105 should be tailored to the shape of the endoscope body 01 to facilitate clamping to the endoscope body 01, while also not clamping the endoscope body 01 to deformation, which would affect the operation of the endoscope body 01. Based on this, the clamping channel 105 may be designed as an arc structure, so that the clamping channel 105 is uniformly attached to the endoscope body 01, and a certain position of the endoscope body 01 is prevented from being pressed to be severely deformed.

The operation device 200 is provided on one of the first body portion 101 and the second body portion 102 for communication connection with the flexible instrument robot 1 to operate a surgical instrument on the flexible instrument robot 1. Specifically, the operation device 200 may be communicatively connected to the flexible instrument robot 1 through a connection cable, and a corresponding plug interface is disposed on the corresponding flexible instrument robot 1, so as to facilitate connection and disconnection of the operation device 200 to and from the flexible instrument robot 1 through the connection cable. The control function of the operation device 200 should be determined by the operation action of the flexible instrument robot 1 on the corresponding surgical instrument, so as to ensure that the operation device 200 can control the flexible instrument robot 1 to complete the corresponding action on the surgical instrument.

As shown in fig. 5 and 14, the locking device 700 includes a latch assembly and a slot assembly, one of the latch assembly and the slot assembly is disposed on the first body portion 101, the other is disposed on the second body portion 102, and the latch assembly is configured to be engaged with the slot assembly so as to lock the first body portion 101 and the second body portion 102 in a closed state. Taking fig. 14 as an example, the fastening component may be an elastic hook 701 disposed on the first body portion 101, and the fastening slot component is a fastening slot 702 starting on the second body portion 102, where when the first body portion 101 and the second body portion 102 are closed, the elastic hook 701 is fastened into the fastening slot 702 to achieve locking. When the first body 101 and the second body 102 need to be opened, the elastic hook 701 needs to be elastically deformed by an external force and is released from the slot 702 to unlock.

When the flexible instrument robot system is applied to diagnosis and treatment of a flexible endoscope, the sterilized flexible instrument robot operating handle 2 is connected to the flexible instrument robot 1 before operation, and the flexible instrument robot operating handle 2 is clamped on the endoscope body 01; when a doctor sends the endoscope body 01 to a focus of a human body, judging a surgical instrument to be used, loading the corresponding surgical instrument into the flexible instrument robot 1, controlling the flexible instrument robot 1 through the flexible instrument robot operating handle 2, and sending the surgical instrument to an outlet of an instrument channel of the soft endoscope, wherein the operation device 200 on the flexible instrument robot operating handle 2 can be operated to extend, open, close and the like to finish the operations of taking biopsy, injection and the like while operating the endoscope body 01 to aim at the focus through the endoscope operating part 11 of the soft endoscope; after the diagnosis and treatment are completed, the doctor puts the flexible instrument robot operating handle 2 into the cleaning device for decontamination and sterilization. The utility model has compact structure and simple operation, and can control the surgical instrument to execute the operation while finishing the operation of delivering the mirror.

As shown in fig. 8-11, in an embodiment of the present utility model, the buckle assembly includes a push-down buckle 710 disposed on the first body portion 101, and a locking groove 711 is disposed on the push-down buckle 710. The clamping groove assembly comprises a contraction member 740, a supporting groove body 720 and a reset elastic member 722. The supporting groove 720 is disposed on the second main body 102, one end of the contracting member 740, which is close to the pressing buckle 710, is provided with a locking claw 741 for being clamped into the locking groove 711, the supporting groove 720 is provided with a sliding groove 723, and the contracting member 740 is slidably engaged in the sliding groove 723 and slides between a locking position and an unlocking position. To prevent the contracting member 740 from sliding out of the slide groove 723, a stopper protrusion is provided inside the slide groove 723 to prevent the contracting member 740 from being separated from the slide groove 723 by the return elastic member 722.

When the contracting member 740 is in the locking position (i.e., the locking position shown in fig. 10), the locking claw 741 is engaged in the locking groove 711, when the contracting member 740 is in the unlocking position, the locking claw 741 is disengaged from the locking groove 711, when the first body portion 101 and the second body portion 102 are in the closed state, the pressing buckle 710 pushes the contracting member 740 to the locking position, and when the first body portion 101 and the second body portion 102 are in the open state, the resetting elastic member 722 pushes the contracting member 740 to the unlocking position.

When the handle main body 100 needs to be closed, the first main body 101 and the second main body 102 are rotated in the directions approaching to each other, so that the first main body 101 drives the pressing buckle 710 to push the contraction member 740 to move towards the locking position, and along with the movement of the contraction member 740, the locking claw 741 is gradually retracted by the groove wall of the chute 723 until the locking claw 741 is clamped into the locking groove 711, and the buckle assembly is connected with the clamping groove assembly, so that locking is completed.

When the handle main body 100 needs to be opened, the first main body 101 and the second main body 102 are rotated in the directions away from each other, so that the first main body 101 drives the pressing buckle 710 to drive the contraction member 740 to move towards the unlocking position, and along with the movement of the contraction member 740, the locking claw 741 gradually slides out of the sliding groove 723, so that the folding action of the groove wall of the sliding groove 723 is lost, until the locking claw 741 is completely separated from the locking groove 711, and the buckle assembly is separated from the buckle assembly, so that unlocking is completed.

In this embodiment, two locking claws 741 are symmetrically disposed at two sides of the end of the main body of the contraction member 740, and the first end of the locking claw 741 is connected to the main body of the contraction member 740, and the second end is provided with a claw engaged with the locking groove 711. The distance between the two locking pawls 741 is gradually reduced in a direction from the second end to the first end of the locking pawl 741, and the second end of the locking pawl 741 extends outward from the opening side of the slide groove 723.

In order to enable the locking pawl 741 to be opened after the influence of the groove wall of the slide groove 723 is lost, the locking pawl 741 is an elastic locking pawl and acts between a folded state and an unfolded state, when the locking pawl 741 is in the folded state, the pawl is clamped into the locking groove 711, and when the locking pawl is in the unfolded state, the pawl is separated from the locking groove 711.

For example, the locking pawl 741 may be hinged to the main body of the folder 740, and an opening torsion spring 7411 is provided, and the locking pawl 741 is driven to rotate in an opening direction by an elastic force of the opening torsion spring 741, the opening direction being a direction in which the locking pawl 741 is disengaged from the locking groove 711.

The pressing buckle 710 is located between the two locking claws 741 and is used for pushing the main body of the contracting member 740, when the first main body 101 and the second main body 102 are in the closed state, the pressing buckle 710 pushes the main body of the contracting member 740, so that the side wall of the sliding groove 723 pushes the locking claws 741 to be in the folded state.

As shown in fig. 8, 11 and 12, the side wall of the supporting slot 720 is provided with a track slot 721, the slot assembly further comprises a push-pull rod 730, one end of the push-pull rod 730 is a hinge portion 732 hinged to a hinge hole 744 of the contraction member 740, and the other end of the push-pull rod 730 is provided with a guide block portion 731 in sliding fit with the track slot 721.

The track groove 721 includes a locking guide track groove and an unlocking guide track groove, the start end of the locking guide track groove is communicated with the end of the unlocking guide track groove, and the end of the locking guide track groove is communicated with the start end of the unlocking guide track groove, i.e., the locking guide track groove and the unlocking guide track groove form a closed loop, so that the guide block part 731 can reciprocally and circularly slide in the locking guide track groove and the unlocking guide track groove.

A locking groove 7214 is formed at the junction of the terminal end of the locking guide rail groove and the start end of the unlocking guide rail groove. When the contracting member 740 slides from the unlocking position to the locking position, the guide block part 731 slides from the start end of the locking guide rail groove to the direction of the terminal end of the locking guide rail groove until the contracting member 740 is clamped into the locking groove part 7214, the locking groove part 7214 is the position of the vicinity area closest to the push-down buckle 710, the reset elastic member 722 is used for driving the contracting member 740 and the push-pull rod 730 mounted on the contracting member 740 to move in the direction of the push-down buckle 710, and the locking groove part 7214 is the position of the vicinity area closest to the push-down buckle 710, so that when the guide block part 731 is positioned in the locking groove part 7214, the side wall of the other area of the rail groove 721 has a limiting effect on the guide block part 731, and can be kept at the position of the locking groove part 7214, namely, the reset elastic member 722 cannot drive the contracting member 740 and the push-pull rod 730 mounted on the contracting member 740 to continuously move in the direction of the push-down buckle 710, so that the locking device 700 is kept in the locking state.

When the contracting member 740 slides from the lock position to the unlock position, the guide block portion 731 enters the start end of the unlock guide rail groove from the lock groove portion 7214, and slides from the start end of the unlock guide rail groove to the end of the unlock guide rail groove. When the locking device 700 needs to be unlocked, the pressing buckle 710 can be continuously pressed down through the first main body portion 101, so that the contraction member 740 and the push-pull rod 730 installed on the contraction member 740 move away from the pressing buckle 710, and the guide block portion 731 is separated from the locking groove portion 7214 and slides into the unlocking guide rail groove, and under the driving of the reset elastic member 722, the contraction member 740 and the push-pull rod 730 installed on the contraction member 740 are pushed to move in the direction of pressing the buckle 710 downwards until entering the unlocking guide rail groove, so that the locking device 700 is kept in the unlocking state and is ready for entering the locking state next time.

As shown in fig. 12 and 13, the locking guide rail groove may include a locking inclined guide groove 7211, a locking straight guide groove 7212, and a locking return chute 7213 which are sequentially communicated in a direction from the beginning to the end. It should be noted that, since the push-pull rod 730 is disposed in the sliding groove 723 of the supporting groove 720, the locking inclined guide groove 7211, the locking straight guide groove 7212 and the locking return chute 7213 should be located on the inner wall of the sliding groove 723. In order to make the locking oblique guide groove 7211, the locking straight guide groove 7212 and the locking return chute 7213 machined on the thinner side wall of the supporting groove body 720, in this embodiment, the locking oblique guide groove 7211 and the locking straight guide groove 7212 are blind grooves, i.e. do not penetrate through the side wall of the supporting groove body 720, and the locking return chute 7213 is a through groove with a deeper depth, i.e. penetrates through the side wall of the supporting groove body 720, so that the guide block part 731 can obtain a larger matching depth when in the locking groove part 7214, so that the matching is more reliable, the locking force is improved, and unexpected detachment during locking is prevented.

Specifically, the locking inclined guide groove 7211 is gradually inclined toward the groove bottom direction of the slide groove 723 from the start end to the other end of the locking guide rail groove, and the locking straight guide groove 7212 is also extended toward the groove bottom direction of the slide groove 723 and parallel to the sliding direction of the contracting member 740, and the locking return chute 7213 is gradually inclined toward the opening direction of the slide groove 723 from the direction of communicating the one end to the other end of the locking straight guide groove 7212.

The both ends of the locking inclined guide 7211 are respectively located at both sides of the hinge 732 in the sliding direction of the folder 740. The sliding rod 730 does not deviate left and right along the sliding direction of the contraction member 740 due to the hinge portion 732, and the guide block portion 731 of the sliding rod 730 slides left and right along the sliding direction of the contraction member 740 according to the matching position with the track groove 721, so that the sliding rod 730 swings around the hinge portion 732 as a swing center.

When the push-pull rod 730 swings to have an included angle greater than 0 ° with the sliding direction of the contracting member 740, the reset elastic member 722 is used to drive the push-pull rod 730 to slide in a direction parallel to the sliding direction of the contracting member 740. Taking the example that the hinge portion 732 is located in the middle of the locking oblique guide groove 7211 along the sliding direction of the contracting member 740, any position of the locking oblique guide groove 7211 except for the guide block portion 731 is located in the middle of the locking oblique guide groove 7211 may make the sliding direction of the push-pull rod 730 have an included angle greater than 0 ° with the sliding direction of the contracting member 740. As shown in fig. 10, the cross section of the hinge 732 may be designed to be semicircular, and the circular arc surface faces the return elastic member 722, and one end of the hinge 732 is hinged to the contracting member 740, and the rest abuts against the return elastic member 722. When the push-pull rod 730 swings, the contact between the hinge portion 732 and the reset elastic member 722 is unbalanced, and when the track groove 721 does not block the guide block portion 731, the reset elastic member 722 can enable the hinge portion 732 to return to the balanced position with the arc surface symmetrical to the reset elastic member 722, so that once the track groove 721 does not block the guide block portion 731, the reset elastic member 722 enables the push-pull rod 730 to swing to an angle parallel to the sliding direction of the contraction member 740.

It should be noted that, the limiting pieces may be disposed on two sides of the hinge portion 732, the reset elastic member 722 is abutted against the limiting pieces on two sides, and once the sliding direction of the push-pull rod 730 and the contracting member 740 has an included angle greater than 0 °, the limiting pieces on two sides of the hinge portion 732 and the pressure of the reset elastic member 722 are different, so that the reset elastic member 722 drives the hinge portion 732 to rotate, so that the limiting pieces on two sides of the hinge portion are the same as the pressure of the reset elastic member 722, and an equilibrium state is reached.

The unlocking guide rail groove may include an unlocking diagonal groove 7215 and an unlocking return diagonal groove 7216 which communicate sequentially in a direction from the beginning to the end, the unlocking return diagonal groove 7216 communicating with the locking diagonal groove 7211. It should be noted that, the unlocking oblique guide groove 7215 and the unlocking return oblique groove 7216 are through grooves with deeper depth, that is, penetrate through the side wall of the supporting groove 720, so that the guide block portion 731 can slide out in the locking groove portion 7214 more easily, thereby avoiding the problem that unlocking is difficult or even impossible.

Specifically, the unlocking diagonal groove 7215 is gradually inclined toward the groove bottom of the slide groove 723 from one end to the other end of the communicating lock return chute 7213. The unlock return chute 7216 is gradually inclined toward the opening direction of the chute 723 from one end to the other end of the communication unlock chute 7215.

When the handle main body 100 needs to be closed, the first main body 101 and the second main body 102 are rotated in the directions approaching to each other, so that the first main body 101 drives the pressing buckle 710 to push the contraction member 740 to move towards the locking position, and along with the movement of the contraction member 740, the locking claw 741 is gradually retracted by the groove wall of the chute 723 until the locking claw 741 is clamped into the locking groove 711, and the buckle assembly is connected with the clamping groove assembly, so that locking is completed. During the process that the contraction member 740 moves towards the locking position, the push-pull rod 730 moves along the contraction member 740, the guide block portion 731 slides along the inclined plane of the locking inclined guide groove 7211, so that the push-pull rod 730 swings, after passing through the locking straight guide groove 7212, the push-pull rod 730 swings towards the direction parallel to the sliding direction of the contraction member 740 under the action of the reset elastic member 722, and then the guide block portion 731 slides along the locking return chute 7213 until sliding into the locking groove portion 7214 (the guide block portion 731 is located at the guide block portion locking position 7311), and locking is achieved.

When the handle main body 100 needs to be opened, the first main body 101 is continuously pressed down, so that the first main body 101 drives the pressing buckle 710 to continuously move towards the bottom of the chute 723, the guide block 731 slides towards the bottom of the chute 723 along the unlocking oblique guide groove 7215 (i.e. the guide block 731 is located at the guide block unlocking position 7312, after the guide block 731 is located at the guide block unlocking position 7312, the subsequent actions are automatically completed without operation of a user), until the first main body is slid into the unlocking return chute 7216, under the action of the reset elastic member 722, the contraction member 740 is pushed to move towards the unlocking position, the locking claw 741 gradually slides out of the chute 723 along with the movement of the contraction member 740, so that the furling function of the wall of the chute 723 is lost, until the locking claw 741 is completely separated from the locking groove, the buckle component is separated from the clamping groove component 711, and unlocking is completed.

As shown in fig. 10, in an embodiment of the present utility model, a guiding column 725 is disposed in a sliding groove 723 of the supporting groove 720, a guiding hole 743 is formed on the contracting member 740, a resetting elastic member 722 is sleeved on the guiding column 725, one end of the resetting elastic member abuts against the bottom of the sliding groove 723, and the other end of the resetting elastic member extends into the guiding hole 743. In this embodiment, the position of the reset elastic member 722 is more stable by limiting the reset elastic member 722 through the guide posts 725 and the guide holes 743, so as to prevent the reset elastic member 722 from being offset during the compression and reset processes, thereby affecting the use. The return elastic member 722 may be a coil spring that is more commonly used, or may be other elastic members.

As shown in fig. 9, a shrink guide groove 724 parallel to the sliding direction of the shrink 740 is formed on the side wall of the support groove 720, and the shrink 740 has a shrink guide block 742 slidably engaged with the shrink guide groove 724. In this embodiment, the sliding of the contraction member 740 is more stable by the sliding fit of the contraction member guiding block 742 and the contraction member guiding slot 724, so that the position deflection in the sliding slot 723 caused by the larger size of the sliding slot 723 than the contraction member 740 can be avoided, and the position of the push-pull rod 730 is caused to follow the deflection to influence the fit with the track slot 721.

As shown in fig. 4 and 7, in the present embodiment, the first side of the first body portion 101 and the first side of the second body portion 102 are hinged by the opening and closing device 300. The locking device 700 is provided on the second side of the first body part 101 and the second body part 102. I.e. the first side of the handle body 100 is the hinged side and the second side of the handle body 100 is the open side. The locking device 700 is provided at the second sides of the first body part 101 and the second body part 102, i.e., the locking device 700 is provided at the opening side of the handle body 100 to lock the handle body 100.

The opening and closing device 300 includes a first hinge base 301, a second hinge base 302, an opening and closing hinge shaft 304, and an opening and closing torsion spring 303. The first hinge base 301 is disposed on the first body 101, and the first hinge base 301 and the first body 101 may be in an integrated structure; the second hinge base 302 is disposed on the second body 102, and the second hinge base 302 and the second body 102 may be in an integrated structure. The first hinge seat 301 and the second hinge seat 302 may be provided in a plurality of spaced apart arrangement to increase stability of connection.

The first hinge base 301 and the second hinge base 302 are hinged by the hinge shaft 304, so that the first body portion 101 and the second body portion 102 can rotate along the hinge shaft 304. The opening and closing torsion spring 303 is sleeved on the opening and closing hinge shaft 304, and a first elastic arm of the opening and closing torsion spring 303 is abutted against the first main body part 101, and a second elastic arm of the opening and closing torsion spring 303 is abutted against the second main body part 102. The open-close torsion spring 303 functions to drive the first and second body parts 101 and 102 open. After the locking device 700 is unlocked, the first main body 101 and the second main body 102 are driven to be rapidly opened under the action of the elastic force of the opening and closing torsion spring 303, so that the disassembly of the operation handle of the flexible instrument robot on the endoscope body 01 is completed or preparation is made for clamping the endoscope body 01. The endoscope body 01 needs to be manually operated by medical staff, namely, the flexible instrument robot operating handle is held by hands to push forward to realize the advancing, when the position of the flexible instrument robot operating handle is not suitable for pushing, the first main body part 101 and the second main body part 102 can be opened, and other positions of the endoscope body 01 are clamped to continue the advancing.

In order to prevent the opening/closing torsion spring 303 from moving on the opening/closing hinge shaft 304, in this embodiment, the first body portion 101 is provided with a first limiting groove that is matched with the first elastic arm of the opening/closing torsion spring 303. The second body 102 is provided with a second limiting groove matched with a second elastic arm of the opening and closing torsion spring 303. The two elastic arms of the opening and closing torsion spring 303 are arranged in the limiting groove, so that when the first main body part 101 and the second main body part 102 are opened, the elastic arms of the opening and closing torsion spring 303 can move with the first main body part 101 and the second main body part 102, cannot deviate, are always positioned at the corresponding positions of the limiting groove, and avoid that when the first main body part 101 and the second main body part 102 are opened, the opening and closing torsion spring 303 is stressed to deviate from the installation position.

As shown in fig. 3, the first body portion 101 is provided with a first clamping channel portion, the second body portion 102 is provided with a second clamping channel portion, and the first clamping channel portion and the second clamping channel portion constitute a clamping channel 105 when the first body portion 101 and the second body portion 102 are in a closed state. I.e. the first body part 101 and the second body part 102 each have half of the clamping channel 105, so that when the first body part 101 and the second body part 102 are closed, one complete clamping channel 105 is formed.

In this embodiment, the flexible instrument robot operating handle further includes a sterile sleeve 400 that is used for sleeving the outer side of the handle main body 100, the first main body portion 101 and the second main body portion 102 respectively correspond to the sterile sleeve 400 that is adapted, the sterile sleeve 400 is a latex sleeve of a flexible instrument robot operating handle model, and the flexible instrument robot operating handle is more convenient to be attached to. The flexible instrument robot operating handle can be freely opened and closed and locked in the isolated environment created by the sterile sleeve 400.

Specifically, the sterile sleeve 400 includes a sterile barrier 404, a mirror body barrier adhesive 401, and a sealing device 403. Wherein the sterile barrier 404 has a sleeved inlet 402 for the handle body 100 to enter, and the handle body 100 is sleeved into the sterile barrier 404 through the sleeved inlet 402. It should be noted that the nesting entrance 402 is not limited to the position shown in fig. 3, and should be in order to facilitate the insertion of the handle body 100. The mirror body isolation glue part 401 is arranged on the aseptic isolation coat 404 and is positioned at the position corresponding to the clamping channel 105, so that the mirror body isolation glue part 401 can protect the endoscope body 01 from being damaged in the use process, and the endoscope body 01 with different diameters can be adapted by replacing the mirror body isolation glue parts 401 with different thicknesses.

The sealing device 403 is used for sealing the sleeved inlet 402, and the sealing device 403 can be a magic tape, a magnetic component, an adhesive layer (such as double faced adhesive tape) and the like, so long as the sealing of the sleeved inlet 402 can be realized.

In an embodiment of the present utility model, one end of the first body portion 101 is an operating device mounting seat, the operating device 200 is disposed on the operating device mounting seat, the buckle assembly is disposed on the operating device mounting seat, and the slot assembly is disposed on the second body portion 102. The width of the operating device mounting seat may be greater than the width of the grip portion (hand-held portion) of the first body portion 101 to facilitate the arrangement of the operating device 200.

As shown in fig. 6 and 15, in an embodiment of the present utility model, the operation device 200 includes an operation main board 205 and an operation panel 201. The operation main board 205 is fixed on the operation device mounting base, and an operation portion is provided on the operation main board 205. The number and function of the operating parts should be matched to the function of the flexible instrument robot 1 capable of controlling the surgical instrument. The operation panel 201 is fixed to the operation device mounting base, and is fastened to the outside of the operation main board 205, and an operation portion extending hole 202 through which the operation portion extends is provided in the operation panel 201.

Specifically, the operation portion includes a rocker device 203 (the rocker device 203 has a rocker portion 210), an instrument open button 204, and an instrument close button 209. The rocker device 203 is used for controlling the extension and retraction of the surgical instrument, and the instrument opening button 204 is used for controlling the opening action of the surgical instrument; the instrument close button 209 is used to control the closing action of the surgical instrument. It should be noted that the operation portion may further include other operation portions than the rocker device 203, the instrument opening button 204, and the instrument closing button 209, or may alternatively be other control forms.

As shown in fig. 6, the operation device 200 may be connected to the flexible instrument robot 1 by a connection cable, which is required to connect the operation device 200 and the flexible instrument robot 1, and thus is required to be led out from the flexible instrument robot operation handle. On the basis of this, the first body portion 101 is provided with the wiring groove 104, and the connection cable is led out through the wiring groove 104. To enclose the wiring groove 104, a wiring groove cover 103 for covering the wiring groove 104 is provided on the first body portion 101.

As shown in fig. 15, in an embodiment of the present utility model, the flexible robot manipulator may further include an auxiliary unit for assisting the operation of the operation device 200, where the auxiliary unit includes at least one of a vibration feedback device 208, a light prompting device 207, an automatic start-stop device 211, a fingerprint recording device 206, a status display device 212, and a pressure feedback device 213 electrically connected to the operation main board 205.

The vibration feedback device 208 is used for prompting the opening and closing actions of the surgical instrument, and the vibration force of the vibration feedback device 208 can be realized by a vibration motor. Because the medical staff can not place the field of view on the flexible instrument robot operating handle when operating the surgical instrument, through increasing vibration feedback device 208, can make behind medical staff touch instrument open button 204 and the instrument close button 209, whether this instrument open button 204 and instrument close button 209 are successfully triggered through whether producing vibration, and then judge whether the corresponding opening and closing action of surgical instrument is accomplished.

The light prompting device 207 is used for being lightened after the operation handle of the flexible instrument robot is started. The light prompting device 207 mainly comprises a light belt, wherein the light belt is arranged on an installation seat of the operating device and is responsible for changing light to prompt a use state in the use process of the rocker device 203, the instrument opening button 204 and the instrument closing button 209 so as to enable medical staff to judge whether the operating handle of the flexible instrument robot is in a controllable state.

As shown in fig. 18, the automatic start-stop device 211 may include an infrared temperature measurement module, and is disposed on the holding side of the handle body 100, and is used for detecting whether the user's hand holds the holding side of the handle body 100, and when detecting that the user's hand holds the holding side of the handle body 100, starting the flexible instrument robot operating handle, and when detecting that the user's hand is separated from the holding side of the handle body 100, closing the flexible instrument robot operating handle.

The fingerprint recording device 206 is at least one and is disposed on one of the operation parts, and when the fingerprint recording device 206 is plural, the fingerprint recording device 206 should be disposed on the operation parts in a one-to-one correspondence manner for identifying user information, i.e. the fingerprint recording device 206 may include a fingerprint module disposed on the operation part, and the fingerprint module may record a fingerprint of a user for identifying and recording user information and monitoring an operation specification of the user.

As shown in fig. 19, the pressure feedback device 213 is disposed in the clamping channel 105, and is used for detecting a pressure value of the endoscope body 01 and a resistance value when the endoscope body 01 is conveyed, so as to facilitate a user to adjust a clamping force of the clamping channel 105.

The status display device 212 is disposed on the operation panel 201, and is used for displaying the use status of the operation handle of the flexible instrument robot, for example, the use status may include the current battery power, the resistance value or the pressure value of the delivering endoscope body 01, the fault code, and the like.

As shown in fig. 18, in an embodiment of the present utility model, the flexible instrument robot operating handle 2 further includes a wireless charging device, which includes a rechargeable battery (not shown in the drawings) and a wireless charging box 500, wherein the rechargeable battery is disposed in the handle body 100, the wireless charging box 500 is disposed on the flexible instrument robot 1, and the handle body 100 can be plugged into the wireless charging box 500 for charging. In this embodiment, a wireless charging manner is added, so that the flexible instrument robot operation handle 2 can be conveniently charged.

As shown in fig. 16 and 17, in this embodiment, a magnetic attraction assembly 600 is further added to the above embodiment, and the magnetic attraction assembly 600 includes a fixing base 620 and a second magnetic module 610. Wherein, the first side of the fixed base 620 is provided with a first magnetic module 622, and the second side is provided with an elastic band 623 for being fixed on the endoscope operating section 11 of the flexible endoscope. The second magnetic module 610 is disposed on the handle body 100 and is used for being connected to the first magnetic module 622 in an adsorption manner. The second magnetic module 610 may be a material having ferromagnetism, or may be a magnet, so long as it can be attracted to the first magnetic module 622.

The preoperative doctor wears the elastic band 623 on the endoscope operation portion 11 and installs the flexible instrument robot operation handle 2 into the sterile sleeve 400; when a doctor uses a soft endoscope to reach a focus of a human body, the doctor judges the surgical instrument to be used, the flexible instrument is installed into the flexible instrument robot 1, the surgical instrument is enabled to reach the outlet of a soft endoscope instrument channel through a main operation button of the flexible instrument robot 1, the endoscope body 02 is clamped in the clamping channel 105 by using the flexible instrument robot operation handle 2, the locking device 700 is locked by pressing, the operation of the rocker device 203, the instrument opening button 204, the instrument closing button 209 and the like can be performed while the operation of the endoscope is aimed at the focus, the operation of taking out, opening, closing and the like of the surgical instrument is completed, the biopsy and the like can be selectively absorbed on the fixed base 620 of the magnetic assembly 600 when the flexible instrument robot operation handle 2 is required to be temporarily put down, the flexible instrument robot operation handle 2 can be conveniently taken out and put down, the flexible instrument robot operation handle 2 can be used through a cable connection circuit or can be controlled wirelessly by a rechargeable battery of the doctor.

In this embodiment, a first side of the fixing base 620 is provided with a limiting holding arm 621 capable of holding the outer side of the handle body 100, a docking slot is formed between the limiting holding arms 621, and the first magnetic module 622 is disposed in the docking slot. By designing the fixing base 620 to have a structure of the limiting holding arm 621, the connection of the fixing base 620 and the handle body 100 can be made more stable and reliable.

As shown in fig. 20 and 21, an embodiment of the present utility model discloses a flexible instrument robot system including a flexible instrument robot 1 and a flexible instrument robot operating handle 2 as disclosed in the above embodiment, the flexible instrument robot operating handle 2 being communicatively connected to the flexible instrument robot 1 to operate a surgical instrument on the flexible instrument robot 1. The flexible instrument robot system disclosed in the embodiment of the utility model has all the technical effects of the flexible instrument robot operating handle 2 because the flexible instrument robot operating handle 2 is added, and is not repeated herein.

It should be noted that, in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described as different from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

The principles and embodiments of the present utility model have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the core concepts of the utility model. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the utility model can be made without departing from the principles of the utility model and these modifications and adaptations are intended to be within the scope of the utility model as defined in the following claims.

Claims (20)

1. A flexible instrument robot manipulator, comprising:

a handle main body (100) comprising a first main body part (101) and a second main body part (102) which can be opened and closed, wherein a clamping channel (105) for clamping an endoscope body (01) of a soft endoscope is formed between the first main body part (101) and the second main body part (102) when the first main body part (101) and the second main body part (102) are in a closed state, and after the first main body part (101) and the second main body part (102) are opened, the endoscope body (01) can be placed in the clamping channel (105);

an operating device (200) arranged on one of the first main body part (101) and the second main body part (102) and used for being in communication connection with the flexible instrument robot (1) so as to control a surgical instrument on the flexible instrument robot (1);

Locking device (700), including buckle subassembly and draw-in groove subassembly, buckle subassembly and draw-in groove subassembly one set up in on first main part (101), the other set up in on second main part (102), buckle subassembly be used for with draw-in groove subassembly card joins in marriage, in order to with first main part (101) with second main part (102) locking is in closed state.

2. The flexible instrument robot operating handle according to claim 1, characterized in that the clasp assembly comprises a push-down clasp (710) provided on the first body part (101), the push-down clasp (710) being provided with a locking groove (711);

the clamping groove assembly comprises a contraction member (740), a supporting groove body (720) and a reset elastic member (722), the supporting groove body (720) is arranged on the second main body portion (102), one end, close to the pressing-down buckle (710), of the contraction member (740) is provided with a locking claw (741) used for being clamped into the locking groove (711), the supporting groove body (720) is provided with a sliding groove (723), the contraction member (740) is in sliding fit with the sliding groove (723) and slides between a locking position and an unlocking position, the locking claw (741) is clamped into the locking groove (711) when the contraction member (740) is located at the locking position, the locking claw (741) is separated from the locking groove (711), the first main body portion (101) and the second main body portion (102) are in a closed buckle state, and the contraction member (740) is pushed to the locking position, and the locking claw (741) is clamped into the locking groove (711) when the contraction member (740) is located at the locking position, and the second main body portion (102) is in the unlocking position.

3. The flexible instrument robot operating handle according to claim 2, characterized in that the number of locking claws (741) is two and symmetrically arranged at both sides of the end of the main body of the contraction member (740), the first end of the locking claw (741) is connected to the main body of the contraction member (740), and the second end is a claw having a clamping connection with the locking groove (711);

the distance between the two locking claws (741) is gradually reduced from the second end to the first end of the locking claw (741), and the second end of the locking claw (741) extends out of the opening side of the sliding groove (723);

the locking claw (741) is an elastic locking claw and acts between a furled state and an opened state, when the locking claw (741) is in the furled state, the claw is clamped into the locking groove (711), and when the locking claw is in the opened state, the claw is separated from the locking groove (711);

the pressing buckle (710) is located between the two locking claws (741) and is used for pushing the main body part of the contraction member (740), and when the first main body part (101) and the second main body part (102) are in a closed state, the pressing buckle (710) pushes the main body part of the contraction member (740) so that the side wall of the chute (723) pushes the locking claws (741) to be in the furled state.

4. A flexible instrument robot operating handle according to claim 3, characterized in that the side wall of the supporting groove body (720) is provided with a track groove (721);

the clamping groove assembly further comprises a push-pull rod (730), one end of the push-pull rod (730) is a hinge part (732) hinged to a hinge hole (744) of the contraction piece (740), and the other end of the push-pull rod (730) is provided with a guide block part (731) in sliding fit with the track groove (721);

the track groove (721) comprises a locking guide track groove and an unlocking guide track groove, wherein the starting end of the locking guide track groove is communicated with the terminal end of the unlocking guide track groove, the terminal end of the locking guide track groove is communicated with the starting end of the unlocking guide track groove, and a locking groove part (7214) is formed at the intersection of the terminal end of the locking guide track groove and the starting end of the unlocking guide track groove;

when the contraction member (740) slides from the unlocking position to the locking position, the guide block part (731) slides from the starting end of the locking guide rail groove to the direction of the terminal end of the locking guide rail groove until being clamped into the locking groove part (7214);

when the contraction member (740) slides from the locking position to the unlocking position, the guide block part (731) enters the start end of the unlocking guide rail groove from the locking groove part (7214) and slides from the start end of the unlocking guide rail groove to the direction of the terminal end of the unlocking guide rail groove.

5. The flexible instrument robot operating handle according to claim 4, wherein the locking guide rail groove includes a locking inclined guide groove (7211), a locking straight guide groove (7212) and a locking return chute (7213) which are sequentially communicated in a direction from a start end to a finish end;

two ends of the locking inclined guide groove (7211) are respectively positioned at two sides of the hinge part (732) along the sliding direction of the contraction part (740);

when the push-pull rod (730) swings to have an included angle larger than 0 DEG with the sliding direction of the contraction member (740), the reset elastic member (722) is used for driving the push-pull rod (730) to slide in a direction parallel to the sliding direction of the contraction member (740).

6. The flexible instrument robot operating handle according to claim 5, characterized in that the unlocking guide rail groove comprises an unlocking diagonal groove (7215) and an unlocking return diagonal groove (7216) which are communicated sequentially in a direction from a start to a finish, the unlocking return diagonal groove (7216) being communicated with the locking diagonal groove (7211).

7. The flexible instrument robot operating handle according to claim 5, characterized in that a guiding column (725) is arranged in a sliding groove (723) of the supporting groove body (720), a guiding hole (743) is formed in the contraction member (740), the resetting elastic member (722) is sleeved on the guiding column (725), one end of the resetting elastic member abuts against the bottom of the sliding groove (723), and the other end of the resetting elastic member extends into the guiding hole (743).

8. The flexible instrument robot operating handle according to claim 4, characterized in that a shrink member guide groove (724) parallel to the sliding direction of the shrink member (740) is provided on the side wall of the support groove body (720), and the shrink member (740) has a shrink member guide block (742) slidingly engaged with the shrink member guide groove (724).

9. The flexible instrument robot operating handle according to claim 1, characterized in that the first side of the first body part (101) and the first side of the second body part (102) are hinged by means of an opening and closing device (300);

the locking device (700) is arranged on the second side of the first main body part (101) and the second main body part (102).

10. The flexible instrument robot operating handle of claim 9, wherein the opening and closing device (300) comprises:

a first hinge seat (301) provided on the first body portion (101);

a second hinge seat (302) provided on the second main body portion (102);

the first hinging seat (301) and the second hinging seat (302) are hinged through the opening and closing hinging shaft (304);

The opening and closing torsion spring (303) is sleeved on the opening and closing hinge shaft (304), a first elastic arm of the opening and closing torsion spring (303) is abutted to the first main body part (101), and a second elastic arm of the opening and closing torsion spring (303) is abutted to the second main body part (102).

11. The flexible instrument robot operating handle according to claim 1, characterized in that the first body part (101) is provided with a first clamping channel part, the second body part (102) is provided with a second clamping channel part, the first and second clamping channel parts constituting the clamping channel (105) when the first and second body parts (101, 102) are in a closed state;

the novel handle further comprises a sterile sleeve (400) sleeved on the outer side of the handle main body (100), and the first main body part (101) and the second main body part (102) are respectively correspondingly matched with the sterile sleeve (400).

12. The flexible instrument robotic operating handle according to claim 11, wherein the sterile sleeve (400) comprises:

a sterile barrier (404) having a sleeved inlet (402) into which the handle body (100) enters;

A mirror body isolation glue part (401) which is arranged on the sterile isolation clothes (404) and is positioned at a position corresponding to the clamping channel (105);

and the sealing device (403) is used for sealing the sleeved inlet (402).

13. The flexible instrument robot manipulator of any of claims 1-12, wherein one end of the first body portion (101) is an manipulator mount, the manipulator (200) is disposed in the manipulator mount, the clasp assembly is disposed in the manipulator mount, and the clasp assembly is disposed in the second body portion (102).

14. The flexible instrument robot manipulator of claim 13, wherein the manipulator (200) comprises:

an operation main board (205) fixed on the operation device mounting seat, wherein an operation part is arranged on the operation main board (205);

an operation panel (201) fixed on the operation device mounting seat and buckled on the outer side of the operation main board (205), wherein an operation part extending hole (202) for extending the operation part is formed in the operation panel (201).

15. The flexible instrument robot manipulator of claim 14, wherein the manipulator comprises:

A rocker device (203) for controlling the extension and retraction of the surgical instrument;

an instrument open button (204) for controlling the opening motion of the surgical instrument;

an instrument close button (209) for controlling the closing action of the surgical instrument.

16. The flexible instrument robot manipulator of claim 15, further comprising an auxiliary unit that assists operation of the manipulator (200), the auxiliary unit comprising at least one of a vibration feedback device (208), a light prompting device (207), an automatic start-stop device (211), a fingerprint recording device (206), a status display device (212), and a pressure feedback device (213) electrically connected to the manipulator motherboard (205);

the vibration feedback device (208) is used for prompting the opening and closing actions of the surgical instrument;

the light prompting device (207) is used for being lightened after the operation handle of the flexible instrument robot is started;

the automatic start-stop device (211) is arranged on the holding side of the handle main body (100) and is used for detecting whether the hand of a user is held on the holding side of the handle main body (100), starting the flexible instrument robot operating handle when the hand of the user is detected to be held on the holding side of the handle main body (100), and closing the flexible instrument robot operating handle when the hand of the user is detected to be separated from the holding side of the handle main body (100);

The fingerprint recording device (206) is arranged on one of the operation parts and is used for identifying user information;

the state display device (212) is arranged on the operation panel (201) and is used for displaying the use state of the operation handle of the flexible instrument robot;

the pressure feedback device (213) is arranged in the clamping channel (105) and is used for detecting the pressure value of the endoscope body and the resistance value when the endoscope body is conveyed.

17. The flexible instrument robot manipulator of any of claims 1-12, further comprising a wireless charging device comprising a rechargeable battery and a wireless charging cartridge (500), the rechargeable battery being disposed within the handle body (100), the wireless charging cartridge (500) being disposed on the flexible instrument robot (1), the handle body (100) being capable of being plugged into the wireless charging cartridge (500) for charging.

18. The flexible instrument robot manipulator of any of claims 1-12, further comprising a magnetic assembly (600), the magnetic assembly (600) comprising:

a fixed base (620), wherein a first side of the fixed base (620) is provided with a first magnetic module (622), and a second side is provided with an elastic band (623) for being fixed on an endoscope operation part (11) of the soft endoscope;

And the second magnetic module (610) is arranged on the handle main body (100) and is used for being in adsorption connection with the first magnetic module (622).

19. The flexible instrument robot operating handle according to claim 18, wherein a first side of the fixed base (620) is provided with a limiting holding arm (621) capable of holding the outer side of the handle body (100), a docking slot is formed between the limiting holding arms (621), and the first magnetic module (622) is disposed in the docking slot.

20. A flexible instrument robot system comprising a flexible instrument robot (1) and a flexible instrument robot manipulator (2) according to any of claims 1-19, said flexible instrument robot manipulator (2) being communicatively connected to said flexible instrument robot (1) for manipulating a surgical instrument on said flexible instrument robot (1).