WO2022041838A1 - 电子内窥镜以及手术机器人 - Google Patents

电子内窥镜以及手术机器人 Download PDF

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Publication number
WO2022041838A1
WO2022041838A1 PCT/CN2021/092957 CN2021092957W WO2022041838A1 WO 2022041838 A1 WO2022041838 A1 WO 2022041838A1 CN 2021092957 W CN2021092957 W CN 2021092957W WO 2022041838 A1 WO2022041838 A1 WO 2022041838A1
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WO
WIPO (PCT)
Prior art keywords
electronic endoscope
lens
endoscope according
heat
wire
Prior art date
Application number
PCT/CN2021/092957
Other languages
English (en)
French (fr)
Inventor
王建辰
陈正坤
黄健
Original Assignee
深圳市精锋医疗科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 深圳市精锋医疗科技有限公司 filed Critical 深圳市精锋医疗科技有限公司
Publication of WO2022041838A1 publication Critical patent/WO2022041838A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00131—Accessories for endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities

Definitions

  • the invention relates to the technical field of medical instruments, in particular to an electronic endoscope and a surgical robot.
  • Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscope and thoracoscope and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.
  • Electronic endoscopes currently used in minimally invasive surgery include structures such as dual lenses and dual image sensors arranged on a PCB board. However, due to its small size, it requires higher assembly requirements for its front-end dual lenses, dual image sensors and PCB boards. If there is a positional deviation of the two image sensors during installation, the distance between each lens and its corresponding image sensor will be inconsistent. In this way, the images received by the two image sensors will be inconsistent, thereby affecting the imaging effect, thereby reducing the safety of the doctor during the operation process using the electronic endoscope.
  • the main purpose of the present invention is to provide an electronic endoscope and a surgical robot, which aims to solve the problem of inconsistency in the images received by different image sensors due to inconsistent installation positions of each image sensor during the assembly of the existing electronic endoscope.
  • Technical issues with imaging effects are to provide an electronic endoscope and a surgical robot, which aims to solve the problem of inconsistency in the images received by different image sensors due to inconsistent installation positions of each image sensor during the assembly of the existing electronic endoscope.
  • an electronic endoscope comprising:
  • the lens mount is installed in the housing, the lens mount includes a mount body, two first mounting holes provided on the mount body, and two first mounting holes recessed on the mount body and connected with the two first mounting holes. a first installation slot and a second installation slot respectively communicated with the installation holes;
  • the first lens and the second lens are used to be respectively installed in the two first installation holes;
  • the PCB board is installed in the casing
  • a first image sensor and a second image sensor the two image sensors are fixed on the PCB board, and the first image sensor and the second image sensor are used to be respectively installed in the first installation slot, the
  • the second mounting groove makes the distance between the first lens and the first image sensor equal to the distance between the second lens and the second image sensor.
  • the lens mount further includes a thermally conductive boss protruding from the mount body, the mount has a first side surface connected to the thermally conductive boss, and a first side face away from the thermally conductive boss and connected to the first side surface. One side is opposite to a second side surface, and the first mounting hole penetrates the first side surface and the second side surface.
  • the base body extends from the edge of the second side surface to a direction away from the first side surface to form a first extension portion
  • the PCB board has an abutment surface adapted to the first extension portion, The first extension portion is used for abutting against the abutting surface.
  • the PCB board is a double-layer PCB structure or a T-shaped structure.
  • the first lens and/or the second lens includes a mirror body having a central axis and a stopper, wherein the stopper is a distance from the end of the mirror body away from the lens holder to the distance away from the
  • the stopper part has a first abutting surface on the side close to the lens holder, and the first abutting surface is used for the lens body to penetrate the first abutting surface.
  • the lens is limited in the mounting hole and when it is in contact with the lens mount.
  • the image capturing part further includes a lens cover for being fastened to the lens mount
  • the lens cover includes a cover body
  • the cover body has an outer side surface away from the side of the lens mount and an outer surface close to the lens mount.
  • the lens cover is provided with a second mounting hole corresponding to the position of the first mounting hole and used for accommodating the stopper, and the second mounting hole penetrates through the outer side and inner side.
  • the stopper has a second abutting surface on a side away from the lens mount, the second mounting hole has a center, and the outer side faces all the positions corresponding to the second mounting hole.
  • a limit portion extends in the direction of the center, and the stop portion is used for being installed in the second installation hole, so that the second abutting surface is in contact with the limit portion.
  • a heat-conducting boss and a light source disposed on the heat-conducting boss are protruded on the base, and the lens cover further includes a receiving groove for accommodating the light source and the heat-conducting boss.
  • the receiving groove penetrates through the outer side surface and the inner side surface.
  • the cover body extends from the edge of the inner side to the direction away from the outer side to form a buckling portion, the buckling portion and the inner side are enclosed to form a receiving space, and the buckling portion uses It is fastened on the base to accommodate the lens, the light source and the heat-conducting boss in the accommodating space.
  • a heat-conducting boss is protruded on the base, and the image capturing part further includes a light source disposed on the heat-conducting boss, and the heat-conducting boss is used to conduct heat generated by the light source.
  • the thermally conductive boss includes a base plate connected to the base body and a fixing groove recessed on the base plate, and the fixing groove is a side of the base plate that is close to the base plate from a direction away from the lens base.
  • the direction of the lens holder is concave, and the fixing groove is used to install and fix the light source.
  • the thermally conductive boss includes a base plate connected to the base body and an aluminum plate fixed on the base plate, and the aluminum plate is used for mounting and fixing the light source.
  • the image capturing part further includes a shielding cover for being fastened with the lens mount, the shielding cover and the lens mount are enclosed to form an accommodating space for accommodating the PCB board.
  • the seat body has a first side surface and a second side surface disposed opposite to each other, and the seat body extends from the edge of the second side surface to a direction away from the first side surface to form a first extension portion;
  • the shielding The cover includes a body and a second extension portion extending from the edge of the body toward the lens mount, and the first extension portion and the second extension portion are fastened together.
  • the shielding cover further includes a shielding plate located at one end of the body away from the lens mount, and the shielding plate is provided with a through hole for the connection wire to pass through.
  • a thin wire hole is further provided on the shielding plate, the image acquisition part further includes a signal ground wire, and the thin wire hole is used for the signal ground wire to pass through.
  • the image acquisition part further comprises a shielding cover connected with the lens mount, a first heat pipe connected with the shielding cover, and a first heat sink connected with the first heat pipe;
  • the shielding cover has a first heat pipe connected with the first heat pipe.
  • an outer side wall, a first accommodating groove is recessed on the first outer side wall, and the first accommodating groove is used for accommodating the first end of the first heat pipe;
  • the first heat dissipation part is recessed on the There is a first accommodating groove, and the first accommodating groove is used for accommodating the second end of the first heat pipe.
  • the image acquisition part further comprises a second heat pipe connected to the shield cover and arranged opposite to the first heat pipe, and a second heat sink arranged opposite to the first heat sink; the shield cover There is also a second side wall opposite to the first outer side wall, and a second accommodating groove is recessed on the second side wall, and the second accommodating groove is used for accommodating the second heat pipe. a first end; a second accommodating groove is recessed on the second heat sink, and the second accommodating groove is used for accommodating the second end of the second heat pipe.
  • the first heat sink includes a first sheet body and a first extension sheet extending from the first sheet body toward the lens mount, and the first accommodating groove is provided on the first extension sheet;
  • the second heat sink includes a second sheet body and a second extension sheet extending from the second sheet body toward the lens mount, and the second accommodating groove is provided on the second extension sheet.
  • the inner side of the first sheet body is concavely provided with a first wire groove
  • the inner side of the second sheet body is concavely provided with a second wire groove
  • the image acquisition part further includes a connection to the PCB board.
  • the connecting wire on the first wire groove or the second wire groove is used for the connecting wire to pass through.
  • the first sheet body is used to be mounted on the second sheet body, and the first wire groove is combined with the second wire groove to form a wire passage for the connecting wire to pass through.
  • the second sheet body is provided with a limiting portion protruding in a direction close to the first sheet body
  • the first sheet body is provided with a limiting groove at a position corresponding to the limiting portion, and the limiting portion When installed in the limiting groove, the second sheet body is used to limit the movement of the second sheet body to the direction of the lens mount or away from the lens mount.
  • the shielding case is located between the first heat pipe and the second heat pipe, and the first heat pipe and the second heat pipe are located between the first heat dissipation fin and the second heat dissipation fin.
  • liquid refrigerant is contained in the first heat pipe and/or the second heat pipe, or the first heat pipe and/or the second heat pipe are copper pipes.
  • the first heat sink and/or the second heat sink are tightly connected to the housing.
  • the image acquisition part further includes an insulating cover sleeved on the lens holder and the shielding cover, and the casing is sleeved on the insulating cover.
  • the insulating cover includes an insulating cavity connected with the shielding cover and the housing, an insulating surface located at an end of the insulating cavity away from the lens mount and sealing the insulating cavity, and an insulating surface from the insulating cavity.
  • the insulating face is a hollow tube extending in a direction away from the lens mount, and the hollow tube is used for passing the connecting wires connected to the PCB board.
  • the image acquisition part further comprises a connecting part provided at one end of the casing away from the lens holder
  • the electronic endoscope further comprises a driving mechanism, and is connected with the connecting part and the driving mechanism
  • the joint assembly is used for bending under the driving action of the driving mechanism to drive the image acquisition part to move;
  • the electronic endoscope also includes a joint connected to the casing and covering the joint External thermally conductive flexible tube on the assembly for heat conduction.
  • the image acquisition part further comprises a connecting wire connected to the PCB board, the first end of the connecting wire is located in the housing, and the second end of the connecting wire is located in the driving mechanism; the
  • the electronic endoscope further includes an inner thermally conductive flexible tube wrapped on the connecting wire.
  • the driving mechanism includes a driving part and a driving wire, one end of the driving wire is connected with the driving part, and the other end is connected with the joint assembly; the second end of the connecting wire is located in the driving part, The portion between the first end and the second end of the connecting wire is located within the joint assembly.
  • the electronic endoscope further comprises a tubular body part connected to the driving part at one end and connected to the joint assembly at the other end; the driving wire and the connecting wire respectively pass through the tubular body part to connected to the drive unit.
  • the outer thermally conductive flexible tube and/or the inner thermally conductive flexible tube is a mesh tube woven from metal wires.
  • the present invention also provides a surgical robot comprising the electronic endoscope as described above.
  • a mounting groove is recessed on the base of the lens holder, a PCB board and two image sensors for fixing on the PCB board are arranged, and then the two said The image sensors are correspondingly installed in the first installation groove and the second installation groove, which can prevent the different installation positions of the first image sensor and the second image sensor from being inconsistent, thereby avoiding inconsistent images received by different image sensors. phenomenon, thereby improving the safety of doctors in the use of electronic endoscopes to perform surgery.
  • FIG. 1 is a schematic diagram of a partial explosion structure of the first embodiment of the electronic endoscope of the present invention
  • Fig. 2 is the assembly structure schematic diagram of Fig. 1;
  • FIG. 3 is a schematic diagram of a partial assembly structure of the second embodiment of the electronic endoscope of the present invention.
  • FIG. 4 is a schematic cross-sectional view of the complete structure of the electronic endoscope in FIG. 3;
  • FIG. 5 is a schematic diagram of the assembly structure of the third embodiment of the electronic endoscope of the present invention.
  • Fig. 6 is the top view angle structure schematic diagram of the lens holder in Fig. 1;
  • FIG. 7 is a schematic view of the bottom view angle structure of the lens holder in FIG. 1;
  • FIG. 8 is a partial structural schematic diagram of an embodiment of any one of the electronic endoscopes in FIGS. 1 to 5;
  • FIG. 9 is a partial structural schematic diagram of another embodiment of any one of the electronic endoscopes in FIGS. 1 to 5;
  • FIGS. 1 to 5 are schematic structural diagrams of the first embodiment of the PCB board of any electronic endoscope in FIGS. 1 to 5;
  • FIGS. 1 to 5 are schematic structural diagrams of a second embodiment of the PCB board of any electronic endoscope in FIGS. 1 to 5;
  • FIG. 12 is a schematic structural diagram of an embodiment of the shielding cover of any of the electronic endoscopes in FIGS. 1 to 5;
  • FIGS. 13 is a schematic structural diagram of an insulating cover of any electronic endoscope in FIGS. 1 to 5;
  • FIGS. 14 is a schematic structural diagram of a lens of any electronic endoscope in FIGS. 1 to 5;
  • FIGS. 1 to 5 is a schematic structural diagram of a lens cover and a lens of any electronic endoscope in FIGS. 1 to 5;
  • Figure 16 is a schematic cross-sectional view along line A-A in Figure 2;
  • Fig. 17 is the partial assembly structure schematic diagram of Fig. 5;
  • FIG. 18 is a schematic structural diagram of another angle of FIG. 17;
  • Fig. 19 is the schematic diagram of the partial explosion structure of Fig. 5;
  • FIG. 20 is a schematic diagram of an exploded structure of the heat dissipation part in FIG. 19 .
  • the terms "connected”, “fixed” and the like should be understood in a broad sense, for example, “fixed” may be a fixed connection, a detachable connection, or an integrated; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between two elements or the interaction relationship between the two elements, unless otherwise clearly defined.
  • “fixed” may be a fixed connection, a detachable connection, or an integrated; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between two elements or the interaction relationship between the two elements, unless otherwise clearly defined.
  • the present invention provides a surgical robot.
  • the surgical robot includes a master console and a slave operation device.
  • the master console is used for sending control commands to the slave operation device according to the operation of a doctor to control the slave operation device; the slave operation device is used to respond to the slave operation device. Control commands sent by the main operating console and perform corresponding surgical operations.
  • the slave operating device includes a mechanical arm, a power mechanism disposed on the mechanical arm, and an operating arm, the operating arm is used to extend into the body under the driving action of the power mechanism, and perform surgical operations through its distal end instrument, And obtain in vivo images through its electronic endoscope located at the distal end.
  • the main console is also used for displaying the images acquired by the electronic endoscope.
  • the present invention provides an electronic endoscope 100 , and the electronic endoscope 100 may have a bendable structure or an inflexible structure.
  • the electronic endoscope 100 may include an image acquisition part 12 and a joint assembly 13 connected to the image acquisition part 12 .
  • an outer thermally conductive flexible tube 162 covering the joint assembly 13 and connected to the image acquisition part 12 and a driving mechanism (not shown in the figure) connected to the joint assembly 13 .
  • the image acquisition part 12 includes a housing 1 , a light source assembly 3 arranged in the housing 1 , a PCB board 6 , a connecting wire 17 connected to the PCB board 6 , and a One end of the housing 1 away from the light source assembly 3 is provided with a connecting portion 11 connected to the joint assembly 13 .
  • the driving mechanism includes a driving part 14 and a driving wire 18 whose one end is connected with the driving part 14 and the other end is connected with the joint assembly 13 .
  • the first end of the connecting wire 17 is connected to the PCB board 6
  • the second end of the connecting wire 17 is located in the driving part 14
  • the first end and the second end of the connecting wire 17 are between the first end and the second end. The part between them is located in the joint assembly 13 .
  • the image acquisition part 12 is driven to move by the drive part 14 driving the joint assembly 13 to bend.
  • the outer thermally conductive flexible tube 162 may be connected to the housing 1 , and in another embodiment, the outer thermally conductive flexible tube 162 may be connected to the connecting portion 11 .
  • the heat generated by the light source assembly 3 is conducted through the outer thermally conductive flexible tube 162 covering the joint assembly 13 .
  • the electronic endoscope further includes an inner thermally conductive flexible tube 161 wrapped on the connecting wire 17 .
  • This embodiment does not limit the length of the inner thermally conductive flexible tube 161 , it can extend into the housing 1 to be connected to the PCB board 6 , or it can extend into the housing 1 not to connect with the PCB board 6 connection, and may not extend into the housing 1.
  • the specific setting method can be reasonably selected according to actual needs.
  • the inner thermally conductive flexible tube 161 may be selected, or only the outer thermally conductive flexible tube 162 may be selected, or the inner thermally conductive flexible tube 161 and the outer thermally conductive flexible tube 162 may be selected at the same time.
  • the heat dissipation effect of the electronic endoscope 100 can be significantly improved through two-way heat conduction.
  • the inner thermally conductive flexible tube 161 and/or the outer thermally conductive flexible tube 162 are mesh tubes woven from metal wires.
  • the inner thermally conductive flexible tube 161 and/or the inner thermally conductive flexible tube 161 and/or The outer thermally conductive flexible tube 162 may be other flexible thermally conductive materials.
  • the joint assembly 13 is connected by a plurality of identical connecting units to form a bendable joint.
  • the driving part 14 is connected with the joint assembly 13 through a driving wire 18 , and drives the joint assembly 13 by driving the extension and contraction of the driving wire 18 connected to different connecting units in the joint assembly 13 . bending, thereby driving the image acquisition part 12 to move.
  • the joint assembly 13 may be provided with a tension spring (not shown in the figure) between the connecting units, and the extension direction of the tension spring is the same as the length direction of the driving wire 18 .
  • the stiffness of the joint assembly 13 is increased by the tension spring.
  • the electronic endoscope may further include a tubular body portion 15 having one end connected to the driving portion 14 and the other end connected to the joint assembly 13 , the driving wire 18 and the connecting wire 17 respectively pass through the pipe body part and are connected with the driving part 14 .
  • the rigidity of the joint assembly 13 is improved through the supporting function of the tubular body portion.
  • the electronic endoscope 100 When the electronic endoscope 100 is an inflexible structure, as shown in FIG. 5 , the electronic endoscope may only include the image acquisition part, but not the joint assembly 13 , the outer thermally conductive flexible tube 162 , etc. structure. It can be understood that, the electronic endoscope 100 may further include a rotation driving part, and drive the image capturing part 12 to rotate along the central axis of the housing 1 .
  • the electronic endoscope 100 when the electronic endoscope 100 is bendable, it is suitable for single-hole surgery; when the electronic endoscope 100 is not bendable, it is suitable for multi-hole surgery.
  • the flexible electronic endoscope 100 can also be selected for multi-hole surgery.
  • the structure of the electronic endoscope 100 can be reasonably set according to actual needs.
  • the image capturing unit 12 further includes a lens holder 2 disposed in the housing 1 and used for installing the light source assembly 3 , and is fastened to the lens holder 2 .
  • the lens cover 4 for accommodating the light source assembly 3, the image sensor 5 fixed in the lens holder 2 and fixedly connected to the PCB board 6 and close to the light source assembly 3, and the image sensor 5 on the side away from the lens
  • One side of the cover 4 is a shielding cover 7 which is buckled and connected with the lens holder 2 , and an insulating cover 8 sleeved on the lens holder 2 and the shielding cover 7 .
  • the casing 1 is sleeved on the insulating cover 8 .
  • the specific structure of the image acquisition unit 12 described above may constitute the front end of the image acquisition unit 12 . It can be understood that, thermal conductive glue may be filled in the accommodation spaces of the lens mount 2 and the shielding cover 7 to facilitate heat conduction.
  • the inner thermally conductive flexible tube 161 may also be connected to the shielding cover 7 , or may extend into the thermally conductive adhesive in the shielding cover 7 .
  • the casing 1 is a hollow cylindrical structure, and of course, in other embodiments, other reasonable shapes can also be used.
  • the material of the casing 1 may be stainless steel or the like. It can be understood that when the housing 1 is a hollow cylindrical structure, the lens cover 4 , the lens mount 2 , the shielding cover 7 , the insulating cover 8 and other structures may be suitable cylindrical structures.
  • the light source assembly 3, the image sensor 5 and the PCB board 6 can be fixed on the lens holder 2 first to form a first module (not shown in the figure), and then the The lens cover 4 is buckled and connected with the first module to form a second module (not shown in the figure), and then the shielding cover 7 is buckled with the second module to form a third module (in the figure).
  • the electronic endoscope 100 is formed by buckling the casing 1 and the third module.
  • the structure between the adjacent modules is a tight connection structure, for example, it may be a fixed manner of interference fit.
  • a suitable buckle structure may be provided on the corresponding structure. In this way, the way of assembling the modules in series can improve the assembling efficiency of the electronic endoscope 100 .
  • part of the structure of the light source assembly 3 and the lens cover 4 can also be assembled together to form a first module (not shown in the figure), and other structures of the light source assembly 3 can be assembled together.
  • the lens holder 2, the image sensor 5, the PCB board 6 and the shielding cover 7 are assembled together to form a second module (not shown in the figure), the insulating cover 8 and the shell
  • the body 1 is assembled together to form a third module (not shown in the figure), and then the first module, the second module and the third module are assembled together to form a complete electronic interior.
  • the endoscope 100 can be assembled into different modules first, so that the assembly efficiency of the electronic endoscope 100 can also be improved.
  • the lens mount 2 includes a mount body 21 , a heat conducting boss 22 protruding from the mount body 21 , a first mounting hole 23 on the mount body 21 , and a concave mount 23 .
  • the mounting groove 24 is provided on the base body 21 . Specifically, the mounting groove 24 is formed concavely on the side of the seat body 21 away from the thermally conductive boss 22 toward the direction of the thermally conductive boss 22 .
  • the position of the installation groove 24 corresponds to the position of the first installation hole 23 . That is, the installation groove 24 communicates with the first installation hole 23 .
  • the light source assembly 3 includes a light source 32 disposed on the base body 21 and a lens 33 for being installed in the first installation hole 23 .
  • the image sensor 5 includes a first image sensor (not shown in the figure) and a second image sensor (not shown in the figure), and the installation slot 24 includes a first image sensor for accommodating the first image sensor.
  • the number of the first mounting holes 23 includes two, and the electronic endoscope 100 further includes a first lens and a second lens corresponding to the first image sensor and the second image sensor, respectively. The first lens and the second lens are used to be installed in the two first installation holes 23 respectively.
  • the distance between the first lens and the first image sensor is the same as the distance between the first lens and the first image sensor.
  • the distance between the second lens and the second image sensor is equal.
  • the two image sensors 5 are first fixed on the PCB board 6 , and then the two image sensors 5 are installed in the installation groove 24 , which is not only convenient for the image sensors 5 It can also prevent the installation positions of different image sensors 5 from being inconsistent, so as to avoid the phenomenon of inconsistent images received by different image sensors 5, thereby improving the doctor's ability to perform surgery using the electronic endoscope 100. safety.
  • the base body 21 has a first side surface 211 and a second side surface 212 which are arranged opposite to each other. Specifically, when the light source 32 is used as a reference, the first side surface 211 is the side close to the light source 32, and the second side surface 212 is the side away from the light source 32; when the shielding is used as a reference When the cover 7 is used as a reference, the first side surface 211 is the side away from the shield cover 7 , and the second side surface 212 is the side close to the shield cover 7 .
  • the first side surface 211 is connected to the thermally conductive boss 22
  • the second side surface 212 is disposed opposite to the first side surface 211 on a side away from the thermally conductive boss 22 .
  • the first mounting hole 23 penetrates through the first side surface 211 and the second side surface 212 .
  • the mounting groove 24 is recessed from the second side surface 212 to the direction close to the first side surface 211 at the position corresponding to the first mounting hole 23 of the seat body 21 .
  • the mounting groove 24 is used for mounting the image sensor 5 .
  • the light source 32 may be disposed on the thermally conductive boss 22 , and the heat generated by the light source 32 can be conducted through the base 21 to the distance from the electronic endoscope 100 through the thermally conductive boss 22 . one end of the light source assembly 3 . In this way, good heat dissipation can be provided for the light source 32 of the electronic endoscope 100, thereby reducing the problem of light decay.
  • the present invention does not limit the specific number of the lenses 33, which may be two or more. Of course, in other embodiments, there may be only one lens 33 . Correspondingly, the number of the light sources 32 and the image sensors 5 is the same as the number of the lenses 33 . Of course, in other embodiments, there may be only one image sensor 5 . However, compared with the solution with only one image sensor 5 in this embodiment, interference to the image can be avoided, thereby improving the image quality obtained by the electronic endoscope 100 .
  • the base body 21 extends from the edge of the second side surface 212 to a direction away from the first side surface 211 to form a first extension portion 25 , and the first extension portion 25 is connected to the first extension portion 25 .
  • the second side surface 212 encloses the receiving space 26 .
  • the PCB board 6 has an abutment surface 60 adapted to the first extension portion 25 . When the PCB board 6 enters the accommodating space 26 , the The first extension portion 25 is in contact with the abutting surface 60 .
  • the PCB board 6 and the image sensor 5 can be precisely positioned and installed in the installation slot 24 , so as to further improve the installation accuracy of the different image sensors 5 and the PCB board 6 , thereby improving the image quality obtained by the electronic endoscope 100 .
  • the diameter of the first installation hole 23 may be the same as the width of the installation slot 24 , or the width of the installation slot 24 is larger than the diameter of the first installation hole 23 .
  • the fixing glue can be prevented from leaking to the lens 33 when the module is installed.
  • the thermally conductive boss 22 includes a base plate 221 connected to the base body 21 of the lens holder 2 and a fixing groove 222 recessed on the base plate 221 .
  • the base plate 221 is recessed from the side away from the lens holder 2 to the direction close to the lens holder 2 to form the fixing groove 222 , and the fixing groove 222 is used to install and fix the light source 32 .
  • the height of the light source 32 is the same as the depth of the fixing groove 222 , so that the light source 32 is flush with the heat conduction boss 22 .
  • the thermally conductive boss 22 includes a base plate 221 connected to the lens holder 2 and an aluminum plate 223 fixed on the base plate 221 , and the aluminum plate 223 is used for mounting and fixing the light source 32 .
  • the lens holder 2 has a center line 27 , the lens holder 2 is provided with a wire hole 28 for the wire of the light source 32 to pass through, and the wire hole 28 passes through
  • the substrate 221 or the wire hole 28 is located between the thermally conductive boss 22 and the center line 27 , which is relative to the embodiment in which the wire wire hole 28 is located outside the seat body 21 .
  • the edge of the base body 21 can be prevented from being too thin, thereby improving the overall strength of the lens base 2 .
  • the material of the lens holder 2 can be a material with good thermal conductivity, such as metal and non-metal.
  • the lens mount 2 may be metallic copper or non-metallic diamond.
  • the lens mount 2 is an integral molding structure.
  • the light source 32 may be a light source such as visible light, invisible light, or a laser, and in this embodiment, the light source 32 may be visible light such as an LED or an optical fiber.
  • the matrix LEDs are installed at the front end of the electronic endoscope 100, and the LEDs are supplied with energy through the cable to emit light to provide illumination for the endoscope; when using optical fibers for illumination, the use of optical fibers Light from the distal end is transmitted to the tip of the endoscope, thereby illuminating the endoscope.
  • the image sensor may be a CCD (Charge-coupled Device, charge coupled device), or a CMOS (Complementary Metal Oxide Semiconductor, complementary metal oxide semiconductor), and the like.
  • the PCB board 6 is a stacked double-layer PCB structure.
  • the PCB board 6 may also have a T-shaped structure.
  • the PCB The board 6 includes a first board 61 and a second board 62, the first board 61 is fixedly connected with the image sensor, the second board 62 is fixedly connected with the first board 61, and the first board 61 The plane where the second plate 62 is located is perpendicular to the plane where the second plate 62 is located.
  • the shielding cover 7 includes a main body 71 , a second extending portion 72 extending from the edge of the main body 71 toward the lens holder 2 , and a second extension portion 72 located on the main body 71 away from the lens holder 2 .
  • the second extension portion 72 is used for engaging with the first extension portion 25 .
  • the shielding cover 7 and the lens holder 2 are enclosed to form an accommodating space 74 for accommodating the PCB board 6 .
  • the second side surface 212 , the first extension portion 25 and the shielding cover 7 enclose the accommodating space 74 , and the accommodating space 74 is used for accommodating the PCB board 6 .
  • the shielding plate 73 is provided with a through hole 75 for the connecting wire 17 to pass through.
  • connection line 17 may be a connection line of the light source 32 or a connection line connected to the PCB board 6 , which is not limited here.
  • the material of the shielding cover 7 can be metal, which can produce a good electromagnetic shielding effect on the electronic components on the internal PCB board 6, so as not to be disturbed by the external complex electromagnetic environment, thereby ensuring the electronic endoscope 100 Obtain image quality stability and reliability.
  • a thin wire hole 76 and a signal ground wire 70 fixed in the thin wire hole 76 can also be provided on the shielding plate 73 at a position adjacent to the through hole 75, and the thin wire hole 76 is used for all
  • the signal ground wire 70 is passed through and the signal ground wire 70 is welded and fixed in the thin wire hole 76 to further enhance the electromagnetic shielding effect of the shielding cover 7 .
  • the number of the thin line holes 76 may be one, two or more. Of course, in other embodiments, the thin wire hole 76 may not be provided, and the signal ground wire 70 may be directly welded to the shielding plate 73 .
  • the shielding cover 7 may also have other shapes. In this case, the shielding plate 73 is also provided with a through hole 75' and a thin wire hole 76'.
  • the insulating cover 8 includes an insulating cavity 81 connected with the shielding cover 7 and the housing 1 , and is located at one end of the insulating cavity 81 away from the lens holder 2 and closes the entire cavity 81 .
  • the insulating surface 82 of the insulating cavity 81 and the hollow tube 83 extending from the insulating surface 82 to the direction away from the lens mount 2 , and the hollow tube 83 extends away from the lens mount 2 from the insulating surface 82
  • the hollow tube 83 is formed by extending in the direction, and the hollow tube 83 is used for the connection wire of the light source 32 and/or the connection wire 17 connected to the PCB board 6 to pass through.
  • the bending force point of the connecting wire 17 can be extended in a direction away from the lens holder 2, and can provide a larger force bearing area and a larger bending radius, so that the The force of the connecting wire 17 is more even, so it is not easy to cause breakage.
  • the insulating cover 8 is located between the housing 1 and the lens holder 2, and is closely connected with the housing 1 and the lens holder 2, so that the heat generated by the light source 32 can be passed through the lens in sequence.
  • the seat 2, the insulating cover 8, and the casing 1 conduct air into the air. Since the shielding cover 7 is connected to the lens holder 2 , the insulating cover 8 is also located between the casing 1 and the shielding cover 7 , and is connected to the casing 1 and the shielding cover 7 . tight connection. That is, the insulating cover 8 is sleeved on the lens holder 2 and the shielding cover 7 , so as to avoid the electric leakage phenomenon of the electronic components of the electronic endoscope 100 .
  • the lens 33 includes a mirror body 331 having a central axis (not shown in the figure) and a stopper 332 .
  • the stopper portion 332 is formed by protruding from the end of the mirror body 331 away from the lens holder 2 in a direction away from the central axis.
  • the stopper portion 332 has a first abutting surface 333 on a side close to the lens mount 2 , and a second abutting surface 334 on a side away from the lens mount 2 .
  • the first abutting surface 333 It is used to limit the lens 33 when the mirror body 331 is installed in the first installation hole 23 and collides with the lens holder 2 , thereby preventing the lens 33 from passing from the first installation hole 23 slip inside.
  • the lens cover 4 includes a cover body 41 , a receiving groove 42 for accommodating the light source 32 and the heat conduction boss 22 , and a position corresponding to the first mounting hole 23 for accommodating the The second mounting hole 43 of the stopper portion 332 .
  • the cover body 41 has an outer side surface 411 on a side away from the lens holder 2 and an inner side surface 412 on a side close to the lens holder 2 .
  • the second mounting hole 43 penetrates through the outer side surface 411 and the inner side surface 412 .
  • the receiving groove 42 penetrates through the outer side surface 411 and the inner side surface 412 .
  • the second mounting hole 43 has a center (not shown in the figure), and the outer side surface 411 extends a limiting portion 413 toward the center at a position corresponding to the second mounting hole 43 , so When the stopper 332 is installed in the second mounting hole 43, the limiting portion 413 collides with the second abutting surface 334 to limit the lens 33, thereby preventing the The lens slips off from the second mounting hole 43 .
  • the cover body 41 extends from the edge of the inner side surface 412 to a direction away from the outer side surface 411 to form a buckle portion 44 , and the buckle portion 44 and the inner side surface 412 are enclosed to form a receiving space 45 .
  • the buckling portion 44 is used for buckling on the mirror body 331 to accommodate the lens 33 , the light source 32 and the thermally conductive boss 22 in the accommodating space 45 .
  • the lens cover 4 further includes a first cover glass (not shown in the figure) that covers the second mounting holes 43 respectively, and covers the receiving groove. 42 on the second coverslip (not shown).
  • a filter 46 fixed above the light source 32 is further provided between the second cover glass and the light source 32 .
  • the first cover glass and the second cover glass may be transparent glass structures.
  • sealing structures can also be provided at the positions of the first cover glass and the second installation hole 43, and at the positions of the second cover glass and the first installation hole 23, so as to prevent liquid from entering the inside the electronic endoscope 100, thereby affecting the stable operation of the electronic components.
  • the sealing structure may be a sealing ring or a sealant.
  • the accommodating groove 42 further includes a first groove 421 for accommodating the light source 32 , a communication groove 422 communicating with the first groove 421 on the side away from the light source 32 , and The second groove 423 communicated with the communication groove 422 is used for accommodating the optical filter 46 .
  • the structural arrangement of the receiving groove 42 can prevent the influence of the sinking design of the light source 32 in the present invention on the illuminance of the light source 32 .
  • the image acquisition part 12 may further include a heat pipe part 9 connected to the shielding cover 7 and a heat dissipation part 10 connected to the heat pipe part 9 .
  • the heat pipe portion 9 and the heat dissipation portion 10 constitute the rear end portion of the image capturing portion.
  • the heat pipe portion 9 may further extend on the side of the shielding cover 7 to be in contact with the lens mount 2 .
  • the materials of the lens holder 2 , the shielding cover 7 , the heat pipe part 9 , the heat dissipation part 10 , the casing 1 and other structures are all materials with good thermal conductivity.
  • the heat dissipation part 10 is closely connected with the casing 1, so that the heat generated by the light source 32 passes through the lens holder 2, the shielding cover 7, the heat pipe part 9, the heat dissipation part 10 and the The casing 1 is conducted into the air. In this way, by successively transferring the heat generated by the light source 32 to the next structure, the temperature gradient between the light source 32 and the casing 1 is reduced, thereby reducing the temperature of the light source 32 .
  • the image capturing part 12 has an outer side wall (not shown in the figure), and an accommodating groove 77 is recessed on the outer side wall, and the accommodating groove 77 is used for accommodating the heat pipe
  • the first end of the heat pipe part 9 ; the heat dissipation part 10 is concavely provided with an accommodation groove 200 , and the accommodation groove 200 is used for accommodating the second end of the heat pipe part 9 .
  • the outer side wall may be the outer side wall structure of the shielding cover 7 or the outer side wall structure of the lens holder 2 . That is, the accommodating groove 77 may be provided on the shielding cover 7 or may be provided on the lens holder 2 and other structures.
  • the shielding cover 7 may have a first outer side wall and a second outer side wall arranged oppositely, or the lens holder may have a first outer side wall and a second outer side wall arranged oppositely.
  • the following embodiments are described by taking the shielding cover 7 as an example.
  • the shielding cover 7 may further include an outer side wall 78 connected with the second extension portion 72 on one side and connected with the shielding plate 73 on the other side.
  • the outer side wall 78 is recessed with an accommodating groove 77 .
  • the accommodating groove 77 is used for accommodating the first end 91 of the heat pipe portion 9
  • the heat dissipation portion 10 is recessed with an accommodating groove 200
  • the accommodating groove 200 is used for accommodating the first end 91 of the heat pipe portion 9 . 92 at both ends.
  • the first end 91 of the heat pipe portion 9 is one end close to the lens mount 2
  • the second end 92 is the other end away from the lens mount 2 .
  • the content of the heat pipe part 9 is provided with liquid refrigerant, and the specific heat dissipation principle is as follows:
  • liquid refrigerant is contained in the heat pipe portion 9, liquid-gas-liquid conversion can be performed.
  • the heat generated by the heat source is transmitted to the first end 91 of the heat pipe through the lens holder 2 and the shielding cover 7 in sequence, the liquid refrigerant at the first end 91 of the heat pipe absorbs heat and converts into gas, and under the action of pressure, The heat pipe moves toward the second end 92 of the heat pipe along the length direction of the heat pipe. During the moving process, the heat is continuously transferred from the heat source end to the direction of the heat dissipation part 10 .
  • the heat pipe can also be replaced by a copper pipe.
  • the copper tube is only used as a heat-conducting material, and the heat generated by the heat source is transferred to the copper tube through the lens holder 2 and the shielding cover 7 in sequence, and then the copper tube transfers the heat to the heat dissipation part. 10, thereby reducing the heat of the heat source.
  • the copper tube can be optionally a flexible copper tube.
  • the first extension portion of the lens holder 2 25 can also be concave and connected with the accommodating groove 77 by a snap fit.
  • the heat pipe part 9 includes two heat pipes arranged opposite to each other: a first heat pipe 93 and a second heat pipe 94 .
  • the outer side wall 78 includes a first outer side wall 781 and a second outer side wall 782 disposed opposite to each other, and the accommodating groove 77 includes a first accommodating groove 771 and a second accommodating groove (not shown in the figure).
  • the first outer side wall 781 is recessed with the first accommodating groove 771
  • the second outer side wall 782 is recessed with the second accommodating groove.
  • the heat dissipation part 10 includes a first heat dissipation fin 101 and a second heat dissipation fin 102 arranged oppositely. Slot 104.
  • the first accommodating groove 771 is used for accommodating the first end 91 of the first heat pipe 93
  • the first accommodating groove 103 is used for accommodating the second end 92 of the first heat pipe 93
  • the second accommodating groove is used for accommodating the first end 91 of the second heat pipe 94
  • the second accommodating groove 104 is used for accommodating the second end 92 of the second heat pipe 94 .
  • the number of the heat pipes may be multiple.
  • the number of the cooling fins may also be multiple. It can be understood that the lengths of the heat pipe portion 9 and the heat dissipation portion 10 can be reasonably set according to actual needs, and when the length is relatively long, the heat dissipation effect is relatively good.
  • the first heat sink 101 includes a first sheet body 105 and a first extension piece 112 extending from the first sheet body 105 toward the lens holder 2 .
  • the first accommodating groove 103 is recessed on the extension sheet 112 ;
  • the second heat sink 102 includes a second sheet body 107 and a second extension sheet extending from the second sheet body 107 toward the lens holder 2 .
  • the second accommodating groove 104 is concavely formed on the second extending piece 113 .
  • the inner side of the first sheet body 105 is concavely provided with a first wire groove 109
  • the inner side of the second sheet body 107 is concavely provided with a second wire groove 110 .
  • the first wire groove 109 and/or the second wire groove 110 are used for the connecting wire to pass through. That is, only the first wire groove 109 or the second wire groove 110 may be provided, or the first wire groove 109 and the second wire groove 110 may be provided. When only the first wire groove 109 or the second wire groove 110 is provided, the connecting wire passes through the first wire groove 109 or the second wire groove 110 .
  • first wire groove 109 and the second wire groove 110 are provided, when the first sheet body 105 is mounted on the second sheet body 107, the first wire groove 109 and the second wire groove The grooves 110 are combined to form a wire passage 111 for the connecting wires to pass through.
  • the shield 7 is located between the first heat pipe 93 and the second heat pipe 94 , and the first heat pipe 93 and the second heat pipe 94 are located in the first heat pipe 93 and the second heat pipe 94 . between the heat sink 101 and the second heat sink 102 .
  • the fixed connection among the shielding cover 7 , the heat pipe part 9 and the heat dissipation part 10 can be realized without adding an additional fixing structure.
  • a limiting portion 115 is protruded from the second sheet body 107 in a direction close to the first sheet body 105 , and the first sheet body 105 is located at a position corresponding to the limiting portion 115 .
  • a limit groove 116 is provided at the position, and the limit portion 115 is used to limit the second body 107 to the direction of the lens mount 2 or away from the lens mount 2 when it is installed in the limit slot 116 move.
  • the limiting groove 116 may also be provided on the second sheet body 107 , and the limiting portion 115 may be protruded on the first sheet body 105 .
  • the limiting portion 115 is not limited to the protruding manner in the direction of the first sheet body in this embodiment, and may also be protruding in the direction of the second wire groove 110 in other embodiments.
  • the heat generated by the light source 32 can be conducted to the air through the heat pipe part 9 , the heat dissipation part 10 and the casing 1 in sequence. Therefore, a good heat dissipation effect can be provided for the electronic endoscope 100 . It can be understood that if the electronic endoscope 100 conducts the heat generated by the light source 32 through the heat conduction boss in the image acquisition part 12 to the electronic endoscope 100 away from the light source through the base 21 When one end of the assembly 3 is connected, it is possible to choose whether to add the structure of the heat pipe part 9 and the heat dissipation part 10 according to the actual needs.
  • a flexible and bendable electronic endoscope 100 without the structure of the heat pipe part 9 and the heat dissipation part 10 can be selected; in multi-hole surgery, it can be selected to be inflexible or bendable but with additional heat pipe parts 9 and 10.
  • the electronic endoscope 100 having the structure of the heat dissipation part 10 . If the heat pipe part 9 and the heat dissipation part 10 are added, the heat dissipation effect of the electronic endoscope 100 can be further improved.

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Abstract

一种手术机器人，手术机器人包括电子内窥镜（100），电子内窥镜（100）包括：壳体（1）；镜头座（2），装设于壳体（1）内，镜头座（2）包括座体（21），设于座体（21）上的两个第一安装孔（23）以及凹设于座体（21）上并与两个第一安装孔（23）分别连通的第一安装槽和第二安装槽；第一镜头和第二镜头，用于分别安装至两个第一安装孔（23）内；PCB板（6），装设于壳体（1）内；第一图像传感器和第二图像传感器，两个图像传感器固定于PCB板（6）上，第一图像传感器、第二图像传感器用于分别安装至第一安装槽、第二安装槽使第一镜头和第一图像传感器之间的距离与第二镜头和第二图像传感器之间的距离相等。电子内窥镜（100）可以防止第一图像传感器和第二图像传感器之间的安装位置不一致，从而可以避免第一图像传感器和第二图像传感器接收的图像不一致的现象。

Description

电子内窥镜以及手术机器人
本申请要求于2020年8月31日提交中国专利局、申请号为202010899423.7、申请名称为“电子内窥镜以及手术机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及医疗器械技术领域，尤其涉及一种电子内窥镜以及手术机器人。
背景技术
微创手术是指利用腹腔镜、胸腔镜等现代医疗器械及相关设备在人体腔体内部施行手术的一种手术方式。相比传统手术方式，微创手术具有创伤小、疼痛轻、恢复快等优势。目前微创手术过程中使用的电子内窥镜，包括双镜头以及设置于PCB板上的双图像传感器等结构。但由于受其体积较小的影响，对其前端的双镜头、双图像传感器以及PCB板的装配要求较高。若安装时两个图像传感器出现位置偏差，则会使每个镜头与其对应的图像传感器之间的距离不一致。如此，会导致两个图像传感器接收的图像不一致，从而影响成像效果，进而降低医生在使用电子内窥镜执行手术过程中的安全性。
发明内容
本发明的主要目的在于提供一种电子内窥镜以及手术机器人，旨在解决现有电子内窥镜在装配时，由于每个图像传感器的安装位置不一致，导致不同图像传感器接收的图像不一致而影响成像效果的技术问题。
为实现上述目的，本发明提供一种电子内窥镜，包括：
壳体；
镜头座，装设于所述壳体内，所述镜头座包括座体，设于 所述座体上的两个第一安装孔以及凹设于所述座体上并与所述两个第一安装孔分别连通的第一安装槽和第二安装槽；
第一镜头和第二镜头，用于分别安装至两个所述第一安装孔内；
PCB板，装设于所述壳体内；
第一图像传感器和第二图像传感器，所述两个图像传感器固定于所述PCB板上，所述第一图像传感器、所述第二图像传感器用于分别安装至所述第一安装槽、所述第二安装槽使所述第一镜头和所述第一图像传感器之间的距离与所述第二镜头和所述第二图像传感器之间的距离相等。
优选地，所述镜头座还包括凸设于所述座体上的导热凸台，所述座体具有与所述导热凸台连接的第一侧面以及背离所述导热凸台并与所述第一侧面相对设置的第二侧面，所述第一安装孔贯穿所述第一侧面和所述第二侧面。
优选地，所述座体自所述第二侧面的边缘向远离所述第一侧面的方向延伸形成第一延伸部，所述PCB板具有与所述第一延伸部适配的抵接面，所述第一延伸部用于与所述抵接面抵触。
优选地，所述PCB板为双层PCB结构或T型结构。
优选地，所述第一镜头和/或所述第二镜头包括具有中心轴的镜体以及止挡部，所述止挡部为所述镜体自远离所述镜头座的一端向背离所述中心轴的方向凸设而成，所述止挡部在靠近所述镜头座的一侧具有第一顶抵面，所述第一顶抵面用于在所述镜体穿入所述第一安装孔内并与所述镜头座抵触时对所述镜头进行限位。
优选地，所述图像获取部还包括用于扣合至所述镜头座上的镜头罩，所述镜头罩包括罩体，所述罩体具有远离所述镜头座一侧的外侧面以及靠近所述镜头座一侧的内侧面，所述镜头罩上设有与所述第一安装孔位置对应并用于收容所述止挡部的第二安装孔，所述第二安装孔贯穿所述外侧面和内侧面。
优选地，所述止挡部在远离所述镜头座的一侧具有第二顶抵面，所述第二安装孔具有一中心，所述外侧面在对应所述第二安装 孔的位置向所述中心的方向延伸有限位部，所述止挡部用于安装至所述第二安装孔内，使所述第二顶抵面与所述限位部抵触。
优选地，所述座体上凸设有导热凸台以及设于所述导热凸台上的光源，所述镜头罩还包括用于容纳所述光源以及所述导热凸台的收容槽，所述收容槽贯穿所述外侧面和所述内侧面。
优选地，所述罩体自所述内侧面的边缘向远离所述外侧面的方向延伸形成扣合部，所述扣合部与所述内侧面围合形成收容空间，所述扣合部用于扣合于所述座体上，以将所述镜头、所述光源以及所述导热凸台收容于所述收容空间内。
优选地，所述座体上凸设有导热凸台，所述图像获取部还包括设于所述导热凸台上的光源，所述导热凸台用于传导所述光源产生的热量。
优选地，所述导热凸台包括与所述座体连接的基板以及凹设于所述基板上的固定槽，所述固定槽为所述基板自远离所述镜头座方向的一侧向靠近所述镜头座方向凹设而成，所述固定槽用于安装固定所述光源。
优选地，所述导热凸台包括与所述座体连接的基板以及固定于所述基板上的铝板，所述铝板用于安装固定所述光源。
优选地，所述图像获取部还包括用于与所述镜头座扣合的屏蔽罩，所述屏蔽罩与所述镜头座围合形成容置空间以容纳所述PCB板。
优选地，所述座体具有相对设置的第一侧面和第二侧面，所述座体自所述第二侧面的边缘向远离所述第一侧面的方向延伸形成第一延伸部；所述屏蔽罩包括本体、自所述本体的边缘向所述镜头座方向延伸的第二延伸部，所述第一延伸部和所述第二延伸部扣合。
优选地，所述屏蔽罩还包括位于所述本体的远离所述镜头座的一端的屏蔽板，所述屏蔽板上设有一供连接线通过的通孔。
优选地，所述屏蔽板上还设有细线孔，所述图像获取部还包括信号地线，所述细线孔用于供所述信号地线穿过。
优选地，所述图像获取部还包括与所述镜头座连接的屏蔽 罩、与所述屏蔽罩连接的第一热管以及与所述第一热管连接的第一散热片；所述屏蔽罩具有第一外侧壁，所述第一外侧壁上凹设有第一容置槽，所述第一容置槽用于容置所述第一热管的第一端；所述第一散热部上凹设有第一容纳槽，所述第一容纳槽用于容置所述第一热管的第二端。
优选地，所述图像获取部还包括与所述屏蔽罩连接并与所述第一热管相对设置的第二热管，以及与所述第一散热片相对设置的第二散热片；所述屏蔽罩还具有与所述第一外侧壁相对设置的第二侧壁，所述第二侧壁上凹设有第二容置槽，所述第二容置槽用于容置所述第二热管的第一端；所述第二散热片上凹设有第二容纳槽，所述第二容纳槽用于容置所述第二热管的第二端。
优选地，所述第一散热片包括第一片体以及自所述第一片体向所述镜头座方向延伸的第一延伸片，所述第一容纳槽设于所述第一延伸片上；所述第二散热片包括第二片体以及自所述第二片体向所述镜头座方向延伸的第二延伸片，所述第二容纳槽设于所述第二延伸片上。
优选地，所述第一片体的内侧凹设有第一线槽，和/或所述第二片体的内侧凹设有第二线槽；所述图像获取部还包括连接至所述PCB板上的连接线，所述第一线槽或第二线槽用于供所述连接线通过。
优选地，所述第一片体用于安装至所述第二片体上，使所述第一线槽与所述第二线槽组合而形成过线槽，以供所述连接线通过。
优选地，所述第二片体向靠近所述第一片体的方向凸设有限位部，所述第一片体在对应所述限位部的位置设有限位槽，所述限位部用于在安装至所述限位槽内时，限制所述第二片体向所述镜头座方向或远离所述镜头座方向移动。
优选地，所述屏蔽罩位于第一热管和所述第二热管之间，所述第一热管和所述第二热管位于所述第一散热片和所述第二散热片之间。
优选地，所述第一热管和/或所述第二热管内容置有液体冷 媒，或所述第一热管和/或所述第二热管为铜管。
优选地，所述第一散热片和/或所述第二散热片与所述壳体紧密连接。
优选地，所述图像获取部还包括套设于所述镜头座和所述屏蔽罩上的绝缘罩，所述壳体套设于所述绝缘罩上。
优选地，所述绝缘罩包括与所述屏蔽罩和所述壳体连接的绝缘腔体、位于所述绝缘腔体远离所述镜头座的一端并封闭所述绝缘腔体的绝缘面以及自所述绝缘面向远离所述镜头座方向延伸的中空管，所述中空管用于供连接至所述PCB板上的连接线通过。
优选地，所述图像获取部还包括在所述壳体远离所述镜头座的一端设置的连接部，所述电子内窥镜还包括驱动机构，以及与所述连接部和所述驱动机构连接的关节组件，所述关节组件用于在所述驱动机构的驱动作用下弯曲而带动所述图像获取部移动；所述电子内窥镜还包括与所述壳体连接并包覆于所述关节组件上的用于导热的外导热柔性管。
优选地，所述图像获取部还包括与所述PCB板连接的连接线，所述连接线的第一端位于所述壳体内，所述连接线的第二端位于所述驱动机构内；所述电子内窥镜还包括包覆于所述连接线上的内导热柔性管。
优选地，所述驱动机构包括驱动部和驱动丝，所述驱动丝的一端与所述驱动部连接，另一端与所述关节组件连接；所述连接线的第二端位于所述驱动部内，所述连接线的第一端和第二端之间的部分位于所述关节组件内。
优选地，所述电子内窥镜还包括一端与所述驱动部连接，另一端与所述关节组件连接的管体部，所述驱动丝和所述连接线分别穿过所述管体部而与所述驱动部连接。
优选地，所述外导热柔性管和/或所述内导热柔性管为金属丝编织而成的网状管。
为实现上述目的，本发明还提供一种手术机器人，所述手术机器人包括如上所述的电子内窥镜。
本发明提供的电子内窥镜以及手术机器人，通过在镜头座的座体上凹设安装槽、设置PCB板以及两个用于固定于所述PCB板上的图像传感器，然后将两个所述图像传感器对应安装于第一安装槽和第二安装槽内，可以防止不同的所述第一图像传感器和第二图像传感器之间的安装位置不一致，从而可以避免不同的图像传感器接收的图像不一致的现象，进而提高医生在使用电子内窥镜执行手术过程中的安全性。
附图说明
图1为本发明电子内窥镜第一实施例的部分爆炸结构示意图；
图2为图1的组装结构示意图；
图3为本发明电子内窥镜第二实施例的部分组装结构示意图；
图4为图3中电子内窥镜的完整结构的截面示意图；
图5为本发明电子内窥镜第三实施例的组装结构示意图；
图6为图1中镜头座的俯视角度结构示意图；
图7为图1中镜头座的仰视角度结构示意图；
图8为图1至图5中任一电子内窥镜的一实施例的部分结构示意图；
图9为图1至图5中任一电子内窥镜的另一实施例的部分结构示意图；
图10为图1至图5中任一电子内窥镜的PCB板的第一实施例结构示意图；
图11为图1至图5中任一电子内窥镜的PCB板的第二实施例结构示意图；
图12为图1至图5中任一电子内窥镜的屏蔽罩一实施例的结构示意图；
图13为图1至图5中任一电子内窥镜的绝缘罩的结构示意图；
图14为图1至图5中任一电子内窥镜的镜头的结构示意图；
图15为图1至图5中任一电子内窥镜的镜头罩和镜头的结构示意图；
图16为图2中沿A-A线的截面示意图；
图17为图5的部分组装结构示意图；
图18为图17另一角度的结构示意图；
图19为图5的部分爆炸结构示意图；
图20为图19中散热部的爆炸结构示意图。
附图标号说明：
Figure PCTCN2021092957-appb-000001
Figure PCTCN2021092957-appb-000002
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明，本发明实施例中所有方向性指示(诸如上、下、左、右、前、后......)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
在本发明中，除非另有明确的规定和限定，术语“连接”、“固定”等应做广义理解，例如，“固定”可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是 直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
另外，在本发明中如涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。
本发明提供一种手术机器人，所述手术机器人包括主操作台及从操作设备，主操作台用于根据医生的操作向从操作设备发送控制命令，以控制从操作设备；从操作设备用于响应主操作台发送的控制命令，并进行相应的手术操作。所述从操作设备包括机械臂、设置于机械臂上的动力机构以及操作臂，所述操作臂用于在动力机构的驱动作用下伸入体内，通过其位于远端的末端器械执行手术操作，并通过其位于远端的电子内窥镜获取体内影像。所述主操作台还用于显示所述电子内窥镜获取的影像。
如图1和图2所示，本发明提供一种电子内窥镜100，所述电子内窥镜100可以为可弯曲的结构，也可以为不可弯曲的结构。如图3和图4所示，当所述电子内窥镜100为可弯曲的结构时，所述电子内窥镜100可以包括图像获取部12、与所述图像获取部12连接的关节组件13、包覆于所述关节组件13上并与所述图像获取部12连接的外导热柔性管162以及与所述关节组件13连接的驱动机构(图中未示出)。
进一步地，如图4所示，所述图像获取部12包括壳体1、设于所述壳体1内的光源组件3、PCB板6、与所述PCB板6连接的连接线17以及在所述壳体1远离所述光源组件3的一端设置并与所述关节组件13连接的连接部11。所述驱动机构包括驱动部14以及 一端与所述驱动部14连接、另一端与所述关节组件13连接的驱动丝18。其中，所述连接线17的第一端与所述PCB板6连接，所述连接线17的第二端位于所述驱动部14内，所述连接线17的第一端和第二端之间的部分位于所述关节组件13内。
本实施例通过所述驱动部14驱动所述关节组件13弯曲而带动所述图像获取部12移动。在一实施例中，所述外导热柔性管162可以与所述壳体1连接，在另一实施例中，所述外导热柔性管162可以与所述连接部11连接。通过包覆于所述关节组件13上的所述外导热柔性管162传导所述光源组件3产生的热量。
进一步地，所述电子内窥镜还包括包覆于所述连接线17上的内导热柔性管161。本实施例并不限定所述内导热柔性管161的长度，其可以伸入所述壳体1内与所述PCB板6连接，也可以伸入所述壳体1内不与所述PCB板6连接，还可以不伸入所述壳体1内。具体设置方式可以根据实际需要合理进行选择。
可以理解的是，可以选择仅设置所述内导热柔性管161，也可以选择仅设置所述外导热柔性管162，还可以选择同时设置所述内导热柔性管161和所述外导热柔性管162。当同时设置所述内导热柔性管161和所述外导热柔性管162时，通过两路导热可以显著提升所述电子内窥镜100的散热效果。进一步地，所述内导热柔性管161和/或所述外导热柔性管162均为金属丝编织而成的网状管，当然，在其他实施例中，所述内导热柔性管161和/或所述外导热柔性管162可以为其他具有柔性的可导热材质。
可以理解的是，所述关节组件13由多个相同的连接单元连接而形成可弯曲的关节。所述驱动部14通过驱动丝18与所述关节组件13连接，并通过驱动连接到所述关节组件13中的不同连接单元上的驱动丝18的伸长和收缩，而驱动所述关节组件13弯曲，进而带动所述图像获取部12移动。
在一实施例中，所述关节组件13可以在连接单元之间设置拉伸弹簧(图中未示出)，并使拉伸弹簧的拉伸方向与所述驱动丝18的长度方向相同。通过所述拉伸弹簧提高所述关节组件13的刚度。
在另一实施例中，所述电子内窥镜还可以包括一端与所述驱动部14连接，另一端与所述关节组件13连接的管体部15，所述驱动丝18和所述连接线17分别穿过所述管体部而与所述驱动部14连接。通过所述管体部的支撑作用提高所述关节组件13的刚度。
当所述电子内窥镜100为不可弯曲的结构时，如图5所示，所述电子内窥镜则可以仅包括图像获取部，而不包括所述关节组件13、外导热柔性管162等结构。可以理解的是，所述电子内窥镜100还可以包括转动驱动部，并驱动所述图像获取部12沿所述壳体1的中心轴转动。
可以理解的是，当所述电子内窥镜100可弯曲时，适用于单孔手术；当所述电子内窥镜100不可弯曲时，适用于多孔手术。当然，不排除也可以选择可弯曲的电子内窥镜100进行多孔手术的可能情况。具体可以根据实际需要合理设置所述电子内窥镜100的结构。
如图1所示，在一实施例中，所述图像获取部12还包括设于所述壳体1内并用于装设所述光源组件3的镜头座2、扣合至所述镜头座2上并用于收容所述光源组件3的镜头罩4、固设于所述镜头座2内与所述PCB板6固定连接并靠近所述光源组件3一侧的图像传感器5、在远离所述镜头罩4的一侧与所述镜头座2扣合连接的屏蔽罩7、套设于所述镜头座2和所述屏蔽罩7上的绝缘罩8。所述壳体1套设于所述绝缘罩8上。上述图像获取部12的具体结构可以构成所述图像获取部12的前端部。可以理解的是，可以在所述镜头座2和所述屏蔽罩7的容纳空间中填充导热胶，以利于热量的传导。
在一实施例中，所述内导热柔性管161还可以与所述屏蔽罩7连接，也可以伸入所述屏蔽罩7内的导热胶中。
所述壳体1为中空的圆筒状结构，当然，在其他实施例中，还可以为其他合理形状。所述壳体1的材质可以为不锈钢等材质。可以理解的是，当所述壳体1为中空的圆筒状结构时，所述镜头罩4、镜头座2、屏蔽罩7、绝缘罩8等结构可以为适配的圆筒状结构。具体安装时，可以先将所述光源组件3、所述图像传感器5以及所述PCB板6固定于所述镜头座2上，形成第一模组(图中未示出)，然 后将所述镜头罩4与所述第一模组扣合连接形成第二模组(图中未示出)，再将所述屏蔽罩7与所述第二模组扣合形成第三模组(图中未示出)，最后将所述壳体1与所述第三模组扣合形成所述电子内窥镜100。可选地，相邻模组之间的结构为紧密连接结构，例如，可以为过盈配合的固定方式。为了进一步增强各模组之间的固定强度，可以在对应的结构上设置适配的卡扣结构。如此，各模组之间串联组装的方式，可以提高所述电子内窥镜100的组装效率。当然，在其他实施例中，还可以将所述光源组件3的部分结构和所述镜头罩4组装到一起形成第一模组(图中未示出)，将所述光源组件3的其他结构、所述镜头座2、所述图像传感器5、所述PCB板6以及所述屏蔽罩7组装到一起形成第二模组(图中未示出)，将所述绝缘罩8以及所述壳体1组装到一起形成第三模组(图中未示出)，然后将所述第一模组、所述第二模组以及所述第三模组组装到一起形成完整的所述电子内窥镜100，如此，通过先各自组装成不同的模组的方式，也可以提高所述电子内窥镜100的组装效率。
如图6和图7所示，所述镜头座2包括座体21、凸设于所述座体21上的导热凸台22、设于所述座体21上的第一安装孔23以及凹设于所述座体21上的安装槽24。具体地，所述座体21在远离所述导热凸台22的一侧向所述导热凸台22的方向凹设形成所述安装槽24。所述安装槽24的位置与所述第一安装孔23的位置对应。也即，所述安装槽24与所述第一安装孔23相连通。如图8所示，所述光源组件3包括设于所述座体21上的光源32以及用于安装于所述第一安装孔23内的镜头33。
进一步地，所述图像传感器5包括第一图像传感器(图中未示出)和第二图像传感器(图中未示出)，所述安装槽24包括用于容纳所述第一图像传感器的第一安装槽(图中未示出)以及用于容纳所述第二图像传感器的第二安装槽。对应地，所述第一安装孔23的数量包括两个，所述电子内窥镜100还包括分别与所述第一图像传感器、第二图像传感器对应的第一镜头和第二镜头，所述第一镜头和第二镜头用于分别安装至两个所述第一安装孔23内。在所述第一图像 传感器、所述第二图像传感器分别安装至所述第一安装槽、所述第二安装槽时，所述第一镜头和所述第一图像传感器之间的距离与所述第二镜头和所述第二图像传感器之间的距离相等。
本实施例在安装时，先将两个所述图像传感器5固定于所述PCB板6上，然后将两个所述图像传感器5安装于所述安装槽24内，不仅方便所述图像传感器5的安装，也可以防止不同的所述图像传感器5之间的安装位置不一致，从而可以避免不同的图像传感器5接收的图像不一致的现象，进而提高医生在使用电子内窥镜100执行手术过程中的安全性。
进一步地，参照图6，所述座体21具有相对设置的第一侧面211以及第二侧面212。具体地，当以所述光源32为参照时，所述第一侧面211为靠近所述光源32的一侧，所述第二侧面212为远离所述光源32的一侧；当以所述屏蔽罩7为参照时，所述第一侧面211为远离所述屏蔽罩7的一侧，所述第二侧面212为靠近所述屏蔽罩7的一侧。在一实施例中，所述第一侧面211与所述导热凸台22连接，所述第二侧面212在背离所述导热凸台22的一侧并与所述第一侧面211相对设置。所述第一安装孔23贯穿所述第一侧面211和所述第二侧面212。所述座体21在对应所述第一安装孔23的位置，自所述第二侧面212向靠近所述第一侧面211的方向凹设有所述安装槽24。所述安装槽24用于安装所述图像传感器5。
进一步地，所述光源32可以设置于所述导热凸台22上，通过所述导热凸台22将所述光源32产生的热量经所述座体21传导至所述电子内窥镜100的远离所述光源组件3的一端。如此，可以为电子内窥镜100的光源32提供良好的散热，从而减少光衰的问题。
应理解，本发明并不限定所述镜头33的具体数量，可以为2个或多个。当然，在其他实施例中，可以仅具有1个所述镜头33。对应地，所述光源32和所述图像传感器5的数量与所述镜头33的数量一致。当然，在其他实施例中，所述图像传感器5也可以仅有一个。但本实施例相对于只有一个图像传感器5的方案，可以避免对图像产生干扰，从而提高所述电子内窥镜100获取的图像质量。
进一步地，如图7所示，所述座体21自所述第二侧面212的边缘向远离所述第一侧面211的方向延伸形成第一延伸部25，所述第一延伸部25与所述第二侧面212围合形成容纳空间26。如图1、图10和图11所示，所述PCB板6具有与所述第一延伸部25适配的抵接面60，在所述PCB板6进入所述容纳空间26时，所述第一延伸部25与所述抵接面60抵触。如此，当所述PCB板6经所述第一延伸部25的引导作用进入所述容纳空间26时，可以使所述PCB板6和所述图像传感器5精确定位安装于所述安装槽24内，从而进一步提高不同图像传感器5以及PCB板6的安装精度，进而提高所述电子内窥镜100获取的图像质量。
如图7所示，所述第一安装孔23的直径大小可以与所述安装槽24的宽度大小一致，或者，所述安装槽24的宽度大小大于所述第一安装孔23的直径大小。如此，可以防止在模组安装时，固定胶泄露至所述镜头33处。当将所述图像传感器5与所述PCB板6固定连接后，并将所述图像传感器5固定于所述安装槽24处时，可以在所述容纳空间26以及远离所述镜头罩4方向的其他容纳空间中填充导热胶，从而进一步增加导热效果。
在一实施例中，如图6所示，所述导热凸台22包括与所述镜头座2的座体21连接的基板221以及凹设于所述基板221上的固定槽222。所述基板221自远离所述镜头座2方向的一侧向靠近所述镜头座2方向凹设形成所述固定槽222，所述固定槽222用于安装固定所述光源32。其中，所述光源32的高度与所述固定槽222的深度一致，从而使所述光源32与所述导热凸台22平齐。
在另一实施例中，如图9所示，所述导热凸台22包括与所述镜头座2连接的基板221以及固定于所述基板221上的铝板223，所述铝板223用于安装固定所述光源32。
进一步地，如图6所示，所述镜头座2具有一中心线27，所述镜头座2上设有用于供所述光源32的导线通过的过线孔28，所述过线孔28贯穿所述基板221或所述过线孔28位于所述导热凸台22与所述中心线27之间的位置，此种方式相对于所述过线孔28位 于所述座体21外侧的实施方式，可以避免所述座体21的边缘过薄，从而提高所述镜头座2的整体强度。
所述镜头座2的材质可以是金属和非金属等具有良好导热性能的材质。例如，所述镜头座2可以是金属铜或非金属金刚石等。可选地，所述镜头座2为一体成型结构。
可以理解是，所述光源32可以是：可见光、不可见光或者激光等光源，本实施例中，所述光源32可以是LED或光纤等可见光。在使用LED进行照明时，将矩阵式LED安装于电子内窥镜100的前端，并通过电缆线为LED提供能量，使其发光从而为内窥镜提供照明；在使用光纤进行照明时，利用光纤将远端的光传输到内窥镜前端，从而使内窥镜获得照明。所述图像传感器可以是CCD(Charge-coupled Device，电荷耦合元件)，或CMOS(Complementary Metal Oxide Semiconductor，互补金属氧化物半导体)等。
如图10所示，所述PCB板6为堆叠的双层PCB结构，在另一实施例中，如图11所示，所述PCB板6还可以为T型结构，具体地，所述PCB板6包括第一板61和第二板62，所述第一板61与所述图像传感器固定连接，所述第二板62与所述第一板61固定连接，且所述第一板61所在平面与所述第二板62所在平面垂直。
如图12所示，所述屏蔽罩7包括本体71、自所述本体71的边缘向所述镜头座2方向延伸的第二延伸部72以及位于所述本体71的远离所述镜头座2的一端的屏蔽板73，所述第二延伸部72用于与所述第一延伸部25扣合。如图1所示，所述屏蔽罩7与所述镜头座2围合形成容置空间74以容纳所述PCB板6。具体地，所述第二侧面212、所述第一延伸部25以及所述屏蔽罩7围合形成所述容置空间74，所述容置空间74用于容纳所述PCB板6。进一步地，如图12所示，所述屏蔽板73上设有一用于供连接线17通过的通孔75。可以理解的是，所述连接线17可以为所述光源32的连接线，也可以是连接至所述PCB板6上的连接线，此处并不做限定。所述屏蔽罩7的材质可以为金属，可以对内部的所述PCB板6上的电子元件产生良好的电磁屏蔽效果，从而不受外部复杂电磁环境的干扰，进而保 证所述电子内窥镜100获取图像的质量稳定性和可靠性。另外，还可以在所述屏蔽板73上临近所述通孔75的位置设置细线孔76以及固定于所述细线孔76中的信号地线70，所述细线孔76用于供所述信号地线70穿过并将所述信号地线70焊接固定于所述细线孔76中，以进一步增强所述屏蔽罩7的电磁屏蔽效果。所述细线孔76的数量可以为1个、2个或多个。当然，在其他实施例中，也可以不设置所述细线孔76，而直接将所述信号地线70焊接于所述屏蔽板73上。在另一实施例中，如图18所示，所述屏蔽罩7还可以为其他形状，此时，所述屏蔽板73上同样设置有通孔75’和细线孔76’。
如图13所示，所述绝缘罩8包括与所述屏蔽罩7和所述壳体1连接的绝缘腔体81、位于所述绝缘腔体81的远离所述镜头座2的一端并封闭所述绝缘腔体81的绝缘面82以及自所述绝缘面82向远离所述镜头座2方向延伸的中空管83，所述中空管83自所述绝缘面82向远离所述镜头座2方向延伸而成，所述中空管83用于供所述光源32的连接线和/或连接至所述PCB板6上的所述连接线17通过。通过设置所述中空管83可以将所述连接线17弯曲的受力点往远离所述镜头座2的方向延伸，且能提供更大的受力面积和更大的弯曲半径，从而使所述连接线17的受力更加平均，从而不易造成断裂。
所述绝缘罩8位于所述壳体1与所述镜头座2之间，并与所述壳体1和所述镜头座2紧密连接，可以将所述光源32产生的热量依次经所述镜头座2、所述绝缘罩8、所述壳体1传导至空气中。由于所述屏蔽罩7与所述镜头座2连接，因此，所述绝缘罩8同样位于所述壳体1与所述屏蔽罩7之间，并与所述壳体1和所述屏蔽罩7紧密连接。也即，所述绝缘罩8套设于所述镜头座2和所述屏蔽罩7上，从而避免所述电子内窥镜100的电子元件产生漏电现象。
如图14所示，所述镜头33包括具有中心轴(图中未示出)的镜体331以及止挡部332。所述止挡部332为所述镜体331自远离所述镜头座2的一端向背离所述中心轴的方向凸设而成。所述止挡部332在靠近所述镜头座2的一侧具有第一顶抵面333，在远离所述镜头座2的一侧具有第二顶抵面334，所述第一顶抵面333用于在所述 镜体331安装至所述第一安装孔23内并与所述镜头座2抵触时对所述镜头33进行限位，从而防止所述镜头33从所述第一安装孔23内滑脱。
如图15所示，所述镜头罩4包括罩体41、用于容纳所述光源32以及所述导热凸台22的收容槽42以及与所述第一安装孔23位置对应并用于收容所述止挡部332的第二安装孔43。所述罩体41具有远离所述镜头座2一侧的外侧面411以及靠近所述镜头座2一侧的内侧面412。其中，所述第二安装孔43贯穿所述外侧面411和内侧面412。所述收容槽42贯穿所述外侧面411和所述内侧面412。
进一步地，所述第二安装孔43具有一中心(图中未示出)，所述外侧面411在对应所述第二安装孔43的位置向所述中心的方向延伸有限位部413，所述限位部413用于所述止挡部332安装至所述第二安装孔43内时，与所述第二顶抵面334抵触，以对所述镜头33进行限位，从而防止所述镜头从所述第二安装孔43内滑脱。
进一步地，所述罩体41自所述内侧面412的边缘向远离所述外侧面411的方向延伸形成扣合部44，所述扣合部44与所述内侧面412围合形成收容空间45，所述扣合部44用于扣合于所述镜体331上，以将所述镜头33、所述光源32以及所述导热凸台22收容于所述收容空间45内。
进一步地，如图16所示，所述镜头罩4还包括分别盖合于所述第二安装孔43上的第一盖玻片(图中未示出)，以及盖合于所述收容槽42上的第二盖玻片(图中未示出)。所述第二盖玻片与所述光源32之间还设有固定于所述光源32上方的滤光片46。可以理解的是，所述第一盖玻片和所述第二盖玻片可以为透明的玻璃结构。另外，还可以在第一盖玻片与所述第二安装孔43的位置，以及所述第二盖玻片与所述第一安装孔23的位置设置密封结构，以避免液体通过间隙进入所述电子内窥镜100内从而影响电子元件的稳定工作。具体地，所述密封结构可为密封圈或密封胶。
进一步地，如图16所示，所述收容槽42进一步包括用于容纳所述光源32的第一槽421、在远离所述光源32一侧与所述第一 槽421连通的连通槽422以及与所述连通槽422连通的第二槽423，所述第二槽423用于容纳所述滤光片46。所述收容槽42的结构设置，可以防止本发明中光源32的下沉设计对光源32照明度的影响。
如图17至图20所示，在一实施例中，所述图像获取部12还可以包括与所述屏蔽罩7连接的热管部9以及与所述热管部9连接的散热部10。所述热管部9和所述散热部10构成所述图像获取部的后端部。在其他实施例中，所述热管部9还可以在所述屏蔽罩7一侧继续延伸与所述镜头座2接触。其中，所述镜头座2、所述屏蔽罩7、所述热管部9、所述散热部10以及所述壳体1等结构的材质均为具有良好导热性能的材质。所述散热部10与所述壳体1紧密连接，以将所述光源32产生的热量依次经所述镜头座2、所述屏蔽罩7、所述热管部9、所述散热部10以及所述壳体1传导至空气中。如此，通过将所述光源32产生的热量逐次传递至下一个结构，减小了所述光源32与所述壳体1的温度梯度，从而减小了所述光源32的温度。
在一实施例中，所述图像获取部12具有一外侧壁(图中未示出)，所述外侧壁上凹设有容置槽77，所述容置槽77用于容置所述热管部9的第一端；所述散热部10上凹设有容纳槽200，所述容纳槽200用于容置所述热管部9的第二端。可以理解的是，所述外侧壁可以为所述屏蔽罩7的外侧壁结构，也可以是所述镜头座2的外侧壁结构。也即，所述容置槽77可以设置于所述屏蔽罩7上，也可以设置于所述镜头座2等结构上。对应地，所述屏蔽罩7上可以有相对设置的第一外侧壁和第二外侧壁，也可以是所述镜头座上有相对设置的第一外侧壁和第二外侧壁。以下实施例以设置于所述屏蔽罩7上为例进行说明。
所述屏蔽罩7还可以包括一侧与所述第二延伸部72连接、另一侧与所述屏蔽板73连接的外侧壁78，所述外侧壁78凹设有容置槽77。所述容置槽77用于容置所述热管部9的第一端91，所述散热部10上凹设有容纳槽200，所述容纳槽200用于容置所述热管部9的第二端92。其中，所述热管部9的第一端91为靠近所述镜头座2的一端，所述第二端92为远离所述镜头座2的另一端。其中，所 述热管部9内容置有液体冷媒，具体散热原理如下：
其中，由于所述热管部9内容置有液体冷媒，因此，可以进行液-气-液转换。当热源产生的热量依次经过镜头座2、屏蔽罩7传至所述热管的第一端91时，所述热管的第一端91的液体冷媒吸热转换为气体，并在压强的作用下，沿着所述热管的长度方向向所述热管的第二端92移动，在移动的过程中，热量不断的从所述热源端向所述散热部10的方向传递。而当气态的冷媒到达所述热端的第二端92时，由于所述第二端92的热量又被所述散热部10带走，此时，所述第二端92的热量降低，使得所述第二端92的冷媒又从气态变为液态，又重新流回所述第一端91，从而循环往复。
当然，在其他实施例中，所述热管也可以替换为铜管。此时，铜管仅当作导热材质，所述热源产生的热量依次经过所述镜头座2、所述屏蔽罩7传至所述铜管，然后所述铜管将热量传递至所述散热部10，从而降低热源的热量。所述铜管可选为柔性铜管。
可以理解的是，在所述屏蔽罩7设置了所述容置槽77时，为了增加所述屏蔽罩7与所述镜头座2的固定强度，所述镜头座2的所述第一延伸部25也可以内凹，并与所述容置槽77适配卡扣连接。
进一步地，所述热管部9包括相对设置的两个热管：第一热管93和第二热管94。所述外侧壁78包括相对设置的第一外侧壁781与第二外侧壁782，所述容置槽77包括第一容置槽771和第二容置槽(图中未示出)。所述第一外侧壁781凹设有所述第一容置槽771，所述第二外侧壁782凹设有所述第二容置槽。所述散热部10包括相对设置的第一散热片101与第二散热片102，所述第一散热片101凹设有第一容纳槽103，所述第二散热片102凹设有第二容纳槽104。所述第一容置槽771用于容置所述第一热管93的所述第一端91，所述第一容纳槽103用于容置所述第一热管93的第二端92。所述第二容置槽用于容置所述第二热管94的所述第一端91，所述第二容纳槽104用于容置所述第二热管94的第二端92。
当然，在其他实施例中，所述热管的数量可以为多个。对应地，所述散热片的数量也可以为多个。可以理解的是，所述热管部 9和所述散热部10的长度可以依据实际需要合理设置，当长度相对较长时，其散热效果也相对较好。
进一步地，如图20所示，所述第一散热片101包括第一片体105以及自所述第一片体105向所述镜头座2方向延伸的第一延伸片112，所述第一延伸片112上凹设有所述第一容纳槽103；所述第二散热片102包括第二片体107以及自所述第二片体107向所述镜头座2方向延伸的第二延伸片113，所述第二延伸片113上凹设有所述第二容纳槽104。
所述第一片体105的内侧凹设有第一线槽109，和/或所述第二片体107的内侧凹设有第二线槽110。所述第一线槽109和/或第二线槽110用于供所述连接线通过。也即，可以仅设置所述第一线槽109或所述第二线槽110，也可以设置所述第一线槽109和所述第二线槽110。当仅设置所述第一线槽109或所述第二线槽110时，所述连接线从所述第一线槽109或所述第二线槽110通过。当设置所述第一线槽109和所述第二线槽110时，在所述第一片体105安装至所述第二片体107上时，所述第一线槽109与所述第二线槽110组合而形成过线通道111，以供所述连接线通过。
进一步地，如图17至图19所示，所述屏蔽罩7位于第一热管93和所述第二热管94之间，所述第一热管93和所述第二热管94位于所述第一散热片101和所述第二散热片102之间。如此，无需额外增加固定结构即可实现所述屏蔽罩7、所述热管部9以及所述散热部10三者之间的固定连接。
进一步地，如图20所示，所述第二片体107向靠近所述第一片体105的方向凸设有限位部115，所述第一片体105在对应所述限位部115的位置设有限位槽116，所述限位部115用于在安装至所述限位槽116内时，限制所述第二片体107向所述镜头座2方向或远离所述镜头座2方向移动。可以理解的是，也可以在所述第二片体107上设置所述限位槽116，在所述第一片体105上凸设所述限位部115。另外，所述限位部115并不限于本实施例中的向所述第一片体方向凸设的方式，在其他实施例中，也可以向所述第二线槽110的方 向凸设。
本实施例，通过所述热管部9和所述散热部10的设置，可以将所述光源32产生的热量依次通过所述热管部9、所述散热部10以及所述壳体1传导至空气中，从而可以为所述电子内窥镜100提供良好的散热效果。可以理解的是，若所述电子内窥镜100在图像获取部12通过导热凸台将所述光源32产生的热量经所述座体21传导至所述电子内窥镜100的远离所述光源组件3的一端时，可以根据具体实际的需要选择是否增设所述热管部9和所述散热部10结构。例如，在单孔手术时，可以选择灵活地可弯曲的不设置热管部9和散热部10结构的电子内窥镜100；在多孔手术时，可以选择不可弯曲或可弯曲但增设热管部9和散热部10结构的电子内窥镜100。若增设所述热管部9和所述散热部10，则可以进一步提高所述电子内窥镜100的散热效果。
以上所述仅为本发明的可选实施例，并非因此限制本发明的专利范围，凡是在本发明的发明构思下，利用本发明说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围内。

Claims (33)

  1. 一种电子内窥镜，其特征在于，所述电子内窥镜包括图像获取部，所述图像获取部包括：
    壳体；
    镜头座，装设于所述壳体内，所述镜头座包括座体，设于所述座体上的两个第一安装孔以及凹设于所述座体上并与所述两个第一安装孔分别连通的第一安装槽和第二安装槽；
    第一镜头和第二镜头，用于分别安装至两个所述第一安装孔内；
    PCB板，装设于所述壳体内；
    第一图像传感器和第二图像传感器，所述两个图像传感器固定于所述PCB板上，所述第一图像传感器、所述第二图像传感器用于分别安装至所述第一安装槽、所述第二安装槽使所述第一镜头和所述第一图像传感器之间的距离与所述第二镜头和所述第二图像传感器之间的距离相等。
  2. 如权利要求1所述的电子内窥镜，其特征在于，所述镜头座还包括凸设于所述座体上的导热凸台，所述座体具有与所述导热凸台连接的第一侧面以及背离所述导热凸台并与所述第一侧面相对设置的第二侧面，所述第一安装孔贯穿所述第一侧面和所述第二侧面。
  3. 如权利要求2所述的电子内窥镜，其特征在于，所述座体自所述第二侧面的边缘向远离所述第一侧面的方向延伸形成第一延伸部，所述PCB板具有与所述第一延伸部适配的抵接面，所述第一延伸部用于与所述抵接面抵触。
  4. 如权利要求1所述的电子内窥镜，其特征在于，所述PCB板为双层PCB结构或T型结构。
  5. 如权利要求1所述的电子内窥镜，其特征在于，所述第一镜 头和/或所述第二镜头包括具有中心轴的镜体以及止挡部，所述止挡部为所述镜体自远离所述镜头座的一端向背离所述中心轴的方向凸设而成，所述止挡部在靠近所述镜头座的一侧具有第一顶抵面，所述第一顶抵面用于在所述镜体穿入所述第一安装孔内并与所述镜头座抵触时对所述镜头进行限位。
  6. 如权利要求5所述的电子内窥镜，其特征在于，所述图像获取部还包括用于扣合至所述镜头座上的镜头罩，所述镜头罩包括罩体，所述罩体具有远离所述镜头座一侧的外侧面以及靠近所述镜头座一侧的内侧面，所述镜头罩上设有与所述第一安装孔位置对应并用于收容所述止挡部的第二安装孔，所述第二安装孔贯穿所述外侧面和内侧面。
  7. 如权利要求6所述的电子内窥镜，其特征在于，所述止挡部在远离所述镜头座的一侧具有第二顶抵面，所述第二安装孔具有一中心，所述外侧面在对应所述第二安装孔的位置向所述中心的方向延伸有限位部，所述止挡部用于安装至所述第二安装孔内，使所述第二顶抵面与所述限位部抵触。
  8. 如权利要求6所述的电子内窥镜，其特征在于，所述座体上凸设有导热凸台以及设于所述导热凸台上的光源，所述镜头罩还包括用于容纳所述光源以及所述导热凸台的收容槽，所述收容槽贯穿所述外侧面和所述内侧面。
  9. 如权利要求8所述的电子内窥镜，其特征在于，所述罩体自所述内侧面的边缘向远离所述外侧面的方向延伸形成扣合部，所述扣合部与所述内侧面围合形成收容空间，所述扣合部用于扣合于所述座体上，以将所述镜头、所述光源以及所述导热凸台收容于所述收容空间内。
  10. 如权利要求1所述的电子内窥镜，其特征在于，所述座体上凸设有导热凸台，所述图像获取部还包括设于所述导热凸台上的光源，所述导热凸台用于传导所述光源产生的热量。
  11. 如权利要求10所述的电子内窥镜，其特征在于，所述导热凸台包括与所述座体连接的基板以及凹设于所述基板上的固定槽，所述固定槽为所述基板自远离所述镜头座方向的一侧向靠近所述镜头座方向凹设而成，所述固定槽用于安装固定所述光源。
  12. 如权利要求10所述的电子内窥镜，其特征在于，所述导热凸台包括与所述座体连接的基板以及固定于所述基板上的铝板，所述铝板用于安装固定所述光源。
  13. 如权利要求1所述的电子内窥镜，其特征在于，所述图像获取部还包括用于与所述镜头座扣合的屏蔽罩，所述屏蔽罩与所述镜头座围合形成容置空间以容纳所述PCB板。
  14. 如权利要求13所述的电子内窥镜，其特征在于，所述座体具有相对设置的第一侧面和第二侧面，所述座体自所述第二侧面的边缘向远离所述第一侧面的方向延伸形成第一延伸部；所述屏蔽罩包括本体、自所述本体的边缘向所述镜头座方向延伸的第二延伸部，所述第一延伸部和所述第二延伸部扣合。
  15. 如权利要求14所述的电子内窥镜，其特征在于，所述屏蔽罩还包括位于所述本体的远离所述镜头座的一端的屏蔽板，所述屏蔽板上设有一供连接线通过的通孔。
  16. 如权利要求15所述的电子内窥镜，其特征在于，所述屏蔽板上还设有细线孔，所述图像获取部还包括信号地线，所述细线孔用于供所述信号地线穿过。
  17. 如权利要求1所述的电子内窥镜，其特征在于，所述图像获取部还包括与所述镜头座连接的屏蔽罩、与所述屏蔽罩连接的第一热管以及与所述第一热管连接的第一散热片；所述屏蔽罩具有第一外侧壁，所述第一外侧壁上凹设有第一容置槽，所述第一容置槽用于容置所述第一热管的第一端；所述第一散热部上凹设有第一容纳槽，所述第一容纳槽用于容置所述第一热管的第二端。
  18. 如权利要求17所述的电子内窥镜，其特征在于，所述图像获取部还包括与所述屏蔽罩连接并与所述第一热管相对设置的第二热管，以及与所述第一散热片相对设置的第二散热片；所述屏蔽罩还具有与所述第一外侧壁相对设置的第二侧壁，所述第二侧壁上凹设有第二容置槽，所述第二容置槽用于容置所述第二热管的第一端；所述第二散热片上凹设有第二容纳槽，所述第二容纳槽用于容置所述第二热管的第二端。
  19. 如权利要求18所述的电子内窥镜，其特征在于，所述第一散热片包括第一片体以及自所述第一片体向所述镜头座方向延伸的第一延伸片，所述第一容纳槽设于所述第一延伸片上；所述第二散热片包括第二片体以及自所述第二片体向所述镜头座方向延伸的第二延伸片，所述第二容纳槽设于所述第二延伸片上。
  20. 如权利要求19所述的电子内窥镜，其特征在于，所述第一片体的内侧凹设有第一线槽，和/或所述第二片体的内侧凹设有第二线槽；所述图像获取部还包括连接至所述PCB板上的连接线，所述第一线槽或第二线槽用于供所述连接线通过。
  21. 如权利要求20所述的电子内窥镜，其特征在于，所述第一片体用于安装至所述第二片体上，使所述第一线槽与所述第二线槽组合而形成过线槽，以供所述连接线通过。
  22. 如权利要求19所述的电子内窥镜，其特征在于，所述第二片体向靠近所述第一片体的方向凸设有限位部，所述第一片体在对应所述限位部的位置设有限位槽，所述限位部用于在安装至所述限位槽内时，限制所述第二片体向所述镜头座方向或远离所述镜头座方向移动。
  23. 如权利要求18所述的电子内窥镜，其特征在于，所述屏蔽罩位于第一热管和所述第二热管之间，所述第一热管和所述第二热管位于所述第一散热片和所述第二散热片之间。
  24. 如权利要求18所述的电子内窥镜，其特征在于，所述第一热管和/或所述第二热管内容置有液体冷媒，或所述第一热管和/或所述第二热管为铜管。
  25. 如权利要求18所述的电子内窥镜，其特征在于，所述第一散热片和/或所述第二散热片与所述壳体紧密连接。
  26. 如权利要求13或17所述的电子内窥镜，其特征在于，所述图像获取部还包括套设于所述镜头座和所述屏蔽罩上的绝缘罩，所述壳体套设于所述绝缘罩上。
  27. 如权利要求26所述的电子内窥镜，其特征在于，所述绝缘罩包括与所述屏蔽罩和所述壳体连接的绝缘腔体、位于所述绝缘腔体远离所述镜头座的一端并封闭所述绝缘腔体的绝缘面以及自所述绝缘面向远离所述镜头座方向延伸的中空管，所述中空管用于供连接至所述PCB板上的连接线通过。
  28. 如权利要求1所述的电子内窥镜，其特征在于，所述图像获取部还包括在所述壳体远离所述镜头座的一端设置的连接部，所述电 子内窥镜还包括驱动机构，以及与所述连接部和所述驱动机构连接的关节组件，所述关节组件用于在所述驱动机构的驱动作用下弯曲而带动所述图像获取部移动；所述电子内窥镜还包括与所述壳体连接并包覆于所述关节组件上的用于导热的外导热柔性管。
  29. 如权利要求28所述的电子内窥镜，其特征在于，所述图像获取部还包括与所述PCB板连接的连接线，所述连接线的第一端位于所述壳体内，所述连接线的第二端位于所述驱动机构内；所述电子内窥镜还包括包覆于所述连接线上的内导热柔性管。
  30. 如权利要求29所述的电子内窥镜，其特征在于，所述驱动机构包括驱动部和驱动丝，所述驱动丝的一端与所述驱动部连接，另一端与所述关节组件连接；所述连接线的第二端位于所述驱动部内，所述连接线的第一端和第二端之间的部分位于所述关节组件内。
  31. 如权利要求30所述的电子内窥镜，其特征在于，所述电子内窥镜还包括一端与所述驱动部连接，另一端与所述关节组件连接的管体部，所述驱动丝和所述连接线分别穿过所述管体部而与所述驱动部连接。
  32. 如权利要求29所述的电子内窥镜，其特征在于，所述外导热柔性管和/或所述内导热柔性管为金属丝编织而成的网状管。
  33. 一种手术机器人，其特征在于，所述手术机器人包括如权利要求1至32中任一项所述的电子内窥镜。
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