CN116919318A

CN116919318A - Endoscope trolley and medical robot

Info

Publication number: CN116919318A
Application number: CN202210369876.8A
Authority: CN
Inventors: 付野; 谢天宇; 刘炳义; 卢海洋; 杨春; 仇宗澍; 张继承
Original assignee: Shanghai Aohua Endoscopy Co ltd; Peking University
Current assignee: Shanghai Aohua Endoscopy Co ltd; Peking University
Priority date: 2022-04-08
Filing date: 2022-04-08
Publication date: 2023-10-24

Abstract

The invention provides an endoscope trolley and a medical robot, wherein the endoscope trolley comprises a trolley main body, a first telescopic arm and a second telescopic arm, the trolley main body comprises a base and a workbench, the workbench is arranged on the base in a lifting manner, the first telescopic arm is rotatably arranged on the workbench, the second telescopic arm is fixedly arranged on the workbench, and the lengths of the first telescopic arm and the second telescopic arm are adjustable; the first telescopic arm is used for installing an endoscope driving device and an endoscope instrument switching device, and the second telescopic arm is used for installing an endoscope conveying device. The endoscope trolley provided by the invention can realize switching conveying of the endoscope instrument and bending rotation and advancing and retreating of the endoscope through the endoscope instrument switching device, the endoscope instrument conveying device, the endoscope driving device and the endoscope conveying device, has rich operation functions, and can effectively reduce the physical consumption of operators.

Description

Endoscope trolley and medical robot

Technical Field

The invention relates to the technical field of endoscope equipment, in particular to an endoscope trolley and a medical robot.

Background

An endoscope is a commonly used medical instrument which can enter the body through the oral cavity or other natural cavity channels and can observe and treat pathological changes of tissues and organs such as the stomach, the esophagus, the duodenum and the like of a human body through operation. Because the endoscope has high operation difficulty, the operation needs to be always performed in a standing way, and a plurality of people are matched, the physical strength and the skill of an operator are very great. In particular, during ERCP operation, the medical care needs to wear lead clothes in more than ten kilograms to work under the radiation, and the health is also threatened greatly. Therefore, there is an urgent need for an endoscope robot that is simple and reliable, can greatly reduce the burden of medical care bodies and reduce the number of medical care teams.

Patent CN112353496a discloses a soft endoscope control robot, it has realized the automatically controlled operation of transportation, bending, rotation of endoscope and the automatically controlled operation of transportation, bending of endoscope apparatus through endoscope main operation robot and instrument operation robot matched mode, has increased the space requirement, still has the problem that can't switch over and operate multiple endoscope apparatus and perform the operation in addition, therefore this endoscope device does not fine reduce doctor's work load in the operation in-process, can increase physical burden because of frequent dismouting apparatus on the contrary.

Disclosure of Invention

The invention provides an endoscope trolley and a medical robot, which are used for solving the defect of heavy physical burden caused by great operation workload of an endoscope in the prior art and improving the accuracy and efficiency of operation.

The invention provides an endoscope trolley, which comprises a trolley main body, a first telescopic arm and a second telescopic arm, wherein the trolley main body comprises a base and a workbench, the workbench is installed on the base in a lifting manner, the first telescopic arm is rotatably installed on the workbench, the second telescopic arm is fixedly installed on the workbench, and the lengths of the first telescopic arm and the second telescopic arm are adjustable; the first telescopic arm is used for installing an endoscope driving device and an endoscope instrument switching device, and the second telescopic arm is used for installing an endoscope conveying device.

The invention also provides a medical robot which comprises an endoscopic instrument switching device, an endoscopic instrument conveying device, an endoscopic driving device, an endoscopic conveying device and the endoscopic trolley, wherein the endoscopic instrument switching device, the endoscopic instrument conveying device and the endoscopic driving device are all arranged on the first telescopic arm, and the endoscopic conveying device is arranged on the second telescopic arm.

The endoscope trolley and the medical robot provided by the invention can realize switching conveying of the endoscope instrument and bending rotation and advancing and retreating of the endoscope through the endoscope instrument switching device, the endoscope instrument conveying device, the endoscope driving device and the endoscope conveying device, have rich operation functions, and can effectively reduce the physical consumption of operators.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

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

FIG. 2 is a schematic view of the internal structure of the endoscope trolley provided by the invention;

FIG. 3 is a schematic view of the mounting structure of the first telescopic boom provided by the present invention;

FIG. 4 is a schematic view of the internal structure of a second telescopic arm according to the present invention;

fig. 5 is a use state diagram of the medical robot provided by the invention;

fig. 6 is a schematic view of a part of the structure of the medical robot provided by the invention;

FIG. 7 is a schematic view of an endoscopic instrument switching device provided by the present invention;

FIG. 8 is a schematic illustration of an endoscopic instrument switching device provided by the present invention;

FIG. 9 is a schematic structural view of an instrument holder unit according to the present invention;

FIG. 10 is a second schematic structural view of the instrument holder unit according to the present invention;

FIG. 11 is a third schematic view of the instrument holder unit according to the present invention;

FIG. 12 is a schematic diagram of a structure of the instrument holder unit provided by the present invention;

FIG. 13 is a fifth schematic structural view of the instrument holder unit provided by the present invention;

FIG. 14 is one of the internal structural schematic views of the instrument clamp unit shown in FIG. 13;

FIG. 15 is a schematic view of a pipe clamping mechanism according to the present invention;

Fig. 16 is a cross-sectional view of the line gripping unit provided by the present invention in a natural state;

fig. 17 is a cross-sectional view of the line gripping unit provided by the present invention in a delivery state;

FIG. 18 is a schematic diagram showing the cooperation of the pipe clamping unit and the moving assembly according to the present invention;

FIG. 19 is a second schematic view of the fitting of the pipe clamping unit and the moving assembly according to the present invention;

FIG. 20 is a schematic diagram showing the internal structure of a pipe clamping unit according to the present invention;

FIG. 21 is a schematic illustration of the fit of the instrument clamp mechanism, instrument switch mechanism and pipeline clamp mechanism provided by the present invention;

FIG. 22 is a second schematic illustration of the engagement of the instrument clamp mechanism, instrument switch mechanism and tubing clamp mechanism provided by the present invention;

FIG. 23 is a schematic view of a quick-connect assembly according to the present invention;

FIG. 24 is an exploded view of an endoscopic instrument delivery device provided by the present invention;

FIG. 25 is a schematic view of an endoscopic instrument delivery device provided in the present invention with a cover removed;

FIG. 26 is a schematic illustration of the engagement of the roller assembly with an endoscopic instrument provided by the present invention;

FIG. 27 is a schematic view of a clutch assembly provided by the present invention;

FIG. 28 is a schematic diagram showing the cooperation of the displacement compensation unit and the driven shaft;

Fig. 29 is a schematic view of the cooperation of the driving component and the driving wheel provided by the invention;

FIG. 30 is an installation side view of a detection assembly provided by the present invention;

FIG. 31 is a schematic perspective view of the installation of the detection assembly provided by the present invention;

FIG. 32 is a schematic diagram of the engagement of the locking assembly with the transfer mechanism provided by the present invention;

FIG. 33 is a perspective view of an endoscope driving device provided by the present invention;

FIG. 34 is an internal block diagram of an endoscope driving device provided by the present invention;

FIG. 35 is a schematic view of the internal structure of the rotary cabin provided by the present invention;

FIG. 36 is a schematic view illustrating the cooperation between the rotary driving mechanism and the support base according to the present invention;

FIG. 37 is a schematic view showing a part of the structure of an endoscope driving device provided by the present invention;

FIG. 38 is a schematic view of the rotation of a rolling element provided by the present invention;

FIG. 39 is a schematic diagram of a clutch mechanism according to the present invention;

FIG. 40 is a second schematic structural view of the clutch mechanism according to the present invention;

FIG. 41 is a schematic view of a bend driving mechanism provided by the present invention;

FIG. 42 is a side view of an endoscope driving device provided by the present invention;

FIG. 43 is a perspective view of an endoscopic delivery device provided by the present invention;

FIG. 44 is a schematic view of a driving mechanism and a supporting seat according to the present invention;

FIG. 45 is a cross-sectional view of a mating structure of a driving mechanism and a support base provided by the present invention;

FIG. 46 is a schematic view of the internal structure of an endoscopic delivery device provided by the present invention;

FIG. 47 is a partial cross-sectional view of a conveyor drive assembly provided by the present invention;

FIG. 48 is a schematic view of the internal structure of the conveying mechanism provided by the present invention;

FIG. 49 is a side view of the transport mechanism shown in FIG. 48;

FIG. 50 is a second schematic view of the internal structure of the conveyor mechanism shown in FIG. 48;

FIG. 51 is a schematic view of a first transmission unit according to the present invention;

FIG. 52 is a schematic view of a support base according to the present invention;

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The structural schematic diagram of the endoscope carriage of the present invention is described below with reference to fig. 1 to 6.

As shown in fig. 1 and 2, an endoscope trolley includes a trolley body 6100, a first telescopic arm 6200, and a second telescopic arm 6300. The carriage body 6100 includes a base 6110 and a table 6120. The base 6110 is used to provide support for the entire endoscope trolley. The table 6120 is installed to the base 6110 in a liftable manner. The first telescopic arm 6200 is rotatably mounted on the table 6120, and the second telescopic arm 6300 is fixedly mounted on the table 6120. Wherein, the length of the first telescopic arm 6200 and the second telescopic arm 6300 can be adjusted. The first telescopic arm 6200 is used for mounting the endoscope driving device 3000 and the endoscopic instrument switching device 1000, and the second telescopic arm is used for mounting the endoscope conveying device 5000.

Specifically, the endoscope driving device 3000 is mounted on the mounting base of the first telescopic arm 6200 by a fastening structure, and the endoscopic instrument switching device 1000 can be rapidly clamped on the clamping socket 6230 of the first telescopic arm 6200. The endoscope conveying device 5000 is mounted on the mounting base of the second projecting arm by a fastening structure.

A main control board is arranged in the trolley main body 6100, the main control board is a circuit board or a control box, a control panel 6121 is arranged on the workbench 6120, and the control panel 6121 is in communication connection with the main control board. The manipulation panel 6121 can control the expansion and contraction of the first expansion arm 6200 and the second expansion arm 6300, control the rotation of the first expansion arm 6200 with respect to the carriage main body 6100, and control the height adjustment of the carriage main body 6100. As shown in fig. 1, the top of the workbench 6120 is provided with an inclined plane, and the inclined direction of the inclined plane is perpendicular to the sight line direction of the operator for head-down operation, so that the operator can conveniently check the control panel 6121 to perform various adjustments on the endoscope trolley. One side of the control panel 6121 is provided with a scram switch 6122, and the scram switch 6122 realizes emergency braking when triggered.

The table 6120 is also provided with a trolley handle 6123, as shown in fig. 1, the trolley handle 6123 extending in the width direction of the table 6120 for providing a holding position for the operator to move the endoscope trolley.

As shown in fig. 2, a support portion 6111, a carriage rail 6112, a lift drive 6113, and a carriage slider 6114 are provided inside the base 6110. The carriage rail 6112 is fixed to the support portion 6111 and extends in the vertical direction. The trolley slide block 6114 is slidably arranged on the trolley guide rail 6112, the lifting drive 6113 is arranged on the supporting part 6111, and the driving end of the lifting drive 6113 is connected with the trolley slide block 6114. The lifting drive 6113 is a linear drive mechanism such as an electric push rod and a linear cylinder, and optionally, the lifting drive 6113 comprises a rotary drive 6211 and a screw nut or comprises the rotary drive 6211 and a gear rack, and under the action of the rotary drive 6211, the screw nut or the gear rack and other transmission mechanisms convert rotary motion into linear motion. The workbench 6120 is fixedly arranged on the trolley slider 6114, and under the action of the lifting drive 6113, the trolley slider 6114 moves along the trolley guide rail 6112 and drives the workbench 6120 to lift, so that the heights of the first telescopic arm 6200 and the second telescopic arm 6300 are adjusted to be matched with the operation part of a patient.

Specifically, the workbench 6120 includes a structural frame and an adapter frame 6116, the structural frame is a shell structure sleeved outside the base 6110 and can slide relative to the base 6110, and the adapter frame 6116 is arranged inside the structural frame. The trolley guide rails 6112 are provided with a plurality of trolley guide rails in parallel, and each trolley guide rail 6112 is provided with a trolley slide block 6114 in a sliding way. The driving end of the lifting drive 6113 is fixedly connected with the middle part of the transfer frame 6116, the two sides of the transfer frame 6116 are connected with the structural frame, and the trolley slider 6114 and the transfer frame are fixedly arranged on the structural frame. Under the action of the lifting drive 6113, the transfer frame 6116 drives the structural frame to slide up and down along the trolley guide rail 6112.

The structural frame is sleeved outside the base 6110, so that the internal structure is prevented from being exposed during lifting adjustment. The bottom of the base 6110 is provided with casters 6117. Optionally, the truckle 6117 is lockable universal wheel, can also realize locking after moving in place when conveniently removing to stabilize the endoscope platform truck in the target position, avoid the operation in-process endoscope platform truck to remove and influence medical personnel's operation.

The base 6110 is a square column-shaped housing, and of course, the base 6110 may be a cylindrical housing.

As shown in fig. 3, a support cylinder 6210 is provided on the top of the table 6120, and the first telescopic arm 6200 is fixedly mounted to the support cylinder 6210. A rotary drive 6211 is disposed within the support cylinder 6210, the rotary drive 6211 being in driving communication with the support cylinder 6210. Driven by the rotary drive 6211, the support cylinder 6210 rotates relative to the table 6120, thereby rotating the first telescoping arm 6200.

In a specific embodiment, the driving end of the rotary driving 6211 is provided with a transmission gear 6212, the workbench 6120 is internally provided with a first bearing 6213 and an internal gear 6214, the first bearing 6213 and the internal gear 6214 are respectively and fixedly arranged on a structural frame of the workbench 6120, the transmission gear 6212 is meshed with the internal gear 6214, and the supporting cylinder 6210 is fixed with the inner ring end face of the first bearing 6213.

As shown in fig. 2 and 3, the support cylinder 6210 is provided on top of the structural frame to move synchronously with the structural frame. Under the action of the rotary drive 6211, the transmission gear 6212 rotates and simultaneously moves circumferentially in the inner gear 6214, thereby driving the support cylinder 6210 to rotate, so that the rotary drive 6211 drives the first telescopic arm 6200 to rotate around the axis of the first bearing 6213 as the center. This embodiment allows for smoother rotation of the support cylinder 6210 by providing a first bearing 6213.

As shown in fig. 3, the endoscope carriage further includes a rotation detection unit 6215, and the rotation detection unit 6215 includes a magnet and a magnetic sensor. The magnet is mounted on the axis of the lower end surface of the transmission gear 6212, the magnetic sensor is fixedly mounted on the support cylinder 6210 through a bracket, and the change of the magnetic field of the magnet is detected through the magnetic sensor. The rotation detection component 6215 is in communication connection with the main control board, and determines the rotation angle of the support cylinder 6210 by calculating the main control board, thereby determining the rotation angle of the first telescopic arm 6200. It should be noted that, the rotation detecting component 6215 may also use a sensor such as a gyroscope, as long as the detected value can finally determine the rotation angle of the first telescopic arm 6200, which is not limited in particular.

As shown in fig. 4, the first telescoping arm 6200 includes a first stationary arm, a first telescoping drive, and a first movable arm. The first fixed arm and the first telescoping drive are both mounted to the support cylinder 6210. The first movable arm is inserted in the first fixed arm and is connected with the driving end of the first telescopic driving device.

Specifically, the first fixed arm is of a hollow structure, and the driving shaft of the first telescopic drive is located inside the first fixed arm. The first telescopic drive is an electric push rod or other linear motion mechanism. The first fixing arm may be square or round. A first roller is disposed between the first movable arm and the first stationary arm. Specifically, the outer wall of the first movable arm is abutted against the first roller, and the first roller is rotatably embedded in the first fixed arm.

As shown in fig. 4, the first rollers are arranged in a row along the telescopic direction of the first movable arm and two rows are provided, and the two rows of the first rollers are oppositely provided on opposite sides of the first movable arm. When the driving end of the first telescopic driving drives the first movable arm to move, the first roller rotates along with the first movable arm to realize stable movement of the first movable arm, and in addition, support can be provided for cooperation of the first movable arm and the first fixed arm, so that the structural strength is improved.

Optionally, the first fixed arm is a square column, and a square hole is formed in the first fixed arm, and the first movable arm is a square column.

As shown in FIG. 2, the first telescoping arm 6200 is provided with a clamping socket 6230 and the endoscopic instrument switching device 1000 is quickly clamped to the clamping socket 6230 by a quick connect assembly. Optionally, a clamping socket 6230 is provided at the end of the first telescoping arm 6200.

In an alternative embodiment, as shown in fig. 4, the second telescoping arm 6300 includes a second stationary arm 6221, a second telescoping drive 6222, and a second movable arm 6223.

Optionally, a second roller 6224 is provided between the second movable arm 6223 and the second fixed arm 6221. The structure of the second telescopic arm 6300 provided in this embodiment is the same as that of the first telescopic arm 6200, and will not be described again. The only difference is that the second fixed arm 6221 and the second telescoping drive 6222 are both fixedly mounted to the structural frame of the table 6120. Specifically, the second fixed arm 6221 is fixedly mounted to the outer side wall of the structural frame. The second telescoping drive 6222 is fixedly mounted within the structural frame with the drive shaft of the second telescoping drive 6222 being located within the second stationary arm 6221. In yet another embodiment, the second telescopic arm 6300 adopts other telescopic arm structures, which are not particularly limited in this embodiment of the present invention.

When in use, the endoscope conveying device 5000 is arranged on the second telescopic arm 6300 through a fastener, and the relative position of the endoscope conveying device 5000 and a patient is adjusted through telescopic driving, so that the operation of subsequent operations is convenient.

The present invention also provides a medical robot including the above-described endoscope carriage, endoscopic instrument switching device 1000, endoscopic instrument transport device 2000, endoscope driving device 3000, and endoscope transport device 5000, as shown in fig. 5 and 6. The endoscopic instrument switching device, the endoscopic instrument transport device 2000, and the endoscope driving device 3000 are each attached to a first telescopic arm 6200, and the endoscopic transport device 5000 is attached to a second telescopic arm 6300.

Specifically, the endoscope driving device 3000 is detachably attached to the first telescopic arm 6200 by a fastener. The endoscope delivery device 5000 is detachably mounted to the second telescopic arm 6300 by another fastener. Endoscopic instrument switching device 1000 is removably mounted to clamping socket 6230 via quick connect assembly 1222.

Further, the instrument support 1210 is detachably mounted to the clamping socket 6230 via the quick-connect assembly 1222, i.e. the endoscopic instrument switch device is mounted laterally of the first telescoping arm 6200. The second housing 2250 is removably mounted to the endoscope drive device 3000 by fasteners and the abutment 2112 abuts the jaws of an endoscope placed in the recess 3310. The support pedestal 3100 is mounted on the table top of the first fixed arm of the first telescoping arm 6200. The first support 5300 is mounted on the second telescopic arm 6300.

The medical robot provided by the invention switches the endoscope apparatus 100 by the endoscope apparatus switching device 1000, and conveys or retreats the endoscope apparatus switched by the endoscope apparatus switching device 1000 forwards or backwards by the endoscope apparatus conveying device 2000, so as to enter an endoscope forceps channel placed in the endoscope driving device 3000, realize rotation and bending operation of the endoscope under the action of the endoscope driving device 3000, and realize advancing or retreating of the endoscope under the action of the endoscope conveying device 5000.

On the basis of the above embodiment, in order to simplify the wiring and avoid the winding of the wire, the medical robot further includes a photoelectric connection device 7000, where the photoelectric connection device 7000 includes a combined end connector, a control end inner connector, and an image end connector.

Specifically, the combined end connector of the photoelectric connection device 7000 is in butt joint with the socket on the endoscope driving device 3000, the control end connector of the photoelectric connection device 7000 is in butt joint with the I/O interface on the carriage main body 6100, and the image end connector of the photoelectric connection device 7000 is in butt joint with the connection port on the peripheral image processing device 9020.

As shown in fig. 5, in order to facilitate viewing of various collected data of the medical robot, the medical robot further includes a display screen 9010, and the detected data of each detection element, the control parameters and the image shot by the endoscope may be displayed on the display screen 9010.

In use, as shown in FIG. 5, the endoscopic instrument 100 is mounted on an endoscopic instrument switching device 1000, and optionally, the endoscopic instrument includes a blade 110, the blade 110 being coupled to a high frequency blade controller 9030. The endoscope 200 is inserted into the recess 3310 of the endoscope drive device 3000. The operating part of the endoscope is provided with an accessory device interface assembly and an optoelectronic communication assembly. The exposed end face of the accessory equipment interface component is provided with a clamp channel interface and an external water-air suction interface, and the operating part is internally provided with a clamp channel and a water-air suction pipe which are in butt joint with the structure. The number of the clamp channel interfaces and the water-air suction interfaces can be one or more, and the clamp channel interfaces and the water-air suction interfaces are set according to specific needs. The photoelectric communication unit is located at a side of the endoscope, and specifically, as shown in fig. 5, the endoscope is respectively communicated with the fluid control device 9040, the suction device 9042 and the water bag 9043 through the gas-liquid conveying device 9041.

As shown in fig. 5, the medical robot further includes a manipulation platform 8000, and the manipulation platform 8000 is used to implement remote control operations of various actions of the endoscopic instrument and the endoscope.

Wherein, the manipulation platform 8000 may be integrated with the dolly body 6100. Preferably, the console 8000 is an operator independent from the carriage body 6100, and as shown in fig. 5, an operation handle and operation keys are provided on the console 8000. Specifically, the manipulation platform 8000 includes an endoscope control unit, an instrument control unit, and a gas-liquid control unit. The endoscope control unit is used to control the endoscope conveyance device 5000 to convey the endoscope insertion portion, and to control the endoscope driving device 3000 to perform operations such as bending and rotation of the endoscope. The instrument control unit is used for controlling the endoscopic instrument switching device 1000 to switch, rotate, open and close the endoscopic instrument and controlling the endoscopic instrument conveying device 2000 to advance and retreat the endoscopic instrument. The gas-liquid control unit is used for controlling the peripheral fluid conveying control device to realize actions such as air supply, water supply, suction, water supply and the like.

An endoscopic instrument switching device 1000 of the present invention is described below in connection with fig. 7-23.

As shown in fig. 7 and 8, the endoscopic instrument switching device 1000 includes an instrument clamping mechanism 1100, an instrument switching mechanism 1200, and a line clamping mechanism 1300. Wherein the instrument clamping mechanism 1100 is used to clamp an operating portion of an endoscopic instrument and the tube clamping mechanism 1300 is used to clamp an insertion portion of an endoscopic instrument. The instrument switching mechanism 1200 is used to interface the insertion portion of a target endoscopic instrument with the endoscopic instrument delivery device 2000. The endoscopic instrument transport device 2000 is used to transport an insertion portion of an articulated endoscopic instrument to effect advancement or retraction of the endoscopic instrument.

As shown in fig. 7, the instrument clamping mechanism 1100 includes a mounting table 1101 and a plurality of instrument clamping units 1102 mounted on the mounting table 1101. The instrument switching mechanism 1200 includes an instrument support 1210 and a movement assembly 1240. As shown in fig. 15, the line clamping mechanism 1300 includes a mounting rod 1310 and a plurality of line clamping units 1330 disposed on the mounting rod 1310. It should be noted that the number of the tube clamping units 1330 is identical to the number of the instrument clamping units 1102. Each of the line clamping units 1330 corresponds to a transport line for clamping one of the endoscopic instruments. Alternatively, the number of the tube clamping units 1330 is smaller than the number of the instrument clamping units 1102, and only the insertion portion of the endoscopic instrument related to the current operation is clamped to the tube clamping units 1330 during assembly, and the extra instrument clamping units 1102 are used for filling water into the side endoscopic instrument or as spare instrument clamping units. The mounting table 1101 is connected to the instrument holder 1210, and the mounting bar 1310 is mounted to the instrument holder 1210 by a movement assembly 1240. The endoscopic instrument delivery device 2000 is provided with a guide tube for interfacing with the tube gripping unit 1330.

In use, the endoscopic instrument switching device 1000 and the endoscopic instrument transport device 2000 are fixed to the trolley arms of the trolley, respectively, and the overall positions of the instrument support base 1210 and the endoscopic instrument transport device 2000 are relatively fixed. The pipeline clamping mechanism 1300 is adjusted by the endoscope switching mechanism or the instrument clamping mechanism 1100 and the pipeline clamping mechanism 1300 are simultaneously adjusted, so that the pipeline clamping unit 1330 corresponding to the target instrument is in butt joint with the endoscope instrument conveying device 2000.

In an alternative embodiment, the mounting table 1101 is directly secured to the instrument support 1210, and only the mounting bar 1310 is movably mounted to the instrument support 1210 by the movement assembly 1240 such that the tube gripping unit 1330 can be moved toward or away from the endoscopic instrument delivery device 2000 by the movement assembly 1240 and the tube gripping unit 1330 aligned with the endoscopic instrument delivery device 2000 can also be laterally adjusted to switch the endoscopic instrument docked with the endoscopic instrument delivery device 2000. In yet another alternative embodiment, both mounting table 1101 and mounting bar 1310 are mounted to a displacement assembly 1240, displacement assembly 1240 is mounted to instrument support base 1210, and instrument clamping unit 1102 and tube clamping unit 1330 are simultaneously moved by displacement assembly 1240, as well as switching the endoscopic instrument interfacing with endoscopic instrument delivery device 2000.

It should be noted that, in one embodiment, the moving assembly 1240 includes at least two degrees of freedom of movement. For example, the movement assembly 1240 may achieve movement in two perpendicular directions. In yet another embodiment, the displacement assembly 1240 may have only one degree of freedom of movement in which switching of the endoscopic instrument is accomplished in conjunction with the endoscopic instrument delivery device 2000 being movable in another direction.

The endoscopic instrument switching device 1000 provided by the embodiment of the invention is provided with a plurality of instrument clamping units 1102 and a plurality of pipeline clamping units 1330 so as to clamp different types of endoscopic instruments, and the endoscopic instruments are switched by virtue of the moving assembly 1240, so that a target instrument enters the endoscopic instrument conveying device 2000, the whole switching process does not need manual operation, and the workload of doctors is reduced.

Specifically, as shown in fig. 9 to 14, each instrument clamping unit 1102 includes an instrument clamping seat, an instrument handle fixing clamping assembly and an instrument handle moving clamping assembly, wherein the instrument handle fixing clamping assembly is fixed on the instrument clamping seat, and the instrument handle moving clamping assembly is movably mounted on the instrument clamping seat. The instrument holder is detachably mounted to the mounting table 1101. The common endoscopic instruments such as the injection needle 120, the injector 130, the scalpel, the forceps and the like are all in a handle push-pull structure, so that the part of the handle of the endoscopic instrument is fixed by the fixed clamping component of the handle of the instrument, and the other part of the endoscopic instrument moves along with the moving clamping component of the handle of the instrument, so that the push-pull action of a human hand can be simulated. The instrument clamping mechanism 1100 operates various endoscopic instruments in place of a human hand by means of the cooperation of the instrument handle fixed clamping assembly and the instrument handle movable clamping assembly.

Different endoscopic instruments employ an instrument clamping unit 1102 adapted thereto. Each instrument holder unit 1102 is removably mounted to the mounting table 1101 so that the instrument holder units 1102 can be replaced according to the endoscopic instrument required for the procedure. Specifically, instrument clamp unit 1102 includes one or more of first instrument clamp unit 1110, second instrument clamp unit 1120, and third instrument clamp unit 1130. The first instrument clamping unit 1110 is used for mounting a push-pull operated endoscopic instrument, and the second instrument clamping unit 1120 is used for clamping a push-pull and rotation operated endoscopic instrument. The third instrument clamping unit 1130 has a flexible mechanism to eliminate backlash generated during the movement of the instrument handle for clamping an endoscopic instrument that would otherwise generate backlash.

The first instrument clamping unit 1110 is used to clamp an electric knife 110 or an endoscopic instrument similar to the electric knife 110. Specifically, as shown in fig. 9 to 11, the first instrument clamp unit 1110 includes a first instrument clamp seat 1111, a first instrument handle fixed clamp assembly 1112, and a first instrument handle movable clamp assembly 1113. The first instrument holder 1111 is mounted to the mounting table by screws or other structural members. The first instrument handle fixed grip assembly 1112 is a limit structure that defines the degrees of freedom of movement of the endoscopic instrument.

In one embodiment, as shown in fig. 9, the first instrument handle securing grip assembly 1112 is a stud protruding from the first instrument mount, and the securing portion of the blade 110 is sleeved over the stud to limit movement thereof. In another embodiment, as shown in fig. 10, the first device handle fixing and clamping assembly 1112 is a limiting groove, and a tubular structure such as the injection needle 120 is inserted into the limiting groove to fix. In yet another embodiment, as shown in fig. 11, the endoscopic instrument is a syringe 130, the first instrument handle fixing and clamping assembly 1112 is two clamping arms protruding from the first instrument mounting seat, a clamping groove is disposed between each clamping arm, and a supporting lug is protruding from the end of the barrel of the syringe 130 and is clamped in the clamping groove for limiting.

The first instrument handle movement clamping assembly 1113 includes a first slide slidably mounted in the first instrument holder 1111 and a first slide drive mounted in the first instrument holder 1111 and coupled to the first slide. Optionally, the first sliding drive is an electric push rod or a linear motion mechanism such as a gear rack or a screw nut connected with the rotation drive. In a specific embodiment, as shown in fig. 9, two limiting blocks are convexly arranged on the first sliding seat as limiting mechanisms, and the moving part of the electric knife 110 is sleeved on the limiting blocks. In another embodiment, as shown in fig. 10, a limit groove is provided on the first carriage as a limit structure for an endoscopic instrument such as an injection needle 120. In yet another embodiment, as shown in fig. 11, a T-shaped slot is provided on the first carriage, and an end cap is provided at the end of the piston rod of an endoscopic instrument, such as syringe 130, and the end cap and a portion of the rod are inserted into the T-shaped slot, such that the piston rod moves along the barrel when the first carriage is moved to simulate the injection action of syringe 130. Under the action of the first sliding drive, the first sliding seat moves back and forth along the first instrument clamping seat 1111, so that the handle moving part of the endoscope instrument is driven to move forward and backward, and the push-pull operation of the human hand is simulated.

It should be noted that, according to different endoscopic apparatuses, the first sliding seat is disposed on the front side or the rear side of the first apparatus handle fixing and clamping assembly 1112, and the number of the limiting structures disposed on the first sliding seat may be one or more. As shown in FIG. 9, two limiting blocks are arranged on the first sliding seat, and the distance between the two limiting blocks is determined according to the specification of the endoscopic instrument.

The second instrument clamping unit 1120 is used for clamping an endoscopic instrument that needs to be rotated. As shown in fig. 12, the second instrument clamp unit 1120 includes a rotating assembly 1121, a second instrument clamp mount 1122, a second instrument handle fixed clamp assembly 1123, and a second instrument handle movable clamp assembly 1124. The rotating assembly 1121 is mounted on the mounting table 1101, an output end of the rotating assembly 1121 is connected to the second instrument holder 1122, the second instrument handle fixed clamping assembly 1123 is fixed to the second instrument holder 1122, and the second instrument handle movable clamping assembly 1124 is movably mounted on the second instrument holder 1122.

The rotating assembly 1121 comprises a rotating drive and a rotating seat, the rotating seat is mounted on the mounting table through a screw or a quick-mounting mechanism, the rotating drive is mounted on the rotating seat, and the driving end of the rotating drive is in transmission connection with the second instrument clamping seat 1122. Alternatively, the rotational drive is a rotary motor or other mechanical structure capable of effecting rotation. The specific structure and mating relationship of the second instrument holder 1122, the second instrument handle fixed clamping assembly 1123, and the second instrument handle movable clamping assembly 1124 are similar to those of the first instrument holder 1111, the first instrument handle fixed clamping assembly 1112, and the first instrument handle movable clamping assembly 1113, and will not be described again. Under the action of the rotation driving, the second instrument clamping seat 1122 rotates along with the rotation driving the second instrument handle fixing and clamping assembly 1123 and the second instrument handle moving and clamping assembly 1124 which are installed on the second instrument clamping seat 1122 to rotate, so that the endoscopic instrument is driven to rotate, and the rotation operation of the endoscopic instrument by a human hand is simulated.

As shown in fig. 13 and 14, the third instrument clamp unit 1130 includes a backlash compensation assembly 1150, a third instrument holder 1131, a third instrument handle fixed clamping assembly 1132, and a third instrument handle movable clamping assembly 1133. The third instrument holder 1131 is detachably mounted to the mounting table. The third apparatus handle fixing clamping assembly 1132 is fixed on the third apparatus clamping seat 1131, and the third apparatus handle moving clamping assembly 1133 is movably installed on the third apparatus clamping seat 1131 through the idle stroke compensation assembly 1150.

Wherein the third instrument handle fixed clamp assembly 1132 is similar to the first instrument handle fixed clamp assembly 1112. In one embodiment, as shown in fig. 14, the third instrument handle fixing clamping assembly 1132 is a stopper protruding from the third instrument holder 1131. The lost motion compensation assembly 1150 includes a compensation housing 1151 and a first spring 1152, and the third instrument handle movement clamping assembly 1133 includes a third slide 1134 and a third slide drive 1135. One end of the first elastic member 1152 is fixedly connected to the compensation frame 1151, and the other end is fixedly connected to the third slider 1134. The third slider 1134 and the compensating frame 1151 are slidably mounted on the third instrument holder 1131, and form a receiving cavity, where the first elastic member 1152 is received. The drive shaft of the third sliding drive 1135 is coupled to the compensation frame 1151.

The compensating frame 1151 moves left and right by the third sliding drive 1135, and the third slider 1134 moves synchronously with the compensating frame 1151 by the first elastic member 1152. If the backlash occurs, the first elastic member 1152 drives the third slider 1134 to move slightly to compensate the backlash. For example, the distal end of the endoscopic instrument extends out of the endoscopic channel, and in use, the distal end is retracted due to bending of the endoscope, and the third slider 1134 is moved to the left or right by the first elastic member 1152 to extend the distal end out of the endoscopic channel again. Thus, the first elastic member 1152 simulates a human hand, ensuring that forces are always exerted on the endoscopic instrument during operation to compensate for lost motion in real time.

Optionally, the first elastic member 1152 is a spring. As shown in fig. 14, the compensating frame 1151 is slidably mounted on the third apparatus holder 1131, two sides of the third apparatus holder are respectively provided with a mounting groove, and the third sliding seat 1134 is sleeved outside the compensating frame 1151 and forms a receiving cavity with the mounting groove. The third slider 1134 is balanced in force by the left and right first elastic members 1152, and moves more smoothly.

As shown in fig. 15 to 16, the line clamping unit 1330 includes a housing 1331, a collet 1333, and a resilient return 1336. The clamping head 1333 is movably inserted into the shell 1331, and the elastic reset piece 1336 is sleeved on the clamping head 1333. Elastic restoring piece 1336 has one end connected to chuck 1333 and the other end connected to housing 1331. Collet 1333 is provided with a central throughbore 1334, with central throughbore 1334 for passage of an instrument tube. One end of collet 1333 is provided with a docking head that facilitates mating with a docking head of endoscopic instrument delivery device 2000. The other end of the clamping head 1333 is provided with a clamping jaw 1335, and one end of the shell 1331 corresponding to the clamping jaw 1335 is provided with a conical opening with the caliber gradually shrinking into the shell 1331. In a natural state, the clamping jaw 1335 is clamped at the conical opening; in the delivery state, the abutment abuts against the abutment of the endoscopic instrument delivery device, and the pawl 1335 moves to the large mouth end of the tapered mouth.

As shown in fig. 16 and 17, a sliding boss is provided in the middle of the collet 1333, the inner wall of the outer end surface housing 1331 of the sliding boss abuts against the inner wall of the housing 1331, a first mounting cavity 1337 is formed between the side surface of the sliding boss and the inner wall of the housing 1331, and an elastic restoring member 1336 is sleeved on the collet 1333 and accommodated in the first mounting cavity 1337. Optionally, the resilient return 1336 is a spring. The middle part of the outer wall of the shell 1331 is provided with a spherical protrusion 1332, the spherical protrusion 1332 is clamped in the second clamping groove, and universal follow-up can be realized within a certain range, so that the influence of the fit deviation is eliminated. The pawl 1335 has a wedge-shaped tail that moves with the collet 1333 within the tapered mouth. The end of the grip 1333 provided with the butt joint is spherical.

As shown in fig. 16, when the pipe clamping unit 1330 is in a natural state, the clamping head 1333 reaches the right dead point under the elastic force of the elastic restoring piece 1336, and at this time, the wedge-shaped tail fin of the clamping jaw 1335 is pressed down by the conical opening on the housing 1331 to be folded toward the axis, so that the instrument pipe in the central through hole 1334 is subjected to a larger clamping force and cannot generate axial displacement. As shown in fig. 17, when the tool line is in the delivery state, after the abutment of the collet 1333 is abutted with the endoscopic tool delivery device 2000, the collet 1333 is moved leftward by the pushing force, and the elastic restoring member 1336 is compressed by the force, the wedge-shaped tail fin of the jaw 1335 is separated from the tapered opening of the housing 1331, and at this time, the pressure of the jaw 1335 to the tool line in the center through hole 1334 is small, so that the tool line can move in the axial direction thereof in the center through hole 1334 and does not naturally slide.

The pipe clamping unit 1330 further includes an auxiliary elastic ring 1338, where the auxiliary elastic ring 1338 is sleeved on the periphery of the claw 1335.

The clamping jaw 1335 has certain flexibility, and as shown in fig. 16 and 17, an auxiliary elastic ring 1338 is sleeved on the periphery of the clamping jaw 1335, so that the clamping jaw 1335 can be folded towards the axis direction to clamp the instrument pipeline. By providing the auxiliary spring 1338, the endoscopic instrument is prevented from sliding when the line clamping unit 1330 is in a delivery state and the endoscopic instrument line is not subjected to other clamping forces.

As shown in fig. 16, when the pipe clamping unit 1330 is in a natural state, the clamping head 1333 reaches the right dead center under the elastic force of the elastic restoring piece 1336, and at this time, the wedge-shaped tail fin of the clamping jaw 1335 is pressed by the conical opening on the housing 1331 and is folded toward the axis under the pressing of the auxiliary elastic ring 1338, so that the instrument pipe in the central through hole 1334 is subjected to a larger clamping force and cannot generate axial displacement. As shown in fig. 17, when the tool line is in a delivery state, after the abutment of the collet 1333 is abutted with the endoscopic tool delivery device 2000, the collet 1333 is moved leftward by a pushing force, and the elastic restoring member 1336 is compressed by a force, the wedge-shaped tail fin of the jaw 1335 is separated from the tapered opening of the housing 1331, and at this time, the jaw 1335 is influenced only by the contraction force of the auxiliary elastic ring 1338, the tool line located in the central through hole 1334 is subjected to a small pressure, so that the tool line can move in the axial direction thereof in the central through hole 1334 and does not naturally slide down.

As shown in fig. 15, the pipe clamping mechanism further includes a clamping unit mounting frame 1320, and the pipe clamping unit 1330 is detachably mounted to the mounting rod 1310 through the clamping unit mounting frame 1320.

Specifically, the clamping unit mounting frame 1320 is provided with a first clamping groove for clamping on the mounting rod 1310 and a second clamping groove for clamping the pipeline clamping unit 1330. The line clamping unit 1330 may be removably mounted on the mounting bar 1310 by means of the first and second clamping grooves for replacement or sterilization. Of course, the tube gripping unit 1330 may be disposable and discarded as medical waste after use. In one embodiment, the clamping unit mounting frame 1320 is integrally formed with the mounting rod 1310, and the second clamping groove is directly formed on the mounting rod 1310, and the pipe clamping unit 1330 is clamped on the mounting rod 1310 through the second clamping groove. Specifically, the second slot is a spherical slot, and the spherical protrusion 1332 on the housing 1331 is received in the spherical slot. Optionally, the clamping unit mounting frame 1320 is fixedly mounted to the mounting rod 1310 by screws, and the pipeline clamping unit is detachably mounted to the clamping unit mounting frame 1320.

In another embodiment, as shown in fig. 18 to 20, the line clamping unit 1330 includes a housing 1331, a fixed shaft roller 1341, a movable shaft roller 1345, a slider 1346, and an elastic adjuster 1349. Fixed shaft roller 1341 is rotatably mounted within housing 1331. The movable shaft roller 1345 is rotatably mounted on a slider 1346, and the slider 1346 is slidably mounted on the housing 1331. One end of the elastic regulating member 1349 abuts against the slider 1346, and the other end abuts against the housing 1331.

The fixed shaft roller 1341 includes a fixed shaft 1342 and a first roller 1343 sleeved on the fixed shaft 1342. In one embodiment, the fixed shaft 1342 is fixed in the housing 1331, and the first roller 1343 is rotatably sleeved on the fixed shaft 1342. In yet another embodiment, the fixed shaft 1342 is rotatably mounted in the housing 1331, and the first roller 1343 is fixedly sleeved on the fixed shaft 1342. The movable shaft roller 1345 includes a movable shaft 1347 and a second roller 1348 sleeved on the movable shaft 1347. In one embodiment, the moving shaft 1347 is rotatably mounted on the slider 1346, and the second roller 1348 is fixedly sleeved on the moving shaft 1347. In another embodiment, the moving shaft 1347 is inserted and fixed on the sliding block 1346, and the second roller 1348 is rotatably sleeved on the moving shaft 1347. The first roller 1343 and the second roller 1348 are respectively provided with grooves adapted to the peripheral dimension of the endoscopic instrument, and the grooves are butted to form a channel for accommodating the endoscopic instrument after the first roller 1343 and the second roller 1348 are matched. The elastic regulating member 1349 is a spring or an elastic rubber pad, etc. One end of the elastic regulating member 1349 is connected to the inner wall of the housing 1331, and the other end of the elastic regulating member 1349 is connected to the slider 1346, thereby dynamically adjusting the interval between the second roller 1348 and the first roller 1343 to clamp the endoscopic instrument line.

To detect the moving length of the instrument line, a detecting member 1350 for detecting the number of rotations of the first roller 1343 is provided on the fixed shaft roller 1341, and the stroke of the endoscopic instrument is determined according to the detection result of the detecting member 1350. Specifically, the detection element 1350 includes a magnetic sensor mounted within the housing 1331 and a magnetic member fixedly mounted on the fixed shaft roller 1341, the number of rotations of the first roller 1343 being acquired by the magnetic sensor, and the transport length of the endoscopic instrument being determined in conjunction with the size of the first roller 1343. Of course, the sensing element 1350 may also be a speed sensing element or other sensing element, provided that the length of delivery of the endoscopic instrument can be determined.

The embodiment provides a tube clamping unit 1330, in which an instrument tube passes between a first roller 1343 and a second roller 1348 in a housing 1331 to form a closed structure, thereby reducing external contamination.

Wherein the instrument holder 1210 is adapted to support the entire instrument changing device and to be connected to a trolley. In a specific embodiment, as shown in fig. 21 and 22, the endoscopic instrument switching device 1000 also includes a quick connect assembly 1222. As shown in fig. 23, the quick-connect assembly 1222 includes a base 1221, an unlocking lever 1231, a push rod 1232, a catch 1233, and a tension spring 1234. The base 1221 is fixedly mounted to the instrument support base 1210. The unlocking lever 1231 is rotatably mounted to the base 1221. One end of the ejector rod 1232 is rotatably connected with the unlocking rod 1231, and the other end of the ejector rod 1232 is rotatably connected with the buckle 1233. The buckle 1233 is rotatably mounted on the base 1221, and the tension spring 1234 is mounted in the base 1221 and has one end connected to the buckle 1233.

Specifically, the number of the fastening members 1233 is two, each fastening member 1233 includes a connecting portion and a fastening portion, and the connecting portion is connected to the fastening portion and forms an obtuse included angle. The snap-fit portion is adapted to mate with the clamping socket 6230. The connection between the fastening part and the connecting part serves as a rotation point of the fastening 1233. The tension spring 1234 is connected to the connection of the catch 1233. As shown in fig. 23, the connection portion of each buckle 1233 is connected to the ejector rod 1232.

Pulling up the unlocking rod 1231, the unlocking rod 1231 pushes the ejector rod 1232 to move downwards, the buckling part of the buckle 1233 is contracted inwards under the pushing force of the ejector rod 1232, when the plug of the base 1221 is inserted into the clamping socket 6230, the unlocking rod 1231 is loosened, and the buckle 1233 is pulled outwards under the pulling force of the tension spring 1234, so that the clamping hole on the clamping socket 6230 is correspondingly clamped.

In another embodiment, the quick-connect assembly 1222 includes a tension spring 1234 and a catch 1233, and the catch 1233 is retracted into the housing 1331 by a plug force without providing an unlocking lever 1231. Tension spring 1234 is mounted within base 1221, and one end of tension spring 1234 is connected to catch 1233. During clamping, the plug of the base 1221 is inserted into the clamping socket 6230, the buckle 1233 is pressed to be retracted inwards, and after the plug is inserted into place, the buckle 1233 is outwards stretched under the action of the tension spring 1234 and is clamped into the clamping hole on the clamping socket 6230. The quick-connect assembly 1222 provided in this embodiment does not require the release lever 1231 to be inserted directly into the clamping socket 6230 during clamping to achieve quick-connect. Of course, other configurations of the quick-connect assembly 1222 may be used as long as the base 1221 is securely mounted to the first telescoping arm.

The moving assembly 1240 is configured to carry the instrument clamp mechanism 1100 and the line clamp mechanism 1300 and to move them in the horizontal plane in the lateral and longitudinal directions.

In a specific embodiment, as shown in fig. 21, the movement assembly 1240 includes a lateral drive unit 1241, a lateral load-bearing structure 1242, rollers 1243, a longitudinal drive unit 1244, and a longitudinal load-bearing structure 1245. The transverse driving unit 1241 is mounted on the instrument support base 1210, and the driving end of the transverse driving unit 1241 is connected to the transverse bearing structure 1242 to drive the transverse bearing structure 1242 to move transversely. The longitudinal load-bearing structure 1245, the longitudinal drive units 1244 and the rollers 1243 are mounted on the transverse load-bearing structure 1242 as longitudinal drive assemblies, which move transversely with the transverse load-bearing structure 1242 under the action of the transverse drive units 1241. The longitudinal load bearing structure 1245 is longitudinally moved along the sliding track formed by the rollers 1243 by the longitudinal drive units 1244. In this embodiment, the rollers 1243 act as sliding tracks for the longitudinal load-bearing structures 1245 to improve smoothness and smoothness of sliding. The mounting table 1101 in the instrument clamping mechanism 1100 and the mounting rod 1310 in the pipeline clamping mechanism 1300 are fixed on the longitudinal bearing structure 1245, and the driving end of the longitudinal driving unit 1244 is connected with the longitudinal bearing structure 1245 to drive the longitudinal bearing structure 1245 to longitudinally move back and forth, so as to drive the instrument clamping mechanism 1100 and the pipeline clamping mechanism 1300 to longitudinally move back and forth. Alternatively, the longitudinal drive unit 1244 and the transverse drive unit 1241 may be standard sliding tables, electric push rods, or lead screw nuts or gear racks connected to a rotary drive.

In another specific embodiment, as shown in FIG. 22, the instrument clamp mechanism 1100 is fixedly mounted to an instrument support base 1210. The line clamp mechanism 1300 is mounted to the instrument support base 1210 and is capable of lateral and longitudinal movement relative to the instrument support base 1210. The instrument support base 1210 has a transverse drive unit 1241, a transverse track 1246, a longitudinal drive unit 1244, and a longitudinal track 1247. Alternatively, the transverse driving unit 1241 includes a transverse rotating motor and a rack-and-pinion transmission assembly 1249, and the rack-and-pinion transmission assembly 1249 includes a transmission gear and a transmission rack. As shown in fig. 18, the transverse rotating motor is fixed to the transverse rail 1246, the transmission gear is connected to the output shaft of the transverse rotating motor, the transmission gear is meshed with the transmission rack, and the transmission rack is movably mounted on the transverse rail 1246. The drive rack is fixedly coupled to the mounting bar 1310. Under the action of the transverse rotating motor, the transmission gear rotates to drive the transmission rack to transversely move, so that the position of the pipeline clamping unit 1330 is adjusted, and the pipeline clamping unit 1330 corresponding to the target pipeline is butted with the endoscopic instrument conveying device 2000. The transverse rail 1246 is movably mounted to the longitudinal rail 1247. Specifically, as shown in fig. 18, the longitudinal rail 1247 is provided with a slide bar for guiding. Longitudinal drive unit 1244 is similar to transverse drive unit 1241, and longitudinal drive unit 1244 is configured to drive transverse track 1246 back and forth along longitudinal track 1247, thereby driving line clamp unit 1330 toward or away from endoscopic instrument delivery device 2000. Wherein both the lateral drive unit 1241 and the longitudinal drive unit 1244 are mounted within the instrument support base 1210 for concealment.

In yet another embodiment, as shown in FIG. 24, the instrument clamp mechanism 1100 is fixedly mounted to an instrument support base 1210. The line clamp mechanism 1300 is mounted to the instrument support base 1210 by a movement assembly 1240 and is capable of moving both laterally and longitudinally relative to the instrument support base 1210. As shown in fig. 19, the shift assembly 1240 employs a timing belt drive assembly 1248 for lateral movement and a rack and pinion drive assembly 1249 for longitudinal movement. In particular, the movement assembly 1240 includes a transverse track 1246, a transverse drive unit 1241, a longitudinal track 1247, and a longitudinal drive unit 1244. The transverse driving unit 1241 includes a timing belt and a timing belt driving unit connected to the timing belt. The synchronous belt is fixedly provided with a sliding block, and the sliding block moves along with the synchronous belt. The plurality of line clamping units 1330 are disposed in parallel on the mounting rod 1310, and the mounting rod 1310 is fixed to the slider. In order to realize stable operation of the sliding block, a sliding rod is arranged in the transverse track 1246, and the sliding block is slidably sleeved on the sliding rod. The number of the sliding rods can be multiple, and the sliding rods are arranged in parallel. The synchronous belt driving unit is mounted on the transverse track 1246 and is used for driving the synchronous belt to rotate, so as to drive the pipeline clamping unit 1330 to move transversely. The longitudinal driving unit 1244 includes a longitudinal rotation motor and a rack and pinion transmission assembly 1249, and the rack and pinion transmission assembly 1249 includes a transmission gear and a transmission rack. The longitudinal rotary motor is fixedly arranged on the transverse track 1246, a motor shaft of the longitudinal rotary motor is connected with a transmission gear, and the transmission gear is meshed with the transmission rack. The longitudinal track 1247 is fixedly mounted within the instrument support base 1210 and the drive gear is rotatably mounted within the transverse track 1246. A sliding rod is also arranged in the longitudinal track 1247, and the transverse track 1246 is sleeved on the sliding rod in a sliding way. Under the action of the longitudinal rotary motor, the drive gear rotates to drive the transverse track 1246 longitudinally back and forth, thereby moving the tube gripping unit 1330 closer to or farther from the endoscopic instrument delivery device 2000.

Of course, the moving assembly 1240 may also use a screw nut for transmission in a transverse direction and/or a longitudinal direction, which is not particularly limited in this embodiment of the present invention.

In addition, the endoscopic instrument switching device 1000 further includes an instrument controller, which is communicatively connected to the instrument clamping mechanism 1100, the instrument switching mechanism 1200, the line clamping mechanism 1300, and the endoscopic instrument transport device 2000, respectively, to control driving in the corresponding mechanisms and to receive detection information fed back from the detection element 1350.

Specifically, before the endoscopic instrument switching device 1000 is operated, the operation handles of the respective endoscopic instruments are clamped one by one to the instrument clamping unit 1102, and then the lines of the endoscopic instruments are inserted into the corresponding line clamping units 1330, and the instrument controller is activated.

For the target instrument clamped on the instrument clamping unit 1102, the instrument controller firstly controls the transverse driving unit 1241 to start to drive the pipeline clamping mechanism 1300 to transversely move, so that the axis of the corresponding pipeline clamping unit 1330 is aligned with the axis of the guide tube of the endoscopic instrument conveying device 2000. The instrument controller then controls longitudinal drive unit 1244 to actuate, causing tubing clamp mechanism 1300 to move longitudinally until collet 1333 of tubing clamp unit 1330 abuts the guide tube inlet of endoscopic instrument delivery device 2000. At this time, the clamping jaw 1333 moves toward the inside of the housing 1331 by the pushing force, and at the same time, the elastic restoring member 1336 is compressed by the pushing force, the tail fin of the clamping jaw 1335 is separated from the tapered opening of the housing 1331, at this time, the clamping jaw 1335 is influenced only by the contraction force of the auxiliary elastic ring 1338, the pressure applied to the endoscopic instrument pipeline in the central through hole 1334 is small, and the endoscopic instrument is conveyed into the matched endoscopic clamp by the roller assembly in the endoscopic instrument conveying device 2000. Based on the information acquired by the detection assembly within the endoscopic instrument delivery device 2000, when the head end of the endoscopic instrument moves to a preset position of the jaws, the drive mechanism within the instrument delivery structure is controlled to cease operation, and the entire medical robot is converted to a manual mode. The matched control platform is used for controlling the endoscopic instrument to slowly extend out of the forceps channel, and corresponding operation is performed. After the use of the endoscopic instrument is finished, the control platform controls the head end of the endoscopic instrument to retract. When the head end of the endoscopic instrument is retracted to the driven unit in the endoscopic instrument conveying device 2000, the instrument controller controls the longitudinal driving unit 1244 to start based on the trigger signal of the position sensor in the endoscopic instrument conveying device 2000 and the length information fed back by the displacement sensor, drives the pipeline clamping mechanism 1300 to longitudinally move and retract, and controls the transverse driving unit 1241 to start after reaching the designated position, and drives the pipeline clamping mechanism 1300 to transversely move and retract to the original point.

If the endoscopic instrument needs to be switched, an operation button on the control platform is clicked to trigger an operation signal of the switching instrument. After the longitudinal movement of the instrument is completed to the origin, the transverse driving unit 1241 is controlled to directly align the axis of the corresponding tube holding unit 1330 with the axis of the guide tube of the endoscopic instrument transportation device 2000, and then the longitudinal driving device is started to repeat the above-described operations.

After the operation is completed, the endoscopic instrument is removed for disposal, and the tubing clamp unit 1330 and the delivery mechanism of the endoscopic instrument delivery device 2000 are removed for disposal or decontamination.

The structure of an endoscopic instrument delivery device 2000 of the present invention is described below in connection with fig. 24-32.

As shown in fig. 24 to 26, the present invention provides an endoscopic instrument transport device 2000 that includes a transmission mechanism 2100 and a driving mechanism 2200. As shown in fig. 24 and 26, the conveying mechanism 2100 includes a roller assembly 2120 and a first housing 2140, the roller assembly 2120 includes a driving wheel 2121 and a driven wheel 2122, and both the driving wheel 2121 and the driven wheel 2122 are mounted inside the first housing 2140.

As shown in fig. 25, the driving mechanism 2200 includes a second housing 2250, a forward and backward driving assembly 2220 and a clutch assembly 2230, both of which are mounted to the second housing 2250, and the first housing 2140 and the second housing 2250 are detachably connected. The advance and retreat driving assembly 2220 is coupled to the drive pulley 2121 to drive the drive pulley 2121 for rotation, and the clutch assembly 2230 is configured to drive the driven pulley 2122 toward the drive pulley 2121 for delivery of the endoscopic instrument 100 or away from the drive pulley 2121 for separation of the roller assembly 2120 from the endoscopic instrument 100.

As shown in fig. 24, the second housing 2250 includes a case 2251 and a cover 2252, the case 2251 and the cover 2252 being connected together to form a housing for mounting the advance and retreat driving assembly 2220 and the clutch assembly 2230. The first housing 2140 is mounted at one end to the second housing 2250 for easy removal. In one embodiment, one of the first and second housings 2140, 2250 is provided with a snap fit, and the other is provided with a snap fit hole into which the snap fit snaps to connect the first and second housings 2140, 2250 together. In yet another embodiment, the first housing 2140 and the second housing 2250 are coupled by a lock assembly 2260, and the first housing 2140 and the second housing 2250 are separated when the lock assembly 2260 is in the unlocked state to facilitate decontamination of the delivery mechanism 2100. With the lock assembly 2260 in the locked state, the first and second housings 2140, 2250 are secured together in place to effect connection of the drive mechanism 2200 to the roller assembly 2120.

The driving wheel 2121 and the driven wheel 2122 may be provided in pairs, or may be provided in a plurality of pairs, and the present invention is not particularly limited. As shown in fig. 26, the roller assembly 2120 includes two driving wheels 2121 and two driven wheels 2122.

When the first housing 2140 is connected to the second housing 2250, the driving end of the driving assembly 2220 is connected to the driving wheel 2121 to drive the driving wheel 2121 to rotate, and the clutch assembly 2230 is connected to the driven wheel 2122 to drive the driven wheel 2122 to approach or separate from the driving wheel 2121. Specifically, endoscopic instrument 100 is inserted within first housing 2140 and passed between drive wheel 2121 and driven wheel 2122, and clutch assembly 2230 drives driven wheel 2122 away from drive wheel 2121 as endoscopic instrument 100 is pushed in or pulled out in order to reduce resistance to travel. When endoscopic instrument 100 is brought into a particular position within first housing 2140, clutch assembly 2230 is controlled to bring driven wheel 2122 closer to drive wheel 2121 to grip endoscopic instrument 100, thereby causing endoscopic instrument 100 to be delivered forward with the movement of drive wheel 2121 and driven wheel 2122.

In the endoscopic instrument delivery device 2000 provided by the present invention, the delivery mechanism 2100 includes a first housing 2140, the driving mechanism 2200 includes a second housing 2250, and the first housing 2140 and the second housing 2250 are detachably connected together, so that the first housing 2140 is detached from the second housing 2250 during decontamination, thereby facilitating decontamination. In addition, the driving mechanism 2200 includes a clutch assembly 2230, and the clutch assembly 2230 can drive the driven wheel 2122 to approach or separate from the driving wheel 2121, so as to adjust a gap between the driving wheel 2121 and the driven wheel 2122, adapt to endoscopic instruments 100 with different sizes, improve universality, and adjust the driven wheel 2122 according to the operation of the endoscopic instrument 100, so as to reduce the resistance when the endoscopic instrument 100 is pulled out or passed between the driving wheel 2121 and the driven wheel 2122, and realize automatic in and out of the endoscopic instrument 100.

In an embodiment of the present invention, as shown in fig. 27, the clutch assembly 2230 includes a clutch power unit 2231, a clutch controller 2233, a clutch slider 2232 and a driven shaft 2234. The driven shaft 2234 is connected to the clutch slider 2232, and the driven shaft 2234 extends out of the second housing 2250 and is inserted into the driven wheel 2122. The clutch power unit 2231 is connected with the clutch controller 2233, and the output end of the clutch power unit 2231 is connected with the clutch slider 2232.

As shown in fig. 27, the clutch power unit 2231 is connected to the clutch controller 2233, and the clutch power unit 2231 outputs power to drive the clutch slider 2232 to move under the action of the clutch controller 2233, so as to drive the driven shaft 2234 connected to the clutch slider 2232 to move, and further drive the driven wheel 2122 to move, so that the driven wheel 2122 approaches or departs from the driving wheel 2121.

When the endoscopic instrument 100 is inserted into the roller assembly 2120, the clutch controller 2233 controls the driven wheel 2122 to approach the driving wheel 2121 based on the in-place information when it is inserted into the preset position, so as to clamp the endoscopic instrument 100 to drive the endoscopic instrument 100 to be conveyed forward under the action of the roller assembly 2120. Upon withdrawing the endoscopic instrument 100 outward, the clutch controller 2233 controls the driven wheel 2122 away from the driving wheel 2121 in accordance with the withdrawal signal to reduce the withdrawal resistance of the endoscopic instrument 100.

Specifically, the clutch power unit 2231 is an electric push rod or a rotating motor connected to the linear motion mechanism through a reduction gearbox. The clutch controller 2233 is a circuit board. The clutch slider 2232 is provided with a driven shaft 2234, and the driven shaft 2234 is inserted into the driven wheel 2122 so that the driven wheel 2122 moves back and forth along with the clutch slider 2232. A first travel switch 2235 and a second travel switch 2236 are provided on the clutch controller 2233. The clutch slider 2232 is fixedly connected with a travel switch trigger 2237. Under the action of the clutch power unit 2231, the travel switch trigger 2237 triggers the first travel switch 2235 or the second travel switch 2236, and the clutch controller 2233 controls the clutch power unit 2231 to stop driving according to the trigger signal, so as to limit the front-rear limit position of the movement of the clutch slider 2232.

In the use process, as shown in fig. 27, when the clutch power unit 2231 pushes the clutch slider 2232 to drive the driven wheel 2122 to move in the direction a, the first travel switch 2235 and the second travel switch 2236 are not triggered in the movement process until the travel switch trigger 2237 triggers the first travel switch 2235, the clutch power unit 2231 stops working under the control of the clutch controller 2233, and the clutch controller 2233 controls the clutch power unit 2231 to reversely connect the positive electrode and the negative electrode. When the clutch power unit 2231 drives the clutch slider 2232 to move, so as to drive the driven wheel 2122 to move in the opposite direction of the direction a, neither the first travel switch 2235 nor the second travel switch 2236 is triggered during the movement until the travel switch trigger 2237 triggers the second travel switch 2236, the clutch power unit 2231 stops working under the control of the clutch controller 2233, and the clutch power unit 2231 is controlled to be reversely connected with the anode and the cathode through the clutch controller 2233. In another alternative embodiment, the clutch power unit 2231 communicates directly with the first and second travel switches 2235 and 2236, and stops outputting power according to the trigger signals of the first and second travel switches 2235 and 2236.

It should be noted that the driven shaft 2234 may be directly fixed to the clutch slider 2232 to move back and forth between two extreme positions with the clutch slider 2232, or stay at a target position with the clutch slider 2232 under the control of the clutch power unit 2231. For example, the clutch power unit 2231 is provided with a force sensor on the driven shaft 2234, and the clutch power unit 2231 stops driving when the feedback force detected by the force sensor reaches a preset value. In addition, the driven shaft 2234 may also be coupled to the clutch slider 2232 via a displacement compensation unit 2240 to accommodate different sizes of endoscopic instruments 100. As shown in fig. 26 and 27, there are two driven wheels 2122, and two driven shafts 2234 are each mounted to the clutch slider 2232. The two driven wheels 2122 move synchronously under the influence of the clutch power unit 2231.

In an alternative embodiment, a force feedback unit is provided on the clutch slider 2232 to determine whether the endoscopic instrument 100 is advanced into the delivery mechanism 2100 by detecting the force of the clutch slider 2232. The force feedback unit may be a strain gauge or a pressure sensor. Specifically, a plate body parallel to the end surface of the clutch slider 2232 is provided on the mounting seat of the clutch power unit 2231, when the endoscopic instrument 100 is inserted, a large force is generated between the plate body and the clutch slider 2232 by the reverse thrust of the endoscopic instrument 100 to the driven wheel 2122, and if the endoscopic instrument 100 is not inserted, no obvious force is generated between the clutch slider 2232 and the plate body.

According to the endoscopic instrument conveying device 2000 provided by the embodiment of the invention, the clutch power unit 2231 is arranged to drive the clutch slider 2232 to move forwards and backwards, so that the driven wheel 2122 connected with the clutch slider 2232 is driven to be close to or far away from the driving wheel 2121, smooth conveying of an instrument pipeline is ensured, and meanwhile, resistance of the instrument pipeline during insertion and withdrawal can be reduced by controlling the movement of the driven wheel 2122.

On the basis of the above embodiment, as shown in fig. 27 and 28, the clutch assembly 2230 further includes a displacement compensation unit 2240, and the displacement compensation unit 2240 includes a first base plate 2241, a moving slider 2242, and a second elastic member 2243. The first base 2241 is fixedly mounted to the clutch slider 2232, and the moving slider 2242 is slidably mounted to the first base 2241. One end of the second elastic member 2243 is connected to the first base plate 2241, and the other end is connected to the moving slider 2242. The driven shaft 2234 is fixed to the traveling block 2242.

Specifically, the first base 2241 is an L-shaped plate, one plate body of the L-shaped plate is fixed to the clutch slider 2232, and the other plate body serves as a baffle for mounting the second elastic member 2243. Alternatively, as shown in fig. 28, the first base 2241 includes a vertically connected cross plate on which the guide rail 2244 is provided and a riser for mounting the second elastic member 2243. The moving slider 2242 is provided with a chute, the first bottom plate 2241 is provided with a guide rail 2244 protruding therefrom, and the chute is clamped on the guide rail 2244 and can slide along the guide rail 2244. One end of the driven shaft 2234 is fixed to the moving slider 2242, and the other end is connected to the driving wheel 2121. The second resilient member 2243 is a spring or other resilient structure. One end of the second elastic member 2243 is connected to the moving slider 2242, and the other end is connected to the first bottom plate 2241. The first base 2241 and the clutch slider 2232 move back and forth together by the clutch driving unit, so that the driven wheel 2122 moves back and forth.

Specifically, the driven shaft 2234 has a hexagonal cross section, and the driving wheel 2121 is provided with hexagonal holes so as to mate with the driven shaft 2234. Of course, the section of the driven shaft 2234 may be non-circular, such as quadrangular or pentagonal, and the embodiment of the present invention is not particularly limited.

When the outer diameter of the endoscopic instrument 100 changes, the gap between the driven wheel 2122 and the drive wheel 2121 needs to be adjusted. The position of the driven wheel 2122 defined by the clutch drive unit under the action of the first and second travel switches 2235, 2236 is fixed and cannot accommodate changes in the outer diameter of the mechanical tubing. The stroke compensation unit provided in this embodiment adjusts the gap between the driven wheel 2122 and the driving wheel 2121 by means of the expansion and contraction of the second elastic member 2243, so as to meet the installation requirements of the instrument pipelines with different outer diameters and prevent the roller assembly 2120 from being excessively loosened or tightened.

As shown in fig. 29, the forward and reverse driving assembly 2220 includes a forward and reverse power unit 2221, a gear set 2222 and a driving shaft 2223, wherein the driving end of the forward and reverse power unit 2221 is connected to the input gear of the gear set 2222. The driving shaft 2223 is sleeved with a driving and reversing transmission gear 2224, and an output gear of the gear set 2222 is connected with the driving and reversing transmission gear 2224. The driving shaft 2223 is inserted into the driving wheel 2121 through the second housing 2250. Wherein, the extending direction of the driving shaft of the advance and retreat power unit 2221 is perpendicular to the axis of the advance and retreat transmission gear 2224.

Specifically, the advance and retreat power unit 2221 includes a rotary electric machine and a bevel gear mounted on a motor shaft of the rotary electric machine. The gear set 2222 includes a drive rod, a first advance and retreat drive gear 2224, and a second advance and retreat drive gear 2224. The first advance and retreat transmission gear 2224 and the second advance and retreat transmission gear 2224 are respectively sleeved and fixed at opposite ends of the transmission rod. The extending direction of the transmission rod is perpendicular to the extending direction of the motor shaft. The second advance and retreat transmission gear 2224 meshes with the advance and retreat transmission gear 2224. The first advance and retreat transmission gear 2224 drives the transmission rod to rotate under the driving of the rotating motor, so that the second advance and retreat transmission gear 2224 drives the advance and retreat transmission gear 2224 to rotate, thereby driving the driving wheel 2121 to rotate.

As shown in fig. 26 and 29, the driving wheels 2121 are provided with two driving shafts 2223, two driving shafts 2223 are provided correspondingly, each driving shaft 2223 is provided with a driving and reversing transmission gear 2224, and each driving and reversing transmission gear 2224 is meshed with the second driving and reversing transmission gear 2224 of the gear set 2222. The two driving wheels 2121 are synchronously moved by the advance and retreat power unit 2221.

According to the endoscopic instrument conveying device 2000 provided by the embodiment of the invention, the driving and reversing driving unit is connected with the driving wheel 2121 through the gear set 2222, and the direction of the output force of the driving and reversing driving unit is changed through the gear set 2222, so that the positions of the driving and reversing driving unit 2221 and the gear set 2222 are conveniently arranged according to the requirement, the space utilization is more reasonable, and the structure is more compact.

As shown in fig. 30 and 31, the endoscopic instrument transport device 2000 further includes a detection assembly including a driven unit 2130 and a detection unit, the driven unit 2130 including a driving roller 2131 and a driven roller 2132, and the detection unit including a position sensor and a displacement sensor. The driving roller 2131 is rotatably mounted in the first housing 2140, and the driven roller 2132 is received in the first housing 2140 and is movable within the first housing 2140. The position sensor is used for generating a trigger signal when the endoscopic instrument is inserted or withdrawn between the driving roller and the driven roller, and the displacement sensor is used for detecting the advancing or withdrawing length of the endoscopic instrument.

Specifically, the position sensor is a tact switch 2212, and the displacement sensor includes a magnetic sensor 2211 and a magnetic member 2133. The magnetic element 2133 is mounted on the driving roller 2131, and the magnetic sensor 2211 is used for detecting the rotation number of the driving roller 2131, so as to calculate the advancing or retreating length of the endoscopic instrument. The tact switch 2212 is used to be triggered by the driven roller 2132 as the endoscopic instrument passes between the driving roller 2131 and the driven roller 2132.

As shown in fig. 31, the driving roller 2131 and the driven roller 2132 are vertically arranged. The driven roller 2132 is mounted in the first housing 2140 and is movable within the first housing 2140, and when an endoscopic instrument passes between the driving roller 2131 and the driven roller 2132, the driving roller 2131 is driven while the driven roller 2132 is pushed upward to open a channel between the driving roller 2131 and the driven roller 2132, ensuring that the endoscopic instrument can pass therethrough. When the driven roller 2132 moves upwards, the tact switch 2212 is triggered, and the clutch assembly 2230 is controlled to drive the driven wheel 2122 to be far away from the driving wheel 2121 according to a control signal of the tact switch 2212 or confirm that the driven wheel 2122 and the driving wheel 2121 are in a far-away state so as to reduce the resistance of the endoscopic instrument entering. The driving roller 2131 has a magnetic element 2133 mounted thereon, and the magnetic sensor 2211 is mounted within the first housing 2140 for detecting a change in the magnetic field of the magnetic element 2133 and determining a travel distance of the endoscopic instrument based on the change in the magnetic field.

Specifically, as shown in fig. 30, a mounting cavity 2135 is provided in the first housing 2140, and the driving roller 2131 and the driven roller 2132 are both positioned in the mounting cavity 2135. The width of the mounting cavity 2135 generally corresponds to the width of the driving roller 2131 and the driven roller 2132, ensuring that the driving roller 2131 and the driven roller 2132 can rotate within the mounting cavity 2135. Above the driven roller 2132 is provided a trigger 2134, the trigger 2134 being slidably mounted in the mounting cavity 2135. Optionally, the trigger 2134 is a T-shaped block, a cross plate of the T-shaped block is slidably inserted into the mounting cavity 2135, and a vertical plate of the T-shaped block extends from the mounting cavity 2135 to trigger the tact switch 2212. Upon insertion of an endoscopic instrument, the driven roller 2132 moves upward, pushing the trigger 2134 upward to trigger the tact switch 2212. After the endoscopic instrument is withdrawn, the driven roller 2132 moves downward and the trigger block moves away from the tact switch 2212 under the force of gravity.

Wherein, the passive unit 2130 is mounted in the first housing 2140, and the magnetic element 2133 and the triggering element 2134 are mounted in the first housing 2140. The tact switch 2212 and the magnetic sensor 2211 may be disposed within the first housing 2140 or may be disposed on the second housing 2250.

Preferably, both the tact switch 2212 and the magnetic sensor 2211 are disposed on the second housing 2250 such that the electroless devices within the first housing 2140 may be directly decontaminated, making decontamination more convenient. As shown in fig. 24, the first housing 2140 is provided with an extension hole 2136, and the trigger end of the trigger piece 2134 is disposed corresponding to the extension hole 2136. When the first housing 2140 is docked with the second housing 2250, the trigger 2134, after extending through the extension aperture 2136, may contact the tact switch 2212 on the second housing 2250.

It should be noted that the detection unit may also use other forms of position sensor and displacement sensor. For example, the position sensor adopts a photoelectric switch, the displacement sensor adopts a visual detection unit, the endoscopic instrument is correspondingly provided with a cursor, and the visual detection unit is used for detecting the cursor on the endoscopic instrument to judge the advancing and retreating speed and the inserting speed of the endoscopic instrument so as to realize the detection function.

It will be appreciated that the driving roller 2131 and the driven roller 2132 are provided with grooves, respectively, which are shaped to fit the shape of the endoscopic instrument, and that the two grooves are clamped on opposite sides of the endoscopic instrument after the driving roller 2131 and the driven roller 2132 are engaged to prevent the endoscopic instrument from being skewed. Optionally, the driving roller 2131 and the driven roller 2132 may be arranged left and right along a horizontal direction, and the arrangement of the corresponding detection units is correspondingly adjusted, which is not described in detail.

Specifically, as shown in fig. 30 and 31, the detection assemblies are two sets, and the two sets of detection assemblies are disposed on both front and rear sides of the roller assembly 2120.

The two groups of detection assemblies are a first detection assembly and a second detection assembly respectively, and the first detection assembly and the second detection assembly are identical in structure and both comprise a manual unit and a detection unit. Wherein, the first detecting component is located at the front end of the roller component 2120, and the second detecting component is located at the rear end of the roller component 2120. When the endoscopic instrument is accessed, the roller assembly 2120 is controlled to open according to the trigger signal generated by the tact switch 2212 in the first detection assembly, so as to reduce the resistance of the instrument pipeline access. When the endoscopic instrument is withdrawn, the roller assembly 2120 is controlled to open in advance according to the trigger signal generated by the tact switch 2212 in the second detection assembly, so as to reduce the resistance of the withdrawal of the instrument pipeline.

In the case where only one detection assembly is provided, the speed of delivery of the endoscopic instrument is determined by means of information acquired by the magnetic sensor 2211 in the detection assembly, the time required for passing through the roller assembly 2120 can be determined based on the speed of delivery of the endoscopic instrument, or the time required for the endoscopic instrument to pass through the preset position can be determined, and the roller assembly 2120 is controlled to retract by the time to clamp the endoscopic instrument. Where two detection assemblies are provided, the magnetic sensor 2211 in the first detection assembly and the magnetic sensor 2211 in the second detection assembly cooperate to determine the delivery speed of the endoscopic instrument.

In the use process, the surface of the endoscopic instrument is often wetted by liquid or contaminated by impurities, so that the endoscopic instrument may cause intermittent slipping of the roller assembly 2120, a certain speed difference exists between the roller assembly 2120 and the detection assembly, and the rotation speeds of the driving roller 2131 detected by the magnetic sensor 2211 in the first detection assembly and the driving roller 2131 detected by the magnetic sensor 2211 in the second detection assembly are different, so that the slipping condition of the roller assembly 2120 can be judged through the speed difference of the driving roller 2131 and the driving roller 2131, and the endoscopic instrument can be accurately controlled.

The endoscopic instrument conveying device 2000 provided in this embodiment monitors the conveying speed and the slipping condition of the endoscopic instrument by providing two groups of detection assemblies, and is convenient to use and operate.

An endoscopic instrument delivery device 2000 provided in an embodiment of the present invention further includes a delivery docking assembly. As shown in fig. 24, the transport docking assembly includes a first guide tube 2111 and a docking connector 2112, one end of the first guide tube 2111 communicates with the interior of the first housing 2140, and the other end of the first guide tube 2111 is provided with a concave surface for docking with the endoscope line clamping unit. Docking joint 2112 is tapered, with the small diameter end of docking joint 2112 communicating with the interior of first housing 2140, and the large diameter end of docking joint 2112 for docking with the forceps cap of the endoscope.

As shown in fig. 24 and 26, the roller assembly 2120 is located in the first housing 2140, and the driving shaft 2223 extends from the second housing 2250 into the first housing 2140 to cooperate with the driving pulley 2121. One end of the drive shaft 2223 located within the second housing 2250 is coupled to a gear set 2222 in the forward and reverse drive assembly 2220. The drive wheel 2121 is fixed in position relative to the first housing 2140. One end of the driven shaft 2234 in the second housing 2250 is coupled to the traveling block 2242 in the clutch assembly 2230, and the other end of the driven shaft 2234 extends from the second housing 2250 and is inserted into the first housing 2140 to mate with the driven wheel 2122. A delivery channel is formed between the drive pulley 2121 and the driven pulley 2122 for passage of the endoscopic instrument, and a first guide tube 2111 and a docking connector 2112 are provided on opposite sides of the first housing 2140, wherein the first guide tube 2111 communicates with one end of the delivery channel and the docking connector 2112 communicates with the other end of the guide channel.

The endoscopic instrument transportation device 2000 provided in the embodiment of the present invention further includes a transportation docking assembly, wherein the first guide tube 2111 is docked with the endoscopic instrument switching device 1000, and the docking connector 2112 is docked with the endoscopic driving device 3000, so that the endoscopic instrument line smoothly enters the endoscopic instrument transportation device 2000 from the line clamping unit to be transported forward, and smoothly enters the jaw channel of the endoscope after passing through the endoscopic instrument transportation device 2000.

In one embodiment of the present invention, as shown in FIG. 32, the endoscopic instrument delivery device 2000 further includes a lock assembly 2260 mounted to the second housing 2250, the lock assembly 2260 including a pressing member 2261 and a locking member 2262. The second housing 2250 is provided with a receiving groove, and the first housing 2140 is inserted into the receiving groove. The pressing member 2261 and the locking member 2262 are slidably mounted to the second housing 2250, respectively. The first housing 2140 is provided with a locking groove, and when the pressing member 2261 is in the natural state, the locking member 2262 is inserted into the locking groove, and when the pressing member 2261 is in the pressed state, the locking member 2262 is housed in the second housing 2250.

In the endoscopic instrument delivery device 2000 provided in the embodiment of the present invention, the second housing 2250 is provided with a receiving groove, the first housing 2140 is inserted into the receiving groove, the circumferential direction of the first housing 2140 is defined by the groove wall of the receiving groove, the locking assembly 2260 is mounted on the second housing 2250, and the locking member 2262 in the locking assembly 2260 is inserted into the locking groove to define the relative movement of the first housing 2140 and the second housing 2250, so as to realize the relative fixation of the first housing 2140 and the second housing 2250. In use, endoscopic instrument is passed through first housing 2140, after use, push press member 2261 to retract locking member 2262, and first housing 2140 may be removed from second housing 2250 to decontaminate first housing 2140, improving decontamination efficiency over conventional delivery devices.

Specifically, the second housing 2250 is provided with a first groove and a second groove, and the pressing member 2261 is slidably mounted in the first groove, and the locking member 2262 is slidably mounted in the second groove. The third elastic member 2267 is mounted to the end of the pressing member 2261, and the fourth elastic member 2268 is mounted to the end of the locking member 2262. The pressing member 2261 is provided with a bar-shaped hole 2263 and an adjusting post 2265, the first groove body is provided with a limit post 2264, the locking member 2262 is provided with an adjusting hole 2266, the limit post 2264 is inserted into the bar-shaped hole 2263, and the limit post 2264 is inserted into the adjusting hole 2266.

As shown in fig. 32, the first groove body is perpendicular to the extending direction of the second groove body. The bottom of the first groove body is provided with a limit post 2264, the pressing piece 2261 is provided with a bar-shaped groove, and the movement range of the pressing piece 2261 relative to the second housing 2250 is limited by the cooperation of the limit post 2264 and the bar-shaped groove. The locking member 2262 is provided with a triangular adjusting hole 2266, and the pressing member 2261 is provided with an adjusting post 2265 protruding therefrom, and the adjusting post 2265 is inserted into the adjusting hole 2266. The end of the pressing member 2261 is provided with a third elastic member 2267, and the third elastic member 2267 is located in the first groove. The end of the locking member 2262 is provided with a fourth elastic member 2268, and the fourth elastic member 2268 is located in the second groove. Optionally, the third elastic member 2267 and the fourth elastic member 2268 are springs or other structural members having elasticity. Alternatively, the adjusting hole 2266 is a waist-shaped hole inclined to the moving direction of the locking member 2262, so long as the adjusting hole 2266 has a slope such that the adjusting post 2265 can push the locking member 2262 inward along the slope when the pressing member 2261 moves.

When the pressing member 2261 is pushed inward, the third elastic member 2267 is compressed, and the adjusting post 2265 on the pressing member 2261 moves along the inclined edge of the adjusting hole 2266, driving the locking member 2262 to move into the second groove, compressing the fourth elastic member 2268, and at this time, the end of the locking member 2262 is retracted into the second groove, so as to facilitate insertion of the first housing 2140 into the accommodating groove. When the first housing 2140 is placed in position, the pressing member 2261 is released, the third elastic member 2267 rebounds to push the pressing member 2261 outward out of the first groove, and the fourth elastic member 2268 rebounds to push the locking member 2262 to move outward and snap into the locking groove on the first housing 2140, thereby defining the relative position between the second housing 2250 and the first housing 2140.

In addition, as shown in fig. 24, the first housing 2140 is provided with a driving wheel jack and a driven wheel jack, the driving wheel jack is a circular hole, and the driven wheel jack is a bar-shaped through hole. Similarly, the second housing 2250 is provided with a circular hole corresponding to the driving shaft 2223 so that the driving shaft 2223 is penetrated out from the second housing 2250; the second housing 2250 is provided with a bar-shaped through hole corresponding to the driven shaft 2234 so that the driven shaft 2234 moves in a length direction of the bar-shaped through hole. The driving shaft 2223 and the driven shaft 2234 are each disposed in the second housing 2250 and pass out from the second housing 2250. When the first housing 2140 is docked with the second housing 2250, the driving shaft 2223 is inserted within the driving wheel 2121 and the driven shaft 2234 is inserted within the driven wheel 2122. To facilitate the power transmission, the end surfaces of the driving shaft 2223 and the driven shaft 2234 are non-circular.

The specific structure of the endoscope driving device 3000 of the present invention is described below with reference to fig. 33 to 42.

As shown in fig. 33 and 34, the present invention provides an endoscope driving device 3000 including a support base 3100, a cabin door 3200, a rotary cabin 3300, a rotary driving mechanism 3400, a clutch mechanism 3500, and a bending driving mechanism 3600. The rotation driving mechanism 3400 is mounted on the rotation chamber 3300, and the rotation chamber 3300 is mounted on the support base 3100 and can rotate relative to the support base 3100 under the action of the rotation driving mechanism 3400. The rotating pod 3300 is provided with a recess 3310 for placing an endoscope, the bending drive mechanism 3600 is mounted to the clutch mechanism 3500, and the clutch mechanism 3500 is mounted to the rotating pod 3300. The output shaft of the bend drive mechanism 3600 couples to or decouples from the endoscope within the recess 3310 by the clutch mechanism 3500. A hatch 3200 is mounted to the support block 3100 for closing the notch of the recess 3310 or opening the recess 3310 for placement of an endoscope.

Wherein the support base 3100 is used to provide support for the entire endoscope driving device 3000. Specifically, as shown in fig. 33, the support base 3100 includes a second bottom plate 3101, a first support plate 3102, and a second support plate 3103, the first support plate 3102 and the second support plate 3103 being disposed on opposite sides of the second bottom plate 3101. The first support plate 3102 is provided with a first support surface 3110 having a circular arc shape, and the second support plate 3103 is provided with a second support surface 3120 having a circular arc shape. The rotating chamber 3300 has a cylindrical shape, and an outer wall thereof is in contact with the first support surface 3110 and the second support surface 3120 and is rotatable around the first support surface 3110 and the second support surface 3120. The first support surface 3110 and the second support surface 3120 are each provided with a notch that corresponds to the notch of the groove 3310 for placement of an endoscope. It should be noted that the first support plate 3102 and the second support plate 3103 have a certain thickness, so that the first support surface 3110 and the second support surface 3120 provided thereon can provide a powerful support for the rotating chamber 3300.

The rotating pod 3300 includes an outer housing and an inner housing, the outer housing being removably coupled to the inner housing. Specifically, the inner housing is provided with a groove 3310, the groove 3310 is used for receiving an endoscope, and the shape of the groove 3310 is consistent with the external shape of the endoscope. As shown in fig. 33-35, the notch 3310 is U-shaped. The outer housing is provided outside the inner housing to conceal the rotation driving mechanism 3400, the clutch mechanism 3500, and the bending driving mechanism 3600. The clutch mechanism 3500 and the bending drive mechanism 3600 are mounted to the rotary chamber 3300, and when the rotary chamber 3300 rotates, the clutch mechanism 3500 and the bending drive mechanism 3600 rotate together with the rotary chamber 3300.

The cabin door 3200 adopts a manual sliding door or an electric sliding door structure or other door opening and closing structures, so long as the opening and closing of the rotary cabin 3300 can be realized.

In use, the endoscope is placed within the recess 3310, and the clutch mechanism 3500 drives the bending drive mechanism 3600 to couple with the endoscope, thereby defining the position of the endoscope within the recess 3310, and transmitting the output power of the bending drive mechanism 3600 to the endoscope to effect bending operation of the endoscope. When rotation of the endoscope is required, the rotation driving mechanism 3400 operates to drive the rotation chamber 3300 to rotate relative to the support 3100, thereby driving the endoscope to rotate. After the operation is completed, the clutch mechanism 3500 brings the bending drive mechanism 3600 out of engagement with the endoscope, releasing the positional restriction of the endoscope, so as to remove the endoscope from the recess 3310. The whole operation of assembling and disassembling the endoscope is convenient, and the physical burden of a user is reduced through the electric control mechanisms such as the rotary driving mechanism 3400, the clutch mechanism 3500, the bending driving mechanism 3600 and the like. In addition, only the support base 3100, the rotary cabin 3300 and the cabin door 3200 are exposed, the appearance surface is flat, and the decontamination burden of the endoscope can be reduced.

According to the endoscope driving device 3000 provided by the embodiment of the invention, the rotating cabin 3300 is provided with the groove 3310 for placing the endoscope, the output shaft of the bending driving mechanism 3600 can be coupled with the endoscope in the groove 3310 under the action of the clutch mechanism 3500 so as to limit the position of the endoscope in the groove 3310 and realize the power transmission of the bending action, so that the bending operation of the endoscope can be realized, the rotating cabin 3300 can rotate under the action of the rotating driving mechanism 3400, the rotation operation of the endoscope can be realized, the rotation and bending of the endoscope can be realized by means of one mechanical structure, and the structure is simple. The endoscope can be placed in the groove 3310 to be abutted with the endoscope driving device 3000, and the relative sealing is realized through the cabin door 3200, so that the pollution of the endoscope can be sufficiently reduced, and the decontamination work is lightened.

As shown in fig. 35 and 36, the rotation driving mechanism 3400 includes a first rotation driving unit 3410 and a rotation transmission assembly, where the first rotation driving unit 3410 is fixedly installed in the rotation chamber 3300. In one embodiment, the support 3100 is provided with internal teeth 3130. As shown in fig. 36, the rotary transmission assembly includes a first gear 3411, a second gear 3412, and a third gear 3413. The first gear 3411 is fixed to an output shaft of the first rotary drive unit 3410 in a socket manner. Second gear 3412 and third gear 3413 are each mounted within rotary compartment 3300. Wherein the first gear 3411 is meshed with the second gear 3412, and the second gear 3412 is meshed with the third gear 3413. The support 3100 is provided with an inner surface 3130, and the first gear 3411 and the third gear 3413 are each engaged with the inner surface 3130.

Wherein, as shown in fig. 36, the first gear 3411, the second gear 3412 and the third gear 3413 are arranged along the circumferential direction of the rotary cabin 3300. The first support plate 3102 is provided with a smooth first support surface 3110 and an internal tooth surface 3130 with internal teeth. The first support surface 3110 is for rotational engagement with the rotary compartment 3300, and the inner toothed surface 3130 is for transmitting the output power of the rotary drive assembly. The first gear 3411 and the third gear 3413 are each meshed with the internal gear surface 3130, and the second gear 3412 is not in contact with the internal gear surface 3130. The provision of the second gear 3412 ensures that the first gear 3411 and the third gear 3413 are identically turned, while ensuring that at least one of the first gear 3411 and the third gear 3413 meshes with the internal teeth on the internal tooth face 3130 when passing through the gap of the first support face 3110 to continuously power the rotation of the rotary cabin 3300.

In yet another embodiment, the rotary drive assembly includes a friction wheel and the first support plate 3102 is provided with a smooth first support surface 3110 and a friction surface for mating with the friction wheel. The friction wheel is in driving connection with the first rotary driving unit 3410 and abuts against the friction surface. The rolling bodies 3420 circumferentially disposed at the first end surface 3341 collide with the first support surface 3110. The friction wheel is driven by the first rotary driving unit 3410 to rotate along the circumferential direction of the friction surface, thereby driving the rotary cabin 3300 to rotate. It will be appreciated that there may be a plurality of friction wheels, the plurality of friction wheels ensuring that there is still at least one friction wheel at the gap that engages the friction surface to provide continuous rotational power.

In yet another embodiment, the rotary transmission assembly includes a first sprocket, a second sprocket, a third sprocket, a fourth sprocket, and a chain, the first sprocket and the third sprocket are coupled to the output of the first rotary driving unit 3410, and the first sprocket and the second sprocket are coupled by the chain. The third sprocket and the fourth sprocket are coaxially disposed, and the fourth sprocket and the first sprocket are respectively engaged with tooth grooves provided on the first support plate 3102. Under the action of the first rotation driving unit 3410, the first sprocket rotates, and the fourth sprocket is driven to rotate by the chain, so that the rotation of the rotation chamber 3300 can be realized. Similarly, the rotary transmission assembly can also adopt a synchronous belt and a synchronous belt wheel for transmission, and the specific structure is similar to a chain wheel and a chain, and is not repeated.

As shown in fig. 37, the support base 3100 is provided with a first support surface 3110 and a second support surface 3120. As shown in fig. 35, the rotary chamber 3300 has a first end surface 3341 and a second end surface 3342, and rolling elements 3420 are provided along the circumferential directions of the first end surface 3341 and the second end surface 3342, respectively. As shown in fig. 34, the rolling elements 3420 circumferentially disposed on the first end surface 3341 contact the first support surface 3110, and the rolling elements 3420 circumferentially disposed on the second end surface 3342 contact the second support surface 3120.

When the rotary cabin 3300 rotates relative to the support base 3100 by the rotation driving mechanism 3400, the rolling bodies 3420 move along the first support surface 3110 and the second support surface 3120 while rotating, thereby making the rotation of the rotary cabin 3300 smoother.

The number of rolling elements 3420 in the engaged state at any time is at least 3. Wherein, as shown in fig. 38, when the rolling bodies 3420 move to the notches of the first support surface 3110 and the second support surface 3120, the number of the rolling bodies 3420 in the engaged state is not less than 3, thereby providing stable support for the rotation of the rotating chamber 3300.

As shown in fig. 39 and 40, the clutch mechanism 3500 includes a linear drive 3510, a first link 3511, a second link 3512, a first link plate 3513, and a second link plate 3514. The first end of the first link 3511 and the first end of the second link 3512 are both rotatably coupled to the output of the linear drive 3510. The second end of the first link 3511 is rotatably coupled to the first link plate 3513, and the second end of the second link 3512 is rotatably coupled to the second link plate 3514. Both the first connection plate 3513 and the second connection plate 3514 are slidably mounted within the rotary cabin 3300. The first bending drive mechanism 3610 is mounted to the first connection plate 3513 and the second bending drive mechanism 3620 is mounted to the second connection plate 3514. The bend drive mechanism 3600 includes a first bend drive mechanism 3610 and a second bend drive mechanism 3620. Wherein, the first bending driving mechanism 3610 is mounted on the first connecting plate 3513, and the second bending driving mechanism 3620 is mounted on the second connecting plate 3514. As shown in fig. 41, the first bending drive mechanism 3610 and the second bending drive mechanism 3620 are disposed on the left and right sides of the groove 3310.

As shown in fig. 39 and 40, a first guide rail 3321 and a second guide rail 3322 are provided in the rotating chamber 3300, opposite ends of the first connecting plate 3513 are respectively slidably connected to the first guide rail 3321 and the second guide rail 3322, and opposite ends of the second connecting plate 3514 are respectively slidably connected to the first guide rail 3321 and the second guide rail 3322. The sliding of the first and second connection plates 3513 and 3514 is smoother by the first and second guide rails 3321 and 3322. Under the action of the linear drive 3510, the first link 3511 and the second link 3512 drive the first link plate 3513 and the second link 3512 towards each other or away from each other, thereby driving the first bending drive mechanism 3610 and the second bending drive mechanism 3620 to couple or decouple with the endoscope within the recess 3310.

Specifically, as shown in fig. 39, the linear drive 3510 is a linear motor, and a motor shaft of the linear motor is connected to a first end of the first link 3511 and a first end of the second link 3512 through an adapter. In an alternative embodiment, first link 3511 and second link 3512 are Y-shaped. When the linear drive 3510 is driven downward, the first link 3511 and the second link 3512 move to both sides, pushing the first link plate 3513 and the second link plate 3514 to be outwardly opened. When the linear drive 3510 drives upward, the first link 3511 and the second link 3512 retract inward, driving the first link plate 3513 and the second link plate 3514 to approach inward. In yet another alternative embodiment, as shown in fig. 40, first link 3511 and second link 3512 are inverted, individual characters. At this time, when the linear drive 3510 is driven upward, the first link 3511 and the second link 3512 move to both sides, and the first link plate 3513 and the second link plate 3514 are opened outward. When the linear drive 3510 drives downward, the first link 3511 and the second link 3512 retract inward, driving the first link plate 3513 and the second link plate 3514 to retract inward.

As shown in fig. 34 and 41, the clutch drive further includes a manual clutch operator 3520, the manual clutch operator 3520 being coupled to the linear drive 3510. When the manual clutch operation member 3520 is pressed or rotated, the mechanical cooperation of the manual clutch operation member 3520 and the linear drive 3510 causes the linear drive 3510 to move, thereby driving the first connecting plate 3513 and the second connecting plate 3514 to approach or separate from each other.

In general, the controller controls the linear drive 3510 to realize the automatic operation of the clutch drive. In the event of failure of the linear drive 3510, the linear drive 3510 is moved up and down by depressing or rotating the manual clutch operator 3520. As shown in fig. 34 and 41, the manual clutch operator 3520 is provided on the first end surface 3341, and external threads are provided at an end of the manual clutch operator 3520 to facilitate screwing.

The endoscope driving device 3000 provided by the embodiment of the invention is provided with the manual clutch operation member 3520, so that two operation modes of electric operation and manual operation are provided for adjustment of clutch driving, and the endoscope driving device is suitable for application requirements in different scenes.

Specifically, the first bend drive mechanism 3610 includes a first bend transmission assembly, a first bend power unit, and a first drive pin 3613. The first flex power unit is in driving connection with a first drive pin 3613 through a first flex drive assembly. As shown in fig. 41, first drive pin 3613 is rotatably mounted to first link plate 3513 of clutch mechanism 3500. As shown in fig. 35, the groove wall of the groove 3310 is provided with a first through hole 3311, and a first transmission pin 3613 is inserted into the first through hole 3311. Under the influence of the clutch mechanism 3500, the first drive pin 3613 may be coupled to the endoscope through the first through-hole 3311 for power transmission or away from the recess 3310 to decouple from the endoscope.

Alternatively, first bend drive mechanism 3610 includes a bend power unit that is a rotational drive, such as a rotating electric machine, and a drive pin. The bending power unit is fixedly arranged on the first connecting plate 3513, and an output shaft of the bending power unit is connected with the transmission pin to drive the transmission pin to rotate.

The first bending driving mechanism 3610 provided by the embodiment of the invention drives the first transmission pin 3613 to rotate under the action of the first bending power unit, so as to drive the endoscope to perform a back-and-forth bending motion in a first direction.

In an alternative embodiment, as shown in FIG. 41, the first curved drive assembly includes a first bevel gear 3614 and a second bevel gear 3615. Wherein, first bevel gear 3614 is fixed to the output shaft of the first bending power unit in a sleeved mode. The first bending power unit is mounted to the first link plate 3513, and the first bevel gear 3614 meshes with the second bevel gear 3615. Second bevel gear 3615 is fixedly coupled to first drive pin 3613, and first drive pin 3613 is rotatably mounted to first link plate 3513.

Wherein, the output shaft of the first bending power unit extends along the length direction of the groove 3310, the first transmission pin 3613 extends along the width direction of the groove 3310, and the power output direction is adjusted by the cooperation of the first bevel gear 3614 and the second bevel gear 3615. Alternatively, the first bending power unit is a rotary motor or other drive assembly that effects rotation.

As shown in fig. 41, the first bending power unit includes a first mount 3612 having a certain degree of disturbance and a first bending motor 3611 fixed to the first mount 3612. The output of the first bend motor 3611 is coupled to a first bevel gear 3614 and a first force detector is provided on the first mount 3612. The first bending motor 3611 drives the first bevel gear 3614 to rotate, and then drives the endoscope to perform bending motion in a first direction via the first transmission pin 3613, and at this time, the first force detector can detect torsion force received by the first mounting seat 3612.

As shown in fig. 41, the first bending transmission mechanism further includes a third bevel gear 3616, and the third bevel gear 3616 is meshed with the second bevel gear 3615 and rotatably mounted in the rotary cabin 3300. Third bevel gear 3616 is disposed along the length of groove 3310 with first bevel gear 3614 and on opposite sides of first drive pin 3613.

Specifically, third bevel gear 3616 is rotatably mounted to a first gear seat fixedly mounted to first connection plate 3513. As shown in fig. 41, a first force detection sensor 3617 is provided on the third bevel gear 3616 for detecting the rotation angle of the third bevel gear 3616. For example, the first force detecting sensor 3617 includes a first magnet fixedly mounted on the third bevel gear 3616 and a first magnetic sensor mounted on the first gear seat to detect a rotation angle of the third bevel gear 3616. Of course, the first force detecting sensor 3617 may also employ a gyroscope or other angle detecting element, which is not particularly limited in this embodiment of the present invention.

According to the first bending transmission mechanism provided by the embodiment of the invention, the third bevel gear 3616 is used for providing an installation position for the installation of the first force detection sensor 3617, and meanwhile, the first bevel gear 3614 and the third bevel gear 3616 are meshed with the second bevel gear 3615, so that the stress of the second bevel gear 3615 is balanced, and the transmission stability is improved.

In addition, the first bending transmission mechanism further includes a fifth elastic member 3618, and the fifth elastic member 3618 is sleeved on the first transmission pin 3613. As shown in fig. 41, one end of the fifth elastic member 3618 abuts against the housing, and the other end abuts against the end face of the second bevel gear 3615.

Optionally, fifth elastic element 3618 is a spring. The fifth spring 3618 is used to provide a dampening force when the first drive pin 3613 is inserted into the first through-hole 3311 or withdrawn from the first through-hole 3311 by the action of the clutch mechanism 3500. In addition, the fifth spring 3618 also acts to cooperate with the clutch mechanism 3500 to insert the first drive pin 3613 into an endoscope disposed within the recess 3310 during insertion of the first drive pin 3613 into the first through-bore 3311.

Specifically, as shown in fig. 41, the second bending drive mechanism 3620 includes a second bending drive assembly, a second bending power unit, and a second drive pin 3623. The second bending power unit is in driving connection with a second driving pin 3623 through a second bending driving assembly. Second drive pin 3623 is rotatably mounted to rotary cavity 3300. As shown in fig. 35, a second through hole 3312 is provided on the other side wall of the groove 3310, and a second transmission pin 3623 is inserted into the second through hole 3312 under the action of a clutch mechanism 3500 so as to couple with an endoscope to realize power transmission.

The second bending driving mechanism 3620 provided by the embodiment of the invention drives the second transmission pin 3623 to rotate under the action of the second bending power unit, so as to drive the endoscope to perform the back and forth bending motion in the second direction.

In one embodiment of the present invention, as shown in fig. 41, the second bending transmission assembly includes a fourth bevel gear 3624 and a fifth bevel gear 3625. Wherein, fourth bevel gear 3624 is fixed to the output shaft of the second bending power unit in a sleeved mode. The second bending power unit is mounted to the second connection plate 3514, and the fourth bevel gear 3624 meshes with the fifth bevel gear 3625. The fifth bevel gear 3625 is fixedly sleeved on the second transmission pin 3623, and the second transmission pin 3623 is rotatably installed on the second connection plate 3514.

Wherein, the output shaft of the second bending power unit extends along the length direction of the groove 3310, the second transmission pin 3623 extends along the width direction of the groove 3310, and the output direction of the power is adjusted by the cooperation of the fourth bevel gear 3624 and the fifth bevel gear 3625. Alternatively, the second bending power unit is a rotary motor or other drive assembly that effects rotation.

As shown in fig. 41, the second bending power unit includes a second mount 3622 having a certain degree of disturbance and a second bending motor 3621 fixed to the second mount 3622. The output end of the second bending motor 3621 is connected to a fourth bevel gear 3624, and a second force detector is provided on the second mount 3622. The second bending motor 3621 drives the fourth bevel gear 3624 to rotate, and then drives the endoscope to perform bending motion in a second direction via the second transmission pin 3623, and at this time, the second force detector can detect torsion force received by the second mounting seat 3622.

As shown in fig. 41, the second bending transmission mechanism further includes a sixth bevel gear 3626, the sixth bevel gear 3626 being meshed with the fifth bevel gear 3625 and rotatably mounted in the rotary compartment 3300. The sixth bevel gear 3626 and the fourth bevel gear 3624 are disposed along the length of the groove 3310 and on opposite sides of the second drive pin 3623.

Specifically, the sixth bevel gear 3626 is rotatably mounted to a second gear seat fixedly mounted to the second connection plate 3514. As shown in fig. 41, a second force detection sensor 3627 is provided on the sixth bevel gear 3626 for detecting the rotation angle of the sixth bevel gear 3626. For example, the second force detection sensor 3627 includes a second magnet fixedly mounted to the sixth bevel gear 3626 and a second magnetic sensor mounted to the second gear seat to detect a rotation angle of the sixth bevel gear 3626. Of course, the second force detecting sensor 3627 may also employ a gyroscope or other angle detecting element, which is not particularly limited in this embodiment of the present invention.

According to the second bending transmission mechanism provided by the embodiment of the invention, the sixth bevel gear 3626 is used for providing an installation position for the installation of the second force detection sensor 3627, and meanwhile, the fourth bevel gear 3624 and the sixth bevel gear 3626 are meshed with the fifth bevel gear 3625, so that the stress of the fifth bevel gear 3625 can be balanced, and the transmission stability is improved.

In addition, the second bending transmission mechanism further comprises a sixth elastic member 3628, and the sixth elastic member 3628 is sleeved on the second transmission pin 3623. As shown in fig. 41, one end of the sixth elastic member 3628 abuts against the housing, and the other end abuts against an end surface of the fifth bevel gear 3625.

Optionally, sixth elastic element 3628 is a spring. The sixth spring 3628 is configured to provide a dampening force when the second drive pin 3623 is inserted into the second through-hole 3312 or withdrawn from the second through-hole 3312 by the action of the clutch mechanism 3500. In addition, the sixth spring 3628 also acts to cooperate with the clutch mechanism 3500 to securely insert the second drive pin 3623 into an endoscope disposed within the recess 3310 as the second drive pin 3623 is inserted into the endoscope through the second through-hole 3312.

Under the action of clutch driving, the first connecting plate 3513 and the second connecting plate 3514 are mutually close, and meanwhile, the first transmission pin 3613 is driven to penetrate through the first through hole 3311 and be inserted into the left side of the endoscope, and the second transmission pin 3623 is driven to penetrate through the second through hole 3312 and be inserted into the right side of the endoscope, so that the first transmission pin 3613 and the second transmission pin 3623 are coupled with the endoscope. At this time, under the action of the first bending power unit, the first bevel gear 3614 drives the second bevel gear 3615 to rotate, so as to drive the first transmission pin 3613 to rotate, and drive the endoscope to bend along the first direction. Under the action of the second bending power unit, the fourth bevel gear 3624 drives the fifth bevel gear 3625 to rotate, so that the second transmission pin 3623 is driven to rotate, and the endoscope is driven to bend along the second direction.

When the endoscope is removed from the recess 3310, the first and second connection plates 3513, 3514 are moved away from each other by the clutching drive, driving the first drive pin 3613 out of the recess 3310 to decouple from the left side of the endoscope and driving the second drive pin 3623 out of the recess 3310 to decouple from the right side of the endoscope.

Specifically, as shown in fig. 37, the endoscope driving device 3000 further includes a door driving mechanism 3210, and a driving end of the door driving mechanism 3210 is connected to the door 3200. The hatch 3200 is slidably mounted on a first support plate 3102 and a second support plate 3103.

In an alternative embodiment, as shown in fig. 37, the hatch drive mechanism 3210 includes a hatch drive unit 3211, a hatch drive gear set 3212 and a rack 3213. The rack 3213 is circular arc shaped and fits with the arc-shaped wall of the supporting seat 3100. The output gear of the hatch drive gear set 3212 meshes with a rack 3213, and one end of the rack 3213 is connected to the hatch 3200. The input gear of the hatch drive gear set 3212 is connected to a hatch drive unit 3211. The hatch drive unit 3211 is a rotary motor. Wherein, the hatch door driving mechanism 3210 further comprises a rotation angle detecting element 3220 for detecting an opening and closing angle of the hatch door 3200, and the hatch door driving unit 3211 is connected to the rotation angle detecting element 3220 so as to stop working when reaching a preset angle. For example, the rotation angle detecting element 3220 includes a circuit board 3221 with a magnetic encoder mounted on the second base plate 3101 and a magnet 3222 disposed on any gear of the door driving gear set 3212, and the rotation angle of the magnet 3222 is detected by the circuit board 3221, so as to determine the opening and closing angle of the door 3200, so as to control the movement of the door 3200. Under the drive of the cabin door driving unit 3211, the cabin door transmission gear set 3212 drives the rack 3213 to slide along the arc-shaped arm of the supporting seat 3100, so as to drive the cabin door 3200 to slide along the supporting seat 3100, and the opening and the closing of the cabin door 3200 are realized.

In yet another alternative embodiment, the hatch drive mechanism 3210 includes a hatch drive unit 3211 and a traction rope. One end of the traction rope is connected with the cabin door 3200, and the other end is connected with an output shaft of the cabin door driving unit 3211. The cabin door 3200 is driven by the cabin door driving unit 3211 to slide relative to the supporting seat 3100 by the traction rope.

As shown in fig. 34, the first end surface 3341 of the rotary cabin 3300 is provided with a clutch switch 3530, and the clutch switch 3530 is used for triggering clutch driving operation and triggering the opening and closing of the cabin door 3200 when pressed.

Specifically, after the endoscope is placed in the groove 3310, the clutch switch 3530 is pressed, the cabin door 3200 is started to be closed, and the clutch driving is started to drive the first bending driving mechanism 3610 and the second bending driving mechanism 3620 to be close to each other and respectively coupled with two sides of the endoscope. After the operation is finished, the clutch switch 3530 is pressed again, the cabin door 3200 is opened, and the clutch driving is started to drive the first bending driving mechanism 3610 and the second bending driving mechanism 3620 to be separated from each other and respectively decoupled from two sides of the endoscope.

In addition, the bottom of the recess 3310 is provided with an in-place detecting member for detecting whether or not the endoscope is placed in the recess 3310.

As shown in fig. 33 and 42, an optoelectronic communication interface 3330 is provided on the second end surface 3342 of the rotary module 3300 for mounting an optoelectronic connector.

Specifically, after the endoscope is placed in the recess 3310, communication is made to the outside through an opto-electronic connector mounted at the opto-electronic communication interface 3330. Optionally, an optical electrical connector locking mechanism is disposed at the optical electrical communication interface 3330, and the optical electrical connector is detachably mounted on the optical electrical communication interface 3330 through the optical electrical connector locking mechanism. Optionally, the locking mechanism of the optoelectronic connector is an elastic snap mechanism or an electrically driven locking mechanism. For example, the photoelectric connector locking mechanism is provided with an unlocking key, and when the unlocking key is triggered, the photoelectric connector locking mechanism is unlocked.

As shown in fig. 35 and 42, the endoscope prevents the photoelectric communication port on the endoscope from contacting the bottom of the groove 3310 after the groove 3310, and is electrically connected with the photoelectric communication port 3330 through the port provided at the bottom of the groove 3310, thereby routing the photoelectric communication line from the inside of the rotary cabin 3300, separating the water gas line and the photoelectric communication line of the endoscope, and avoiding cross infection or occurrence of short circuit caused by the floor drain.

The endoscope conveying device 5000 of the present invention is described below with reference to fig. 43 to 52.

The present invention provides an endoscope conveying device 5000 for driving an endoscope to perform axial movement and rotation operations. As shown in fig. 43 and 44, the endoscope conveying device 5000 includes a first driving mechanism 5100, a conveying mechanism 5200, and a first supporting base 5300. The first driving mechanism 5100 includes a rotary housing 5110, a rotary driving assembly, and a conveying driving assembly. The rotary housing 5110 is rotatably mounted to the first support housing 5300 by a rotary driving assembly. The rotary drive assembly and the delivery drive assembly are both fixedly connected to the rotary housing 5110. The fixing connection mode is used for realizing the relative fixing of the two, and can be a non-detachable connection mode such as welding or interference fit, or a detachable connection mode such as screw connection or buckle. The conveying mechanism 5200 is detachably mounted to a side surface of the rotary housing 5110. The output end of the conveying driving assembly extends out of the rotary shell 5110 to be connected with the conveying mechanism 5200, and the conveying mechanism 5200 is used for clamping the endoscope 200 and driving the insertion part of the endoscope 200 to advance or retreat under the power output by the conveying driving assembly.

Wherein the first support seat 5300 is for supporting the entire endoscopic delivery device 5000. The rotary driving assembly is used for driving the rotary housing 5110 and the rotary driving assembly, the conveying driving assembly and the conveying mechanism 5200 which are installed on the rotary housing 5110 to rotate, and the conveying driving assembly is connected with the conveying mechanism 5200 so as to provide power for the conveying mechanism 5200. The conveying mechanism 5200 is used for clamping the endoscope 200, and can drive the insertion portion of the endoscope 200 to continuously move after being coupled with the power output by the first driving mechanism 5100.

As shown in fig. 45 and 46, the rotation driving assembly includes a rotation driving unit 5121 and a rotation gear 5122. The rotation driving unit 5121 is fixedly installed on the rotation housing 5110, and the rotation gear 5122 is sleeved on the output shaft of the rotation driving unit 5121. The first support seat 5300 is provided with an inner gear ring 5301, and the rotary gear 5122 is in driving connection with the inner gear ring 5301.

In order to make the rotation smoother, the rotary housing 5110 is rotatably mounted in the first support housing 5300 by means of a bearing 5123. Specifically, the inner ring of the bearing 5123 is fixedly connected to the rotary housing 5110, and the outer ring of the bearing 5123 is fixedly connected to the support housing 5310. Specifically, the support housing 5310 is provided with a mounting hole, the fixing tube 5124 is inserted and fixed in the mounting hole of the support housing 5310, and an inner wall of the fixing tube 5124 is provided with an inner gear ring 5301. Of course, the internal teeth may be provided directly on the first support seat 5300. The rotary housing 5110 is fixedly mounted on the rotary body 5125, the rotary body 5125 is fixedly inserted into the inner ring of the bearing 5123, and the outer ring of the bearing 5123 is fixedly mounted on the inner wall of the mounting hole. The outer wall of the fixed cylinder 5124 and the outer ring of the bearing 5123 are abutted against the inner wall of the mounting hole, and the outer wall of the fixed cylinder and the outer ring of the bearing 5123 are jointly packaged in the mounting hole.

The rotary driving unit 5121 is a rotary motor or other driving structure capable of outputting rotary power. Specifically, the rotation driving unit 5121 is fixedly mounted on the rotating body 5125, and an output shaft of the rotation driving unit 5121 extends into the fixed cylinder 5124 through the rotating body 5125, so that the rotation gear 5122 sleeved on the extending shaft is meshed with the ring gear 5301. It is understood that the rotary gear 5122 may directly engage the ring gear 5301, or may rotate along the ring gear 5301 by other driving members such as gears. Under the driving of the rotation driving unit 5121, the rotation gear 5122 rotates along the ring gear 5301, so as to drive the entire first driving mechanism 5100 to rotate relative to the first supporting seat 5300.

In the endoscope conveying device 5000 provided by the invention, the first driving mechanism 5100 is rotated relative to the first supporting seat 5300 by means of the rotary gear 5122 and the rotary driving unit 5121, the rotary gear 5122 is in transmission connection with the annular gear 5301 on the first supporting seat 5300, and the rotary driving unit 5121 synchronously rotates with the rotary housing 5110 while providing rotary driving force.

In addition, in an alternative embodiment, the rotary driving assembly includes a rotary driving unit and a friction wheel, and the first supporting seat 5300 is provided with a friction surface. The driving shaft of the rotary driving unit is connected with the friction wheel, and the friction wheel is attached to the friction surface. Under the action of the rotation driving unit, the rotation driving unit drives the friction wheel to rotate, and further drives the first supporting seat 5300 to rotate.

In yet another alternative embodiment, the rotary driving assembly includes a rotary driving unit and a first driving wheel, and a second driving wheel is disposed on the first support 5300. The driving shaft of the rotary driving unit is in transmission connection with the first driving wheel, and the first driving wheel is connected with the second driving wheel through a synchronous belt or a driving chain. For example, the first driving wheel and the second driving wheel are both chain wheels and are connected through a driving chain. The driving shaft of the rotary driving unit is directly connected to the first driving wheel, and the first supporting seat 5300 is synchronously rotated under the driving of the rotary driving unit. For another example, the first driving wheel and the second driving wheel are synchronous pulleys, and the synchronous belt is sleeved on the first driving wheel and the second driving wheel. The first support seat 5300 is driven by the rotation driving unit to rotate synchronously by the synchronous belt.

The first driving mechanism 5100, the conveying mechanism 5200 and the first supporting seat 5300 are arranged in a split mode, the first driving mechanism 5100 is integrated with an electric control structure, the conveying mechanism 5200 is purely mechanically driven, and the conveying mechanism 5200 is only required to be taken down to be decontaminated after operation is finished, so that other structures are prevented from being polluted. In addition, the first driving mechanism 5100 is internally provided with a rotation driving assembly and a conveying driving assembly, which are both installed in the rotation housing and are mutually independent, so that the rotation and conveying combined motion can be realized, and the rotation and conveying combined motion is mutually not interfered.

As shown in fig. 46, a first detecting element 5111 is disposed on the rotary housing 5110, and the first detecting element 5111 is a gyroscope or other angle detecting element for detecting a rotation angle of the rotary housing 5110.

As shown in fig. 45 and 46, the conveyance driving assembly includes a conveyance driving unit 5131, a first orthogonal gear 5132, a second orthogonal gear 5133, and a transmission shaft 5134. The transport driving unit 5131 is a rotary motor and is fixedly mounted to the rotary housing 5110. The first orthogonal gear 5132 is socket-fixed to the output shaft of the conveyance driving unit 5131. The second orthogonal gear 5133 is engaged with the first orthogonal gear 5132. The transmission shaft 5134 is connected to the second orthogonal gear 5133 so as to rotate together with the second orthogonal gear 5133. The drive shaft 5134 is adapted to couple with the delivery mechanism 5200 to power the delivery mechanism 5200. Alternatively, the transport drive unit 5131 is a rotary motor or other drive mechanism that provides a rotational force. The drive shaft 5134 transmits torque in the form of a hex or spline, etc.

As shown in fig. 45 and 46, the output shaft of the conveying drive unit 5131 extends along the rotation axis direction of the rotation housing 5110, and the transmission shaft 5134 extends along the radial direction of the rotation housing 5110, and the extending directions thereof are perpendicular. The endoscope conveying device 5000 provided by the invention adjusts the transmission direction of the rotary driving unit 5121 by means of the first orthogonal gear 5132 and the second orthogonal gear 5133 so as to fully utilize the internal space of the rotary housing 5110.

In an alternative embodiment, the transmission shaft 5134 is inserted and fixed to the second orthogonal gear 5133, and when the conveying mechanism 5200 is coupled to the transmission shaft 5134, the corresponding interface of the conveying mechanism 5200 needs to be aligned with the transmission shaft 5134. In yet another alternative embodiment, as shown in fig. 45, the rotary housing 5110 is provided with a mounting bracket rotatably mounted with a shaft sleeve 5135, the second orthogonal gear 5133 is fixedly sleeved on the shaft sleeve 5135, and the transmission shaft 5134 is movably inserted in the shaft sleeve 5135.

Specifically, as shown in fig. 47, both ends of the shaft housing 5135 are rotatably mounted to the mounting bracket by a bearing, respectively. A receiving cavity is formed between the transmission shaft 5134 and an inner wall of the shaft sleeve 5135, and the seventh elastic member 5136 is received in the receiving cavity. One end of the seventh elastic member 5136 is abutted to the shaft sleeve 5135, and the other end of the seventh elastic member 5136 is abutted to the transmission shaft 5134. The transmission shaft 5134 is movably inserted into the shaft sleeve 5135. Optionally, the seventh elastic member 5136 is a spring.

In the free state, the left end of the driving shaft 5134 extends out of the rotary housing 5110 under the thrust of the seventh elastic member 5136, and when the driving shaft 5134 receives the external axial thrust, the driving shaft 5134 is retracted into the rotary housing 5110, and pops up again after the external force disappears. The seventh elastic member 5136 is used for realizing elastic expansion and contraction of the transmission shaft 5134, and when the transmission shaft 5134 is coupled with the driving wheel, the matching relationship between the transmission shaft 5134 and the driving wheel can be adjusted by means of the seventh elastic member 5136, so that the transmission shaft 5134 and the driving wheel can be accurately abutted.

Under the action of the conveying driving unit 5131, the second orthogonal gear 5133 rotates to drive the shaft sleeve 5135 to rotate relative to the rotary housing 5110, drive the transmission shaft 5134 to move, and transmit power to the conveying mechanism 5200.

As shown in fig. 48 to 50, the conveying mechanism 5200 includes a third base plate 5210, a rotating lever 5221, a conveying assembly, and a locking assembly. The delivery assembly is used to grip the endoscope 200 and is coupled in power with the delivery drive assembly. The locking assembly comprises an adjusting piece 5223 and a locking pin 5224, the rotating rod 5221 is rotatably arranged on the third bottom plate 5210, the rotating rod 5221 is fixedly connected with the adjusting piece 5223, and a rebound piece is sleeved outside the locking pin 5224. As shown in fig. 44, the rotary housing 5110 is provided with a limiting hole 5112, the adjusting member 5223 is provided with a limiting structure, and when the rotary rod 5221 rotates to the first position, the limiting structure presses the locking pin 5224, so that the locking pin 5224 is fixedly inserted into the limiting hole 5112; when the rotation lever 5221 is rotated to the second position, the lock pin 5224 can be extended and contracted with respect to the third base plate 5210 by the resilient member.

As shown in fig. 48, the adjusting member 5223 is a cam, and the stopper is a portion of the cam corresponding to an outer contour having a large radial direction. The locking pin 5224 is inserted into a boss provided on the third base plate 5210 and can be axially moved in a telescopic manner. The rotary housing 5110 includes a first housing having a circular arc shape and a second housing having a U-shaped groove. The wall of the groove is provided with a limit hole 5112. The locking pin 5224 is inserted into the third base plate 5210 and can be fixed to the third base plate 5210 by a limiting structure on the adjusting member 5223. The rebound piece is installed in the boss, and one end of the rebound piece is abutted against the boss, and the other end is abutted against the step surface on the locking pin 5224.

In a released state, the locking pin 5224 protrudes out of the third base plate 5210 by the resilient member, and the locking pin 5224 is received into the third base plate 5210 by an external force during insertion of the third base plate 5210 into the recess. After the locking pin 5224 is inserted into the position, the locking pin 5224 is axially aligned with the limiting hole 5112, the locking pin 5224 stretches out of the third bottom plate 5210 by resilience force to be tightly attached to the limiting hole 5112, the rotating rod 5221 is rotated, and the adjusting piece 5223 is rotated, so that the limiting structure is tightly propped against the locking pin 5224. At this time, the lock pin 5224 is pushed by the stopper structure on the regulating member 5223 and cannot retract, thereby locking the conveying mechanism 5200 to the first driving mechanism 5100. At the end of the operation, the rotating rod 5221 is reversely rotated, the adjusting member 5223 is reset, and the locking pin 5224 can be axially retracted again under the action of the rebound member.

As shown in fig. 48, two rotation pins are arranged on two opposite sides of the third bottom plate 5210, and corresponding two side walls of the groove are provided with limit holes 5112. The two rotation pins are inserted into the limit holes 5112 in a one-to-one correspondence manner.

In addition, in order to facilitate the rotation, a handle 5225 is installed at the end of the rotating rod 5221, and the handle 5225 is arc-shaped to facilitate the holding.

In an alternative embodiment, the delivery assembly includes a drive wheel and a driven wheel, both of which are rotatably mounted to third floor 5210. A pipe through which the endoscope 200 is inserted is formed between the driving wheel and the driven wheel. The driving wheel is coupled with the driving shaft 5134 to rotate by the delivery driving unit 5131. The end of the drive shaft 5134 is splined or otherwise non-circular in configuration; the axle center of the driving wheel is provided with a slot, the shape of the slot is consistent with the end shape of the transmission shaft 5134, and the transmission shaft 5134 is inserted in the slot. The driving wheel and the driven wheel are rollers, and grooves for accommodating the pipeline of the endoscope 200 are formed in the rollers. In use, the tubing of endoscope 200 is manually inserted between the rollers.

In yet another alternative embodiment, as shown in fig. 50, the delivery assembly includes a multi-link structure 5231, a first delivery unit 5233, a second delivery unit 5234, a first transmission unit 5241, and a second transmission unit 5251. A channel through which the endoscope 200 passes is formed between the first and second delivery units 5233 and 5234, and the first and second transmission units 5241 and 5251 are connected to the multi-link structure 5231, and the multi-link structure 5231 is connected to the rotary rod 5221. Under the action of the rotating rod 5221, the first and second transmission units 5241 and 5251 drive the first and second conveying units 5233 and 5234 to approach or separate from each other.

To facilitate insertion of the endoscope 200, a second guide tube 5211 is provided on the third base plate 5210, and the second guide tube 5211 communicates with a channel formed between the first and second delivery units 5233 and 5234.

As shown in fig. 48 to 50, the first and second conveying units 5233 and 5234 are each of a timing belt and timing wheel structure. The first conveying unit 5233 includes a first driving synchronizing wheel, a first driven synchronizing wheel, and a first synchronizing belt sleeved on the first driving synchronizing wheel and the first driven synchronizing wheel. The second conveying unit 5234 includes a second driving synchronizing wheel, a second driven synchronizing wheel, and a second timing belt, and the second timing belt is sleeved on the second driving synchronizing wheel and the second driven synchronizing wheel. The outer circumferences of the first synchronous belt and the second synchronous belt are provided with inner grooves matched with the outer contour of the matched endoscope 200, and the inner grooves can be continuously arranged or discontinuously arranged.

The first transmission unit 5241 includes a power shaft 5242, a first transmission housing 5243, a first transmission assembly 5244 and a first support shaft 5245. As shown in fig. 51, both power shafts 5242 are rotatably mounted to the first transmission housing 5243. Alternatively, the first transmission assembly 5244 includes four transmission gears meshed in sequence, and two transmission gears located at the outermost sides are respectively sleeved on one power shaft 5242. It will be appreciated that the number of drive gears in the first drive assembly 5244 can be other values as long as the opposite direction of rotation of the two power shafts 5242 is ensured. In addition, the first transmission assembly 5244 may be a chain transmission assembly or a belt transmission assembly, and the present invention is not particularly limited to the specific structure of the first transmission assembly 5244. The first support shaft 5245 and one power shaft 5242 are coaxially and fixedly mounted on one side of the first transmission housing 5243 facing away from the power shaft 5242. One of the two power shafts 5242 is inserted into the first driving synchronous wheel, and the other one is inserted into the second driving synchronous wheel. The second transmission unit 5251 includes an optical axis, a second transmission housing, and a second support shaft. The two optical axes are rotatably arranged on the second transmission shell, and the second supporting shaft and one optical axis are coaxially and fixedly arranged on one side, deviating from the optical axis, of the second transmission shell. One optical axis is inserted into the first driven synchronous wheel, and the other optical axis is inserted into the second driven synchronous wheel.

The rotating rod 5221 is connected to the first and second support shafts 5245 and 5231 by a multi-link structure. Specifically, the first support shaft 5245 and the second support shaft are two rotation shafts in the multi-link structure 5231, and the rotation rod 5221 is connected to the multi-link structure 5231.

The multi-link structure 5231 is switched between a self-locking state and an unlocked state by rotating the rotary lever 5221. When in the self-locking state, the second delivery unit 5234 is adjacent to the first delivery unit 5233 to grip the endoscope 200. When in the unlocked state, the second delivery unit 5234 is remote from the first delivery unit 5233 to facilitate insertion and removal of the endoscope 200. Under the driving of the conveying driving unit 5131, the transmission shaft 5134 drives the first active synchronizing wheel to rotate, and drives the second active synchronizing wheel to rotate through the first transmission unit 5241, so that the two conveying units start to operate, and the endoscope 200 is made to advance or retreat under the action of the first synchronizing belt and the second synchronizing belt.

As shown in fig. 49 and 50, the delivery mechanism 5200 further includes a detection wheel 5260, the detection wheel 5260 being configured to contact the endoscope 200 to rotate under the friction force of the endoscope 200. The endoscope conveying device 5000 further includes a detection sensor for detecting the number of rotations of the detection wheel 5260. Alternatively, the detection sensor is a photoelectric sensor or a non-contact or contact sensor capable of detecting the rotation angle of the detection wheel 5260.

For example, a magnetic member such as a magnet is mounted on the detection wheel 5260, and a circuit board or a magnetic sensor with a magnetic encoder is mounted on the first driving mechanism 5100 for detecting the number of rotations of the detection wheel 5260, and further determining the forward or backward length of the endoscope 200 in combination with the size of the detection wheel 5260. The number of turns of the detection wheel 5260 is determined in common by the interaction of the magnetic member and the magnetic sensor.

The detection wheel 5260 is an elastic wheel, and an annular groove with a certain friction force and matched with the outer contour of the endoscope 200 is formed in the outer periphery of the detection wheel 5260.

As shown in fig. 52, the first support seat 5300 includes a support housing 5310 and a support arm 5320, and the rotation housing 5110 is rotatably mounted to the support housing 5310. The rotation driving assembly is used to drive the rotation housing 5110 to rotate relative to the support housing 5310. Support arm 5320 for connection to a telescopic arm of a trolley

A force detection sensor 5330 is provided on the support arm 5320, and the force detection sensor 5330 is used to detect the resistance of the endoscope 200 to advance and retract during operation of the endoscope conveying device 5000. The force detection sensor 5330 is communicatively coupled to an external steering platform for feeding back the resistance to advancement and retraction of the endoscope 200 to the external steering platform.

The decontaminated conveying mechanism 5200 is clamped on the first driving mechanism 5100, as shown in fig. 44 and 46, the locking pin 5224 of the conveying mechanism 5200 is clamped in the corresponding limiting hole 5112 of the first driving mechanism 5100, at this time, the locking pin 5224 can still move along the axial direction of the limiting hole 5112, and the conveying mechanism 5200 and the first driving mechanism 5100 are not locked. The delivery unit of the delivery mechanism 5200 interfaces with the drive shaft 5134 of the first drive mechanism 5100, but the drive shaft 5134 may retract into the sleeve 5135, not achieving full coupling.

The insertion part of the endoscope 200 is inserted from the second guide tube 5211 of the conveying mechanism 5200 and extends out from the other end, the handle 5225 of the conveying mechanism 5200 is pulled to drive the rotating rod 5221 to rotate, at this time, the locking pin 5224 is completely clamped in the limiting hole 5112 in a propping mode by the limiting structure on the adjusting piece 5223, the multi-connecting-rod structure 5231 drives the first transmission unit 5241 and the second transmission unit 5251 to rotate, the inner grooves of the first conveying unit 5233 and the second conveying unit 5234 enable the endoscope 200 to be encircling and clamped, and the locking handle 5225 is continuously pulled to a self-locking point.

The external control platform is controlled, a rotation instruction of the endoscope 200 is sent, the rotation driving unit 5121 is started, the endoscope 200 rotates along with the first driving mechanism 5100 and the conveying mechanism 5200, and the first detecting unit detects the rotation angle of the rotation driving and sends the rotation angle to the external control board. The control platform sends an endoscope 200 advance and retreat instruction, the conveying driving unit 5131 is started, the transmission shaft 5134 rotates to enable the end portion of the transmission shaft 5134 to be in butt joint with the first active synchronous wheel, at the moment, the transmission shaft 5134 ejects under the action of the seventh elastic piece 5136, so that the transmission shaft 5134 is completely coupled with the first conveying unit 5233, the endoscope 200 is driven to move through the transmission unit and the conveying unit, at the moment, the detection sensor sends the detected rotation angle to the external control board, and the force detection sensor 5330 located on the supporting arm 5320 sends the detected push-pull force to the external control board.

After the completion of the work, the locking handle 5225 is pulled in the opposite direction to withdraw the endoscope 200 from the endoscope second guide tube 5211, and the delivery mechanism 5200 is removed to decontaminate the delivery unit and the second guide tube 5211 or the whole.

When the medical robot provided by the invention is used, the opening and closing key on the endoscope driving device 3000 is pressed to open the cabin door 3200, the operation part of the endoscope is placed into the groove 3310 of the endoscope driving device 3000, and the opening and closing key is pressed again to lock the endoscope driving device 3000 to realize the connection of the structure, the power, the data, the power supply and the light source and close the cabin door 3200. The insertion portion of the endoscope is inserted into the second guide tube 5211 of the endoscope conveying device 5000 until the entire snake bone is beyond the endoscope conveying device 5000. At this time, the insertion portion of the endoscope is in a naturally suspended state between the endoscope conveyance device 5000 and the endoscope driving device 3000. The quick connector of the external gas-liquid conveying device 9041 is clamped on the end face of the endoscope operation part, and the other end of the quick connector is respectively connected with the external fluid control device 9040, the suction device 9042 and the water bag 9043. The endoscopic instruments are clamped one by one to the endoscopic instrument switching device 1000. Finally, the image end connector of the photoelectric connection device 7000 is inserted into the corresponding connector of the peripheral image processing device 9020.

The operation and control platform 8000 is started, the endoscope driving device 3000 is operated by the instrument control unit to perform bending, rotation and the like of the endoscope, so that bending of the endoscope head end and overall rotation of the endoscope are realized, and the endoscope conveying device 5000 is operated to perform advancing and retreating of the endoscope and to cooperate with the endoscope driving device 3000 to realize rotation of the endoscope. The rotation of the endoscope driving device 3000 and the rotation of the endoscope transporting device 5000 may be performed actively in synchronization with each other, or the rotation may be performed actively by the endoscope transporting device 5000, and the torsion information may be transmitted to the endoscope driving device 3000 by a torsion sensor incorporated in the endoscope, and the endoscope driving device 3000 may follow.

During insertion of the endoscope, the insertion portion of the endoscope gradually enters the patient, and the insertion portion of the endoscope gradually straightens from a natural suspended state between the endoscope conveying device 5000 and the endoscope driving device 3000. The first detection element 5111 built in the endoscope conveying device 5000 transmits detection information to the main control board, the main control board transmits a rotation instruction to the rotation driving 6211 of the first telescopic arm 6200, and the first telescopic arm 6200 starts to rotate to ensure that the insertion part of the endoscope is not pulled until reaching the dead point position. The strain gauge arranged in the second telescopic arm 6300 can detect the resistance of the endoscope conveying device 5000 in the working process of advancing and retreating the endoscope and feed back the resistance to the control platform 8000, and the force feedback motor of the control platform 8000 transmits the feedback force to the corresponding control handle, so that the safety of the bending process of the endoscope head end can be ensured, and risks such as perforation are avoided. The first force detection sensor 3617 and the second force detection sensor 3627 which are arranged in the endoscope driving device 3000 can detect the bending stress condition of the endoscope head end and feed back the bending stress condition to the control platform 8000, and the force feedback motor of the control platform 8000 transmits the feedback force to the corresponding control handle, so that the safety of the bending process of the endoscope head end can be ensured, and risks such as perforation are avoided. The sensor arranged in the endoscope can detect the travel of the bent traction steel wire and feed back the travel to the main control board, and the display displays the spatial bending state of the head end of the endoscope after calculation, so that the safety of the endoscope advancing and retreating process can be ensured, and risks such as perforation and the like are avoided.

The whole medical robot has powerful operation function, can effectively reduce the physical consumption of operators, and is convenient to decontaminate.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The endoscope trolley is characterized by comprising a trolley main body, a first telescopic arm and a second telescopic arm, wherein the trolley main body comprises a base and a workbench, the workbench is installed on the base in a lifting manner, the first telescopic arm is rotatably installed on the workbench, the second telescopic arm is fixedly installed on the workbench, and the lengths of the first telescopic arm and the second telescopic arm are adjustable; the first telescopic arm is used for installing an endoscope driving device and an endoscope instrument switching device, and the second telescopic arm is used for installing an endoscope conveying device.

2. The endoscope trolley according to claim 1, wherein a support cylinder is provided at a top of the table, the first telescopic arm is fixedly mounted in the support cylinder, a rotation drive is provided in the support cylinder, the rotation drive is in transmission connection with the support cylinder, and the support cylinder is rotatably connected with the table.

3. The endoscope trolley of claim 2, wherein the first telescoping arm comprises a first fixed arm, a first telescoping drive, and a first movable arm, both of which are fixedly mounted to the support cylinder, the first movable arm being inserted into the first fixed arm and connected to the drive end of the first telescoping drive.

4. An endoscope trolley according to any one of claims 1 to 3, wherein said first telescopic arm is provided with a clamping socket.

5. A medical robot comprising an endoscopic instrument switching device, an endoscopic instrument transporting device, an endoscopic driving device, an endoscopic transporting device, and the endoscope carriage according to any one of claims 1 to 4, wherein the endoscopic instrument switching device, the endoscopic instrument transporting device, and the endoscopic driving device are mounted to the first telescopic arm, and the endoscopic transporting device is mounted to the second telescopic arm.

6. The medical robot according to claim 5, wherein the endoscopic instrument switching device includes a moving assembly and a plurality of tube gripping units mounted to the moving assembly, the endoscopic instrument transporting device includes a first housing and a first guide tube provided on the first housing, and an end portion of the first guide tube is provided with a concave surface adapted to the tube gripping units.

7. The medical robot according to claim 6, wherein the endoscopic instrument switching device comprises an instrument clamping mechanism, an instrument switching mechanism and a pipeline clamping mechanism, the instrument clamping mechanism comprises a mounting table and a plurality of instrument clamping units arranged on the mounting table, the instrument switching mechanism comprises an instrument supporting seat, and the pipeline clamping mechanism comprises a mounting rod and a plurality of pipeline clamping units arranged on the mounting rod;

the mounting table is mounted on the instrument supporting seat, the mounting rod is mounted on the instrument supporting seat through a moving assembly, the instrument clamping unit is used for clamping an operation portion of an endoscopic instrument, the pipeline clamping unit is used for clamping an insertion portion of the endoscopic instrument, and any one of the pipeline clamping units can be in butt joint with the first guide pipe under the action of the moving assembly.

8. The medical robot according to claim 7, wherein the tube holding unit comprises a housing, a collet and an elastic restoring member, the collet is movably inserted into the housing, a central through hole for passing a tube of an endoscopic instrument is formed in the collet, the elastic restoring member is sleeved on the collet and is positioned in the housing, one end of the collet is provided with a butt joint for butt joint with the endoscopic conveying device, the other end of the collet is provided with a claw, the housing is provided with a conical opening with a caliber gradually decreasing from outside to inside, and the claw is clamped on the conical opening in a natural state; in the delivery state, the abutment is in abutment with an abutment of the endoscopic instrument delivery device, and the jaws are moved to the large mouth end of the tapered mouth.

9. The medical robot of claim 5, wherein the endoscope driving device comprises a support base, a rotary cabin, a rotary driving mechanism, and a bending driving mechanism;

the rotary driving mechanism is arranged in the rotary cabin, and the rotary cabin is arranged in the supporting seat and can rotate relative to the supporting seat under the action of the rotary driving mechanism;

The rotary cabin is provided with a groove for placing an endoscope, and an output shaft of the bending driving mechanism is coupled with or decoupled from the endoscope in the groove;

the endoscope conveying device comprises a first driving mechanism, a conveying mechanism and a first supporting seat, wherein the first driving mechanism is rotatably arranged on the first supporting seat, the conveying mechanism is detachably arranged on the side face of the first driving mechanism, the first driving mechanism is in power coupling with the conveying mechanism, and the conveying mechanism is used for clamping an endoscope and driving an insertion part of the endoscope to advance and retreat and rotate under the action of power output by the first driving mechanism;

the first driving mechanism and the rotary cabin synchronously rotate.

10. The medical robot according to claim 9, wherein the first support base is provided with an inner gear ring, the driving mechanism comprises a rotary shell, a rotary driving assembly and a conveying driving assembly, the rotary shell is rotatably installed on the support base, the rotary driving assembly and the conveying driving assembly are installed in the rotary shell, the conveying mechanism is detachably installed on the side face of the rotary shell, the output end of the conveying driving assembly extends out of the rotary shell to be connected with the conveying mechanism, the rotary driving assembly comprises a rotary driving unit and a rotary gear, and the rotary gear is sleeved on an output shaft of the rotary driving unit and meshed with the inner gear ring.