阅读说明：本技术 弯曲调节装置、内窥镜及手术机器人 (Bending adjustment device, endoscope and surgical robot ) 是由 王迎智 齐斌 李浩泽 于 2021-12-08 设计创作，主要内容包括：本发明涉及手术器械技术领域,特别是涉及一种弯曲调节装置、内窥镜及手术机器人。弯曲调节装置包括：推拉件、转动组件和多个牵引件,转动组件与推拉件转动连接。内窥镜包括入腹管、椎骨节组件和上述弯曲调节装置,椎骨节组件与入腹管连接,牵引件依次穿设于入腹管和椎骨节组件。其中,弯曲调节装置用以调节椎骨节组件的弯曲程度,便于更好的控制椎骨节组件的偏转方向。手术机器人包括基座、多功能通道器和上述内窥镜,多功能通道器具有多个通道,内窥镜穿设于多功能通道器其中的一个通道,通过调节弯曲调节装置,进一步调节内窥镜中椎骨节组件的弯曲方向,进而调节镜头的偏转方向,以便更好的观察患者的病灶。(The invention relates to the technical field of surgical instruments, in particular to a bending adjusting device, an endoscope and a surgical robot. The bending adjustment device includes: the device comprises a push-pull piece, a rotating assembly and a plurality of traction pieces, wherein the rotating assembly is rotatably connected with the push-pull piece. The endoscope comprises an abdominal tube, a vertebral level assembly and the bending adjusting device, the vertebral level assembly is connected with the abdominal tube, and the traction piece sequentially penetrates through the abdominal tube and the vertebral level assembly. Wherein, the bending adjusting device is used for adjusting the bending degree of the vertebral level assembly, so as to better control the deflection direction of the vertebral level assembly. The surgical robot comprises a base, a multifunctional channel device and the endoscope, wherein the multifunctional channel device is provided with a plurality of channels, the endoscope is arranged in one channel of the multifunctional channel device in a penetrating mode, the bending direction of the vertebral segment assembly in the endoscope is further adjusted by adjusting the bending adjusting device, and then the deflection direction of the lens is adjusted, so that the focus of a patient can be better observed.)

1. A bend adjustment device, the device comprising: the device comprises a push-pull piece (412), a rotating assembly (1) and a plurality of traction pieces (416), wherein the rotating assembly (1) is rotatably connected with the push-pull piece (412); one end of the traction piece (416) is fixedly connected with the rotating assembly (1), and the other end of the traction piece (416) is fixedly connected with the piece to be bent;

the bending adjusting device has an initial state and an adjusting state, and when the bending adjusting device is in the initial state, the to-be-bent piece extends along a straight line under the action of the traction piece (416); when the bending adjusting device is in an adjusting state, the pushing and pulling piece (412) drives the traction piece (416) to move along the first direction through the rotating assembly (1) under the action of external force, so that the traction piece (416) drives the piece to be bent to bend.

2. The device according to claim 1, characterized in that the rotating assembly (1) comprises a rotating shaft (414), a first fixing assembly and a second fixing assembly, the first fixing assembly and the second fixing assembly are both arranged on the rotating shaft (414), the first fixing assembly is used for locking the traction member (416) on the rotating shaft (414), and the second fixing assembly is used for controlling the axial rotation of the push-pull member (412).

3. The device as claimed in claim 2, wherein the rotating shaft (414) comprises a limiting part (4183) and a fixing rod (4184) which are connected in sequence, and the first fixing component comprises a locking member (4185);

the limiting part (4183) is arranged at one end, far away from the push-pull part (412), of the rotating shaft (414), and the traction part (416) is in limiting connection with the limiting part (4183);

the fixing rod (4184) is connected with the limiting part (4183) and used for fixing the locking part (4185);

the locking piece (4185) is sleeved on the fixing rod (4184) to lock the traction piece (416).

4. The device according to claim 3, characterized in that said stop portion (4183) comprises a first stop portion (4186) and a plurality of second stop portions (4187) connected in series axially, said plurality of second stop portions (4187) being arranged radially along said first stop portion (4186);

the traction piece (416) is sequentially clamped on the first limiting part (4186) and two second limiting parts (4187) of the plurality of second limiting parts (4187), and the two second limiting parts (4187) are arranged in parallel relatively;

the traction piece (416) is connected with the first limiting part (4186) in a surrounding and clamping mode.

5. The device according to claim 4, wherein the position-limiting portion (4183) further comprises a third position-limiting portion (4188), the first position-limiting portion (4186) and the plurality of second position-limiting portions (4187) radially arranged along the first position-limiting portion (4186) are sequentially arranged, the first position-limiting portion (4186) and the plurality of second position-limiting portions (4187) radially arranged along the first position-limiting portion (4186) are sequentially disposed on the rotating shaft (414), the fixing rod (4184) is located at an end portion of the rotating shaft (414) far away from the push-pull member (412), the third position-limiting portion (4188) is annularly disposed on the fixing rod (4184), and the plurality of second position-limiting portions (4187) are annularly disposed radially of the third position-limiting portion (4188);

the traction piece (416) is sequentially clamped on the first limiting portion (4186), the third limiting portion (4188) and the two second limiting portions (4187) arranged along the radial direction of the first limiting portion (4186), the two second limiting portions (4187) are respectively arranged in a second direction and a third direction, the second direction is parallel to and opposite to the third direction, and the traction piece (416) is limited on the third limiting portion (4188) in a surrounding mode.

6. The device according to claim 4, characterized in that the pulling element (416) is circumferentially engaged along the first limiting portion (4186) over an angle greater than 90 °.

7. The device according to claim 4, wherein the number of the second limiting portions (4187) is even, and the second limiting portions are uniformly arranged in the circumferential direction of the first limiting portion (4186) in a pairwise symmetry manner.

8. The device as claimed in claim 3, wherein the fixing rod (4184) is provided with a thread, the locking member (4185) comprises a nut, and the locking member (4185) is in threaded connection with the fixing rod (4184).

9. The device as claimed in claim 8, wherein when the pulling member (416) is in a compressed state, the locking member (4185) is fixed to the fixing rod (4184) so that the pulling member (416) has a pre-load of not less than 5N.

10. The apparatus of claim 2, wherein the second fixing component comprises a bearing (4141), the rotating shaft (414) comprises a front end (2), and the bearing (4141) is sleeved on the front end (2) of the rotating shaft (414).

11. The apparatus of claim 10, wherein the second securing assembly further comprises:

the elastic element (4142) is sleeved on the rotating shaft (414) and is positioned at the end part of the bearing (4141) far away from the push-pull element (412).

12. The apparatus of claim 11, wherein the second securing assembly further comprises:

the first fixing piece (4143) is sleeved on the rotating shaft (414) and located at the end part, far away from the bearing (4141), of the elastic piece (4142), the rotating shaft (414) is provided with threads, when the second fixing component is in an assembled state, the first fixing piece (4143) is always in a fixed state, and the elastic piece (4142) is tightly pressed on the bearing (4141).

13. The device according to claim 10, wherein the bearing (4141) comprises a first bearing (4141 a) and a second bearing (4141 b) which are sequentially sleeved on the rotating shaft (414), a housing (4) is sleeved outside the bending adjusting device, the rotating shaft (414) is sequentially and axially arranged through the push-pull member (412) and the housing (4), an outer shaft sleeve (4144) is arranged at the position where the rotating shaft (414) and the housing (4) are arranged, the outer shaft sleeve (4144) is sleeved on the first bearing (4141 a) and the second bearing (4141 b), and a sealing member (4145) is arranged between the first bearing (4141 a) and the second bearing (4141 b).

14. The apparatus of claim 13, wherein the second securing assembly further comprises: the outer shaft sleeve (4144) is provided with threads, the inner wall of the second fixing piece (4146) is provided with threads, the second fixing piece (4146) is fixed with the outer shaft sleeve (4144) in a threaded mode, and a sealant layer is arranged at the threaded connection position of the second fixing piece (4146) and the outer shaft sleeve (4144).

15. An endoscope, comprising:

an abdominal tube (417), a vertebral level assembly (413) and the flexion regulating device of any of claims 1 to 14, the vertebral level assembly (413) being connected to the abdominal tube (417), the traction member (416) being arranged through the abdominal tube (417) and the vertebral level assembly (413) in sequence, the traction member (416) being fixed to the end of the vertebral level assembly (413) remote from the abdominal tube (417);

the bending adjustment device is used for adjusting the bending degree of the vertebral level assembly (413).

16. The endoscope of claim 15, wherein the abdominal tube (417) includes a guide (4171), the guide (4171) being disposed inside the abdominal tube (417);

the guide piece (4171) comprises a stepped through hole (4172) formed along the axial direction and a spring locking nut (4173) arranged in the stepped through hole (4172) in a penetrating mode;

the stepped through hole (4172) comprises a large-aperture end (4172 a) and a small-aperture end (4172 b), and the large-aperture end (4172 a) of the stepped through hole (4172) is provided with threads; the spring locking nut (4173) is fixed with the large-aperture end (4172 a) through threads;

the spring locking nut (4173) is axially provided with a first through hole (4174), and the traction piece (416) penetrates through the stepped through hole (4172) and the first through hole (4174).

17. The endoscope according to claim 16, characterized in that an elastic sleeve (4131) is arranged between the guide (4171) and the vertebral level assembly (413), one end of the elastic sleeve (4131) is arranged through the first through hole (4174), and the other end of the elastic sleeve (4131) is abutted against the end of the vertebral level assembly (413) connected with the abdominal tube (417);

the traction piece (416) penetrates through the elastic sleeve (4131).

18. A surgical robot comprising an endoscope according to any of claims 15-17.

Technical Field

The invention relates to the technical field of surgical instruments, in particular to a bending adjusting device, an endoscope and a surgical robot.

Background

An endoscope is a commonly used medical device that includes a lens, a vertebral segment assembly, and a light source that enters the body through a natural orifice of the body or through a small surgical incision. The endoscope is introduced into the human body to directly peep the target organ or tissue.

The human tissue structure is complicated, the bending degree of the traditional endoscope is limited, the operation range of the endoscope after entering the human body is limited, the visual field range of the operation is small, and the endoscope cannot bypass certain tissues to observe the focus of the tissues behind the endoscope.

Disclosure of Invention

In view of the above, the present invention has been made to provide a bending adjustment apparatus, an endoscope and a surgical robot that overcome or at least partially solve the above problems.

The present invention provides a bending adjustment apparatus, the apparatus comprising: the device comprises a push-pull piece, a rotating assembly and a plurality of traction pieces, wherein the rotating assembly is rotatably connected with the push-pull piece. One end of the traction piece is fixedly connected with the rotating assembly, and the other end of the traction piece is fixedly connected with the piece to be bent. The bending adjustment device has an initial state and an adjustment state, and when the bending adjustment device is in the initial state, the member to be bent extends along a straight line under the action of the traction member. When the bending adjusting device is in an adjusting state, the push-pull piece drives the traction piece to move along the first direction through the rotating assembly under the action of external force, so that the traction piece drives the piece to be bent.

Preferably, the rotating assembly comprises a rotating shaft, a first fixing assembly and a second fixing assembly, the first fixing assembly and the second fixing assembly are both positioned on the rotating shaft and used for locking the traction piece on the rotating shaft, and the second fixing assembly is used for controlling the axial rotation of the push-pull piece.

Preferably, the pivot is including the spacing portion and the dead lever that connect gradually, first fixed subassembly retaining member. The limiting part is arranged at one end of the rotating shaft, which is far away from the push-pull part, and the pull part is in limiting connection with the limiting part. The fixing rod is connected with the limiting part and used for fixing the locking part. The retaining member is sleeved on the fixing rod to fix and lock the traction member connected with the limiting part.

Preferably, the limiting part comprises a first limiting part and a plurality of second limiting parts which are sequentially connected along the axial direction, and the plurality of second limiting parts are radially arranged along the first limiting part. The traction piece is sequentially clamped in the first limiting part and two second limiting parts in the plurality of second limiting parts, and the two second limiting parts are arranged in parallel relatively. The traction piece is connected with the first limiting part in a surrounding clamping manner.

Preferably, the limiting part further comprises a third limiting part, the first limiting part and a plurality of second limiting parts radially arranged along the first limiting part are sequentially arranged, the plurality of second limiting parts radially arranged along the first limiting part are sequentially arranged in the rotating shaft, the fixing rod is located at the end part of the rotating shaft far away from the push-pull piece, the third limiting part is annularly arranged on the fixing rod, and the plurality of second limiting parts are annularly arranged in the radial direction of the third limiting part. Draw the piece in proper order block in first spacing portion, the spacing portion of third and follow two spacing portions of first spacing radial arrangement of portion, two spacing portions of second set up respectively in second direction and third direction, and the second direction is parallel with the third direction and sets up relatively, draw the piece to encircle spacing in the spacing portion of third.

Preferably, the traction piece is clamped around the first limiting part, and the surrounding angle is larger than 90 degrees.

Preferably, the number of the second limiting parts is even, and the second limiting parts are symmetrically and uniformly arranged in the circumferential direction of the first limiting part in pairs.

Preferably, the fixing rod is provided with a thread, the locking member includes a nut, and the locking member is in threaded connection with the fixing rod.

Preferably, when the traction piece is in a compressed state, the locking piece is fixed on the fixing rod, so that the traction piece has a pre-tightening force not less than 5N.

Preferably, the second fixing component comprises a bearing, the rotating shaft comprises a front end, and the bearing is sleeved at the front end of the rotating shaft.

Preferably, the second fixing assembly further comprises: the elastic piece is sleeved on the rotating shaft and is positioned at the end part of the bearing far away from the push-pull piece.

Preferably, the second fixing assembly further comprises: the first fixing piece is sleeved on the rotating shaft and located at the end part, far away from the bearing, of the elastic piece, the rotating shaft is provided with threads, when the second fixing assembly is assembled, the first fixing piece is always in a screwing state, and the elastic piece is tightly pressed on the bearing.

Preferably, the bearing is including sleeving first bearing and the second bearing of locating the pivot in proper order, and the outside cover of crooked adjusting device is equipped with the casing, and the pivot is worn to locate push-and-pull piece and casing axially in proper order, and the pivot is worn to establish the position with the casing and is provided with outer axle sleeve, and first bearing and second bearing are located to outer axle sleeve cover, and are provided with the sealing member between first bearing and the second bearing.

Preferably, the second fixing assembly further comprises: the outer shaft sleeve is provided with a first fixing piece, the outer shaft sleeve is provided with a thread, the inner wall of the first fixing piece is provided with a thread, the first fixing piece is fixed with the outer shaft sleeve through the thread, and a sealing glue layer is arranged at the threaded connection position of the first fixing piece and the outer shaft sleeve.

The present invention provides an endoscope, comprising: go into binder, vertebra festival subassembly and above-mentioned arbitrary crooked adjusting device, vertebra festival subassembly with go into the binder and be connected, draw the piece and wear to locate into binder and vertebra festival subassembly in proper order, draw the piece to be fixed in the end that vertebra festival subassembly kept away from into the binder. The curvature adjustment device is used to adjust the curvature of the vertebral level assembly.

Preferably, the abdominal tube includes a guide member disposed inside the abdominal tube. The guiding piece comprises a step through hole formed in the axial direction and a spring locking nut penetrating through the step through hole. The step through hole comprises a large-aperture end and a small-aperture end, and the large-aperture end of the step through hole is provided with threads. The spring locking nut is fixed with the large-aperture end through threads. The spring lock nut is axially provided with a first through hole, and the traction piece penetrates through the stepped through hole and the first through hole.

Preferably, an elastic sleeve is arranged between the guide piece and the vertebral level assembly, one end of the elastic sleeve penetrates through the first through hole, and the other end of the elastic sleeve abuts against the end part of the vertebral level assembly connected with the abdominal tube. The traction piece penetrates through the elastic sleeve.

The invention provides a surgical robot comprising any one of the endoscopes.

In an aspect of the present invention, a bending adjustment apparatus includes: the device comprises a push-pull piece, a rotating assembly and a plurality of traction pieces, wherein the rotating assembly is rotatably connected with the push-pull piece. One end of the traction piece is fixedly connected with the rotating assembly, and the other end of the traction piece is fixedly connected with the piece to be bent. The bending adjustment device has an initial state and an adjustment state, and when the bending adjustment device is in the initial state, the member to be bent extends along a straight line under the action of the traction member. When the bending adjusting device is in an adjusting state, the push-pull piece drives the traction piece to move along the first direction through the rotating assembly under the action of external force, so that the traction piece drives the piece to be bent.

The endoscope comprises an abdominal tube, a vertebral level assembly and any one of the bending adjusting devices, the vertebral level assembly is connected with the abdominal tube, a traction piece sequentially penetrates through the abdominal tube and the vertebral level assembly, and the traction piece is fixed at the end part, far away from the abdominal tube, of the vertebral level assembly. Wherein, the bending adjusting device is used for adjusting the bending degree of the vertebral level assembly, so as to better control the deflection direction of the vertebral level assembly.

The surgical robot comprises a base, a multifunctional channel device and any endoscope, wherein the base, the multifunctional channel device and the endoscope are sequentially connected, the multifunctional channel device is provided with a plurality of channels, the endoscope is arranged in one channel of the multifunctional channel device in a penetrating mode, the bending direction of the vertebra segment assembly in the endoscope is further adjusted by adjusting the bending adjusting device, and then the deflection direction of the lens is adjusted, so that the focus of a patient can be better observed.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings.

In the drawings:

FIG. 1 is a block diagram of an endoscope provided by embodiments of the present invention;

FIG. 2 is a block diagram of a bend adjustment apparatus provided in accordance with an embodiment of the present invention;

FIG. 3 is a structural diagram of a transmission member provided in an embodiment of the present invention;

FIG. 4 is a side view of a transmission provided by an embodiment of the present invention;

FIG. 5 is a block diagram of an uncompressed draft gear provided by embodiments of the present invention;

FIG. 6 is an enlarged view of A in FIG. 5;

FIG. 7 is a block diagram of a compression traction element provided in accordance with an embodiment of the present invention;

FIG. 8 is an enlarged view of B of FIG. 7;

FIG. 9 is a block diagram of a traction element provided in accordance with an embodiment of the present invention;

fig. 10 is an enlarged view of D in fig. 1.

Reference numerals:

1. a rotating assembly; 2. a front end; 4. a housing; 412. a push-pull member; 413. a vertebral level assembly; 4131. an elastic sleeve; 416. a traction member; 417. entering an abdominal tube; 4171. a guide; 4172. a stepped through hole; 4172a, large bore end; 4172b, small bore end; 4173. a spring lock nut; 4174. a first through hole; 414. a rotating shaft; 4141. a bearing; 4141a, a first bearing; 4141b, a second bearing; 4142. an elastic member; 4143. A first fixing member; 4144. an outer sleeve; 4145. a seal member; 4146. a second fixing member; 4183. a limiting part; 4184. fixing the rod; 4185. a locking member; 4186. a first limiting part; 4187. a second limiting part; 4188. a third limiting part.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The present invention provides a bending adjustment apparatus, the apparatus comprising: a push-pull member 412, a rotating assembly 1 and a plurality of pulling members 416, wherein the rotating assembly 1 is rotatably connected with the push-pull member 412. One end of the traction piece 416 is fixedly connected with the rotating assembly 1, and the other end of the traction piece 416 is fixedly connected with the piece to be bent. The bending adjustment device has an initial state and an adjusted state, and when the bending adjustment device is in the initial state, the member to be bent extends in a straight line under the action of the pulling member 416. When the bending adjustment device is in an adjustment state, the push-pull member 412 drives the pulling member 416 to move along the first direction through the rotating assembly 1 under the action of an external force, so that the pulling member 416 drives the member to be bent to bend.

Referring to fig. 1, the present invention is shown in an embodiment, the apparatus comprises a push-pull member 412, a rotating assembly 1 and a plurality of pulling members 416, wherein the rotating assembly 1 is rotatably connected with the push-pull member 412, and the rotating push-pull member 412 rotates the rotating assembly 1, thereby pulling the pulling members 416, so that the pulling members 416 drive the member to be bent to bend. When the pushing and pulling member 412 is pushed without external force, the member to be bent extends in a straight line under the action of the pulling member 416.

Preferably, the rotating assembly 1 includes a rotating shaft 414, a first fixing assembly and a second fixing assembly, the first fixing assembly and the second fixing assembly are both located on the rotating shaft 414, the first fixing assembly is used for locking the pulling member 416 on the rotating shaft 414, and the second fixing assembly is used for controlling the axial rotation of the pushing and pulling member 412.

Referring to fig. 1, the present invention is shown in an embodiment in which the rotating assembly 1 includes a rotating shaft 414, a first stationary assembly and a second stationary assembly. The first fixing component is located at an end of the rotating shaft 414 far away from the push-pull member 412, and the second fixing component is located at an end of the rotating shaft 414 near the push-pull member 412. The first fixing component is used for locking the pulling component 416 on the rotating shaft 414, and the second fixing component is used for controlling the axial rotation of the pushing and pulling component 412, so that the bending effect of the component to be bent is better.

Preferably, the rotating shaft 414 includes a limiting portion 4183 and a fixing lever 4184 connected in sequence, and the first fixing assembly includes a locking member 4185. The limiting portion 4183 is disposed at an end of the rotating shaft 414 away from the pushing/pulling element 412, and the pulling element 416 is engaged with the limiting portion 4183. The fixing lever 4184 is used to fix the locking piece 4185. The locking member 4185 is sleeved on the fixing rod 4184 to fixedly lock the traction member 416 connected with the limiting portion 4183.

Referring to fig. 2, in one embodiment of the present invention, the shaft 414 includes a position-limiting portion 4183 formed on the shaft 414 and a fixing lever 4184, and the first fixing assembly includes a locking member 4185. The locking member 4185 is fixed to the fixing rod 4184 to fix and lock the towing member 416 engaged with the position-limiting portion 4183. The pulling element 416 is fixed to the rotating shaft 414, and the pulling element 416 is prevented from moving.

Preferably, the stopper portion 4183 includes a first stopper portion 4186 and a plurality of second stopper portions 4187 sequentially connected in the axial direction, and the plurality of second stopper portions 4187 are radially arranged along the first stopper portion 4186. The pulling element 416 is sequentially engaged with the first position-limiting portion 4186 and two second position-limiting portions 4187 of the plurality of second position-limiting portions 4187, and the two second position-limiting portions 4187 are arranged in parallel. The pulling member 416 is circumferentially engaged with the first position-limiting portion 4186.

Referring to fig. 2 to 8 and 10, in an embodiment of the present invention, the position-limiting portion 4183 includes a first position-limiting portion 4186 and a plurality of second position-limiting portions 4187, which are sequentially connected in an axial direction, wherein the plurality of second position-limiting portions 4187 are radially disposed along the first position-limiting portion 4186, and the pulling member 416 is sequentially engaged with two oppositely disposed second position-limiting portions 4187 of the first position-limiting portion 4186 and the plurality of second position-limiting portions 4187. The pulling element 416 and the first position-limiting portion 4186 are circumferentially engaged. The pulling element 416 is firstly clamped with the first limiting portion 4186 in a surrounding manner, then is wound out of the first limiting portion 4186, is clamped with one second limiting portion 4187 of the plurality of second limiting portions 4187, penetrates out of the second limiting portion 4187, and finally enters into the other second limiting portion 4187, and the two parallel and opposite second limiting portions 4187 are adopted, so that the pulling element 416 is convenient to pull, and meanwhile, the situation that the pulling element 416 touches the sharp position of the rotating shaft 414 in the fixing process to cause the breaking of the pulling element 416 is avoided.

Preferably, the position-limiting portion 4183 further includes a third position-limiting portion 4188, the first position-limiting portion 4186, the plurality of second position-limiting portions 4187 and the third position-limiting portion 4188 are sequentially disposed along the radial direction of the first position-limiting portion 4186, the first position-limiting portion 4186 and the plurality of second position-limiting portions 4187 are sequentially disposed on the rotating shaft 414, the fixing rod 4184 is located at an end portion of the rotating shaft 414 far away from the push-pull member 412, the third position-limiting portion 4188 is annularly disposed on the fixing rod 4184, and the plurality of second position-limiting portions 4187 is annularly disposed in the radial direction of the third position-limiting portion 4188. The traction element 416 is sequentially limited and clamped on the first limiting portion 4186, the third limiting portion 4188 and the two second limiting portions 4187 arranged along the radial direction of the first limiting portion 4186, the two second limiting portions 4187 are respectively arranged in the third direction and the second direction, the second direction and the third direction are oppositely arranged, and the traction element 416 is limited around the third limiting portion 4188.

Referring to fig. 3-4 and 10, in an embodiment of the present invention, the pulling element 416 surrounds and engages with the first position-limiting portion 4186, penetrates out of the first position-limiting portion 4186 to engage with the second position-limiting portion 4187 in the third direction, penetrates out of the second position-limiting portion 4187 to enter the third position-limiting portion 4188, surrounds and engages with the third position-limiting portion 4188, penetrates out of the third position-limiting portion 4188, and enters the second limiting portion 4187 in the second direction, which is parallel to and opposite to the third direction, the reason why the pulling element 416 is engaged with the two oppositely disposed second limiting portions 4187 is to prevent the pulling element 416 from being damaged when being fixed, the traction piece 416 is damaged by the sharp edge on the rotating shaft 414, and the addition of the third limiting part 4188 enables the traction piece 416 to surround a part of the third limiting part 4188, so that the phenomenon that the locking part 4185 extrudes the traction piece 416 in the locking process to further cause the damage of the traction piece 416 is effectively avoided.

Preferably, the pulling member 416 is circumferentially engaged along the first position-limiting portion 4186, and the circumferential angle is greater than 90 °.

Referring to fig. 10, in an embodiment of the present invention, the pulling member 416 surrounds the first position-limiting portion 4186 to engage with the position-limiting portion, and the surrounding angle C is greater than 90 ° to prevent the pulling member 416 from coming off the first position-limiting portion 4186.

Preferably, the number of the second limiting portions 4187 is even, and the second limiting portions 4187 are symmetrically and uniformly arranged in the circumferential direction of the first limiting portion 4186.

In an embodiment of the invention, the number of the second position-limiting portions 4187 is even, so that the two-to-two symmetry of the plurality of second position-limiting portions 4187 is effectively realized, and the two-to-two symmetrical second position-limiting portions 4187 are uniformly arranged, thereby facilitating better engagement of the traction element 416.

Preferably, the fixing rod 4184 is provided with screw threads, the locking member 4185 includes a nut, and the locking member 4185 is screw-coupled with the fixing rod 4184. When the pulling member 416 is in a compressed state, the locking member 4185 is screwed on the fixing rod 4184, so that the pulling member 416 has a pretightening force of not less than 5N.

Referring to fig. 2 and 6-8, the present invention is shown in an embodiment in which a fixing lever 4184 fixes the towing member 416 to the position-limiting portion 4183 by a locking member 4185 and performs a pre-locking of the towing member 416. When the pulling member 416 is in a compressed state, the locking member 4185 is screwed on the fixing rod 4184, so that the pulling member 416 has a pretightening force of not less than 5N. In order to ensure that the pre-tightening force is not less than 5N when the two traction pieces 416 are pressed through the locking piece 4185 and the bending action of the target piece can be completed, a structure for pre-tightening and locking the traction pieces 416 is designed.

Preferably, the second fixing assembly includes a bearing 4141, an elastic member 4142 and a first fixing member 4143, wherein the rotating shaft 414 includes the front end 2, and the bearing 4141, the elastic member 4142 and the first fixing member 4143 are sequentially sleeved on the rotating shaft 414. Wherein, the bearing 4141 is located at the front end 2 position of the rotating shaft 414. The resilient member 4142 is located at the end of the bearing 4141 distal from the push-pull member 412. The first fixing member 4143 is located at an end of the resilient member 4142 remote from the bearing 4141. The rotating shaft 414 is provided with a thread, and when the second fixing assembly is assembled, the first fixing member 4143 is always in a fixed state, and the elastic member 4142 is tightly pressed against the bearing 4141.

Referring to fig. 2, in an embodiment of the present invention, a bearing 4141, an elastic member 4142 and a first fixing member 4143 are sequentially sleeved on the rotating shaft 414, when the pushing and pulling member 412 drives the rotating shaft 414 to rotate, the pulling member 416 pulls the rotating shaft 414 to generate a large bending moment, the bearing 4141 is used to balance the bending moment generated by the pre-tightening pulling force of the pulling member 416 on the rotating shaft 414, and the first fixing member 4143 tightly presses and fixes the elastic member 4142 on the rotating shaft 414. When the shaft 414 rotates axially, an acting force opposite to the rotating direction is generated, and the elastic member 4142 has a certain buffering effect on the generated reacting force, so as to adjust the axial tension of the shaft 414, and finally, the push-pull member 412 achieves a comfortable hand feeling. When the push-pull member 412 is pushed or pulled by a human hand for a certain angle, the rotating shaft 414 will rotate with proper damping in equal proportion to the same angle to achieve the bending control of the target member.

Preferably, the bearing 4141 includes a first bearing 4141a and a second bearing 4141b sequentially sleeved on the rotating shaft 414, the housing 4 is sleeved outside the bending adjustment device, the rotating shaft 414 sequentially axially penetrates through the push-pull member 412 and the housing 4, an outer shaft sleeve 4144 is disposed at a penetrating position of the rotating shaft 414 and the housing 4, the outer shaft sleeve 4144 is sleeved on the first bearing 4141a and the second bearing 4141b, and a sealing member 4145 is disposed between the first bearing 4141a and the second bearing 4141 b. The second stationary assembly further comprises: the second fixing member 4146 is provided with threads on the outer portion of the outer sleeve 4144, the inner wall of the second fixing member 4146 is provided with threads, the second fixing member 4146 is fixed with the outer sleeve 4144 by the threads, and a sealant layer is arranged at the fixed position of the threads.

Referring to fig. 2, in an embodiment of the present invention, the bearing 4141 includes a first bearing 4141a and a second bearing 4141b sleeved on the rotating shaft 414 in sequence, and a sealing member 4145 is disposed therebetween, where the sealing member 4145 is a flooding seal, and the flooding seal is disposed to meet a leakage pressure requirement of 2bar required by the sleeved position of the bearing 4141 and the rotating shaft 414.

Referring to fig. 9, there is shown an endoscope provided by the present invention, the endoscope comprising: an intraabdominal tube 417, a vertebral level assembly 413, and any of the flexion regulating devices described above, the vertebral level assembly 413 being connected to the intraabdominal tube 417, and a distraction member 416 being inserted through the intraabdominal tube 417 and the vertebral level assembly 413 in sequence. A distraction member 416 is secured to the vertebral level assembly 413 at an end of the vertebral level assembly 413 distal to the ventral tube 417. The belly tube 417 includes a guide 4171 disposed inside the belly tube 417. The guide 4171 includes a stepped through hole 4172 opened in the axial direction and a spring lock nut 4173. The spring lock nut 4173 is inserted through the stepped through hole 4172. The stepped through hole 4172 includes a large bore end 4172a and a small bore end 4172b, and the large bore end 4172a of the stepped through hole 4172 is provided with threads. A spring lock nut 4173 is threadedly connected to the large bore end 4172 a. The spring lock nut 4173 is provided with a first through hole 4174, and the pulling member 416 penetrates through the stepped through hole 4172 and the first through hole 4174. An elastic sleeve 4131 is arranged between the guide 4171 and the vertebral level assembly 413, one end of the elastic sleeve 4131 is arranged through the first through hole 4174, the other end abuts against the end of the vertebral level assembly 413 connected with the abdominal tube 417, and the traction element 416 penetrates through the elastic sleeve 4131. The transition of the flexible sleeve 4131 between the vertebral level assembly 413 and the ventral tube 417 during bending allows the vertebral level assembly 413 to bend more smoothly. The resilient sleeve 4131 is effective to prevent the pulling member 416 from jamming during pulling when an external force pulls the pulling member 416. The flexion adjustment mechanism is used to adjust the degree of flexion of the vertebral level assembly 413 to better adjust the direction of deflection of the vertebral level assembly 413.

Referring to fig. 1 and 9, the present invention is shown in an embodiment in which the distraction member 416 is passed through the vertebral level assembly 413 and into the elastomeric sleeve 4131, the elastomeric sleeve 4131 at that end abutting the end face of the vertebral level assembly 413 with the distraction member 416 in tension. The other end of the elastic tube 4131 passes through the abdominal tube 417 and then enters the first through hole 4174 passing through the stepped through hole 4172 and the spring lock nut 4173, the spring lock nut 4173 and the guide member 4171 are connected by a screw, and the pulling member 416 passes through the elastic tube 4131 from the first through hole 4174 and then passes through the guide member 4171. The elastic sleeve 4131 can be firmly pressed and fixed in the endoscope by rotating the guide part 4171, so that smooth penetration of the traction part 416 is guaranteed.

The invention provides a surgical robot, which comprises any endoscope.

In one embodiment provided by the invention, the surgical robot comprises a base, a multifunctional channel device and any one of the endoscopes which are sequentially connected, wherein the endoscope comprises a lens assembly. The multifunctional channel device is provided with a plurality of channels, the endoscope is arranged in one channel of the multifunctional channel device in a penetrating mode, the bending direction of the vertebral level assembly in the endoscope is further adjusted by adjusting the bending adjusting device, and then the deflection direction of the lens assembly is adjusted, so that the focus of a patient can be better observed.

The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

As is readily imaginable to the person skilled in the art: any combination of the above embodiments is possible, and thus any combination between the above embodiments is an embodiment of the present invention, but the present disclosure is not necessarily detailed herein for reasons of space.