Flexible surgical instrument control device and endoscopic surgery robot system

Abstract

The invention discloses a flexible surgical instrument control device and an endoscopic surgery robot system. A bending mechanism is connected with an execution part and used for driving the execution part to bend; one end of an adjusting pull rope is connected with the bending mechanism, and the bending mechanism is driven to be bent in the preset direction by applying pulling force; a driving assembly comprises a bottom plate, a rotation driving assembly and a deflection reset piece, and the rotation driving assembly is rotationally arranged relative to the bottom plate and is in driving connection with the other end of the adjusting pull rope; the rotation driving assembly controls the rotation angle through a driving motor; and the two ends of the deflection reset piece are fixedly connected with the bottom plate and the rotation driving assembly respectively, and the deflection reset piece is used for providing deflection torque facing the initial position for the rotation driving assembly. By rotating the driving assembly, the bending angle of a surgical instrument can be automatically controlled, the technical problem that when a flexible endoscope is arranged on the surgical auxiliary robot, the corresponding angle is inconvenient to adjust and positioning is inconvenient is solved, and the deflection reset piece can guarantee reset and tensioning of the adjusting pull rope.

Description

technical field [0001] The invention relates to the field of medical instruments, in particular to a flexible surgical instrument control device and an endoscopic surgical robot system. Background technique [0002] Endoscope is a testing instrument that integrates traditional optics, ergonomics, precision machinery, modern electronics, mathematics, and software. With image sensor, optical lens, light source lighting, mechanical device, etc., it can enter the stomach through the oral cavity or enter the body through other natural channels. Endoscopes can be used to see lesions that cannot be displayed by X-rays. Therefore, endoscopes play a very important role in medical diagnosis. Among them, flexible endoscopes use a built-in metal snake bone joint and are connected to it by pulling The method of manipulating the wire makes it bend to achieve the angular adjustment of the endoscope head. [0003] With the extensive development of minimally invasive surgery, surgical assi...

AI Technical Summary

Problems solved by technology

[0004] However, in the prior art, the outer catheter of the surgical instrument on the surgical auxiliary robot is basically rigid and cannot be applied to a flexible endoscope, and it is not convenient to adjust the corresponding angle and position the flexible endoscope on the surgical auxiliary robot. It is also unable to maintain a stable angle for a long time, and it is prone to slack

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