Continuous endoscopic robot capable of passing through complex channel

Abstract

The invention relates to a continuous endoscopic robot capable of crossing a complex channel, which comprises a driving device for driving the whole robot to work; the control end of the robot body is connected with the driving device through a keel and a tendon guiding mechanism, the tail end of the robot body can penetrate through a complex channel, and the robot body is arranged on the front portion of the whole robot and has the function of stretching and bending deformation at the same time. The multiple tendon tension measuring mechanisms are arranged at the end of the driving device in the circumferential direction of the keel and the tendon guiding mechanism at intervals and used for measuring the tendon tension of the robot body and transmitting the tendon tension into the controller; the tendon stretching mechanism is arranged on the outer side of the tendon tension measuring mechanism, and the controller is arranged outside the robot body and used for controlling the driving device to work and controlling the tendon stretching mechanism to work according to received tendon tension information transmitted by the tendon tension measuring mechanism. According to the invention, the detection reachable performance of the robot in a complex space is improved, the detection blind area is reduced, and the detection efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a continuous in vivo endoscopic robot capable of passing through complex channels. Background Art

[0002] There are still many deficiencies in the continuum robots in the existing technology. For example, the Continuum Robotics Laboratory of the University of Toronto has designed a tendon-driven continuum robot that relies on the extension and retraction of the body. Although the robot uses three sleeve-type body mechanisms to achieve the extension and retraction function. However, due to the low bending and torsional strength of the nickel-titanium alloy tube, the fixed three-section tube drive device cannot be spaced far apart, resulting in a short telescopic stroke of the robot and poor torsional strength. In addition, due to the use of magnets as elastic units, the spacing of the wire reels of the continuum robot is uneven after extension, resulting in inaccurate modeling.

[0003] The continuum robot disclosed in the existing literature without the telescopic function will have functional limitations during use. The telescopic function of the continuum detection robot disclosed in the existing literature is provided by an external slide rail, which cannot realize the free telescopic of the flexible body of the continuum robot. Summary of the invention

[0004] In response to the above problems, the purpose of the present invention is to provide a continuous body introspection robot that can pass through complex channels, which solves the design of the high aspect ratio continuum robot body, solves the design of the long-stroke linear drive device, and improves the robot's detection reachability in complex spaces, thereby reducing detection blind spots and improving detection efficiency.

[0005] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a continuous in vivo endoscopic robot capable of passing through complex channels, comprising: a driving device for driving the operation of the entire robot; a robot body, a control end of which is connected to the driving device through a keel and a tendon guide mechanism, the end of which can pass through complex channels, and is arranged at the front of the entire robot, and has the function of simultaneous extension and bending deformation; a tendon tension measuring mechanism, which is provided in multiple numbers and is arranged at intervals at the end of the driving device along the circumference of the keel and the tendon guide mechanism, for measuring the tendon tension of the robot body and transmitting it to the controller; a tendon stretching mechanism, which is arranged on the outside of the tendon tension measuring mechanism and is arranged at intervals at the end of the driving device; a controller is arranged outside the robot body, for controlling the operation of the driving device, and controlling the operation of the tendon stretching mechanism according to the tendon tension information received and transmitted by the tendon tension measuring mechanism.

[0006] Further, the robot body includes a first tendon guide disc, a second tendon guide disc, a third tendon guide disc, a keel, a right-handed compression spring, a left-handed compression spring, a universal tendon guide disc and a tendon;

[0007] The keel is a nickel-titanium alloy keel with a retractable structure, which is composed of a keel with a thin outer diameter, a keel with a medium outer diameter and a keel with a thick outer diameter, and the keel with a thin outer diameter can extend from the keel with a thick outer diameter; a first tendon guide disc is fixedly arranged at the end of the keel with a thin outer diameter, a second tendon guide disc is fixedly arranged at the end of the keel with a medium outer diameter, and a third tendon guide disc is fixedly arranged at the end of the keel with a thick outer diameter;

[0008] On each keel section, a plurality of universal tendon guide discs are arranged behind the tendon guide disc fixed to the keel, and right-handed compression springs and left-handed compression springs are alternately arranged between two adjacent tendon guide discs;

[0009] The tendon guide plate on each keel section is equipped with three tendons for controlling the bending deformation of the keel section. The three tendons are distributed at 120°. All tendons are distributed around the keel. The tendon that controls the bending of the front keel section will pass through the tendon guide plate at the rear and connect with the rear drive device without occupying each other's position.

[0010] Furthermore, all tendon guide plates have nine evenly distributed guide holes and a first center hole, and the end face of the first center hole is provided with a countersunk hole. The guide holes are used to pass the tendons, the first center hole is used to pass the keel, and the countersunk hole is used to install and fix the right-handed compression spring and the left-handed compression spring.

[0011] Further, the keel and tendon guide system includes a first guide tube, a first tendon guide hole, a first keel guide hole, a second tendon guide hole, a keel guide tube, a second keel guide hole, a tapered lead tray, and a third tendon guide hole;

[0012] The conical lead disk is fixed at the front center of the driving device, the first guide tube is fixed on the conical lead disk, and a first keel guide hole and nine first tendon guide holes uniformly distributed along the circumference of the first keel guide hole are arranged at the inner center of the first guide tube;

[0013] Nine second tendon guide holes are also provided in the conical lead-in disk at the contact end with the first guide tube, and the guide holes at both ends of the conical lead-in disk and the first guide tube are aligned after the conical lead-in disk and the first guide tube are fixed;

[0014] The keel guide tube is inserted into the interior of the conical lead tray by transition fitting, and fits with the end surface of the first guide tube located in the conical lead tray, the first keel guide hole coincides with the second keel guide hole, and the head ends of the three keel sections pass through the first keel guide hole and the second keel guide hole in sequence and extend out of the conical lead tray to form a keel extension section;

[0015] Nine third tendon guide holes are arranged on the cylindrical surface below the conical lead-in disk, and the circumferential distribution direction of the nine second tendon guide holes is the same.

[0016] Further, the tendon tension measurement system includes a sensor base, a tension sensor, a pulley guide optical axis, an elastic retaining ring, a linear bearing, a movable pulley bracket, a movable pulley, a first fixed pulley, a second fixed pulley and a fixed pulley bracket;

[0017] The sensor base is fixedly arranged on the driving device and is located on the outer circumference of the keel and tendon guide system. The tension sensor is fixed on the sensor base through the bottom bolts, and the upper part of the tension sensor is connected to the movable pulley bracket through the set screws.

[0018] The linear bearing is fixed to the movable pulley bracket through elastic retaining rings at both ends, and the pulley guide optical axis passes through the inner hole of the linear bearing and is fixed to the sensor base through set screws; an optical axis and a linear bearing guide device are installed on the symmetrical side of the pulley guide optical axis and the linear bearing installation position;

[0019] The bottom of the fixed pulley bracket is fixed to the top of the sensor base by bolts, and the top of the movable pulley bracket passes through the top of the sensor base and is located in the fixed pulley bracket, the movable pulley is installed on the movable pulley bracket, and the first fixed pulley and the second fixed pulley are installed on the upper part of the fixed pulley bracket.

[0020] Further, the tendon stretching system includes a worm gear reduction box housing, a first bearing, a turbine, a second bearing, a turbine shaft, a cylindrical pin, a third bearing, a worm, a fourth bearing, a fifth bearing, a worm shaft, a bobbin nut, a bobbin, a rectangular groove slideway, a fourth tendon guide hole, and a first drive motor;

[0021] The worm gear reduction box is fixedly arranged on the driving device and is located on the outer circumference of the keel and tendon guide system and the tendon tension measurement system;

[0022] The worm wheel is fixed to the turbine shaft by means of a set screw, and the turbine shaft is connected to one side of the inner side of one end of the worm gear reducer housing through a first bearing and a second bearing, and one end of the second bearing is tightened by a bolt to achieve positioning;

[0023] The worm is fixed to the worm shaft by a set screw, and the worm shaft is connected to the other side of one end of the worm gear reducer housing through a fourth bearing and a fifth bearing, and is positioned by tightening a bolt at one end; the other end of the worm shaft is coaxially connected to the output end of the first drive motor;

[0024] The winding drum nut is fixed to the other end of the worm gear reducer housing by a set screw; the winding drum is provided with an external thread on the outside, and the winding drum is threadedly connected with the winding drum nut by the external thread;

[0025] A cylindrical pin perpendicular to the axial direction is arranged at one end of the worm shaft, and the two are connected by a third bearing; one end of the worm shaft with the cylindrical pin can be inserted into the winding drum, and a rectangular groove slide is arranged inside the winding drum, and the cylindrical pin can slide in the rectangular groove slide.

[0026] Further, the driving device includes a front supporting disc, a rear supporting disc, a pneumatic clamping jaw with a thick outer diameter keel, a pneumatic clamping jaw with a medium outer diameter keel, a pneumatic clamping jaw with a thin outer diameter keel, a clamping jaw slider, a clamping jaw bracket, a guide rail, a first square tube, a second square tube, a first guide optical axis, a second guide optical axis, a ball screw, a driving arm, a tension and pressure sensor, a force sensor base, a floating pneumatic clamping jaw, a coupling, a motor base, a second driving motor and an unstable optical axis;

[0027] The keel and tendon guiding mechanism, the tendon tension measuring mechanism and the tendon stretching mechanism are all arranged on the front supporting disc;

[0028] The front supporting disc and the rear supporting disc are fixed to the front and rear of the bracket respectively, and the front supporting disc and the rear supporting disc are connected by three unstable optical axes;

[0029] A first square tube, a second square tube, a first guide light axis, a second guide light axis and a ball screw are also arranged between the front support disc and the rear support disc, the first square tube is arranged at the bottom, and the second square tube, the first guide light axis, the second guide light axis and the ball screw are all arranged at the top;

[0030] The guide rail is fixed to the first square tube by bolt connection, and three clamping jaw brackets are arranged on the guide rail. A clamping jaw slider is arranged at the bottom of each clamping jaw bracket. The clamping jaw bracket is fixed to the guide rail after the clamping jaw slider cooperates with the guide rail to adjust the position, so that there is a preset distance between two adjacent clamping jaw brackets; the clamping jaw bracket at the front end is tightly attached to the front support disc, the pneumatic clamping jaw with a thick outer diameter keel is arranged on the clamping jaw bracket tightly attached to the front support disc, the pneumatic clamping jaw with a medium outer diameter keel is arranged on the clamping jaw bracket located in the middle, and the pneumatic clamping jaw with a thin outer diameter keel is arranged on the clamping jaw bracket located at the rear;

[0031] The second drive motor is fixed to the outer side of the upper part of the rear support disc through a motor seat, and one end of the ball screw is coaxially connected to the output shaft of the second drive motor through a coupling; the second drive motor is connected to a controller, and its operation is controlled by the controller;

[0032] The force sensor base is arranged on the ball screw and can move forward and backward with the rotation of the ball screw; one side of the force sensor base is connected to one side of the driving arm through the tension pressure sensor, and the force sensor base and the driving arm are respectively connected to the first guide optical axis and the second guide optical axis through linear bearings, and the second driving motor drives the force sensor base to move forward and backward along the first guide optical axis and the second guide optical axis, thereby driving the driving arm to move forward and backward;

[0033] The floating pneumatic clamp is fixedly connected to the driving arm, the tension and pressure sensor is arranged between the force sensor base and the driving arm, and the upper and lower end surfaces of the tension and pressure sensor are respectively connected to the force sensor base and the driving arm through set screws; the driving arm drives the floating pneumatic clamp to move forward and backward;

[0034] The keel extension sections at the head ends of the three-section keels pass through the central hole of the front supporting disc and are then matched with the pneumatic clamps. The keel with a large outer diameter is matched with the pneumatic clamps with a large outer diameter, the keel with a medium outer diameter is matched with the pneumatic clamps with a medium outer diameter, and the keel with a small outer diameter is matched with the pneumatic clamps with a small outer diameter; the extension and retraction of each section of the keel is controlled by the floating pneumatic clamps.

[0035] Further, when the floating pneumatic gripper moves to between the pneumatic gripper of the thick outer diameter keel and the pneumatic gripper of the medium outer diameter keel, the floating pneumatic gripper closes and clamps the thick outer diameter keel, and at this time, the pneumatic gripper of the thick outer diameter keel opens, and the floating pneumatic gripper is driven by the second drive motor to move forward and backward to realize the extension and retraction of the robot body;

[0036] Move the floating pneumatic clamp to between the pneumatic clamp of the medium outer diameter keel and the pneumatic clamp of the thin outer diameter keel, so that the floating pneumatic clamp and the pneumatic clamp of the medium outer diameter keel repeat the above cooperation to realize the extension and retraction of the medium outer diameter keel;

[0037] Move the floating pneumatic clamp to between the pneumatic clamp of the thin outer diameter keel and the rear supporting disc, so that the floating pneumatic clamp and the pneumatic clamp of the thin outer diameter keel repeat the above-mentioned cooperation to realize the extension and retraction of the thin outer diameter keel.

[0038] Furthermore, the driving device further includes a proximity switch; the proximity switch is fixed on the second square tube and is used to detect the stroke position information of the driving arm and transmit it to the controller;

[0039] A second center hole corresponding to the second keel guide hole in the keel and tendon guide system is arranged at the center of the front support disc, and a third center hole is arranged at the center of the rear support disc.

[0040] Further, the clamping jaw bracket includes a base, a threaded hole, a keel centering bracket, a third keel guide hole, a fourth keel guide hole, a first rubber pad and a second rubber pad;

[0041] A slider is provided at the bottom of the base, and a threaded hole for fixing the base is provided on the base, the bottom of the keel centering bracket is provided on the base, the top of the keel centering bracket has an opening, the clamping claw passes through the inside of the opening, and a first rubber pad and a second rubber pad are provided inside the clamping claw and inside the opening, and the first rubber pad and the second rubber pad are connected to the clamping claw by gluing;

[0042] A third keel guide hole and a fourth keel guide hole are respectively arranged on the keel centering brackets located on both sides of the opening between the first rubber pad and the second rubber pad.

[0043] The present invention adopts the above technical solution, which has the following advantages:

[0044] 1. The present invention realizes the functions of simultaneous extension and bending deformation of the continuum robot body through the design of three concentric sleeve-type keels, solves the design of the high aspect ratio continuum robot body, solves the design of the long-stroke linear drive device, and improves the detection reachability of the robot in complex space, thereby reducing the detection blind area and improving the detection efficiency.

[0045] 2. The present invention solves the problem of excessive space occupied by conventional tendon retracting and releasing devices through a tendon stretching mechanism.

[0046] 3. Each keel section of the present invention is a nickel-titanium alloy tube keel with high elasticity, and three nickel-titanium alloy tube keels with different inner diameters are nested together to realize the telescopic function of the continuum robot body. Each keel is surrounded by ten universal tendon guide disks that can move along the axial direction of the keel, and a tendon guide disk at the end of each nickel-titanium alloy keel is fixed to the keel by glue. All wire reels have the same structure, and all have a central hole for inserting the keel and 9 circumferentially evenly distributed wire holes, and there are two countersunk holes for fixing springs on both sides of the central hole. The wire reel at one end of the robot body close to the drive device is fixed to the keel and the tendon guide mechanism, and all the wire reels are fixedly connected by alternating left-handed springs and right-handed springs, and the fixing method is gluing. Three tendons are fixed on the wire reel at the end of each keel section by fastening, and each tendon passes through the wire holes of all wire reels separated from the drive device to reach the drive device. The use of a tendon drive structure to drive the continuum robot body structure can effectively reduce the weight of the continuum robot body, thereby ignoring the influence of the self-weight that needs to be compensated.

[0047] 4. The robot body of the present invention adopts an alternating arrangement of right-handed compression springs and left-handed compression springs, which effectively improves the torsional strength and bending strength of the robot body. Therefore, when the diameter of the continuum robot body is fixed, it can be designed to be longer, thereby solving the problem of relatively small length-to-diameter ratio in the design of the continuum robot body.

[0048] 5. The present invention adopts a floating pneumatic gripper and three fixed pneumatic grippers to push and pull the keel in a reverse manner, which can realize the push-pull movement of a single keel of unlimited length, so that the telescopic length of the continuum robot is no longer limited by the bending strength of the keel and the driving device.

[0049] 6. The high aspect ratio of the robot body of the present invention, which is 510 mm in length and 8 mm in diameter when fully unfolded, enables the robot to pass through complex channels for endoscopic inspection.

[0050] 7. The present invention adopts a hollow keel structure, which can be used for the routing of end tools, avoiding the risk of cables being entangled with the external environment or being corroded by the external environment when the cables are distributed outside the robot body. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 2 is a schematic diagram of the overall structure of the continuous in vivo endoscopic robot in an embodiment of the present invention;

[0052] Figure 2 is a schematic diagram of the robot body structure in an embodiment of the present invention;

[0053] Figure 3 Schematic diagram of the assembly relationship of various components in the robot body structure in an embodiment of the present invention;

[0054] Figure 4 is a schematic structural diagram of a keel and tendon guide mechanism in an embodiment of the present invention;

[0055] Figure 5 is a schematic structural diagram of a tendon tension measuring mechanism in an embodiment of the present invention;

[0056] Figure 6 is a structural view of one side of the tendon stretching mechanism in an embodiment of the present invention;

[0057] Figure 7 is a structural view of the other side of the tendon stretching mechanism in an embodiment of the present invention;

[0058] Figure 8 is a schematic diagram of the structure of a driving device in an embodiment of the present invention;

[0059] Fig. 9 Schematic diagram of the pneumatic gripper and its support structure in an embodiment of the present invention;

[0060] Reference numerals:

[0061] 100-continuum robot body mechanism, 101-first tendon guide disc, 102-second tendon guide disc, 103-third tendon guide disc, 104-keel, 105-right-handed compression spring, 106-left-handed compression spring, 107-universal tendon guide disc, 108-tendon;

[0062] 200-keel and tendon guide system, 201-first guide tube, 202-first tendon guide hole, 203-first keel guide hole, 204-second tendon guide hole, 205-keel guide tube, 206-second keel guide hole, 207-conical guide disk, 208-third tendon guide hole;

[0063] 300-tendon tension measurement system, 301-sensor base, 302-tension sensor, 303-pulley guide optical axis, 304-elastic retaining ring, 305-linear bearing, 306-movable pulley bracket, 307-movable pulley, 308-first fixed pulley, 309-second fixed pulley, 310-fixed pulley bracket;

[0064] 400-tendon stretching system, 401-worm gear reduction box housing, 402-first bearing, 403-turbine, 404-second bearing, 405-turbine shaft, 406-cylindrical pin, 407-third bearing, 408-worm, 409-fourth bearing, 410-fifth bearing, 411-worm shaft, 412-winding drum nut, 413-winding drum, 414-rectangular groove slideway, 415-fourth tendon guide hole, 416-first drive motor;

[0065] 500-continuum robot body telescopic drive system, 501-front support disc, 502-rear support disc, 503-coarse outer diameter keel pneumatic clamp, 504-medium outer diameter keel pneumatic clamp, 505-base, 506-thin outer diameter keel pneumatic clamp, 507-clamp slider, 508-clamp bracket, 509-guide rail, 510-first square tube, 511-second square tube, 512-proximity switch, 513-first guide light axis, 514 - second guide optical axis, 515- ball screw, 516- driving arm, 517- tension pressure sensor, 518- force sensor base, 519- floating pneumatic clamp, 520- coupling, 521- motor seat, 522- second driving motor, 523- unstable optical axis, 524- threaded hole, 525- keel centering bracket, 526 third keel guide hole, 527- fourth keel guide hole, 528- first rubber pad, 529- second rubber;

[0066] 600-Stand. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0068] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0069] When talking about robots, people often think of humanoid robots or industrial robotic arms. However, robots come in a variety of forms, and their design inspiration comes from mature mechanical structures or natural organisms. In the past decade, thanks to advances in computer science, materials, and manufacturing technology, biologically inspired robot designs have been realized, among which continuum robots are the most representative. Inspired by snakes, elephant trunks, etc., continuum robots have a flexible skeleton that can achieve continuous bending and control their shape through built-in drives or transmission elements. This type of robot has strong flexibility and a high length-to-diameter ratio, making it suitable for deploying tools or sensors in narrow paths. The emergence of this type of robot provides a new solution for dealing with complex environments, and will play an important role in more fields in the future (for example: in-situ non-destructive testing of engines, minimally invasive surgery, etc.), bringing convenience to human life.

[0070] In order to solve the problems of poor controllability and inability to achieve long-stroke linear drive of continuum robots in the prior art, the present invention provides a continuum in-vivo robot capable of passing through complex channels, including a driving device for driving the whole robot to work; a robot body, whose control end is connected to the driving device through a keel and a tendon guide mechanism, and whose end can pass through a complex channel, is arranged at the front of the whole robot, and has the function of simultaneously performing telescopic and bending deformation; a tendon tension measuring mechanism, which is arranged in multiple pieces and is arranged at intervals at the end of the driving device along the circumference of the keel and the tendon guide mechanism, and is used to measure the tendon tension of the robot body and transmit it to the controller; a tendon stretching mechanism is arranged on the outside of the tendon tension measuring mechanism, and a controller is arranged on the outside of the robot body, and is used to control the operation of the driving device, and control the operation of the tendon stretching mechanism according to the tendon tension information transmitted by the tendon tension measuring mechanism. The present invention solves the design of a high aspect ratio continuum robot body, solves the design of a long-stroke linear drive device, and improves the detection and accessibility performance of the robot in complex spaces.

[0071] In one embodiment of the present invention, a continuous in vivo endoscopic robot capable of traversing complex channels is provided. Figure 1 As shown, the continuous in vivo endoscopic robot comprises:

[0072] A driving device 500, used to drive the extension and retraction of the keel 104;

[0073] The robot body 100, whose control end is connected to the driving device 500 and the tendon stretching mechanism 400 through the keel and tendon guide mechanism 200, and whose end can pass through the complex channel, is arranged at the front of the whole robot, and has the function of stretching and bending deformation at the same time;

[0074] The tendon tension measuring mechanism 300 is provided in a plurality and is arranged at intervals at the end of the driving device 500 along the circumference of the keel and the tendon guiding mechanism 200, and is used to measure the tendon tension of the robot body 100 and transmit it to the controller;

[0075] The tendon stretching mechanism 400 is arranged outside the tendon tension measuring mechanism 300 and is arranged at intervals at the end of the telescopic driving device 500;

[0076] The controller is arranged outside the robot body 100 , and is used to control the operation of the driving device 500 , and control the operation of the tendon stretching mechanism 400 according to the tendon tension information transmitted by the tendon tension measuring mechanism 300 .

[0077] In the above embodiment, the continuous body in-vivo robot of the present invention further includes a support 600 . The driving device 500 is disposed on the support 600 .

[0078] In the above embodiment, Figure 2 , Figure 3 As shown, the robot body 100 includes a first tendon guide plate 101, a second tendon guide plate 102, a third tendon guide plate 103, a keel 104, a right-handed compression spring 105, a left-handed compression spring 106, a universal tendon guide plate 107 and a tendon 108.

[0079] Among them, the center hole diameter of the first tendon guide disk 101 is smaller than the center hole diameter of the second tendon guide disk 102, and the center hole diameter of the second tendon guide disk 102 is smaller than the center hole diameter of the third tendon guide disk 103, that is, the center hole diameter of the first tendon guide disk 101 is the thinnest, and the center hole diameter of the third tendon guide disk 103 is the thickest. In this embodiment, the first tendon guide disk 101 is defined as the front of the robot body 100, and the direction where the third tendon guide disk 103 is located is the rear of the robot body 100.

[0080] The keel 104 is composed of three sections of nickel-titanium alloy round tubes with different inner and outer diameters: the keel 104 with a thin outer diameter, the keel 104 with a medium outer diameter, and the keel 104 with a thick outer diameter are sequentially assembled to form a nickel-titanium alloy keel with a telescopic structure, and the keel 104 with a thin outer diameter can extend from the keel 104 with a thick outer diameter. Specifically, the end of the keel 104 with a thin outer diameter is fixedly provided with a first tendon guide disc 101, the end of the keel 104 with a medium outer diameter is fixedly provided with a second tendon guide disc 102, and the end of the keel 104 with a thick outer diameter is fixedly provided with a third tendon guide disc 103; the keel 104 with a thick outer diameter is slidably provided on the keel and tendon guide mechanism 200, the keel 104 with a medium outer diameter is slidably provided in the keel 104 with a thick outer diameter, and the keel 104 with a thin outer diameter is slidably provided in the keel 104 with a medium outer diameter and the keel 104 with a thick outer diameter.

[0081] According to different usage scenarios, on each keel 104, a plurality of universal tendon guide discs 107 are arranged behind the tendon guide disc fixed to the keel 104, and right-handed compression springs 105 and left-handed compression springs 106 are arranged alternately between two adjacent tendon guide discs (including fixed tendon guide discs and universal tendon guide discs). The tendon guide disc on each keel 104 is provided with three tendons 108 for controlling the bending deformation of the keel 104. The three tendons 108 are arranged at 120°. All tendons 108 are evenly distributed around the keel 104, and the tendon 108 for controlling the bending of the front keel 104 will pass through the rear tendon guide disc to connect with the rear drive device 500, without occupying each other's position.

[0082] In this embodiment, all tendon guide plates have nine evenly distributed guide holes and a first center hole, and the end face of the first center hole is provided with a countersunk hole. The guide holes are used to pass the tendons 108, the first center hole is used to pass the keel 104, and the countersunk hole is used to install and fix the right-handed compression spring 105 and the left-handed compression spring 106, and to position the springs.

[0083] In this embodiment, the end of the thin outer diameter keel 104 and the first tendon guide plate 101, the end of the medium outer diameter keel 104 and the second tendon guide plate 102, and the end of the thick outer diameter keel 104 and the third tendon guide plate 103 are all fixedly connected by gluing.

[0084] The two ends of the right-handed compression spring 105 and the left-handed compression spring 106 are also fixed to the tendon guide disk with glue. When fixing the spring and the tendon guide disk, it is necessary to ensure that the circumferential positions of the nine evenly distributed through holes of all the tendon guide disks are aligned, so as to ensure that the tendon 108 is approximately parallel to the central axis of the keel 104 after passing through all the tendon guide disks.

[0085] Specifically, since the aspect ratio of the previous continuum robot structure design is relatively small, the larger the aspect ratio, the smaller the rigidity of the robot body, and the worse the controllability. In this embodiment, when the robot is working, all springs are in a compressed state, and the rigidity of the spring in the energy storage state when compressed becomes larger relative to the relaxed state. Therefore, the bending rigidity of the spring is enhanced, and all the left-handed compression springs 106 in the robot body 100 improve the strength of the axial counterclockwise torsion of the robot body 100, and all the right-handed compression springs 105 in the robot body 100 improve the strength of the axial clockwise torsion of the robot body 100. Therefore, the alternating arrangement of the left-handed compression springs 106 and the right-handed compression springs 105 effectively improves the torsional rigidity and bending rigidity of the robot body 100, and also improves the rigidity and load of the continuum robot of this type of structure. Therefore, when the diameter of the continuum robot body is fixed, it can be designed to be longer by alternately arranging left-handed compression springs 106 and right-handed compression springs 105 and realizing telescopic movement based on the concentric tube keel 104, thereby solving the problem of relatively small length-to-diameter ratio in the design of the continuum robot body.

[0086] In this embodiment, the tendon 108 passes through the circumferential guide holes of the first tendon guide plate 101, the second tendon guide plate 102, and the third tendon guide plate 103, and is fixed by buckling; the tendon 108 is made of ultra-high molecular weight polyethylene fiber. When the tendon 108 controlling the bending of the front keel passes through the tendon guide plate (102 / 107 / 103) of the rear adjacent keel 104, each tendon needs to avoid the occupied hole position.

[0087] In the above embodiment, if Figure 4 As shown, the keel and tendon guide system 200 includes a first guide tube 201, a first tendon guide hole 202, a first keel guide hole 203, a second tendon guide hole 204, a keel guide tube 205, a second keel guide hole 206, a conical lead tray 207 and a third tendon guide hole 208.

[0088] The conical lead disk 207 is fixed at the front center of the driving device 500. The first guide tube 201 is fixed to the conical lead disk 207 by threaded connection. A first keel guide hole 203 is provided at the inner center of the first guide tube 201, and nine first tendon guide holes 202 are evenly distributed along the circumference of the first keel guide hole 203. Nine second tendon guide holes 204 are also provided in the conical lead disk 207 at the contact end with the first guide tube 201, and the guide holes at both ends of the conical lead disk 207 and the first guide tube 201 are aligned after the conical lead disk 207 and the first guide tube 201 are fixed. The keel guide tube 205 is inserted into the conical lead disk 207 by transition fit, and fits with the end surface of the first guide tube 201 located in the conical lead disk 207. At this time, the first keel guide hole 203 overlaps with the second keel guide hole 206. The head ends of the three sections of keels 104 pass through the first keel guide hole 203 and the second keel guide hole 206 in sequence and extend out of the conical lead disk 207 to form a keel extension section. Nine third tendon guide holes 208 are arranged on the cylindrical surface below the conical lead disk 207 in the same circumferential distribution direction as the nine second tendon guide holes 204.

[0089] When in use, the tendon 108 first enters the keel and tendon guide system 200 through the first tendon guide hole 202, then enters the second tendon guide hole 204 aligned with the first tendon guide hole 202, and finally passes through the third tendon guide hole 208 with the same circumferential distribution direction as the second tendon guide hole 204 to exit the keel and tendon guide system 200.

[0090] In the above embodiment, the number of tendon tension measurement systems 300 is the same as the number of tendons 108. In this embodiment, nine tendon tension measurement systems 300 are provided. The structures and principles of all tendon tension measurement systems 300 are the same. Figure 5 As shown, each tendon tension measurement system 300 includes a sensor base 301, a tension sensor 302, a pulley guide optical axis 303, an elastic retaining ring 304, a linear bearing 305, a movable pulley bracket 306, a movable pulley 307, a first fixed pulley 308, a second fixed pulley 309 and a fixed pulley bracket 310.

[0091] The sensor base 301 is fixedly arranged on the driving device 500, and is located on the outer circumference of the keel and tendon guide system 200. The tension sensor 302 is fixed to the sensor base 301 by the bottom bolts, and the upper part of the tension sensor 302 is connected to the movable pulley bracket 306 by the set screws. The linear bearing 305 is fixed to the movable pulley bracket 306 by the elastic retaining rings 304 at both ends, and the pulley guide optical axis 303 passes through the inner hole of the linear bearing 305 and is fixed to the sensor base 301 by the set screws. The optical axis and linear bearing guide device are installed on the symmetrical side of the installation position of the pulley guide optical axis 303 and the linear bearing 305. The bottom of the fixed pulley bracket 310 is fixed to the top of the sensor base 301 by bolts, and the top of the movable pulley bracket 306 passes through the top of the sensor base 301 and is located in the fixed pulley bracket 310, the movable pulley 307 is installed on the movable pulley bracket 306, and the first fixed pulley 308 and the second fixed pulley 309 are installed on the upper part of the fixed pulley bracket 310.

[0092] When in use, the tendon 108 passing through the keel and tendon guide system 200 passes through the second fixed pulley 309 and enters the tendon tension measurement system 300, then bypasses the movable pulley 307 and passes through the first fixed pulley 308. The movable pulley 307 moves along the direction of the pulley guide optical axis 303 with the change of the tension of the tendon 108, thereby pulling the tension sensor 302, and then obtaining the real-time tension of the tendon. The tension sensor 302 transmits the detected real-time tension information to the controller.

[0093] In the above embodiment, the number of tendon stretching systems 400 is the same as the number of tendons 108, and the structures and principles of all tendon stretching systems 400 are the same. Figure 6 , Figure 7 As shown, each tendon stretching system 400 includes a worm gear reduction box body 401, a first bearing 402, a turbine 403, a second bearing 404, a turbine shaft 405, a cylindrical pin 406, a third bearing 407, a worm 408, a fourth bearing 409, a fifth bearing 410, a worm shaft 411, a winding drum nut 412, a winding drum 413, a rectangular groove slide 414, a fourth tendon guide hole 415 and a first drive motor 416.

[0094] The worm gear reduction box housing 401 is fixedly mounted on the driving device 500, located on the outside of the bracket 600, and located on the outside circumference of the keel and tendon guide system tendon tension measurement system 300. The worm wheel 403 is fixed to the turbine shaft 405 by means of set screws, and the worm wheel shaft 405 is connected to one side of the interior of one end of the worm gear reduction box housing 401 through the first bearing 402 and the second bearing 404, and one end located at the second bearing 404 is tightened by bolts to achieve positioning. The worm 408 is fixed to the worm shaft 411 by means of set screws, and the worm shaft 411 is connected to the other side of the interior of one end of the worm gear reduction box housing 401 through the fourth bearing 409 and the fifth bearing 410, and is also positioned by tightening bolts at one end. The other end of the worm shaft 411 is connected to the first drive motor 416 (such as Figure 1 The output end of the first drive motor 416 is coaxially connected to the output end of the first drive motor 416 shown in the figure, and the first drive motor 416 is arranged on the inner side of the bracket 600. The winding drum nut 412 is fixed to the other end of the worm gear reducer housing 401 by a set screw; the outer surface of the winding drum 413 is provided with an external thread, and the winding drum 413 is threadedly connected to the winding drum nut 412 through the external thread. A cylindrical pin 406 perpendicular to the axial direction of the worm shaft 405 is provided at one end, and the two are connected by a third bearing 407; one end of the worm shaft 405 provided with the cylindrical pin 406 can be inserted into the winding drum 413, and a rectangular groove slide 414 is provided inside the winding drum 413, and the cylindrical pin 406 can slide in the rectangular groove slide 414.

[0095] When in use, the cylindrical pin 406 is restricted in movement by the side of the rectangular groove slideway 412, so that when the worm shaft 405 rotates, the winding drum 413 can be driven to rotate. Since the winding drum nut 412 matched with the winding drum 413 is fixed on the worm gear reducer housing 401, when the winding drum 413 rotates, it will move axially relative to the worm gear reducer housing 401, thereby realizing the function of winding and arranging the wire at the same time.

[0096] In the present embodiment, in the previous design of tendon-driven continuum robots, there are two ways to retract and release the tendon: ① one end of the tendon is fixed to the moving part end of the ball screw, and the stretching function of the tendon is achieved through the linear motion of the ball screw. This method requires that the stroke of the ball screw is the same as the required maximum stretching distance of the tendon, and the space occupied is relatively large; ② a winding wheel with a circle of V-grooves is used to achieve the stretching function of the tendon: if the circumference of the V-groove is smaller than the required maximum stretching distance of the tendon, when the required wire pulling distance is greater than the circumference of the V-groove, the outer circle of the tendon will be pressed on the inner circle of the tendon during winding, resulting in a problem of reduced control accuracy; if the circumference of the V-groove is equal to the required maximum stretching distance of the tendon, the diameter of the winding wheel is increased, which increases the space occupied.

[0097] Therefore, in this embodiment, the tendon stretching system 400 is used to realize two-degree-of-freedom precision winding to solve the problems existing in the previous design of tendon-driven continuum robots. The worm gear shaft 405 and the winding drum 413 are both constrained on the worm gear reduction box housing 401. In the rectangular groove slideway 414 on the inner side of the winding drum 413, the worm gear shaft 405 is connected to a cylindrical pin 406 arranged perpendicular to the axial direction of the worm gear shaft 405 through a third bearing 407 at one end of the winding drum 413. The worm gear shaft 405 and the cylindrical pin 406 can be extended into the interior of the winding drum 413 at the same time, and the cylindrical pin 406 will always slide in the rectangular groove slideway 414. Since the cylindrical pin 406 is blocked by the side of the rectangular groove slideway 414, the winding drum 413 will also rotate synchronously when the worm gear shaft 405 rotates. Since the winding drum 413 cooperates with the winding drum nut 412 on the worm gear reducer housing 401, when the winding drum 413 rotates, it also moves along the axial direction of the worm shaft 405, so that when the tendon 108 is retracted, the function of automatically entering the next thread after winding one thread is realized, and no matter how many turns of thread there are, it will not jump onto other threads. The precision winding of the tendon stretching system 400 of this embodiment has the characteristics of small size and high precision.

[0098] In the above embodiment, Figure 8 As shown, the driving device 500 includes a front supporting disc 501, a rear supporting disc 502, a pneumatic clamping jaw 503 for a thick outer diameter keel, a pneumatic clamping jaw 504 for a medium outer diameter keel, a pneumatic clamping jaw 506 for a thin outer diameter keel, a clamping jaw slider 507, a clamping jaw bracket 508, a guide rail 509, a first square tube 510, a second square tube 511, a proximity switch 512, a first guide optical axis 513, a second guide optical axis 514, a ball screw 515, a driving arm 516, a tension sensor 517, a force sensor base 518, a floating pneumatic clamping jaw 519, a coupling 520, a motor base 521, a second driving motor 522 and an instability optical axis 523. The keel and tendon guiding mechanism 200, the tendon tension measuring mechanism 300 and the tendon stretching mechanism 400 are all arranged on the front supporting disc 501.

[0099] A second center hole corresponding to the second keel guide hole 206 in the keel and tendon guide system 200 is arranged at the center of the front support disc 501, and a third center hole located on the same axis as the second center hole is arranged at the center of the rear support disc 502.

[0100] The front support disc 501 and the rear support disc 502 are fixed to the front and rear of the bracket 600 respectively, and three unstable optical axes 523 (such as Figure 1The front support disc 501 and the rear support disc 502 are connected to form the main frame of the driving device 500. A first square tube 510, a second square tube 511, a first guide light axis 513, a second guide light axis 514 and a ball screw 515 are also arranged between the front support disc 501 and the rear support disc 502. The first square tube 510 is arranged at the bottom, and the second square tube 511, the first guide light axis 513, the second guide light axis 514 and the ball screw 515 are all arranged at the top.

[0101] The guide rail 509 is fixed to the first square tube 510 by bolt connection, and three clamping jaw brackets 508 are arranged on the guide rail 509. A clamping jaw slider 507 is arranged at the bottom of each clamping jaw bracket 508. The clamping jaw bracket 508 is fixed to the guide rail 509 after the position is adjusted by the clamping jaw slider 507 and the guide rail 509, so that there is a preset distance between two adjacent clamping jaw brackets 508; the clamping jaw bracket 508 located at the front end is tightly attached to the front supporting disc 501, the pneumatic clamping jaw 503 with a thick outer diameter keel is arranged on the clamping jaw bracket 508 tightly attached to the front supporting disc 501, the pneumatic clamping jaw 504 with a medium outer diameter keel is arranged on the clamping jaw bracket 508 located in the middle, and the pneumatic clamping jaw 506 with a thin outer diameter keel is arranged on the clamping jaw bracket 508 located at the rear.

[0102] The second drive motor 522 for driving the ball screw 515 is fixed to the outer side of the upper part of the rear support disc 502 through a motor seat 521. One end of the ball screw 515 is coaxially connected to the output shaft of the second drive motor 522 through a coupling 520. The second drive motor 522 is connected to the controller, and its operation is controlled by the controller.

[0103] The force sensor base 518 is arranged on the ball screw 515 and can move forward and backward with the rotation of the ball screw 515; one side of the force sensor base 518 is connected to one side of the driving arm 516 through the tension pressure sensor 517, and the force sensor base 518 and the driving arm 516 are respectively connected to the first guide light axis 513 and the second guide light axis 514 through linear bearings, guided by the first guide light axis 513 and the second guide light axis 514, and driven by the second driving motor 522 to move forward and backward along the first guide light axis 513 and the second guide light axis 514, thereby driving the driving arm 516 to move forward and backward.

[0104] The floating pneumatic clamp 519 is fixedly connected to the driving arm 516 by bolts, and the tension pressure sensor 517 is arranged between the force sensor base 518 and the driving arm 516. The upper and lower end surfaces of the tension pressure sensor 517 are respectively connected to the force sensor base 518 and the driving arm 516 by fixing screws; and then the driving arm 516 drives the floating pneumatic clamp 519 to move forward and backward.

[0105] The proximity switch 512 is fixed on the second square tube 511 and is used to detect the stroke position information of the driving arm 516 and transmit it to the controller.

[0106] The keel extension section at the head end of the three-section keel 104 passes through the second center hole of the front supporting disc 501 and is then matched with each pneumatic clamp. Among them, the keel 104 with a large outer diameter is matched with the pneumatic clamp 503 with a large outer diameter keel, the keel 104 with a medium outer diameter is matched with the pneumatic clamp 504 with a medium outer diameter keel, and the keel 104 with a small outer diameter is matched with the pneumatic clamp 506 with a small outer diameter keel; the extension and retraction of each section of the keel 104 is controlled by the floating pneumatic clamp 519.

[0107] Specifically, when the floating pneumatic clamp 519 moves to between the pneumatic clamp 503 of the thick outer diameter keel and the pneumatic clamp 504 of the medium outer diameter keel, the floating pneumatic clamp 519 closes and clamps the thick outer diameter keel 104, and at this time, the pneumatic clamp 503 of the thick outer diameter keel opens, and the floating pneumatic clamp 519 is driven by the second drive motor 522 to move forward and backward to achieve the extension and retraction of the robot body 100. Since the position between the pneumatic clamp 503 of the thick outer diameter keel and the pneumatic clamp 504 of the medium outer diameter keel is limited, each time the floating pneumatic clamp 519 is driven to move a fixed short distance, the pneumatic clamp 503 of the thick outer diameter keel is closed, the floating pneumatic clamp 519 opens and then retreats to the starting position and then closes, and then the pneumatic clamp 503 of the thick outer diameter keel is opened, and the above steps are repeated to achieve the extension and retraction of the thick outer diameter keel 104.

[0108] Move the floating pneumatic clamp 519 between the medium outer diameter keel pneumatic clamp 504 and the thin outer diameter keel pneumatic clamp 506, and repeat the above-mentioned cooperation between the floating pneumatic clamp 519 and the medium outer diameter keel pneumatic clamp 504 to realize the extension and retraction of the medium outer diameter keel 104.

[0109] The floating pneumatic clamp 519 is moved between the thin outer diameter keel pneumatic clamp 506 and the rear support disc 502, and the floating pneumatic clamp 519 and the thin outer diameter keel pneumatic clamp 506 are repeated to cooperate with each other, so as to realize the extension and retraction of the thin outer diameter keel 104.

[0110] In this embodiment, in order to avoid the problem of bending deformation when the keel is extended forward due to low bending strength, the distance between the floating pneumatic clamp 519 and the fixed pneumatic clamp cooperating therewith is adjusted. The smaller the distance, the better the effect of preventing bending.

[0111] In this embodiment, Fig. 9 As shown, the clamping jaw bracket 508 includes a base 505 , a threaded hole 524 , a keel centering bracket 525 , a third keel guide hole 526 , a fourth keel guide hole 527 , a first rubber pad 528 and a second rubber pad 529 .

[0112] A slider 507 is provided at the bottom of the base 505, and a threaded hole 524 for fixing the base 505 is provided on the base 505. The bottom of the keel centering bracket 525 is provided on the base 505. The top of the keel centering bracket 525 has an opening, and the clamping claw passes through the inside of the opening and is provided with a first rubber pad 528 and a second rubber pad 529 inside the clamping claw. The first rubber pad 528 and the second rubber pad 529 are connected to the clamping claw by gluing. The keel centering bracket 525 located on both sides of the opening between the first rubber pad 528 and the second rubber pad 529 is provided with a third keel guide hole 526 and a fourth keel guide hole 527, respectively.

[0113] When in use, the three nickel-titanium alloy keels 104 of the robot body 100 first pass through the center hole of the front support disc 501, reach the drive device 500, and then pass through the fourth keel guide hole 527 and the third keel guide hole 526 of the three pneumatic clamps in sequence. If the length exceeds the distance between the front support disc 501 and the rear support disc 502, it passes through the third center hole on the rear support disc 502 to the rear. When the robot body 100 stops extending and retracting, the three pneumatic clamps are all in a closed state, and at this time, the three thick, medium and thin nickel-titanium alloy keels 104 are clamped.

[0114] In this embodiment, the first square tube 510 , the second square tube 511 , the first guide light axis 513 , the second guide light axis 514 , and the ball screw 515 are all fixedly connected to the front support disc 501 and the rear support disc 502 by bolts.

[0115] In this embodiment, the pneumatic clamp 503 of the thick outer diameter keel, the pneumatic clamp 504 of the medium outer diameter keel, and the pneumatic clamp 506 of the thin outer diameter keel are respectively fixedly connected to the keel centering bracket 525 by bolts, and the three are also fixed to the clamp bracket 508 by bolt connection. The clamp bracket 508 is fixed to the clamp slider 507 by bolt connection, and the clamp slider 507 can slide on the guide rail 509, and the guide rail 509 is fixed to the first square tube 510 by bolt connection. After determining the fixed position of the pneumatic clamp, a long bolt is screwed into the threaded hole 524 until the bolt is against the guide rail 509, thereby realizing the positioning of the pneumatic clamp.

[0116] In this embodiment, specifically, since the telescopic function of the existing robot is realized in two ways, and both have the following technical defects: connecting the continuum robot driving mechanism to the slide rail, and driving the driving platform to move forward and backward by controlling the forward and backward movement of the slide rail, thereby realizing the forward and backward movement of the robot end tool, this telescopic method cannot be regarded as the telescopic function of the robot body. For example, a continuum robot with a three-stage telescopic function has three sets of ball screw devices installed behind the driving mechanism, and each section of the keel is connected to the moving part of the ball screw device through a fixing mechanism, and the robot body is telescopically driven by the motor. The lead screw realizes the telescopic function of the robot body. The disadvantage of this telescopic method is that the telescopic stroke is limited by the bending strength of the keel. When the fixed end of the keel is far away from the adjacent constraint end, the keel will bend and deform when subjected to a small thrust, and cannot provide the support force required for the front end to be extended and bent.

[0117] In order to solve the technical shortcomings of the push-pull function of the drive device in the prior art, the present invention adopts an alternating push-pull long-stroke linear drive system including four pneumatic clamps. A floating pneumatic clamp 519 is fixed on the ball screw 515 to realize the push-pull function of the three keels. The remaining three pneumatic clamps are fixed on the frame of the drive device (on the first square tube 510) to realize the fixing function of the keel in a non-moving state. The floating pneumatic clamp 519 can cooperate with the other three fixed pneumatic clamps at different positions. When the floating pneumatic clamp 519 clamps a keel for movement, the fixed pneumatic clamp responsible for clamping and fixing the keel releases the keel, and the other two pneumatic clamps clamp the other two keels to keep them fixed. Since the floating pneumatic gripper 519 can be set to a minimum of 1mm from the pneumatic gripper that fixes the keel each time it pushes and pulls the keel, that is, the fixed end of the keel 104 is 1mm away from the adjacent constrained end, the floating pneumatic gripper 519 pushes the keel forward at least 1mm each time, and the pushing distance each time can be set according to the bending strength of the keel. Therefore, the problem that the telescopic stroke is limited by the bending strength of the keel is solved. The floating pneumatic gripper 519 and a fixed pneumatic gripper can repeatedly push and pull to achieve the push-pull movement of a single keel of unlimited length. With the repeated push and pull of the four pneumatic grippers, the telescopic length of the continuum robot is no longer limited by the bending strength of the keel and the drive device.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A continuous in vivo endoscopic robot capable of traversing complex channels, characterized in that: include: A driving device (500), used to drive the entire robot to work; A robot body (100), whose control end is connected to a driving device (500) via a keel and tendon guide mechanism (200), and whose end can pass through a complex channel, is arranged at the front of the overall robot and has the function of performing extension and bending deformation simultaneously; A tendon tension measuring mechanism (300) is provided in plurality and is arranged at intervals at the end of the driving device (500) along the circumference of the keel and the tendon guiding mechanism (200), and is used to measure the tendon tension of the robot body (100) and transmit it to the controller; A tendon stretching mechanism (400) is arranged outside the tendon tension measuring mechanism (300) and is arranged at intervals at the end of the driving device (500); The controller is arranged outside the robot body (100) and is used to control the operation of the driving device (500) and control the operation of the tendon stretching mechanism (400) according to the tendon tension information transmitted by the tendon tension measuring mechanism (300).

2. The continuous body endoscopic robot capable of traversing complex channels as claimed in claim 1, characterized in that: The robot body (100) comprises a first tendon guide disc (101), a second tendon guide disc (102), a third tendon guide disc (103), a keel (104), a right-handed compression spring (105), a left-handed compression spring (106), a universal tendon guide disc (107) and a tendon (108); The keel (104) is a nickel-titanium alloy keel with a retractable structure, which is composed of a keel (104) with a thin outer diameter, a keel (104) with a medium outer diameter, and a keel (104) with a thick outer diameter, and the keel (104) with a thin outer diameter can extend from the keel (104) with a thick outer diameter; a first tendon guide disc (101) is fixedly provided at the end of the keel (104) with a thin outer diameter, a second tendon guide disc (102) is fixedly provided at the end of the keel (104) with a medium outer diameter, and a third tendon guide disc (103) is fixedly provided at the end of the keel (104) with a thick outer diameter; On each section of the keel (104), a plurality of universal tendon guide discs (107) are arranged behind the tendon guide disc fixed to the keel (104), and right-handed compression springs (105) and left-handed compression springs (106) are alternately arranged between two adjacent tendon guide discs; The tendon guide plate on each section of the keel (104) is provided with three tendons (108) for controlling the bending deformation of the section of the keel (104). The three tendons (108) are arranged at an angle of 120°. All the tendons (108) are evenly distributed around the circumference of each keel (104). The tendon (108) for controlling the bending of the front section of the keel (104) passes through the rear tendon guide plate and is connected to the rear drive device (500) without occupying each other's position.

3. The continuous body endoscopic robot capable of traversing complex channels as claimed in claim 2, characterized in that: All tendon guide plates have nine evenly distributed guide holes and a first center hole, and the end face of the first center hole is provided with a countersunk hole. The guide holes are used to pass the tendons (108), the first center hole is used to pass the keel (104), and the countersunk hole is used to install and fix the right-handed compression spring (105) and the left-handed compression spring (106).

4. The continuous in vivo endoscopic robot capable of traversing complex channels as claimed in claim 1, characterized in that: The keel and tendon guide system (200) comprises a first guide tube (201), a first tendon guide hole (202), a first keel guide hole (203), a second tendon guide hole (204), a keel guide tube (205), a second keel guide hole (206), a conical lead-in disk (207) and a third tendon guide hole (208); The conical lead disk (207) is fixed at the front center of the driving device (500), the first guide tube (201) is fixed on the conical lead disk (207), a first keel guide hole (203) is arranged at the inner center of the first guide tube (201), and nine first tendon guide holes (202) are evenly distributed along the circumference of the first keel guide hole (203); Nine second tendon guide holes (204) are also provided in the conical lead-in disk (207) at the contact end with the first guide tube (201), and the guide holes at both ends of the conical lead-in disk (207) and the first guide tube (201) are aligned after the two ends are fixed; The keel guide tube (205) is inserted into the interior of the conical lead disk (207) by means of transition fit, and fits with the end surface of the first guide tube (201) located in the conical lead disk (207), the first keel guide hole (203) and the second keel guide hole (206) overlap, and the head ends of the three keel sections (104) pass through the first keel guide hole (203) and the second keel guide hole (206) in sequence and extend out of the conical lead disk (207) to form a keel extension section; Nine third tendon guide holes (208) are arranged on the cylindrical surface below the conical lead-in disk (207) and are circumferentially distributed in the same direction as the nine second tendon guide holes (204).

5. The continuous in vivo endoscopic robot capable of traversing complex channels as claimed in claim 1, characterized in that: The tendon tension measurement system (300) comprises a sensor base (301), a tension sensor (302), a pulley guide optical axis (303), an elastic retaining ring (304), a linear bearing (305), a movable pulley bracket (306), a movable pulley (307), a first fixed pulley (308), a second fixed pulley (309) and a fixed pulley bracket (310); The sensor base (301) is fixedly arranged on the driving device (500) and is located on the outer circumference of the keel and tendon guide system (200). The tension sensor (302) is fixed on the sensor base (301) by a bottom bolt, and the upper part of the tension sensor (302) is connected to the movable pulley bracket (306) by a set screw. The linear bearing (305) is fixed to the movable pulley bracket (306) through elastic retaining rings (304) at both ends, and the pulley guide optical axis (303) passes through the inner hole of the linear bearing (305) and is fixed to the sensor base (301) through a set screw; an optical axis and a linear bearing guide device are installed on the symmetrical side of the installation position of the pulley guide optical axis (303) and the linear bearing (305); The bottom of the fixed pulley bracket (310) is fixed to the top of the sensor base (301) by bolts, and the top of the movable pulley bracket (306) passes through the top of the sensor base (301) and is located in the fixed pulley bracket (310), the movable pulley (307) is installed on the movable pulley bracket (306), and the first fixed pulley (308) and the second fixed pulley (309) are installed on the upper part of the fixed pulley bracket (310).

6. The continuous body endoscopic robot capable of traversing complex channels as claimed in claim 1, characterized in that: The tendon stretching system (400) comprises a worm gear reduction box housing (401), a first bearing (402), a turbine (403), a second bearing (404), a turbine shaft (405), a cylindrical pin (406), a third bearing (407), a worm (408), a fourth bearing (409), a fifth bearing (410), a worm shaft (411), a bobbin nut (412), a bobbin (413), a rectangular groove slideway (414), a fourth tendon guide hole (415) and a first drive motor (416); The worm gear reduction box housing (401) is fixedly arranged on the driving device (500) and is located on the outer circumference of the keel and tendon guide system (200) and the tendon tension measurement system (300); The worm wheel (403) is fixed to the turbine shaft (405) by means of a set screw. The turbine shaft (405) is connected to one side of the interior of one end of the worm gear reduction box housing (401) through a first bearing (402) and a second bearing (404). One end of the second bearing (404) is tightened by means of a bolt to achieve positioning. The worm (408) is fixed to the worm shaft (411) by means of a set screw; the worm shaft (411) is connected to the other side of one end of the worm gear reduction box housing (401) through a fourth bearing (409) and a fifth bearing (410); positioning is achieved by tightening a bolt at one end; the other end of the worm shaft (411) is coaxially connected to the output end of the first drive motor (416); The winding drum nut (412) is fixed to the other end of the worm gear reducer housing (401) by means of a set screw; the winding drum (413) is provided with an external thread on its exterior, and the winding drum (413) is threadedly connected to the winding drum nut (412) by means of the external thread; A cylindrical pin (406) perpendicular to the axial direction of the worm gear shaft (405) is arranged at one end thereof, and the two are connected via a third bearing (407); one end of the worm gear shaft (405) provided with the cylindrical pin (405) can be inserted into the winding drum (413), and a rectangular groove slideway (414) is arranged inside the winding drum (413), and the cylindrical pin (406) can slide in the rectangular groove slideway (414).

7. The continuous body endoscopic robot capable of traversing complex channels as claimed in claim 1, characterized in that: The driving device (500) comprises a front supporting disc (501), a rear supporting disc (502), a pneumatic clamping jaw with a thick outer diameter keel (503), a pneumatic clamping jaw with a medium outer diameter keel (504), a pneumatic clamping jaw with a thin outer diameter keel (506), a clamping jaw slider (507), a clamping jaw bracket (508), a guide rail (509), a first square tube (510), a second square tube (511), a first guide optical axis (513), a second guide optical axis (514), a ball screw (515), a driving arm (516), a tension and pressure sensor (517), a force sensor base (518), a floating pneumatic clamping jaw (519), a coupling (520), a motor base (521), a second driving motor (522) and an unstable optical axis (523); The keel and tendon guiding mechanism (200), the tendon tension measuring mechanism (300) and the tendon stretching mechanism (400) are all arranged on the front supporting disc (501); The front supporting disc (501) and the rear supporting disc (502) are respectively fixed to the front and rear of the bracket (600), and the front supporting disc (501) and the rear supporting disc (502) are connected via three unstable optical axes (523); A first square tube (510), a second square tube (511), a first guide light axis (513), a second guide light axis (514) and a ball screw (515) are also arranged between the front support disc (501) and the rear support disc (502); the first square tube (510) is arranged at the bottom, and the second square tube (511), the first guide light axis (513), the second guide light axis (514) and the ball screw (515) are all arranged at the top; The guide rail (509) is fixed to the first square tube (510) by bolt connection, and three clamping jaw brackets (508) are arranged on the guide rail (509), and a clamping jaw slider (507) is arranged at the bottom of each clamping jaw bracket (508). The clamping jaw bracket (508) is fixed to the guide rail (509) after the clamping jaw slider (507) cooperates with the guide rail (509) to adjust the position, so that there is a preset distance between two adjacent clamping jaw brackets (508); the clamping jaw bracket (508) located at the front end is tightly attached to the front support disc (501), the pneumatic clamping jaw (503) with a thick outer diameter keel is arranged on the clamping jaw bracket (508) tightly attached to the front support disc (501), the pneumatic clamping jaw (504) with a medium outer diameter keel is arranged on the clamping jaw bracket (508) located in the middle, and the pneumatic clamping jaw (506) with a thin outer diameter keel is arranged on the clamping jaw bracket (508) located at the rear; The second drive motor (522) is fixed to the outer side of the upper part of the rear support disc (502) via a motor seat (521); one end of the ball screw (515) is coaxially connected to the output shaft of the second drive motor (522) via a coupling (520); the second drive motor (522) is connected to a controller, and its operation is controlled by the controller; The force sensor base (518) is arranged on the ball screw (515) and can move forward and backward along with the rotation of the ball screw (515); one side of the force sensor base (518) is connected to one side of the driving arm (516) through a tension pressure sensor (517), and the force sensor base (518) and the driving arm (516) are respectively connected to the first guide optical axis (513) and the second guide optical axis (514) through linear bearings, and the second driving motor (522) drives the force sensor base (518) to move forward and backward along the first guide optical axis (513) and the second guide optical axis (514), thereby driving the driving arm (516) to move forward and backward; The movable pneumatic clamp (519) is fixedly connected to the driving arm (516), the tension and pressure sensor (517) is arranged between the force sensor base (518) and the driving arm (516), and the upper and lower end surfaces of the tension and pressure sensor (517) are respectively connected to the force sensor base (518) and the driving arm (516) by means of set screws; the movable pneumatic clamp (519) is driven by the driving arm (516) to move forward and backward; The keel extension section at the head end of the three-section keel (104) passes through the central hole of the front supporting disc (501) and is then matched with each pneumatic clamp. The keel (104) with a thick outer diameter is matched with the pneumatic clamp (503) with a thick outer diameter keel, the keel (104) with a medium outer diameter is matched with the pneumatic clamp (504) with a medium outer diameter keel, and the keel (104) with a thin outer diameter is matched with the pneumatic clamp (506) with a thin outer diameter keel. The extension and retraction of each section of the keel (104) is controlled by a floating pneumatic clamp (519).

8. The continuous body endoscopic robot capable of passing through complex channels as claimed in claim 7, characterized in that: When the floating pneumatic clamp (519) moves to between the pneumatic clamp (503) of the thick outer diameter keel and the pneumatic clamp (504) of the medium outer diameter keel, the floating pneumatic clamp (519) closes and clamps the thick outer diameter keel (104), and at this time, the pneumatic clamp (503) of the thick outer diameter keel opens, and the floating pneumatic clamp (519) is driven by the second drive motor (522) to move forward and backward to realize the extension and retraction of the robot body (100); The floating pneumatic clamp (519) is moved between the pneumatic clamp (504) of the medium outer diameter keel and the pneumatic clamp (506) of the thin outer diameter keel, so that the floating pneumatic clamp (519) and the pneumatic clamp (504) of the medium outer diameter keel repeat the above cooperation to realize the extension and retraction of the medium outer diameter keel (104); The floating pneumatic clamp (519) is moved between the thin outer diameter keel pneumatic clamp (506) and the rear support disc (502), so that the floating pneumatic clamp (519) and the thin outer diameter keel pneumatic clamp (506) repeat the above-mentioned cooperation to achieve the extension and retraction of the thin outer diameter keel (104).

9. The continuous body endoscopic robot capable of passing through complex channels as claimed in claim 7, characterized in that: The driving device (500) further comprises a proximity switch (512); the proximity switch (512) is fixed on the second square tube (511) and is used to detect the stroke position information of the driving arm (516) and transmit it to the controller; A second center hole corresponding to the second keel guide hole (206) in the keel and tendon guide system (200) is arranged at the center of the front support disc (501), and a third center hole is arranged at the center of the rear support disc (502).

10. The continuous body endoscopic robot capable of traversing complex channels as claimed in claim 7, characterized in that: The clamping claw bracket (508) includes a base (505), a threaded hole (524), a keel centering bracket (525), a third keel guide hole (526), ​​a fourth keel guide hole (527), a first rubber pad (528) and a second rubber pad (529); A slider (507) is provided at the bottom of the base (505), and a threaded hole (524) for fixing the base (505) is provided on the base (505); the bottom of the keel centering bracket (525) is provided on the base (505); the top of the keel centering bracket (525) has an opening, the clamping jaw passes through the inside of the opening, and a first rubber pad (528) and a second rubber pad (529) are provided inside the clamping jaw and inside the opening, and the first rubber pad (528) and the second rubber pad (529) are connected to the clamping jaw by gluing; A third keel guide hole (526) and a fourth keel guide hole (527) are respectively provided on the keel centering bracket (525) located on both sides of the opening between the first rubber pad (528) and the second rubber pad (529).

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