Robot system for ERCP and operative treatment thereof

Abstract

The invention relates to a robot system for ERCP and operative treatment thereof. The robot system comprises a duodenoscope control robot, an instrument control robot, a doctor console, an operating bed, an X-ray machine and an endoscope workstation. The duodenoscope control robot comprises a duodenoscope conveying robot and a duodenoscope control robot; the duodenoscope conveying robot comprises an endoscope conveying vehicle body and an endoscope conveying execution system, and the duodenoscope control robot comprises an endoscope control vehicle body and a duodenoscope control execution system; the instrument control robot comprises an instrument control vehicle body and an instrument execution system, the instrument execution system comprises a guide wire operation unit, an instrument operation unit and an auxiliary unit, and the instrument output end of the instrument operation unit is connected with a butt joint port of the guide wire operation unit. By means of the system, the ERCP operation can be completed more rapidly and stably, participation of medical staff is reduced, doctor resources are released, and the ERCP operation staff are prevented from being hurt by radiation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an ERCP and a robotic system for surgical treatment thereof. Background Art

[0002] ERCP (Endoscopic Retrograde Cholangiopancreatography) is one of the main minimally invasive methods for the treatment of biliary and pancreatic diseases. ERCP can be used to diagnose and treat diseases such as gallstones, cholangitis, biliary tumors, pancreatitis, and pancreatic tumors.

[0003] The ERCP operation method is to insert a duodenoscope into the descending part of the duodenum of the patient, find the papillary opening of the bile duct and pancreatic duct, insert the contrast catheter or papillary cutter into the bile duct or pancreatic duct through the guide wire in the biopsy cavity, and then inject contrast agent, observe the structure and morphology of the pancreatic and bile duct under X-ray or take X-rays, or take samples from the pancreatic and bile duct for examination, make a diagnosis, and use the corresponding instruments to perform the corresponding operation. Compared with traditional surgical operations, ERCP surgery has the advantages of less trauma, shorter operation time, fewer complications, higher safety, less pain for patients, faster postoperative recovery, and high cost performance.

[0004] However, since the advent of ERCP angiography and surgical treatment, this technology has to be manually performed by doctors and their assistants, and the operation requires the cooperation of multiple people using endoscopes, guide wires, and multiple instruments. The operation is complex and difficult, and has a great impact on the accuracy and stability of the operation. In addition, ERCP surgery needs to be performed with the assistance of X-rays. The operator needs to wear heavy lead-containing protective clothing during the operation, which seriously consumes the operator's physical strength and affects the operator's joints and bones. In addition, some parts such as the arms, head, eyes, and lower limbs are difficult to protect. Operators who engage in ERCP surgery for a long time are prone to multi-system radiation and gravity damage. Summary of the invention

[0005] The purpose of the present invention is to provide an ERCP and surgical treatment robot system, which can complete the operation more quickly and stably, reduce the participation of medical staff, release doctor resources, and completely avoid radiation damage to medical staff.

[0006] To achieve the above-mentioned purpose, the present invention provides a robot system for ERCP and surgical treatment thereof, comprising a duodenoscope control robot, an instrument control robot, a doctor's console, an operating table, an X-ray machine, and an endoscope workstation;

[0007] The X-ray machine is used together with the operating table. The X-ray machine is used to scan the patient on the operating table to detect the location of the lesion and the location of the surgical instruments and the duodenoscope. The endoscope workstation is connected to the endoscope.

[0008] The duodenoscope manipulation robot includes a duodenoscope conveying robot and a duodenoscope control robot; the duodenoscope conveying robot includes an endoscope conveying vehicle body and an endoscope conveying execution system, and the endoscope conveying execution system is used to drive the endoscope forward and backward; the duodenoscope control robot includes an endoscope control vehicle body and a duodenoscope control execution system, and the duodenoscope control execution system is used to carry the operating part of the endoscope and control the endoscope to execute actions;

[0009] The instrument manipulation robot includes an instrument manipulation body and an instrument execution system; the instrument execution system includes a guidewire manipulation unit, at least two groups of instrument manipulation units and an auxiliary unit; the guidewire manipulation unit is used to store and transport guidewires, and its guidewire output end is connected to the instrument channel of the endoscope; the instrument manipulation unit is arranged on the guidewire manipulation unit, and is used to store and transport the instrument body, and its instrument output end is connected to the docking port of the guidewire manipulation unit; the auxiliary unit is used to switch different instrument manipulation units to be connected with the guidewire manipulation unit.

[0010] Optionally, the endoscope transport vehicle and the endoscope control vehicle both include a vehicle chassis, an electrical control box, a sliding guide rail and a mechanical arm; a movable wheel is provided at the bottom of the vehicle chassis, and a shell is provided at the upper part of the vehicle chassis; a vertical sliding guide rail is provided inside the shell, the mechanical arm is provided on a slider of the sliding guide rail, and a slide groove for the mechanical arm to be lifted up and down is provided on the front side of the shell; the electrical control box is provided on the rear side of the sliding guide rail, and drives the mechanical arm to be lifted up and down through the guide rail motor.

[0011] Optionally, the endoscope transport execution system includes a transport motor, a transport wheel and a support; the transport wheel includes a driving wheel and a passive wheel, and a transport channel is formed between the driving wheel and the passive wheel; the driving wheel is connected to the transport motor and is fixed as a whole to the support; the passive wheel is slidably installed on the support, and a spring is provided at the rear end of the passive wheel.

[0012] Optionally, the endoscope transport execution system is provided with a shell, and the shell is provided with a notch corresponding to the transport channel formed between the driving wheel and the passive wheel, and the notch is used to directly press the endoscope into the transport channel formed between the driving wheel and the passive wheel when in use.

[0013] Optionally, a multi-dimensional force sensor is provided at the connection between the endoscope transport execution system and the robotic arm.

[0014] Optionally, the duodenoscope control execution system includes a shell, a support, an endoscope locking mechanism, a bending control mechanism, a water vapor control mechanism, and a forceps lifter control mechanism; the endoscope locking mechanism is used to fix the operating part of the endoscope, the bending control mechanism includes a bending motor and a hollow bending dial wheel, the bending motor is arranged on the support, the bending motor is connected to the bending dial wheel, and is used to drive the endoscope dial wheel to rotate, thereby controlling the bending of the front end of the endoscope; the water vapor control mechanism includes a plurality of water vapor electric cylinders, each of which is arranged on the support through a fixing member, and controls the water vapor switch of the endoscope by pushing the electric cylinder; the forceps lifter control mechanism includes a forceps lifter electric cylinder, which controls the movement of the endoscope forceps lifter button by pushing the forceps lifter electric cylinder.

[0015] Optionally, the endoscope locking mechanism is provided with a locking clamp for locking and fixing the endoscope operating part.

[0016] Optionally, the guide wire operation unit includes a guide wire manipulator, a guide wire box, a surgical guide wire and a guide wire conveying mechanism; the guide wire manipulator is used to adjust the exit position of the surgical guide wire, and is arranged on the instrument control vehicle body; the guide wire box and the guide wire conveying mechanism are arranged at the upper end of the guide wire manipulator, and the guide wire conveying mechanism is located on the front side of the guide wire box; the surgical guide wire is arranged in the guide wire box, and the rear end of the guide wire box is provided with a docking port for docking surgical instruments; the guide wire conveying mechanism is provided with a shell, a guide wire conveying wheel, a conveying motor and a guide wire outlet, the guide wire conveying wheel is arranged on the conveying shaft, and the conveying motor is fixed at one end of the conveying shaft.

[0017] Optionally, the guide wire delivery wheel includes an inner hub and an outer wheel sleeve, the outer wheel sleeve is an inflatable structure, an air pump is provided at the other end of the delivery shaft, and an air passage connecting the air pump and the outer wheel sleeve is provided in the delivery shaft to inflate or deflate the outer wheel sleeve.

[0018] Optionally, the guidewire operation unit also includes a guidewire guiding device; the guidewire guiding device is arranged at the front end of the guidewire conveying mechanism, and the guidewire guiding device is provided with a guide tube, one end of the guide tube is used to insert the guidewire, and the other end is connected to the instrument channel opening of the endoscope to guide the guidewire into the instrument channel of the endoscope.

[0019] Optionally, the surgical guide wire is coiled in a spiral cone shape in the guide wire box, the docking port is located at the rear side of the guide wire box near the bottom and can lead the surgical guide wire out tangentially, the guide wire outlet is provided with a conical wire outlet sleeve, and one end of the guide tube is provided with a guide sleeve for inserting the guide wire.

[0020] Optionally, the docking port is located in the lower left corner area or the lower right corner area of ​​the rear side of the guide wire box.

[0021] Optionally, the instrument operating unit includes an instrument robotic arm and a surgical instrument; the instrument robotic arm is used to adjust the position of the surgical instrument, and is arranged on the instrument manipulation vehicle body; the surgical instrument is arranged at the top of the robotic arm, the surgical instrument includes an instrument box, an instrument rotating conveying mechanism and an instrument operating mechanism, and the instrument body is arranged in the instrument box; the instrument rotating conveying mechanism is arranged at the front end of the instrument body, and includes a motor, a transmission gear and a rotating conveying guide tube; the rotating conveying guide tube is rotatably arranged in the instrument box through a bearing, one end of which is used to penetrate the instrument body, and the other end is connected to the docking interface of the guide wire operating unit; a thread groove is arranged in the rotating conveying guide tube, which can make the instrument body rotate and convey at the same time through the friction between the thread groove and the instrument body.

[0022] Optionally, the transmission gear includes a large gear and a small gear, the rotating conveying guide tube is coaxially fixed with the large gear and passes through the large gear, the small gear is connected to the motor, and the small gear is meshed with the large gear for transmission.

[0023] Optionally, the instrument operating mechanism includes a driving device and an executing device; the executing device is arranged at the rear end of the instrument body, and the driving device is arranged at the rear end of the executing device.

[0024] Optionally, the instrument body is a contrast catheter, the actuator is a balloon containing contrast agent, and the drive device is a push-pull electric cylinder for squeezing the balloon;

[0025] Alternatively, the instrument body is a cutting knife, a stone removal basket or a biopsy forceps, the actuator is an operating handle, the drive device is a push-pull electric cylinder for driving the operating handle to move forward and backward, or the drive device is a reduction motor for driving the operating handle to rotate.

[0026] Alternatively, the instrument body is a surgical stand, the execution device is a handle of the surgical stand, and the driving device is a push-pull electric cylinder for driving the handle.

[0027] Optionally, a lubricating support is further provided at the rear end of the instrument body so that the rear end of the instrument body is always kept at a set position during the rotation process.

[0028] Optionally, the main body of the instrument box is cylindrical in shape, and a mating portion for connecting the instrument robotic arm is provided at its bottom; the instrument body is coiled in the instrument box in a spiral cone shape, and the front side of the main body of the instrument box has a first additional box body for accommodating the instrument rotating conveying mechanism, and the rear side of the main body of the instrument box has a second additional box body for accommodating the instrument operating mechanism, and the second additional box body is biased to one side relative to the main body of the instrument box and close to the bottom of the instrument box.

[0029] Optionally, the device-controlled vehicle body includes a vehicle chassis, an electric control box, a lifting column, a vehicle panel and a shell; a movable wheel is arranged at the lower part of the vehicle chassis; the lifting column and the electric control box are arranged on the vehicle chassis; the vehicle panel is arranged at the upper end of the lifting column, and a control button is arranged on the vehicle panel.

[0030] Optionally, the auxiliary unit includes a multi-degree-of-freedom robotic arm and a manipulator, wherein the manipulator is disposed at the end of the multi-degree-of-freedom robotic arm. The manipulator can place the selected instrument operating unit on the instrument robotic arm so that it is connected to the guide wire operating unit, and can remove the used instrument operating unit from the instrument robotic arm.

[0031] Optionally, the doctor's console includes a body, a foot switch, a handle for controlling an endoscope robotic arm, a force sensing handle, a button switch and a display device; the foot switch is arranged at the bottom of the body, and is used to control the endoscope to collect images and control surgical instruments; the handle for controlling the endoscope robotic arm includes a handle for controlling the conveying, rotation and lifting of the endoscope, and is used to control the movement of the endoscope; the force sensing handle includes a guide wire force sensing handle and an instrument force sensing handle, and is used to control the guide wire and the instrument body, and pressure sensors are provided at the front end of the guide wire and the instrument body, and the sensing signal of the pressure sensor is amplified by the circuit and fed back to the force sensing handle.

[0032] Optionally, the display device includes an image display device and a status display device of the endoscope, the image display device is used to display the image under the endoscope, and the status display device is used to display the usage status of each component of the whole machine.

[0033] Optionally, the vehicle body includes a frame, a distal lifting platform, and a proximal lifting platform; the frame is provided with moving wheels at the bottom; the distal lifting platform is arranged at the distal end of the vehicle body, on which the image display device is arranged, a first lifting column is arranged inside it, and the guide wire force sensing handle and the instrument force sensing handle are arranged on the side thereof; the proximal lifting platform is arranged on the side close to the operator, on which the endoscope handle and the button switch are arranged, and second lifting columns are arranged on both sides thereof.

[0034] The surgical system of the present invention can complete the remote control of the endoscope, the remote control of the surgical instruments, and can complete the automatic replacement of surgical instruments, so that the doctor can complete the entire operation alone, reduce the risks brought by the participation of multiple people to the operation, reduce the difficulty of operation, and control the surgical instruments more accurately, which can reduce the operation time and reduce more pain for the patient.

[0035] Moreover, since the duodenoscope control robot, instrument control robot, operating table, X-ray machine and endoscope workstation are all installed in the operating room, and the doctor's console is installed outside the operating room, the doctor can complete the entire surgical operation through the console, thereby isolating the doctor's console and the operating room, so that the doctor is no longer harmed by radiation. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of the overall structure of an ERCP and surgical treatment robot system provided by an embodiment of the present invention;

[0037] Figure 2 for Figure 1 The schematic diagram of the overall structure of the ERCP and surgical treatment robot system shown in another perspective;

[0038] Figure 3 for Figure 1 The structural schematic diagram of the duodenoscope manipulation robot is shown in;

[0039] Figure 4 for Figure 3 The structural schematic diagram of the duodenoscope delivery robot is shown in;

[0040] Figure 5 for Figure 4 A schematic diagram of the disassembled structure of the endoscope transport vehicle shown in FIG.

[0041] Figure 6 for Figure 4 A schematic diagram of the disassembled structure of the endoscope delivery execution system shown in;

[0042] Figure 7 It is a schematic diagram of the assembly structure of the delivery wheel and the six-dimensional force sensor of the endoscope delivery execution system;

[0043] Figure 8 for Figure 3 The structural schematic diagram of the duodenoscope control robot is shown in;

[0044] Fig. 9 for Figure 8 The schematic diagram of the structure of the duodenoscope control execution system cooperating with the endoscope is shown in;

[0045] Fig.10 It is a structural diagram of the duodenoscope control execution system;

[0046] Fig.11 It is a schematic diagram of the partial disassembly structure of the duodenoscope control execution system;

[0047] Fig.12 for Figure 1 The structural diagram of the endoscopy workstation shown in;

[0048] Fig.13 for Figure 1 The structural diagram of the operating table shown in;

[0049] Fig.14 for Figure 1 The schematic diagram of the structure of the operating table shown in another viewing angle;

[0050] Fig.15 It is a schematic diagram of the structure of the operating table and the X-ray machine;

[0051] Fig.16 for Figure 1 A schematic diagram of the structure of the instrument manipulation robot shown in;

[0052] Fig.17 for Fig.16 A schematic diagram of the structure of the guidewire operation unit, two sets of instrument operation units and the auxiliary unit shown in FIG.

[0053] Fig.18 This is a schematic diagram of the disassembled structure of the vehicle body for controlling the device;

[0054] Fig.19 It is a structural schematic diagram of a guidewire operation unit;

[0055] Fig. 20 It is a schematic diagram of the disassembled structure of the guidewire operation unit;

[0056] Fig.21 It is a structural schematic diagram of a guide wire conveying mechanism of a guide wire operation unit;

[0057] Fig. 22 It is a schematic diagram of the structure in which the guide wire of the guide wire operation unit is coiled in the guide wire box;

[0058] Fig.23 This is a structural schematic diagram of a wire guide box having a docking port at the rear end;

[0059] Fig.24 It is a structural schematic diagram of the instrument operation unit;

[0060] Fig.25 This is a schematic diagram of the disassembled structure of the instrument operation unit;

[0061] Fig.26 It is a cross-sectional view of the instrument operation unit;

[0062] Fig. 27 It is a schematic diagram of the structure of the motor, pinion, gear, and driving device and actuator of the instrument operating unit;

[0063] Fig.28 This is a schematic diagram of the structure of the doctor's console;

[0064] Fig.29 This is a structural diagram of the doctor's console from another perspective.

[0065] In the figure:

[0066] 10-operating bed; 11-operating bed chassis; 12-operating bed surface; 13-lifting mechanism; 131-first lifting column; 14-sliding mechanism; 141-sliding electric cylinder; 142-slide rail; 15-button; 16-first moving wheel; 20-X-ray machine; 30-duodenoscope conveying robot; 31-endoscope conveying vehicle body; 311-vehicle chassis; 312-first electric control box; 313-sliding guide rail; 314-first mechanical arm; 315-second moving wheel; 316-first shell; 317-guide rail motor; 318-slideway; 32-endoscope conveying execution system; 321-first conveying motor; 322-driving wheel; 323-passive wheel; 324-first support member; 325-second shell; 325 1-slot; 326-U-shaped piece; 327-spring; 328-six-dimensional force sensor; 40-duodenoscope control robot; 41-endoscope control vehicle body; 42-duodenoscope control execution system; 421-third shell; 422-second support member; 423-bending motor; 424-bending dial; 425-water vapor electric cylinder; 426-lifting forceps electric cylinder; 427-locking clamp; 50-instrument control robot; 51-instrument control vehicle body; 511-chassis; 512-second electric control box; 513-second lifting column; 514-body panel; 515-third moving wheel; 516-shell; 52-instrument execution system; 521-guidewire operation unit; 5211-guidewire mechanical arm; 5212- Guide wire box; 5213-docking port; 5214-guide wire delivery wheel; 5215-second delivery motor; 5216-air pump; 5217-delivery shaft; 5218-fourth shell; 5219-conical wire outlet sleeve; 52110-guide tube; 52111-guide sleeve; 522-instrument operation unit; 5221-second mechanical arm; 5222-instrument box; 5223-motor; 5224-large gear; 5225-rotating delivery guide tube; 5226-small gear; 5227-driving device; 5228-executing device; 5229-lubricating support; 52221-matching part; 52222-first additional box body; 52223-second additional box body; 523-auxiliary unit; 5231-multi-automatic By degree robot arm; 5232-robot; 60-endoscopic workstation; 61-flexible endoscope workstation; 62-high frequency electric workstation; 63-image display device; 70-doctor's console; 71-frame; 72-foot switch; 731-power on button; 732-emergency stop button; 74-endoscopic conveying handle; 75-endoscopic rotation handle; 76-endoscopic forceps lifting handle; 77-guidewire force sensing handle; 78-instrument force sensing handle; 79-endoscopic image display device; 710-status display device; 711-distal lifting platform; 712-proximal lifting platform; 713-fourth moving wheel; 714-first lifting column; 715-second lifting column; 100-endoscopic; 200-guidewire; 300-instrument body. DETAILED DESCRIPTION

[0067] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0068] In this article, the terms "upper, lower, inside, outside" and the like are established based on the positional relationships shown in the drawings. The corresponding positional relationships may also change depending on the drawings, and therefore cannot be understood as absolute limitations on the scope of protection; moreover, relational terms such as "first" and "second" and the like are merely used to distinguish one component from another with the same name, and do not necessarily require or imply any actual relationship or order between these components.

[0069] Please refer to Figure 1 , Figure 2 , Figure 1 A schematic diagram of the overall structure of an ERCP and surgical treatment robot system provided by an embodiment of the present invention; Figure 2 for Figure 1 The schematic diagram of the overall structure of the ERCP and surgical treatment robot system from another perspective is shown.

[0070] As shown in the figure, in a specific embodiment, the ERCP and surgical treatment robot system provided by the present invention is mainly composed of an operating table 10, an X-ray machine 20, a duodenoscope control robot, an instrument control robot 50, an endoscope workstation 60 and a doctor's console 70. Unless otherwise specified, the "endoscope" hereinafter refers to the "duodenoscope".

[0071] The duodenoscope manipulation robot is further divided into a duodenoscope transport robot 30 and a duodenoscope control robot 40; wherein, the duodenoscope transport robot 30 is composed of an endoscope transport vehicle body 31 and an endoscope transport execution system 32, and the endoscope transport execution system 32 can drive the endoscope 100 forward and backward; the duodenoscope control robot 40 is composed of an endoscope control vehicle body 41 and a duodenoscope control execution system 42, and the duodenoscope control execution system 42 is used to carry the operating part of the endoscope 100 and control the front end of the endoscope 100 to perform intraoperative actions such as bending and water vapor opening and closing.

[0072] The instrument manipulation robot 50 is composed of an instrument manipulation vehicle body 51 and an instrument execution system 52. The instrument execution system 52 is provided with a guidewire manipulation unit 521, a plurality of groups of instrument manipulation units 522 (two groups in this embodiment), and an auxiliary unit 523. Among them, the instrument manipulation unit 522 is arranged at the rear end of the guidewire manipulation unit 521. The guidewire manipulation unit 521 stores a surgical guidewire 200. Different instrument bodies 300 are stored in each instrument manipulation unit 522, respectively, and can be automatically replaced by the auxiliary unit 523.

[0073] When in use, the operating bed 10, the X-ray machine 20, the duodenoscope transport robot 30, the duodenoscope control robot 40, the instrument manipulation robot 50 and the endoscope workstation 60 are all arranged in the operating room, and the doctor's console 70 is arranged outside the operating room. The doctor's console 70 is connected to the equipment in the operating room via a cable or a network, and the doctor can complete the entire surgical operation through the console.

[0074] Please refer to Figures 3 to 7 , Figure 3 for Figure 1 The structural schematic diagram of the duodenoscope manipulation robot is shown in; Figure 4 for Figure 3 The structural schematic diagram of the duodenoscope delivery robot is shown in; Figure 5 for Figure 4 A schematic diagram of the disassembled structure of the endoscope transport vehicle shown in FIG. Figure 6 for Figure 4 A schematic diagram of the disassembled structure of the endoscope delivery execution system shown in; Figure 7 Schematic diagram of the assembly structure of the delivery wheel and six-dimensional force sensor of the endoscope delivery execution system.

[0075] As shown in the figure, the structures of the endoscope transporting vehicle 31 and the endoscope control vehicle 41 are basically the same. Taking the endoscope transporting vehicle 31 as an example, it is provided with a vehicle chassis 311, a first electric control box 312, a sliding guide rail 313 and a first mechanical arm 314; a second moving wheel 315 is provided at the bottom of the vehicle chassis 311; a first shell 316 is provided on the outside of the vehicle body; the vertical sliding guide rail 313 is provided at the front end of the vehicle chassis 311 through a fixing member; the first electric control box 312 is provided at the rear end of the vehicle chassis 311; the first mechanical arm 314 is provided on the slider of the sliding guide rail 313, and the lifting and lowering of the first mechanical arm 314 can be controlled by the guide rail motor 317, and the front side of the first shell 316 is provided with a slide groove 318 for the first mechanical arm 314 to lift up and down.

[0076] The endoscope transport execution system 32 is mainly composed of a first transport motor 321, a transport wheel, a first support member 324, a second shell 325 and other components; wherein the transport wheel is divided into a driving wheel 322 and a passive wheel 323; the driving wheel 322 is connected to the first transport motor 321 and is fixed as a whole on the first support member 324; the passive wheel 323 is slidably mounted on the first support member 324 through a U-shaped member 326, and a spring 327 is provided at the rear end of the passive wheel 323, so that the entire execution system can adapt to endoscopes 100 of different diameters.

[0077] A six-dimensional force sensor 328 is provided at the connection between the endoscope delivery execution system 32 and the robotic arm. The six-dimensional force sensor 328 can be used to drag the entire execution system to any position that the robotic arm can reach, so that the execution system can be aligned with the cavity that needs intervention.

[0078] The second shell 325 is provided with a slot 3251 corresponding to the conveying channel formed between the driving wheel 322 and the driven wheel 323. When the endoscope conveying execution system 32 is in use, the endoscope 100 can be directly pressed from the slot 3251 into the conveying channel formed by the driving wheel 322 and the driven wheel 323, and then conveyed by the first conveying motor 321.

[0079] Of course, the endoscope 100 can also be inserted into the conveying channel formed by the driving wheel 322 and the driven wheel 323 along the axial direction.

[0080] Please continue to refer to Figures 8 to 11 , Figure 8 for Figure 3 The structural schematic diagram of the duodenoscope control robot is shown in; Fig. 9 for Figure 8 The schematic diagram of the structure of the duodenoscope control execution system cooperating with the endoscope is shown in; Fig.10 It is a structural diagram of the duodenoscope control execution system; Fig.11 This is a schematic diagram of the partial disassembled structure of the duodenoscope control execution system.

[0081] As shown in the figure, the duodenoscope control execution system 42 is mainly composed of a third shell 421, a second support member 422, a bending control mechanism, a water vapor control mechanism, a forceps lifting control mechanism and an endoscope locking mechanism.

[0082] The bending control mechanism is provided with a bending motor 423 and a hollow bending dial 424. The bending motor 423 is arranged on the second support member 422. The bending motor 423 is connected to the bending dial 424 for driving the dial of the endoscope 100 to rotate, thereby controlling the bending of the front end of the endoscope 100.

[0083] The water vapor control mechanism is provided with three water vapor electric cylinders 425 , each of which is arranged on the second support member 422 through a fixing member, and the three water vapor switches of the endoscope 100 are controlled by pushing the electric cylinder.

[0084] The forceps lifting control mechanism is provided with a forceps lifting electric cylinder 426, and the movement of the forceps lifting button of the endoscope 100 is controlled by pushing the forceps lifting electric cylinder 426.

[0085] The endoscope locking mechanism is provided with a locking clamp 427 which can lock and fix the operating part of the endoscope 100 .

[0086] The above-mentioned components of the duodenoscope control execution system 42 are arranged in the third shell 421, and the action parts of the water vapor electric cylinder 425 and the forceps lifting electric cylinder 426 are exposed outward so as to be able to contact the operation buttons of the endoscope 100. The entire duodenoscope control execution system 42 can be fixed on the mechanical arm of the endoscope control vehicle 41 through the second support member 422.

[0087] Please refer to Figures 12 to 15 , Fig.12 for Figure 1 The structural diagram of the endoscopy workstation shown in; Fig.13 for Figure 1 The structural diagram of the operating table shown in; Fig.14 for Figure 1 The schematic diagram of the structure of the operating table shown in another viewing angle; Fig.15 It is a structural diagram of the coordination between the operating table and the X-ray machine.

[0088] As shown in the figure, the endoscope workstation 60 is provided with a flexible endoscope workstation 61 and a high-frequency electric workstation 62. The flexible endoscope workstation 61 is provided with a flexible endoscope image processor, a flexible endoscope cold light source, a water pump, a CO2 gas pump, etc. The endoscope workstation is also provided with an image display device 63, which can be connected to the doctor's console end to facilitate the doctor to obtain images.

[0089] The operating bed 10 is mainly composed of an operating bed chassis 11, an operating bed surface 12, a lifting mechanism 13 and a sliding mechanism 14. The lifting mechanism 13 is provided with a first lifting column 131, which is arranged on the operating bed chassis 11. A button 15 is arranged on the side of the operating bed, and the lifting of the operating bed can be controlled by the button 15. The sliding mechanism 14 is provided with a sliding electric cylinder 141 and a slide rail 142. The sliding electric cylinder 141 is horizontally arranged at the bottom of the operating bed surface 12. The operating bed surface 12 is arranged on the top of the first lifting column 131 through the slide rail 142. The ejection shaft of the sliding electric cylinder 141 is fixed to the top of the first lifting column 131. The movement of the sliding electric cylinder 141 can drive the sliding of the operating bed surface 12, thereby adjusting the inspection position. A first moving wheel 16 is also arranged under the operating bed chassis 11. The buttons 15 are divided into a lifting mechanism button, a sliding mechanism button and an emergency stop button.

[0090] The X-ray machine 20 is disposed on one side of the operating table 10 , and is used to scan the patient on the operating table 10 , so as to detect the patient's symptoms and lesion locations.

[0091] Please refer to Fig.16 , Fig.17 , Fig.18 , Fig.16 for Figure 1 A schematic diagram of the structure of the instrument manipulation robot shown in; Fig.17 for Fig.16 A schematic diagram of the structure of the guidewire operation unit, two sets of instrument operation units and the auxiliary unit shown in FIG. Fig.18 This is a schematic diagram of the disassembled structure of the equipment control vehicle body.

[0092] As shown in the figure, the instrument manipulation robot 50 is composed of an instrument manipulation vehicle body 51 and an instrument execution system 52 ; the instrument execution system 52 is further composed of a guide wire operation unit 521 , at least two groups of instrument operation units 522 and an auxiliary unit 523 .

[0093] The guidewire operation unit 521 is used to store and transport the guidewire 200, and its guidewire output end is connected to the instrument channel of the endoscope 100; the instrument operation unit 522 is arranged on the rear side of the guidewire operation unit 521, and is used to store and transport the instrument body 300, and its instrument output end is connected to the docking port of the guidewire operation unit 521.

[0094] The auxiliary unit 523 is mainly composed of a multi-degree-of-freedom robotic arm 5231 and a manipulator 5232. The manipulator 5232 is arranged at the end of the multi-degree-of-freedom robotic arm 5231. The auxiliary unit 523 can automatically replace the instrument operation unit 522 through control, so that different instrument operation units 522 can be connected to the guide wire operation unit 521 according to surgical needs.

[0095] The instrument control vehicle body 51 is mainly composed of a chassis 511, a second electric control box 512, a second lifting column 513, a vehicle body panel 514, etc.; a third moving wheel 515 is arranged under the chassis 511; the second electric control box 512 is arranged on the chassis 511, and the second electric control box 512 is used to control the electrical components of the whole machine; the second lifting column 513 is also arranged on the chassis 511, and the vehicle body panel 514 is arranged at the upper end of the second lifting column 513, and the height of the vehicle body table can be controlled by the second lifting column 513, so as to adjust to a better surgical distance; the vehicle body panel 514 is provided with a button for controlling the whole machine switch and a button for controlling the lifting, and a shell 516 is arranged on the outside of the vehicle body.

[0096] Please refer to Figures 19 to 23 , Fig.19 It is a structural schematic diagram of a guidewire operation unit; Fig. 20 It is a schematic diagram of the disassembled structure of the guidewire operation unit; Fig.21 It is a structural schematic diagram of a guide wire conveying mechanism of a guide wire operation unit; Fig. 22 It is a schematic diagram of the structure in which the guide wire of the guide wire operation unit is coiled in the guide wire box; Fig.23 This is a structural schematic diagram of a wire guide box having a docking port at the rear end.

[0097] As shown in the figure, the guidewire operation unit 521 is mainly composed of a guidewire robot arm 5211, a guidewire conveying mechanism and a guidewire guiding device.

[0098] The guidewire robotic arm 5211 is arranged on the vehicle body panel 514, the guidewire 200 and the guidewire conveying mechanism are arranged at the upper end of the guidewire robotic arm 5211, and the guidewire conveying mechanism is arranged at the front end of the surgical guidewire 200. The exit position of the surgical guidewire can be adjusted through the guidewire robotic arm 5211.

[0099] The surgical guide wire 200 is arranged in the guide wire box 5212 and is coiled in a spiral cone shape. The rear end of the guide wire box 5212 can be docked with the instrument body 300 by being provided with a docking port 5213. The docking port 5213 is located at the rear side of the guide wire box 5212 near the bottom and can lead the guide wire 200 tangentially. In the present embodiment, the docking port 5213 is located in the lower right corner area of ​​the rear side of the guide wire box 5212. If the winding direction of the guide wire 200 is opposite, the docking port 5213 is located in the lower left corner area of ​​the rear side of the guide wire box 5212. The front end of the guide wire 200 is also provided with a pressure sensor which can feed back the pressure to the control end through an electrical signal.

[0100] The guide wire conveying mechanism is arranged at the front end of the guide wire box 5212, and the guide wire conveying mechanism is mainly composed of a guide wire conveying wheel 5124, a second conveying motor 5215 and an air pump 5216; the guide wire conveying wheel 5214 is arranged on the conveying shaft 5217, and the second conveying motor 5215 is fixed at one end of the conveying shaft 5217 to provide power for the guide wire conveying wheel 5214; the guide wire conveying wheel 5214 has an internal hub and an outer wheel sleeve, and the outer wheel sleeve is an inflatable structure. The air pump 5216 is fixed at the other end of the conveying shaft 5217, and the outer wheel sleeve can be inflated and deflated through the airway in the conveying shaft 5217. The clamping force and conveying force applied to the guide wire 200 and the instrument body 300 can be adjusted by inflation and deflation.

[0101] A fourth shell 5218 and a guide wire outlet are arranged on the outside of the guide wire delivery mechanism, and a conical wire outlet sleeve 5219 is provided at the guide wire guiding device; a guide wire guiding device is arranged at the front end of the guide wire delivery mechanism, and a guide tube 52110 is arranged on the guide wire guiding device, and a guide sleeve 52111 is provided at one end of the guide tube 52110 for inserting the guide wire 200, and the other end is connected to the instrument channel opening of the endoscope 100, so that the guide wire 200 can be guided into the instrument channel of the endoscope 100 through the guiding device.

[0102] Please refer to Figure 24 to Figure 27 , Fig.24 It is a structural schematic diagram of the instrument operation unit; Fig.25 This is a schematic diagram of the disassembled structure of the instrument operation unit; Fig.26 It is a cross-sectional view of the instrument operation unit; Fig. 27 This is a schematic diagram of the structure of the motor, small gear, large gear of the instrument operating unit, and the instrument's drive device and actuator.

[0103] As shown in the figure, the instrument operating unit 522 is mainly composed of a second robotic arm 5221 and a surgical instrument; the second robotic arm 5221 is set on the vehicle body panel 514, and the surgical instrument is set on the top of the second robotic arm 5221. The position of the surgical instrument can be adjusted through the second robotic arm 5221.

[0104] The surgical instrument is mainly composed of an instrument box 5222, an instrument rotating conveying mechanism, an instrument operating mechanism, etc.; the instrument body 300 is arranged in the instrument box 5222, and the instrument body 300 can be an angiographic catheter, a cutting knife, a stone removal basket, a stent, a biopsy forceps, etc., and a pressure sensor is arranged at the front end of the instrument body 300 for force feedback.

[0105] The instrument rotating conveying mechanism is arranged at the front part of the instrument box 5222, and is mainly composed of a motor 5223, a transmission gear and a rotating conveying guide tube 5225; the rotating conveying guide tube 5225 is rotatably arranged in the instrument box 5222 through a bearing, one end of which is used to penetrate the instrument body 300, and the other end is connected to the docking port 5213 at the rear end of the guide wire box 5212; a threaded structure is arranged in the rotating conveying guide tube 5225, and through the friction between the thread groove and the instrument body 300, the instrument body 300 can be rotated and conveyed at the same time, making the movement of the instrument body 300 smoother.

[0106] The transmission gear is divided into a large gear 5224 and a small gear 5226. The rotating conveying guide tube 5225 is coaxially fixed with the large gear 5224 and passes through the large gear 5224. The small gear 5226 is connected to the motor 5223. The small gear 5226 is meshed with the large gear 5224. The motor 5223 drives the small gear 5226 and the large gear 5224 to rotate, thereby driving the rotating conveying guide tube 5225 to rotate, thereby achieving the purpose of rotating the conveying device body 300.

[0107] The instrument operating mechanism is divided into a driving device 5227 and an actuator 5228; the actuator 5228 is arranged at the rear end of the instrument body 300, and the driving device 5227 is arranged at the rear end of the actuator 5228. The actuator 5228 and the driving device 5227 may be different for different surgical instruments; if the front end of the instrument body 300 is a contrast catheter, the actuator 5228 is a balloon containing contrast agent, and the driving device 5227 is a push-pull electric cylinder that can squeeze the balloon, and the contrast agent can be released by squeezing; if the front end of the instrument body 300 is a contrast catheter, the actuator 5228 is a balloon containing contrast agent, and the driving device 5227 is a push-pull electric cylinder that can squeeze the balloon, and the contrast agent can be released by squeezing; If the front end is a cutting knife, a stone removal basket, a biopsy forceps, etc., the actuator 5228 is an operating handle, and the driving device 5227 can also be a push-pull electric cylinder, which drives the operating handle to move back and forth through the electric cylinder, or the driving device is a reduction motor to drive the operating handle to rotate, and then drive the driving wire to move back and forth, thereby realizing the bending, opening and closing of the front end; if the front end of the instrument body 300 is a surgical stent, the actuator 5228 is the handle of the surgical stent, and the driving device 5227 can be a push-pull electric cylinder, which drives the handle through the push-pull electric cylinder to release the stent.

[0108] In addition, a lubricating support 5229 is provided at the rear end of the instrument body 300 to ensure that the rear end of the instrument body 300 always remains in a certain position during the rotation process.

[0109] Specifically, the main body of the instrument box 5222 is cylindrical in shape, and a fitting portion 52221 for connecting to an instrument robot arm is provided at its bottom; the instrument body 300 is coiled in the instrument box 5222 in a spiral cone shape, and the front side of the main body of the instrument box has a first additional box body 52222 for accommodating an instrument rotating conveying mechanism, and the rear side of the main body of the instrument box has a second additional box body 52223 for accommodating an instrument operating mechanism, and the second additional box body 52223 is flat in shape, and is biased to one side relative to the main body of the instrument box 5222 and close to the bottom of the instrument box 5222.

[0110] Please refer to Fig.28 , Fig.29 , Fig.28 This is a schematic diagram of the structure of the doctor's console; Fig.29 This is a structural diagram of the doctor's console from another perspective.

[0111] As shown in the figure, the doctor's console 70 is mainly composed of a frame 71, a foot switch 72, a handle for controlling the endoscope robot arm, a force sensing handle, a button switch and a display device.

[0112] A foot switch 72 is provided at the bottom of the frame 71, and is mainly used for endoscopic image acquisition and control of surgical instruments; the handles for controlling the endoscopic manipulator include an endoscopic transport handle 74, an endoscopic rotation handle 75 and an endoscopic forceps lifting handle 76, which are mainly used to control the movement of the endoscope 100; the force sensing handles include a guide wire force sensing handle 77 and an instrument force sensing handle 78, which are mainly used to control the guide wire 200 and the instrument body 300, and force sensing is obtained through pressure sensors at the front end of the guide wire 200 and the instrument body 300, and is fed back to the force sensing handle through circuit amplification, so that the operator can determine the surgical status through force feedback.

[0113] The display device is divided into an endoscopic image display device 79 and a status display device 710. The endoscopic image display device 79 is mainly responsible for displaying the image under the endoscope. The status display device 710 is mainly used to display the use status of each component of the whole machine and can be used to control the lifting column, replace equipment and other functions; the key switch includes a power button 731 and an emergency stop button 732. The power button 731 is responsible for turning the machine on and off, and the emergency stop button 732 is responsible for stopping in an emergency.

[0114] The frame 71 is provided with a distal lifting platform 711 and a proximal lifting platform 712; a fourth moving wheel 713 is provided at the bottom of the frame 71; the distal lifting platform 711 is arranged at the far end of the frame away from the operator, and an endoscopic image display device 79 is arranged thereon, a first lifting column 714 is arranged therein, and a guide wire force sensing handle 77 and an instrument force sensing handle 78 are arranged on the side thereof; the height of the distal lifting platform 711 can be adjusted through the status display device 710 to make it more suitable for the operator's habits; the proximal lifting platform 712 is arranged on the side close to the operator, and an endoscopic handle and button are arranged thereon, and second lifting columns 715 are arranged on both sides thereof; the height of the proximal lifting platform 712 can be adjusted through the status display device 710 to enable the doctor to achieve a comfortable operating state.

[0115] The surgical procedure of the above-mentioned ERCP and its surgical treatment robot system is as follows:

[0116] During the surgical preparation stage, each robot is positioned and reset, the patient lies on his side on the operating table, the doctor assembles the endoscope onto the duodenoscope manipulation robot and drags the endoscope delivery execution system to the patient's oral position, then puts the guidewire operation unit and instrument operation unit on the instrument robot into place, connects the guidewire guide tube to the instrument cavity of the endoscope, and finally the doctor returns to the doctor's console.

[0117] During the operation, the doctor adjusts the X-ray machine, operating table, proximal lift and distal lift to the appropriate operating position through the status display device; then the doctor coordinates the endoscope rotation handle and the endoscope delivery handle, and observes the position and status in real time through the image display device, so that the front end of the endoscope reaches the opening of the duodenal papilla; then the guide wire operation force sensing handle delivers the guide wire to the front end of the endoscopic instrument cavity, then controls the lifting forceps handle and cooperates with the endoscope handle to align the guide wire with the opening of the duodenal papilla, and delivers the guide wire into the pancreatic duct; then the instrument force sensing handle delivers the imaging instrument to the opening of the pancreatic duct, and the contrast agent is released through the button on the instrument force sensing handle, and the X-ray machine is turned on for observation through the status display device.

[0118] When a lesion is found and other surgical instruments need to be replaced, the angiography catheter is withdrawn through the instrument force sensing handle, the robot is controlled by the status display device to complete the replacement of the surgical instrument, and the instrument force sensing handle is used to continue to transport the instrument to complete the corresponding surgical operation.

[0119] When the operation is completed, each machine can be controlled to reset or shut down through the status display device.

[0120] The above is a detailed introduction to the ERCP and surgical treatment robot system provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. A robotic system for ERCP and surgical treatment thereof, characterized in that: Including duodenoscope control robot, instrument control robot, doctor console, operating table, X-ray machine, endoscopy workstation; The X-ray machine is used together with the operating table. The X-ray machine is used to scan the patient on the operating table to detect the location of the lesion and the location of the surgical instruments and the duodenoscope. The endoscope workstation is connected to the duodenoscope. The duodenoscope manipulation robot includes a duodenoscope conveying robot and a duodenoscope control robot; the duodenoscope conveying robot includes an endoscope conveying vehicle body and an endoscope conveying execution system, and the endoscope conveying execution system is used to drive the duodenoscope forward and backward; the duodenoscope control robot includes an endoscope control vehicle body and a duodenoscope control execution system, and the duodenoscope control execution system is used to carry the operating part of the duodenoscope and control the duodenoscope to perform actions; The instrument manipulation robot includes an instrument manipulation body and an instrument execution system; the instrument execution system includes a guidewire manipulation unit, at least two groups of instrument manipulation units and an auxiliary unit; the guidewire manipulation unit is used to store and transport guidewires, and its guidewire output end is connected to the instrument channel of the duodenoscope; the instrument manipulation unit is arranged on the guidewire manipulation unit, and is used to store and transport the instrument body, and its instrument output end is connected to the docking port of the guidewire manipulation unit; the auxiliary unit is used to switch different instrument manipulation units to be connected with the guidewire manipulation unit.

2. The ERCP and surgical treatment robot system according to claim 1, characterized in that: The endoscope transport vehicle and the endoscope control vehicle both include a vehicle chassis, an electric control box, a sliding guide rail and a mechanical arm; a movable wheel is provided at the bottom of the vehicle chassis, and a shell is provided at the upper part of the vehicle chassis; a vertical sliding guide rail is provided inside the shell, and the mechanical arm is provided on a slider of the sliding guide rail, and a slide groove for the mechanical arm to be lifted up and down is provided on the front side of the shell; the electric control box is provided on the rear side of the sliding guide rail, and drives the mechanical arm to be lifted up and down through a guide rail motor.

3. The ERCP and surgical treatment robot system according to claim 2, characterized in that: The endoscope transport execution system includes a transport motor, a transport wheel and a support; the transport wheel includes a driving wheel and a passive wheel, and a transport channel is formed between the driving wheel and the passive wheel; the driving wheel is connected to the transport motor and is fixed to the support as a whole; the passive wheel is slidably installed on the support, and a spring is provided at the rear end of the passive wheel.

4. The ERCP and surgical treatment robot system according to claim 3, characterized in that: The endoscope transport execution system is provided with a shell, and the shell is provided with a notch corresponding to the transport channel formed between the driving wheel and the driven wheel. The notch is used to directly press the endoscope into the transport channel formed between the driving wheel and the driven wheel when in use.

5. The ERCP and surgical treatment robot system according to claim 4, characterized in that: A multi-dimensional force sensor is provided at the connection between the endoscope delivery execution system and the mechanical arm.

6. The ERCP and surgical treatment robot system according to claim 1, characterized in that: The duodenoscope control execution system includes a shell, a support, an endoscope locking mechanism, a bending control mechanism, a water vapor control mechanism, and a forceps lifter control mechanism; the endoscope locking mechanism is used to fix the operating part of the duodenoscope, the bending control mechanism includes a bending motor and a hollow bending dial wheel, the bending motor is arranged on the support, the bending motor is connected to the bending dial wheel, and is used to drive the dial wheel of the duodenoscope to rotate, thereby controlling the bending of the front end of the duodenoscope; the water vapor control mechanism includes a plurality of water vapor electric cylinders, each of which is arranged on the support through a fixing member, and controls the water vapor switch of the duodenoscope by pushing the electric cylinder; the forceps lifter control mechanism includes a forceps lifter electric cylinder, which controls the movement of the forceps lifter button of the duodenoscope by pushing the forceps lifter electric cylinder.

7. The ERCP and surgical treatment robot system according to claim 6, characterized in that: The endoscope locking mechanism is provided with a locking clamp for locking and fixing the operating part of the duodenoscope.

8. The ERCP and surgical treatment robot system according to claim 1, characterized in that: The guidewire operation unit includes a guidewire manipulator, a guidewire box, a surgical guidewire and a guidewire conveying mechanism; the guidewire manipulator is used to adjust the outlet position of the surgical guidewire, and is arranged on the instrument control vehicle body; the guidewire box and the guidewire conveying mechanism are arranged at the upper end of the guidewire manipulator, and the guidewire conveying mechanism is located at the front side of the guidewire box; the surgical guidewire is arranged in the guidewire box, and the rear end of the guidewire box is provided with a docking port for docking surgical instruments; the guidewire conveying mechanism is provided with a shell, a guidewire conveying wheel, a conveying motor and a guidewire outlet, the guidewire conveying wheel is arranged on the conveying shaft, and the conveying motor is fixed to one end of the conveying shaft.

9. The ERCP and surgical treatment robot system according to claim 8, characterized in that: The guide wire conveying wheel includes an inner wheel hub and an outer wheel sleeve, the outer wheel sleeve is an inflatable structure, an air pump is provided at the other end of the conveying shaft, and an air channel connecting the air pump and the outer wheel sleeve is provided in the conveying shaft to inflate or deflate the outer wheel sleeve.

10. The ERCP and surgical treatment robot system according to claim 8, characterized in that: The guidewire operation unit also includes a guidewire guiding device; the guidewire guiding device is arranged at the front end of the guidewire conveying mechanism, and the guidewire guiding device is provided with a guide tube, one end of the guide tube is used to insert the guidewire, and the other end is connected to the instrument channel opening of the endoscope to introduce the guidewire into the instrument channel of the duodenoscope.

11. The ERCP and surgical treatment robot system according to claim 10, characterized in that: The surgical guide wire is coiled in the guide wire box in a spiral cone shape, the docking port is located at the rear side of the guide wire box near the bottom and can lead the surgical guide wire out tangentially, the guide wire outlet is provided with a conical wire outlet sleeve, and one end of the guide tube is provided with a guide sleeve for inserting the guide wire.

12. The ERCP and surgical treatment robot system according to claim 11, characterized in that: The docking port is located at the lower left corner area or the lower right corner area of ​​the rear side of the guide wire box.

13. The ERCP and surgical treatment robot system according to claim 1, characterized in that: The instrument operating unit includes an instrument mechanical arm and a surgical instrument; the instrument mechanical arm is used to adjust the position of the surgical instrument, and is arranged on the instrument control vehicle body; the surgical instrument is arranged at the top of the mechanical arm, and the surgical instrument includes an instrument box, an instrument rotating conveying mechanism and an instrument operating mechanism, and the instrument body is arranged in the instrument box; the instrument rotating conveying mechanism is arranged at the front end of the instrument body, and includes a motor, a transmission gear and a rotating conveying guide tube; the rotating conveying guide tube is rotatably arranged in the instrument box through a bearing, one end of which is used to penetrate the instrument body, and the other end is connected to the docking interface of the guide wire operating unit; a thread groove is arranged in the rotating conveying guide tube, which can make the instrument body rotate and convey at the same time through the friction between the thread groove and the instrument body.

14. The ERCP and surgical treatment robot system according to claim 13, characterized in that: The transmission gear comprises a large gear and a small gear. The rotating conveying guide tube is coaxially fixed with the large gear and passes through the large gear. The small gear is connected to the motor. The small gear is meshed with the large gear for transmission.

15. The ERCP and surgical treatment robot system according to claim 13, characterized in that: The instrument operating mechanism comprises a driving device and an executing device; the executing device is arranged at the rear end of the instrument body, and the driving device is arranged at the rear end of the executing device.

16. The ERCP and surgical treatment robot system according to claim 15, characterized in that: The instrument body is a contrast catheter, the actuator is a balloon containing contrast agent, and the drive device is a push-pull electric cylinder for squeezing the balloon; Alternatively, the instrument body is a cutting knife, a stone removal basket or a biopsy forceps, the execution device is an operating handle, the driving device is a push-pull electric cylinder for driving the operating handle to move forward and backward, or the driving device is a reduction motor for driving the operating handle to rotate; Alternatively, the instrument body is a surgical stand, the execution device is a handle of the surgical stand, and the driving device is a push-pull electric cylinder for driving the handle.

17. The ERCP and surgical treatment robot system according to claim 13, characterized in that: The rear end of the instrument body is also provided with a lubricating support member so that the rear end of the instrument body is always kept at a set position during the rotation process.

18. The ERCP and surgical treatment robot system according to claim 13, characterized in that: The main body of the instrument box is cylindrical in shape, and a matching portion for connecting the instrument robot arm is provided at its bottom; the instrument body is coiled in the instrument box in a spiral cone shape, and the front side of the main body of the instrument box has a first additional box body for accommodating the instrument rotating conveying mechanism, and the rear side of the main body of the instrument box has a second additional box body for accommodating the instrument operating mechanism, and the second additional box body is biased to one side relative to the main body of the instrument box and close to the bottom of the instrument box.

19. The ERCP and surgical treatment robot system according to claim 1, characterized in that: The instrument-controlled vehicle body comprises a vehicle chassis, an electric control box, a lifting column, a vehicle panel and a shell; the lower part of the vehicle chassis is provided with moving wheels; the lifting column and the electric control box are arranged on the vehicle chassis; the vehicle panel is arranged at the upper end of the lifting column, and the vehicle panel is provided with control buttons.

20. The ERCP and surgical treatment robot system according to claim 13, characterized in that: The auxiliary unit includes a multi-degree-of-freedom robotic arm and a manipulator, wherein the manipulator is disposed at the end of the multi-degree-of-freedom robotic arm. The manipulator can place the selected instrument operating unit on the instrument robotic arm so that it is connected to the guide wire operating unit, and can remove the used instrument operating unit from the instrument robotic arm.

21. The ERCP and surgical treatment robot system according to claim 1, characterized in that: The doctor's console includes a body, a foot switch, a handle for controlling an endoscope robotic arm, a force sensing handle, a button switch and a display device; the foot switch is arranged at the bottom of the body, and is used to control the duodenoscope to collect images and control surgical instruments; the handle for controlling the endoscope robotic arm includes a handle for controlling the transportation, rotation and lifting of the duodenoscope, and is used to control the movement of the duodenoscope; the force sensing handle includes a guide wire force sensing handle and an instrument force sensing handle, and is used to control the guide wire and the instrument body. Pressure sensors are provided at the front end of the guide wire and the instrument body, and the sensing signal of the pressure sensor is amplified by a circuit and fed back to the force sensing handle.

22. The ERCP and surgical treatment robot system according to claim 21, characterized in that: The display device comprises an image display device and a status display device of the duodenoscope, wherein the image display device is used to display the image under the duodenoscope, and the status display device is used to display the use status of each component of the whole machine.

23. The ERCP and surgical treatment robot system according to claim 22, characterized in that: The vehicle body includes a frame, a distal lifting platform, and a proximal lifting platform; the bottom of the frame is provided with moving wheels; the distal lifting platform is arranged at the distal end of the vehicle body, on which the image display device is arranged, a first lifting column is arranged inside, and the guide wire force sensing handle and the instrument force sensing handle are arranged on the side thereof; the proximal lifting platform is arranged on the side close to the operator, on which the handle and button switch for controlling the endoscope mechanical arm are arranged, and second lifting columns are arranged on both sides thereof.

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