Flexible mechanical arm driving system for minimally invasive interventional operation

Abstract

The invention discloses a flexible mechanical arm driving system for minimally invasive interventional surgery, a flexible mechanical arm comprises a hollow first sleeve assembly which is coaxially configured, the first sleeve assembly comprises an inner tube and an outer tube, the inner tube and the outer tube are thin-walled tubes, the inner tube is arranged in the outer tube in a penetrating manner, and the inner tube and the outer tube are fixedly connected at the far end part; the inner tube and the outer tube are each provided with a straight tube section at the near end and a deformation section at the far end, and the deformation sections can be bent and deformed when the inner tube is pushed / pulled. The driving system comprises an instrument assembly and a driving module assembly; a driving driven module is arranged in the instrument assembly, and the flexible mechanical arm is connected with the driving driven module; a driving driving module and a PCB control board are arranged in the driving module assembly, the driving driving module is in transmission connection with the driving driven module, and the driving module assembly is used for driving the flexible mechanical arm to do linear, rotating and bending movement. The driving device is used for driving the coaxial antagonism tubular flexible mechanical arm to achieve bending, rotating and linear motion, full-automatic control can be achieved, and the control accuracy and safety are high.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a flexible robotic arm driving system for minimally invasive interventional surgery. Background Art

[0002] Patients with chronic severe pulmonary thromboembolism are characterized by arterial hypertension and dyspnea. Patients need pulmonary thromboendarterectomy (PTE) to remove thrombi and endothelium in the pulmonary artery (PA) to restore normal blood flow. During pulmonary thromboendarterectomy, dissectors (or dissector tools) are commonly used surgical instruments, but most existing dissectors are rigid and lack sufficient steerability to access the distal thinner pulmonary artery branches.

[0003] Most existing flexible robotic arms are rope-driven, with complex structures and high control difficulty. During the operation of rope-driven robotic arms, the elasticity and relaxation of the ropes will have a certain impact on the movement accuracy of the robotic arms, making it difficult to meet the high flexibility and precise control requirements of multi-degree-of-freedom movements of flexible robotic arms. Summary of the invention

[0004] In order to solve the above-mentioned deficiencies in the prior art, the present invention provides a flexible robotic arm driving system for minimally invasive interventional surgery.

[0005] In order to achieve the above technical purpose, the technical solution adopted by the present invention is:

[0006] A flexible robotic arm drive system for minimally invasive interventional surgery, the flexible robotic arm includes a coaxially configured hollow first sleeve assembly, the first sleeve assembly includes an inner tube and an outer tube, the inner tube and the outer tube are thin-walled tubes, the inner tube is inserted into the outer tube and the inner tube and the outer tube are fixedly connected at the distal end, the inner tube and the outer tube are both configured as a straight tube section at the proximal end and a deformed section at the distal end, a plurality of open annular grooves are arranged axially on the wall of the deformed section, and the deformed section can be bent and deformed by pushing / pulling the inner tube.

[0007] The driving system includes an instrument assembly and a driving module assembly, and the instrument assembly and the driving module assembly are detachably connected; a driving slave module is provided in the instrument assembly, and the flexible mechanical arm is connected to the driving slave module; a driving active module and a PCB control board are provided in the driving module assembly, the driving active module is electrically connected to the PCB control board, the driving active module is transmission-connected to the driving slave module, and the driving module assembly is used to drive the flexible mechanical arm to perform linear, rotational, and bending movements;

[0008] A quick-release assembly is provided between the instrument assembly and the drive module assembly.

[0009] Furthermore, the instrument assembly includes an upper base plate and an upper mounting plate, the upper mounting plate is slidably connected to the upper base plate, an outer tube mounting seat and a driven module fixing seat are fixed on the upper mounting plate, the driven module is driven to include a screw spline shaft, a spline gear and a screw gear, the screw spline shaft is rotatably connected to the driven module fixing seat, the screw spline shaft is hollow, a spline is provided on the outer periphery of one end, and a screw is provided on the outer periphery of the other end, a spline gear is nested on the outer periphery of the spline part of the screw spline shaft, the screw part of the screw spline shaft is threadedly connected to the screw gear, and the end of the screw part of the screw spline shaft is connected to the inner tube fixing seat, the proximal end of the flexible robotic arm passes through the outer tube fixing seat and the screw spline shaft in sequence, the proximal end of the outer tube is rotatably connected to the outer tube fixing seat, and the proximal end of the inner tube is fixedly connected to the inner tube fixing seat.

[0010] Further, the driving module assembly includes a first lower mounting plate and a second lower mounting plate, the second lower mounting plate is slidably connected to the first lower mounting plate, the driving active module includes a rotating motor transmission module, a bending motor transmission module, and a linear motion module, the linear motion module is mounted on the first lower mounting plate, and the bending motor transmission module and the rotating motor transmission module are mounted on the second lower mounting plate;

[0011] The linear motion module includes a control linear motion motor, the control linear motion motor is connected to a second screw rod, the second screw rod is connected to a slide seat, the other end of the slide seat is fixedly connected to a second lower mounting plate, and a transmission assembly is provided between the second lower mounting plate and the upper mounting plate of the instrument assembly;

[0012] The bending motor transmission module comprises a control bending motor, a second output shaft gear, and a second transmission gear, wherein the output shaft of the control bending motor is connected to the second output shaft gear, the second output shaft gear is meshed and connected to the second transmission gear, and the second transmission gear is transmission-connected to the screw gear;

[0013] The rotary motor transmission module comprises a control rotary motor, a first output shaft gear, and a first transmission gear. The output shaft of the control rotary motor is connected to the first output shaft gear, the first output shaft gear is meshedly connected to the first transmission gear, and the first transmission gear is transmission-connected to the spline gear.

[0014] As a preferred technical solution, the transmission assembly between the second lower mounting plate and the upper mounting plate of the instrument assembly includes a third mounting plate, the third mounting plate is fixedly connected to the upper part of the second lower mounting plate, and an avoidance hole is provided on the third mounting plate in the area corresponding to the fixing seat of the instrument assembly, and the lower side wall of the fixing seat of the instrument assembly abuts against the avoidance hole;

[0015] The second transmission gear of the bending motor transmission module and the first transmission gear of the rotating motor transmission module are both spur gears. The second transmission gear is meshed and connected to the screw gear, and the first transmission gear is meshed and connected to the spline gear.

[0016] As a preferred technical solution, the instrument assembly also includes an upper shell, the upper base plate is fixedly installed on the top of the upper shell, a slide rail is provided below the upper base plate, an upper slider is installed above the upper mounting plate, and the upper slider is slidably connected to the upper slide rail. The outer tube fixing seat and the driven module fixing seat are installed at the lower part of the upper mounting plate;

[0017] The driving module assembly comprises a lower housing, the first mounting plate is fixedly mounted on the bottom of the lower housing, a lower slide rail is arranged on the first mounting plate, a lower slider is mounted below the second mounting plate, and the lower slider is slidably connected to the lower slide rail;

[0018] A cover plate is provided above the lower shell of the driving module assembly, the first lower mounting plate and the cover plate are fixedly connected via connecting columns and screws, and the cover plate is connected to the side wall of the lower shell via a locking member.

[0019] As a preferred technical solution, the quick-release assembly includes a locking block, the instrument assembly is placed above the drive module assembly, a locking block is hinged on the side wall of the lower shell of the drive module assembly, and a locking groove is provided on the upper shell of the instrument assembly. The locking block is flipped upward and snapped into the locking groove.

[0020] As a preferred technical solution, the transmission assembly between the second lower mounting plate and the upper mounting plate of the instrument assembly is provided with two groups, including a transmission rod assembly, the lower end of the transmission rod assembly is rotatably connected to the second lower mounting plate through a bearing, and the upper end of the transmission rod assembly is rotatably connected to the upper mounting plate through a bearing. The second lower mounting plate performs linear motion under the action of the linear motion control motor, and the upper mounting plate is driven to perform linear motion through the transmission rod assembly;

[0021] The transmission rod assembly includes an upper transmission rod and a lower transmission rod. The upper transmission rod is rotatably connected to the upper mounting plate. The lower portion of the upper transmission rod is fixedly connected to the upper connecting cap. The lower portion of the lower transmission rod is rotatably connected to the second lower mounting plate. A lower connecting cap is provided on the top of the lower connecting rod. The upper connecting cap can be sleeved on the top of the lower connecting cap. A positioning structure is provided between the upper connecting cap and the lower connecting cap.

[0022] As an optimal technical solution, the positioning structure is composed of a positioning block and a positioning groove, the positioning block is arranged at the top of the brim of the lower connecting cap, the positioning groove is arranged at the bottom of the brim of the upper connecting cap, and the positioning block is adapted to the positioning groove; the positioning transmission structure is provided with two groups, and the distances between the two groups of positioning transmission structures and the central axis of the transmission rod assembly are different.

[0023] As an optimal technical solution, the top of the lower transmission rod is fixedly connected to the transmission core shaft, the outer periphery of the transmission core shaft is slidably clamped with a rotating ring, the outer periphery of the transmission core shaft is axially provided with an inverted U-shaped keyway, the inner periphery of the rotating ring is provided with key teeth, the key teeth are adapted to the keyway, the transmission core shaft can drive the rotating ring to rotate synchronously through the cooperation of the key teeth and the keyway, and the rotating ring can slide linearly up and down along the keyway; the upper part of the rotating ring is connected to the lower connecting cap, the cap barrel of the lower connecting cap cover is arranged on the upper part of the transmission core shaft, the interior of the transmission core shaft is hollow, and a first spring is arranged between the transmission core shaft and the top wall of the cap barrel of the lower connecting cap;

[0024] A second transmission gear is fixedly disposed at the lower part of the lower transmission rod of one of the transmission assemblies, a fourth transmission gear is fixedly disposed at the upper part of the upper transmission rod, the second transmission gear and the second output shaft gear are bevel gears, the gear shaft intersection angle between the second transmission gear and the second output shaft gear is 90°, the fourth transmission gear is meshed and connected with the lead screw gear, the fourth transmission gear and the lead screw gear are helical gears, and the gear shafts of the fourth transmission gear and the lead screw gear are staggered 90°;

[0025] A first transmission gear is fixedly provided at the lower part of the lower transmission rod of another transmission assembly, and a third transmission gear is fixedly provided at the upper part of the upper transmission rod. The first transmission gear and the first output shaft gear are bevel gears, and the intersection angle of the gear shafts of the first transmission gear and the first output shaft gear is 90°. The third transmission gear is meshed and connected with the spline gear. The third transmission gear and the spline gear are helical gears, and the gear shafts of the third transmission gear and the spline gear are staggered at 90°.

[0026] As a preferred technical solution, a cross roller guide is installed between the upper base plate and the upper mounting plate, and there are two groups of cross roller guides, which are arranged on both sides of the upper base plate. The upper mounting plate and the upper base plate realize linear operation navigation through the cross roller guides; a few avoidance openings are opened on the upper base plate in the transmission component area; the instrument component also includes an upper shell, the upper base plate is installed at the lower opening end of the upper shell, and the upper base plate is connected and fixed to the side wall of the upper shell through a locking member;

[0027] The driving module assembly includes a lower shell, the first mounting plate is fixedly mounted on the bottom of the lower shell, a lower sliding rail is provided on the first mounting plate, a lower slider is installed under the second mounting plate, and the lower slider is slidably connected to the lower sliding rail; a cover plate is provided above the lower shell of the driving module assembly, the first lower mounting plate and the cover plate are fixedly connected by connecting columns and screws, and the side wall of the lower shell is fixedly connected to the connecting column by a locking member.

[0028] As a preferred technical solution, the quick-release assembly includes a accommodating groove and a quick-release buckle. The quick-release buckle is U-shaped and is slidably arranged in the accommodating groove. The accommodating groove is connected to the lower part of the cover plate. The cover plate is provided with an opening for the quick-release buckle to move. The two side walls of the quick-release buckle extend from the opening to the upper part of the cover plate. A push rod is provided on the outer side of one side wall of the quick-release buckle, and a hook is provided on the top of the other side wall. A second spring is provided between the side wall of the hook and the inner wall of the accommodating groove; an opening for the hook to move is provided on the upper base plate, and the hook passes through the opening of the upper base plate and is arranged on the top surface of the upper base plate.

[0029] As a preferred technical solution, the driving module assembly is also provided with a zero point position detection assembly, which includes a position detection magnetic encoder and an induction magnet. The induction magnets are respectively arranged on the inner tube fixing seat and the slide seat. The position detection magnetic encoder is arranged on the inner tube fixing seat and the slide seat and is located directly above or directly below the zero point position.

[0030] As a preferred technical solution, the control bending motor and the control rotating motor have built-in encoders, and a single-turn absolute encoder is also installed at the end of the output shaft of the control bending motor and the control rotating motor to detect the rotation angle of the motor.

[0031] As a preferred technical solution, the bending motor transmission module and the rotating motor transmission module are also provided with a photoelectric encoder. The grating disk of the photoelectric encoder is coaxially fixed on the first transmission gear or the second transmission gear. The photoelectric detector of the photoelectric encoder is installed on the second lower mounting plate. The grating disk rotates synchronously with the first transmission gear or the second transmission gear. The photoelectric detector detects the light changes generated by the rotation of the grating disk, thereby outputting corresponding signals for detecting the rotation angles of the first transmission gear and the second transmission gear.

[0032] As a preferred technical solution, the flexible robotic arm further includes a coaxially configured hollow second sleeve assembly, the first sleeve assembly is inserted into the second sleeve assembly, and the length of the first sleeve assembly is greater than that of the second sleeve assembly, the second sleeve assembly includes a second inner tube and a second outer tube, the second inner tube and the second outer tube are divided into a straight tube section and a deformation section, an annular groove is provided on the deformation section, the distal end of the second inner tube is fixedly connected to the distal end of the second outer tube, and the deformation section of the second sleeve assembly is bent and deformed by pushing / pulling the second inner tube;

[0033] The deformation section of the first sleeve assembly includes a distal segment and a compliant segment, the deformation section of the second sleeve assembly is a proximal segment, and the deformation section of the first sleeve assembly extends out of the deformation section of the second sleeve assembly;

[0034] The driving module assembly is provided with two sets of active driving modules, which are respectively used to drive the first sleeve assembly and the second sleeve assembly of the flexible mechanical arm to realize linear, rotational and bending movements.

[0035] The beneficial effects of the present invention are:

[0036] The flexible robotic arm driving system for minimally invasive interventional surgery of the present invention is used to drive a coaxial antagonistic tube-type flexible robotic arm, and the bending of the flexible robotic arm is achieved by the relative push and pull of two coaxially configured thin-walled tubes; the flexible robotic arm is driven by the driving system to perform bending, rotation and linear motion, and can be fully automatically controlled with high control accuracy and safety.

[0037] The flexible robotic arm driving system for minimally invasive interventional surgery of the present invention is configured with a lead screw spline shaft, and a lead screw gear and a spline gear are respectively connected at both ends thereof. The rotation and linear motion of the lead screw spline shaft are realized through different control motors, thereby driving the flexible robotic arm to realize rotation and bending motion. The design is ingenious and the structure is small and compact.

[0038] The flexible mechanical arm driving system for minimally invasive interventional surgery of the present invention has a driven slave module in the instrument assembly to connect the flexible mechanical arm, and a driven active module in the driving module assembly, so that the instrument assembly can be quickly removed; there are no electronic components in the instrument assembly, so it is convenient to disinfect and reuse. A transmission assembly is arranged between the driven slave module and the driving active module, so that it is easy to quickly disassemble and assemble, and can realize power transmission, and the structure is ingenious.

[0039] The flexible robotic arm drive system for minimally invasive interventional surgery of the present invention can detect whether the flexible robotic arm is at the zero position by setting a zero position detection component, and can detect the rotation angle of the motor by setting a single-turn absolute encoder or a photoelectric encoder, and realize dual encoder redundant detection with the encoder built into the bending / rotation motor. When any sensor fails, or the deviation between the built-in encoder and the magnetic encoder exceeds a predetermined value, it indicates that the gear transmission mechanism is not working properly, which will cause safety hazards, thereby improving safety and stability.

[0040] The flexible robotic arm driving system for minimally invasive interventional surgery of the present invention is provided with two sets of driving modules, which can be used to drive the first sleeve assembly and the second sleeve assembly of the flexible robotic arm respectively. The combined use of the two sets of sleeve assemblies can enable the flexible robotic arm to have two sections of active bending, increase the degree of freedom and dexterity, and be able to enter deeper surgical areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1is an overall schematic diagram of an embodiment of the present invention;

[0043] Figure 2 It is a schematic diagram of the structure of the flexible robotic arm;

[0044] Figure 3 It is a schematic diagram of the structure of the bending of the flexible robotic arm;

[0045] Figure 4 This is a detailed enlarged view of the flexible robotic arm;

[0046] Figure 5 It is a schematic diagram of the structure of the tip;

[0047] Figure 6 This is an overall explosion diagram of Example 2 of the present invention;

[0048] Figure 7 is a schematic diagram of the interior of the device assembly in Example 2;

[0049] Figure 8 This is a schematic diagram of the working principle of the screw spline shaft;

[0050] Fig. 9 is an internal schematic diagram of the drive module assembly in Example 2;

[0051] Fig.10 is a schematic diagram of the appearance of Example 3 of the present invention;

[0052] Fig.11 This is an overall explosion diagram of Example 3 of the present invention;

[0053] Fig.12 yes Fig.11 A magnified diagram of the explosion at the dotted box A;

[0054] Fig.13 yes Fig.11 A magnified diagram of the explosion at the dotted box B;

[0055] Fig.14 is a schematic structural diagram of the transmission assembly in Example 3;

[0056] Fig.15 is a cross-sectional schematic diagram of the quick-release assembly in Example 3;

[0057] Fig.16 is a schematic diagram of the flexible robotic arm in Example 4;

[0058] Fig.17 This is a schematic diagram of the cutting groove of the flexible section in Example 4.

[0059] Reference numerals: 1-flexible mechanical arm, 11-inner tube, 12-outer tube, 13-tip, 131-endoscope camera, 132-flushing channel, 133-suction channel, 14-second inner tube, 15-second outer tube, 101-straight tube section, 102-deformation section, 103-groove, 104-distal segment, 105-compliant segment, 106-proximal segment, second groove 107;

[0060] 20- instrument assembly, 201- upper shell, 202- upper mounting plate, 203- outer tube mounting seat, 204- driving driven module fixing seat, 205- screw spline shaft, 206- screw gear, 207- spline gear, 208- inner tube fixing seat, 209- upper bottom plate, 210- upper slider, 211- locking groove, 212- cross roller guide;

[0061] 30-driving module assembly, 300-lower housing, 301-controlling rotating motor, 302-first output shaft gear, 303-first transmission gear, 304-controlling bending motor, 305-second output shaft gear, 306-second transmission gear, 307-controlling linear motion motor, 308-first lower mounting plate, 309-second screw rod, 310-sliding seat, 311-second lower mounting plate, 312-third mounting plate, 313-avoidance hole, 314-cover plate, 315-connecting column, 316-fourth transmission gear, 317-third transmission gear;

[0062] 401-position detection magnetic encoder, 402-induction magnet, 403-single-turn absolute encoder, 404-grating disk, 405-photoelectric detector;

[0063] 5-locking block; 61-two-way rocker, 62-linear motion rocker, 63-segment selection switch, 64-safety button.

[0064] 70-transmission assembly, 701-upper transmission rod, 702-lower transmission rod, 703-upper connecting cap, 704-lower connecting cap, 705-positioning block, 706-positioning groove, 707-transmission spindle, 7071-key groove, 708-rotating ring, 7081-key tooth, 709-first spring;

[0065] 801 - receiving groove, 802 - quick release buckle, 803 - push rod, 804 - buckle, 805 - second spring. DETAILED DESCRIPTION

[0066] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians of the art without making creative work are within the scope of protection of the present application.

[0067] Embodiment 1:

[0068] This embodiment provides a flexible robotic arm drive system for minimally invasive interventional surgery.

[0069] Flexible robotic arms such as Figure 1-Figure 5 As shown, it includes a coaxially arranged hollow first sleeve assembly, the first sleeve assembly includes an inner tube 11 and an outer tube 12, the inner tube 11 and the outer tube 12 are thin-walled tubes, the inner tube 11 is inserted into the outer tube 12 and the inner tube 11 and the outer tube 12 are fixedly connected at the distal end, the inner tube and the outer tube are both provided with a straight tube section 101 at the proximal end and a deformable section 102 at the distal end, and a plurality of open annular grooves 103 are arranged axially on the wall of the deformable section 102, and the deformable section 102 can be bent and deformed by pushing / pulling the inner tube 11. The distal end of the flexible robotic arm is provided with a tip 13, as shown in FIG. Figure 5 As shown, the tip 13 is integrated with an endoscopic camera 131, LED lighting, a flushing channel 132 and a suction channel 133, and the tip 13 can also be used to install surgical instruments; the outer surface of the tip 13 is smooth to avoid scratching the fragile pulmonary artery.

[0070] The driving system includes an instrument component 20 and a driving module component 30, and the instrument component 20 is detachably connected to the driving module component 30; a driving slave module is provided in the instrument component 20, and the flexible robotic arm 1 is connected to the driving slave module; a driving active module and a PCB control board are provided in the driving module component 30, the driving active module is electrically connected to the PCB control board, and the driving active module is transmission-connected to the driving slave module, and the driving module component 30 is used to drive the flexible robotic arm to perform linear, rotational, and bending movements.

[0071] A quick-release assembly is provided between the instrument assembly and the drive module assembly.

[0072] like Figure 6-14The instrument assembly 20 includes an upper base plate 209 and an upper mounting plate 202. The upper mounting plate 202 is slidably connected to the upper base plate 209. An outer tube mounting seat 203 and a driving driven module fixing seat 204 are fixed on the upper mounting plate 202. The driving driven module includes a screw spline shaft 205, a spline gear 207 and a screw gear 206. The screw spline shaft 205 is rotatably connected to the driving driven module fixing seat 204. The screw spline shaft 205 is hollow, and a spline is provided on the outer periphery of one end. The outer periphery of the other end is set as a screw, and a spline gear 207 is nested on the outer periphery of the spline part of the screw spline shaft 205. The screw part of the screw spline shaft 205 is threadedly connected to the screw gear 206, and the end of the screw part of the screw spline shaft 205 is connected to the inner tube fixing seat 208. The proximal end of the flexible robotic arm passes through the outer tube fixing seat 203 and the screw spline shaft 205 in sequence, the proximal end of the outer tube 12 is rotatably connected to the outer tube fixing seat 203, and the proximal end of the inner tube 11 is fixedly connected to the inner tube fixing seat 208.

[0073] The working principle of the spline gear shaft is as follows Figure 8 As shown, by controlling the rotation of the screw gear 206 and the stationary spline gear 207, the overall linear motion of the screw spline shaft 205 can be achieved, and then the inner tube 11 is pushed and pulled relative to the outer tube 12 to control the bending motion of the flexible robotic arm; by controlling the rotation of the spline gear 207 to achieve the overall rotational motion of the screw spline shaft 205, and at the same time controlling the rotation of the screw gear 206 to decouple the screw gear and the screw, the rotation of the inner tube 11 can drive the overall rotation of the flexible robotic arm; by controlling the linear motion of the upper mounting plate 202, the overall linear motion of the flexible robotic arm can be achieved.

[0074] The driving module assembly includes a first lower mounting plate 308 and a second lower mounting plate 311, the second lower mounting plate 311 is slidably connected to the first lower mounting plate 308, the driving active module includes a rotating motor transmission module, a bending motor transmission module, and a linear motion module, the linear motion module is mounted on the first lower mounting plate 308, and the bending motor transmission module and the rotating motor transmission module are mounted on the second lower mounting plate 311;

[0075] The linear motion module includes a control linear motion motor 307, which is connected to a second screw rod 309, and a slide 310 is connected to the second screw rod 309. The other end of the slide 310 is fixedly connected to a second lower mounting plate 311. The second lower mounting plate 311 and the upper mounting plate of the instrument assembly are provided with a transmission assembly 70; the control linear motion motor 307 drives the second screw rod 309 to rotate, thereby driving the slide 310 to move linearly, and the slide 310 drives the second lower mounting plate 311 to move linearly relative to the first lower mounting plate 308, and the transmission assembly 70 drives the upper mounting plate 202 to move linearly relative to the upper base plate 209 synchronously, thereby realizing the linear motion of the flexible robotic arm.

[0076] The bending motor transmission module includes a control bending motor 304, a second output shaft gear 305, and a second transmission gear 306. The output shaft of the control bending motor 304 is connected to the second output shaft gear 305, the second output shaft gear 305 is meshed and connected to the second transmission gear 306, and the second transmission gear 306 is transmission-connected to the lead screw gear 206. The control bending motor 304 rotates to drive the lead screw gear 206 to rotate, thereby driving the inner tube to move linearly, thereby realizing the bending movement of the flexible robotic arm within a plane.

[0077] The rotating motor transmission module includes controlling the rotating motor 301, the first output shaft gear 302, and the first transmission gear 303. The output shaft of the controlling rotating motor 301 is connected to the first output shaft gear 302. The first output shaft gear 302 is meshed and connected to the first transmission gear 303. The first transmission gear 303 is connected to the spline gear 207. The rotation of the controlling rotating motor 301 can drive the spline gear 207 to rotate. At the same time, by controlling the rotation of the bending motor 304, the lead screw gear 206 is driven to rotate to decouple the lead screw gear and the lead screw, thereby driving the inner tube of the flexible robotic arm to rotate, thereby realizing the rotation of the flexible robotic arm, and the rotation range is 0-360°.

[0078] Embodiment 2:

[0079] Embodiment 2 is based on embodiment 1, as Figure 6-Figure 9 As shown, the transmission assembly between the second lower mounting plate 311 and the upper mounting plate 202 of the instrument assembly includes a third mounting plate 312, and the third mounting plate 312 is fixedly connected to the top of the second lower mounting plate 311. The third mounting plate 312 is provided with an avoidance hole 313 in the area of ​​the fixed seat corresponding to the instrument assembly, and the lower side wall of the fixed seat of the instrument assembly abuts the avoidance hole 313; the second lower mounting plate 311 controls the linear motion motor 307 to act in a linear motion, thereby driving the third mounting plate 312 to move, and the avoidance hole of the third mounting plate 312 abuts the fixed seat in the instrument assembly, thereby driving the fixed seat and the upper mounting plate 202 to move linearly relative to the upper base plate 209, thereby realizing the linear motion of the flexible robotic arm.

[0080] In this embodiment, the second transmission gear 306 of the bending motor transmission module and the first transmission gear 303 of the rotating motor transmission module are both spur gears. The second transmission gear 306 is meshedly connected to the screw gear 206 , and the first transmission gear 303 is meshedly connected to the spline gear 207 .

[0081] The instrument assembly also includes an upper housing 201, the upper base plate 209 is fixedly installed at the top of the upper housing 201, a slide rail is provided below the upper base plate 209, an upper slider 210 is installed above the upper mounting plate 202, and the upper slider 210 is slidably connected to the slide rail of the upper base plate 209. The outer tube fixing seat 203 and the driving driven module fixing seat 204 are installed at the lower part of the upper mounting plate 202.

[0082] The driving module assembly includes a lower shell 300, the first mounting plate 308 is fixedly mounted on the bottom of the lower shell 300, a lower slide rail is arranged on the first mounting plate 308, a lower slider is installed under the second mounting plate 311, and the lower slider is slidably connected to the lower slide rail.

[0083] Preferably, a cover plate 314 is provided above the lower shell 300 of the driving module assembly, the first lower mounting plate 308 and the cover plate 314 are fixedly connected via connecting columns 315 and screws, and the cover plate 314 is connected to the side wall of the lower shell 300 via a locking member.

[0084] The quick release assembly includes a locking block 5. The instrument assembly 20 is placed above the drive module assembly 30. The locking block 5 is hinged on the side wall of the lower shell 300 of the drive module assembly. The upper shell 201 of the instrument assembly 20 is provided with a locking groove 211. The locking block 5 is flipped upward and snapped into the locking groove 211 to achieve quick locking. Preferably, a pre-positioning structure is also provided between the instrument assembly 20 and the drive module assembly 30, such as an adapted latch column and a latch hole. The quick release assembly can realize the quick disassembly and assembly of the instrument assembly and the drive module assembly. There are no electronic components in the instrument assembly, which is convenient for disinfection and reuse.

[0085] Embodiment 3:

[0086] Embodiment 3 is based on embodiment 1, as Figure 10-15 As shown, the transmission assembly 70 between the second lower mounting plate 311 and the upper mounting plate 202 of the instrument assembly is provided with two groups, including a transmission rod assembly, the lower end of the transmission rod assembly is rotatably connected to the second lower mounting plate 311 through a bearing, and the upper end of the transmission rod assembly is rotatably connected to the upper mounting plate 202 through a bearing. The second lower mounting plate 311 performs linear motion under the action of the linear motion control motor, and drives the upper mounting plate 202 to perform linear motion through the transmission rod assembly.

[0087] Preferably, the transmission rod assembly is as follows Fig.14As shown, it includes an upper transmission rod 701 and a lower transmission rod 702, the upper transmission rod 701 is rotatably connected to the upper mounting plate 202, the lower portion of the upper transmission rod 701 is fixedly connected to the upper connecting cap 703; the lower portion of the lower transmission rod 702 is rotatably connected to the second lower mounting plate 311, the top of the lower connecting rod 702 is provided with a lower connecting cap 704, the upper connecting cap 703 can be sleeved on the top of the lower connecting cap 704, and a positioning structure is provided between the upper connecting cap 703 and the lower connecting cap 704. Preferably, the positioning structure is a positioning block 705 and a positioning groove 706, the positioning block 705 is arranged at the top of the brim of the lower connecting cap 704, the positioning groove 706 is arranged at the bottom of the brim of the upper connecting cap 703, the positioning block 705 is adapted to the positioning groove 706, and of course, the positions of the positioning groove 706 and the positioning block 705 can also be interchanged. Preferably, the positioning structures are provided with two groups, and the distances between the two groups of positioning structures and the central axis of the transmission rod assembly are different, and the upper connecting cap 703 and the lower connecting cap 704 have a unique matching position.

[0088] Furthermore, the top of the lower transmission rod 702 is fixedly connected to the transmission core shaft 707, and the outer periphery of the transmission core shaft 707 is slidably clamped with a rotating ring 708. Specifically, an inverted U-shaped keyway 7071 is axially provided on the outer periphery of the transmission core shaft 707, and a key tooth 7081 is provided on the inner periphery of the rotating ring 708. The key tooth 7081 is adapted to the keyway 7071. The transmission core shaft 707 can drive the rotating ring 708 to rotate synchronously through the cooperation of the key tooth 7081 and the keyway 7071, and the rotating ring 708 can slide linearly up and down along the keyway 7071; the upper part of the rotating ring 708 is connected to the lower connecting cap 704, and the cap barrel cover of the lower connecting cap 704 is arranged on the upper part of the transmission core shaft 707. The interior of the transmission core shaft 707 is hollow, and a first spring 709 is provided between the transmission core shaft 707 and the top wall of the cap barrel of the lower connecting cap 704. When the upper connecting cap 703 and the lower connecting cap 704 are successfully aligned, the first spring 709 can be compressed downward to move the lower connecting cap 704 and the rotating ring 708 downward along the transmission core shaft 707 until they are in the final installation position, and the instrument assembly and the drive module assembly are fixed by the quick release assembly.

[0089] Furthermore, a second transmission gear 306 is fixedly provided at the lower part of the lower transmission rod 702 of one group of transmission assemblies, and a fourth transmission gear 316 is fixedly provided at the upper part of the upper transmission rod 701. The second transmission gear 306 and the second output shaft gear 305 are bevel gears, and the intersection angle of the gear shafts of the second transmission gear 306 and the second output shaft gear 305 is 90°. The fourth transmission gear 316 is meshed and connected with the screw gear 206. The fourth transmission gear 316 and the screw gear 206 are helical gears, and the gear shafts of the fourth transmission gear 316 and the screw gear 206 are staggered at 90°. The bending motor 304 is controlled to rotate to drive the lower connecting rod 702 to rotate through the second output shaft gear 305 and the second transmission gear 306. The lower connecting rod 702 drives the upper connecting rod 701 to rotate through the lower connecting cap 704 on the top. The upper connecting rod 701 drives the fourth transmission gear 316 to rotate, thereby driving the screw gear 206 to rotate. The rotation of the screw gear 206 drives the spline screw shaft 205 to move linearly, thereby driving the inner tube to move linearly, pushing and pulling the inner tube, and realizing the bending movement of the flexible robotic arm within a plane.

[0090] A first transmission gear 303 is fixedly provided at the lower part of the lower transmission rod 702 of another transmission assembly, and a third transmission gear 317 is fixedly provided at the upper part of the upper transmission rod 701. The first transmission gear 303 and the first output shaft gear 302 are bevel gears, and the intersection angle between the gear shafts of the first transmission gear 303 and the first output shaft gear 302 is 90°. The third transmission gear 317 is meshed and connected with the spline gear 207. The third transmission gear 317 and the spline gear 207 are helical gears, and the gear shafts of the third transmission gear 317 and the spline gear 207 are staggered at 90°. The rotating motor 301 is controlled to rotate to drive the lower connecting rod 702 to rotate through the first output shaft gear 302 and the first transmission gear 303. The lower connecting rod 702 drives the upper connecting rod 701 to rotate through the lower connecting cap 704 on the top. The upper connecting rod 701 drives the third transmission gear 317 to rotate, thereby driving the spline gear 207 to rotate. At the same time, the bending motor 304 is controlled to rotate to drive the lead screw gear 206 to rotate to decouple the lead screw gear and the lead screw, so that the inner tube of the flexible robotic arm rotates, thereby realizing the rotation of the flexible robotic arm.

[0091] A cross roller guide 212 is installed between the upper base plate 209 and the upper mounting plate 202. There are two groups of cross roller guides 212, which are arranged on both sides of the upper base plate 209. The upper mounting plate 202 and the upper base plate 209 realize linear navigation through the cross roller guides 212. A few avoidance openings are opened on the upper base plate 209 to leave enough space for the movement of the transmission assembly. The instrument assembly also includes an upper shell 201, and the upper base plate 209 is installed at the lower opening end of the upper shell 201. The upper base plate 209 is connected and fixed to the side wall of the upper shell 201 through a locking member.

[0092] The driving module assembly includes a lower shell 300, the first mounting plate 308 is fixedly mounted on the bottom of the lower shell 300, a lower slide rail is arranged on the first mounting plate 308, a lower slider is installed under the second mounting plate 311, and the lower slider is slidably connected to the lower slide rail.

[0093] Preferably, a cover plate 314 is provided above the lower shell 300 of the driving module assembly, and an escape opening is opened on the cover plate 314 for the movement of the transmission assembly. The first lower mounting plate 308 and the cover plate 314 are fixedly connected by connecting columns 315 and screws, and the side wall of the lower shell 300 is fixedly connected to the connecting columns 315 by locking members.

[0094] The quick release assembly is as follows Fig.13 , Fig.15 As shown, it includes a accommodating groove 801 and a quick-release buckle 802. The quick-release buckle 802 is U-shaped. The quick-release buckle 802 is slidably arranged in the accommodating groove 801. The accommodating groove 801 is connected to the lower part of the cover plate 314. The cover plate 314 is provided with an opening for the quick-release buckle 802 to move. The two side walls of the quick-release buckle 802 extend from the opening to the upper part of the cover plate 314. A push rod 803 is provided on the outer side of one side wall of the quick-release buckle 802, and a hook 804 is provided on the top of the other side wall. A second spring 805 is provided between the side wall of the hook 804 and the inner wall of the accommodating groove 801; an opening for the hook 804 to move is opened on the upper base plate 209, and the hook 804 passes through the opening of the upper base plate 209 and is arranged on the top surface of the upper base plate 209.

[0095] When installing the instrument assembly 20 and the drive module assembly 30, after the transmission assembly is aligned, the instrument assembly 20 is pressed, the first spring 709 in the transmission assembly is compressed, and at the same time the upper base plate 209 moves downward to push the quick release buckle 802 to move inward until the undercut 804 of the quick release buckle 802 completely protrudes from the upper base plate 209. Under the rebound effect of the second spring 805, the quick release buckle 802 moves outward and snaps on the upper base plate 209. At this time, the first spring 709 is in a compressed state. When the instrument assembly needs to be removed, the push rod 803 is pushed to compress the second spring 805, so that the hook 804 moves inward and unlocks the upper base plate 209. At this time, the first spring 709 rebounds and pushes the instrument assembly 20 upward, and then the instrument assembly 20 can be removed upward as a whole.

[0096] Furthermore, a zero point position detection component is also provided in the driving module component, and the zero point position detection component includes a position detection magnetic encoder 401 and an induction magnet 402. The induction magnet 402 is respectively arranged on the inner tube fixing seat 208 and the slide seat 310. The position detection magnetic encoder 401 is arranged on the inner tube fixing seat 208 and the slide seat 310, which are located directly above or directly below the zero point position. The position detection magnetic encoder can detect that the inner tube fixing seat and the slide seat are located at the zero point initial position, and then obtain that the flexible robotic arm is currently at the zero point position.

[0097] Further, in Example 2, the control bending motor and the control rotating motor are equipped with built-in encoders, and a single-turn absolute encoder 403 is also installed at the end of the output shaft of the control bending motor and the control rotating motor to detect the rotation angle of the motor and realize dual encoder redundant detection. When the deviation between the built-in encoder and the single-turn absolute encoder exceeds the predetermined value, it indicates that the gear transmission mechanism is not working properly, which will cause safety hazards. In Example 3, the bending motor transmission module and the rotating motor transmission module are also equipped with a photoelectric encoder, and the grating disk 404 of the photoelectric encoder is coaxially fixed on the first transmission gear 303 and the second transmission gear 306, and the photoelectric detector 405 of the photoelectric encoder is installed on the second lower mounting plate 311. The grating disk 404 rotates synchronously with the first transmission gear 303 or the second transmission gear 306, and the photoelectric detector 405 detects the light changes caused by the rotation of the grating disk 404, thereby outputting a corresponding signal to reflect the speed and direction of the first transmission gear or the second transmission gear, and then reflect the speed and direction of the control bending motor or the control rotating motor.

[0098] Example 4

[0099] This embodiment adds an active bending section on the basis of embodiments 1, 2, and 3, and can bend twice, so as to enter a deeper surgical area. Fig.16 As shown:

[0100] The flexible robotic arm 1 also includes a coaxially configured hollow second sleeve assembly, the first sleeve assembly is inserted into the second sleeve assembly, and the length of the first sleeve assembly is greater than that of the second sleeve assembly, the second sleeve assembly includes a second inner tube 14 and a second outer tube 15, the second inner tube 14 and the second outer tube 15 are divided into a straight tube section and a deformation section, an open annular groove is provided on the deformation section, the distal end of the second inner tube 14 is fixedly connected to the distal end of the second outer tube 15, and pushing / pulling the second inner tube 14 can cause the deformation section of the second sleeve assembly to bend and deform.

[0101] Preferably, the deformation section of the first sleeve assembly includes a distal segment 104 and a flexible segment 105, the deformation section of the second sleeve assembly is a proximal segment 106, the deformation section of the first sleeve assembly extends out of the deformation section of the second sleeve assembly, the grooves 103 on the distal segment 104 and the proximal segment 106 are in a mortise and tenon shape, the second groove 107 of the flexible segment 105 is in an "I" shape, and the grooves of the flexible segment are as follows: Fig.17 As shown, adjacent grooves on the compliant segment are cross-arranged, and the mortise and tenon-shaped grooves enable the robot arm to achieve relatively high stiffness when bending, and the "I"-shaped grooves can achieve the passive movement of the contact part from the distal segment to the proximal segment of the deformation segment; the structure of the flexible robot arm enables it to have 2 active bending segments, 6 degrees of freedom, and high stiffness.

[0102] The driving module assembly is provided with two sets of active driving modules, which respectively drive the first sleeve assembly and the second sleeve assembly of the flexible mechanical arm to realize linear, rotational and bending movements.

[0103] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, technicians familiar with the field may make various corresponding changes and deformations based on the present invention, but these corresponding changes and deformations should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A flexible robotic arm drive system for minimally invasive interventional surgery, characterized in that: The flexible robotic arm comprises a coaxially arranged hollow first sleeve assembly, the first sleeve assembly comprises an inner tube and an outer tube, the inner tube and the outer tube are thin-walled tubes, the inner tube is inserted into the outer tube and the inner tube and the outer tube are fixedly connected at the distal end, the inner tube and the outer tube are both provided with a straight tube section at the proximal end and a deformed section at the distal end, a plurality of open annular grooves are arranged axially on the wall of the deformed section, and the deformed section can be bent and deformed by pushing / pulling the inner tube; The driving system includes an instrument assembly and a driving module assembly, and the instrument assembly and the driving module assembly are detachably connected; a driving slave module is provided in the instrument assembly, and the flexible mechanical arm is connected to the driving slave module; a driving active module and a PCB control board are provided in the driving module assembly, the driving active module is electrically connected to the PCB control board, the driving active module is transmission-connected to the driving slave module, and the driving module assembly is used to drive the flexible mechanical arm to perform linear, rotational, and bending movements; A quick-release assembly is provided between the instrument assembly and the drive module assembly.

2. The flexible robotic arm driving system for minimally invasive interventional surgery according to claim 1, characterized in that: The instrument assembly includes an upper base plate and an upper mounting plate, which are slidably connected to the upper base plate. An outer tube mounting seat and a driven module fixing seat are fixed on the upper mounting plate. The driven module is driven to include a screw spline shaft, a spline gear and a screw gear. The screw spline shaft is rotatably connected to the driven module fixing seat. The screw spline shaft is hollow, with splines on the outer periphery of one end and a screw on the outer periphery of the other end. A spline gear is nested on the outer periphery of the spline part of the screw spline shaft, the screw part of the screw spline shaft is threadedly connected to the screw gear, and the end of the screw part of the screw spline shaft is connected to the inner tube fixing seat. The proximal end of the flexible robotic arm passes through the outer tube fixing seat and the screw spline shaft in sequence, the proximal end of the outer tube is rotatably connected to the outer tube fixing seat, and the proximal end of the inner tube is fixedly connected to the inner tube fixing seat.

3. The flexible robotic arm driving system for minimally invasive interventional surgery according to claim 2, characterized in that: The driving module assembly includes a first lower mounting plate and a second lower mounting plate, the second lower mounting plate is slidably connected to the first lower mounting plate, the driving active module includes a rotating motor transmission module, a bending motor transmission module, and a linear motion module, the linear motion module is mounted on the first lower mounting plate, and the bending motor transmission module and the rotating motor transmission module are mounted on the second lower mounting plate; The linear motion module includes a control linear motion motor, the control linear motion motor is connected to a second screw rod, the second screw rod is connected to a slide seat, the other end of the slide seat is fixedly connected to a second lower mounting plate, and a transmission assembly is provided between the second lower mounting plate and the upper mounting plate of the instrument assembly; The bending motor transmission module comprises a control bending motor, a second output shaft gear, and a second transmission gear, wherein the output shaft of the control bending motor is connected to the second output shaft gear, the second output shaft gear is meshed and connected to the second transmission gear, and the second transmission gear is transmission-connected to the screw gear; The rotary motor transmission module comprises a control rotary motor, a first output shaft gear, and a first transmission gear. The output shaft of the control rotary motor is connected to the first output shaft gear, the first output shaft gear is meshedly connected to the first transmission gear, and the first transmission gear is transmission-connected to the spline gear.

4. The flexible robotic arm driving system for minimally invasive interventional surgery according to claim 3, characterized in that: The transmission assembly between the second lower mounting plate and the upper mounting plate of the instrument assembly includes a third mounting plate, the third mounting plate is fixedly connected to the upper part of the second lower mounting plate, and an avoidance hole is provided on the third mounting plate in an area corresponding to the fixing seat of the instrument assembly, and the lower side wall of the fixing seat of the instrument assembly abuts against the avoidance hole; The second transmission gear of the bending motor transmission module and the first transmission gear of the rotating motor transmission module are both spur gears. The second transmission gear is meshed and connected to the screw gear, and the first transmission gear is meshed and connected to the spline gear.

5. The flexible robotic arm driving system for minimally invasive interventional surgery according to claim 4, characterized in that: The instrument assembly also includes an upper shell, the upper base plate is fixedly mounted on the top of the upper shell, a slide rail is provided below the upper base plate, an upper slider is installed above the upper mounting plate, and the upper slider is slidably connected to the upper slide rail; the outer tube fixing seat and the driven module fixing seat are installed at the lower part of the upper mounting plate; The driving module assembly comprises a lower housing, the first mounting plate is fixedly mounted on the bottom of the lower housing, a lower slide rail is arranged on the first mounting plate, a lower slider is mounted below the second mounting plate, and the lower slider is slidably connected to the lower slide rail; A cover plate is provided above the lower shell of the driving module assembly, the first lower mounting plate and the cover plate are fixedly connected via connecting columns and screws, and the cover plate is connected to the side wall of the lower shell via a locking member.

6. The flexible robotic arm driving system for minimally invasive interventional surgery according to claim 5, characterized in that: The quick-release assembly includes a locking block, the instrument assembly is placed above the drive module assembly, a locking block is hinged on the side wall of the lower shell of the drive module assembly, a locking groove is provided on the upper shell of the instrument assembly, and the locking block is flipped upward and snapped into the locking groove.

7. The flexible robotic arm driving system for minimally invasive interventional surgery according to claim 3, characterized in that: The transmission assembly between the second lower mounting plate and the upper mounting plate of the instrument assembly is provided with two groups, including a transmission rod assembly, the lower end of the transmission rod assembly is rotatably connected to the second lower mounting plate through a bearing, and the upper end of the transmission rod assembly is rotatably connected to the upper mounting plate through a bearing. The second lower mounting plate performs linear motion under the action of the linear motion control motor, and the upper mounting plate is driven to perform linear motion through the transmission rod assembly; The transmission rod assembly includes an upper transmission rod and a lower transmission rod. The upper transmission rod is rotatably connected to the upper mounting plate. The lower portion of the upper transmission rod is fixedly connected to the upper connecting cap. The lower portion of the lower transmission rod is rotatably connected to the second lower mounting plate. A lower connecting cap is provided on the top of the lower connecting rod. The upper connecting cap can be sleeved on the top of the lower connecting cap. A positioning structure is provided between the upper connecting cap and the lower connecting cap.

8. The flexible robotic arm driving system for minimally invasive interventional surgery according to claim 7, characterized in that: The positioning structure consists of a positioning block and a positioning groove. The positioning block is arranged at the top of the brim of the lower connecting cap, and the positioning groove is arranged at the bottom of the brim of the upper connecting cap. The positioning block is adapted to the positioning groove. The positioning transmission structure is provided with two groups, and the distances between the two groups of positioning transmission structures and the central axis of the transmission rod assembly are different.

9. The flexible robotic arm driving system for minimally invasive interventional surgery according to claim 7, characterized in that: The top of the lower transmission rod is fixedly connected to the transmission core shaft, and the outer periphery of the transmission core shaft is slidably clamped with a rotating ring, the outer periphery of the transmission core shaft is provided with an inverted U-shaped keyway along the axial direction, and the inner periphery of the rotating ring is provided with key teeth, and the key teeth are adapted to the keyway. The transmission core shaft can drive the rotating ring to rotate synchronously through the cooperation of the key teeth and the keyway, and the rotating ring can slide linearly up and down along the keyway; The upper part of the rotating ring is connected to the lower connecting cap, the cap barrel of the lower connecting cap cover is arranged on the upper part of the transmission core shaft, the interior of the transmission core shaft is hollow, and a first spring is arranged between the transmission core shaft and the top wall of the cap barrel of the lower connecting cap; A second transmission gear is fixedly disposed at the lower part of the lower transmission rod of one of the transmission assemblies, a fourth transmission gear is fixedly disposed at the upper part of the upper transmission rod, the second transmission gear and the second output shaft gear are bevel gears, the gear shaft intersection angle between the second transmission gear and the second output shaft gear is 90°, the fourth transmission gear is meshed and connected with the lead screw gear, the fourth transmission gear and the lead screw gear are helical gears, and the gear shafts of the fourth transmission gear and the lead screw gear are staggered 90°; A first transmission gear is fixedly provided at the lower part of the lower transmission rod of another transmission assembly, and a third transmission gear is fixedly provided at the upper part of the upper transmission rod. The first transmission gear and the first output shaft gear are bevel gears, and the intersection angle of the gear shafts of the first transmission gear and the first output shaft gear is 90°. The third transmission gear is meshed and connected with the spline gear. The third transmission gear and the spline gear are helical gears, and the gear shafts of the third transmission gear and the spline gear are staggered at 90°.

10. The flexible robotic arm driving system for minimally invasive interventional surgery according to claim 9, characterized in that: A cross roller guide is installed between the upper base plate and the upper mounting plate. There are two groups of cross roller guides, which are arranged on both sides of the upper base plate. The upper mounting plate and the upper base plate realize linear operation navigation through the cross roller guides; a few avoidance openings are opened on the upper base plate in the transmission component area; the instrument component also includes an upper shell, the upper base plate is installed at the lower opening end of the upper shell, and the upper base plate is connected and fixed to the side wall of the upper shell through a locking member; The driving module assembly includes a lower shell, the first mounting plate is fixedly mounted on the bottom of the lower shell, a lower sliding rail is provided on the first mounting plate, a lower slider is installed under the second mounting plate, and the lower slider is slidably connected to the lower sliding rail; a cover plate is provided above the lower shell of the driving module assembly, the first lower mounting plate and the cover plate are fixedly connected by connecting columns and screws, and the side wall of the lower shell is fixedly connected to the connecting column by a locking member.

11. The flexible robotic arm driving system for minimally invasive interventional surgery according to claim 10, characterized in that: The quick-release assembly includes a receiving groove and a quick-release buckle. The quick-release buckle is U-shaped and is slidably arranged in the receiving groove. The receiving groove is connected to the lower part of the cover plate. An opening for the quick-release buckle to move is arranged on the cover plate. Two side walls of the quick-release buckle extend from the opening to the upper part of the cover plate. A push rod is arranged on the outer side of one side wall of the quick-release buckle, and a hook is arranged on the top of the other side wall. A second spring is arranged between the side wall of the hook and the inner wall of the receiving groove; an opening for the hook to move is arranged on the upper base plate, and the hook passes through the opening of the upper base plate and is arranged on the top surface of the upper base plate.

12. The flexible robotic arm driving system for minimally invasive interventional surgery according to claim 3, characterized in that: A zero point position detection component is also provided in the driving module component, and the zero point position detection component includes a position detection magnetic encoder and an induction magnet. The induction magnets are respectively arranged on the inner tube fixing seat and the sliding seat. The position detection magnetic encoder is arranged on the inner tube fixing seat and the sliding seat, and is located directly above or directly below the zero point position.

13. The flexible robotic arm driving system for minimally invasive interventional surgery according to claim 4, characterized in that: The control bending motor and the control rotating motor are equipped with encoders inside, and a single-turn absolute encoder is also installed at the end of the output shaft of the control bending motor and the control rotating motor to detect the rotation angle of the motor.

14. The flexible robotic arm driving system for minimally invasive interventional surgery according to claim 9, characterized in that: The bending motor transmission module and the rotating motor transmission module are also provided with a photoelectric encoder. The grating disk of the photoelectric encoder is coaxially fixed on the first transmission gear or the second transmission gear. The photoelectric detector of the photoelectric encoder is installed on the second lower mounting plate. The grating disk rotates synchronously with the first transmission gear or the second transmission gear. The photoelectric detector detects the light changes generated by the rotation of the grating disk, thereby outputting a corresponding signal for detecting the rotation angle of the first transmission gear and the second transmission gear.

15. The flexible robotic arm driving system for minimally invasive interventional surgery according to claim 3, characterized in that: The flexible mechanical arm also includes a coaxially configured hollow second sleeve assembly, the first sleeve assembly is inserted into the second sleeve assembly, and the length of the first sleeve assembly is greater than that of the second sleeve assembly, the second sleeve assembly includes a second inner tube and a second outer tube, the second inner tube and the second outer tube are divided into a straight tube section and a deformed section, an annular groove is provided on the deformed section, the top of the outer wall of the second inner tube is fixedly connected to the inner wall of the second outer tube, and the deformed section of the second sleeve assembly is bent and deformed by pushing / pulling the second inner tube; The deformation section of the first sleeve assembly includes a distal segment and a compliant segment, the deformation section of the second sleeve assembly is a proximal segment, and the deformation section of the first sleeve assembly extends out of the deformation section of the second sleeve assembly; The driving module assembly is provided with two sets of active driving modules, which are respectively used to drive the first sleeve assembly and the second sleeve assembly of the flexible mechanical arm to realize linear, rotational and bending movements.

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