Flexible endoscope delivery guiding device and flexible endoscope robot

Abstract

The invention relates to the technical field of medical equipment, and provides a flexible endoscope delivery guiding device and a flexible endoscope robot, and the flexible endoscope delivery guiding device comprises a lead screw mechanism and a delivery guiding mechanism. A first lead screw driving seat and a second lead screw driving seat in the lead screw mechanism get close to each other or get away from each other, so that telescopic deformation of the shear fork assembly can be driven. Thus, the flexible endoscope delivery guiding device has certain self-supporting and adjusting capacity, and the tail end of the shear fork assembly can be kept at the entrance of the human body approach during delivery under the condition that an additional support is not needed. No extra support needs to be arranged on the sickbed, so that the installation steps and complexity of the equipment are reduced, and the operation difficulty and risk are reduced; meanwhile, extra manufacturing cost, installation cost and disinfection and isolation cost caused by the support are avoided, the requirements for rapid deployment and single-time use cost are met, and the flexible endoscope support is particularly suitable for application scenes of disposable flexible endoscope robots.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a flexible endoscope delivery guide device and a flexible endoscope robot. Background Art

[0002] Flexible endoscopes, a core tool in modern minimally invasive medicine, are widely used in the diagnosis and treatment of diseases of the digestive tract, respiratory tract, and urinary system. In recent years, a variety of flexible robots have been developed, enabling physicians to adjust to more comfortable operating positions and capable of maintaining autonomous motion stability even when unattended. However, flexible endoscope robots with large aspect ratios present challenges in ensuring stable delivery along their long axis.

[0003] Since the endoscope drive part and the end of the endoscope are connected by a slender flexible catheter, in order to meet the requirements of compact structure and convenient motor control, the drive motor is concentrated in the endoscope drive part, and the delivery direction power comes from the movement of the drive part. However, the flexible catheter can be bent freely, and an additional guide support structure needs to be added between the drive part and the end of the catheter to achieve stable transmission of delivery power. Existing delivery guide structure designs generally have problems such as large size and heavy weight, or the need to deploy additional brackets on the bed to keep the end of the guide mechanism at the entrance of the human body during delivery. This increases the cost of robot manufacturing and use, and also brings additional burdens to the disinfection and isolation of endoscopes. Summary of the Invention

[0004] The present invention provides a flexible endoscope delivery guide device and a flexible endoscope robot, which are used to solve the problem that a delivery guide structure for a flexible catheter is inconvenient to use.

[0005] The present invention provides a flexible endoscope delivery guide device, comprising: The screw mechanism includes a first screw drive seat and a second screw drive seat, wherein the first screw drive seat and the second screw drive seat can move closer to or farther away from each other; The delivery guide mechanism includes a scissors fork assembly and multiple guide seats, the scissors fork assembly includes a first scissors fork, a second scissors fork group and a third scissors fork, the first scissors fork includes a first fork arm and a second fork arm connected in a cross-connected manner, the second scissors fork group includes a plurality of second scissors forks connected in sequence, each of the second scissors forks includes a third fork arm and a fourth fork arm connected in a cross-connected manner, the third scissors fork includes a fifth fork arm and a sixth fork arm connected to each other, one end of the first fork arm is connected to the first screw drive seat, the other end of the first fork arm is connected to the fourth fork arm of the second scissors fork located at the head end, one end of the second fork arm is connected to the second screw drive seat, the other end of the second fork arm is connected to the third fork arm of the second scissors fork located at the head end, the free end of the fifth fork arm is connected to the fourth fork arm of the second scissors fork located at the end, and the free end of the sixth fork arm is connected to the third fork arm of the second scissors fork located at the end; wherein, the first scissors fork, each of the second scissors forks and the third scissors fork are all equipped with the guide seat, and each of the guide seats is provided with a guide groove suitable for the insertion of the catheter.

[0006] According to a flexible endoscope delivery guide device provided by the present invention, the first fork arm includes a first section and a second section, the first section is connected to the first screw drive seat, and the length of the first section is smaller than the length of the second section; the second fork arm includes a third section and a fourth section, the third section is connected to the second screw drive seat, and the length of the third section is smaller than the length of the fourth section.

[0007] According to a flexible endoscope delivery guide device provided by the present invention, the difference between the length of the second segment and the length of the first segment is 8-12 mm, and the difference between the length of the fourth segment and the length of the third segment is 8-12 mm.

[0008] According to a flexible endoscope delivery guide device provided by the present invention, the first section includes a first connecting part and a second connecting part arranged at an angle, and the first connecting part is connected to the first screw drive seat; the third section includes a third connecting part and a fourth connecting part arranged at an angle, and the third connecting part is connected to the second screw drive seat.

[0009] According to a flexible endoscope delivery guide device provided by the present invention, the angle between the first connecting part and the second connecting part is 90°~110°; the angle between the third connecting part and the fourth connecting part is 90°~110°.

[0010] According to the flexible endoscope delivery guide device provided by the present invention, the central axis of each guide groove is arranged to coincide with the central axis of the scissors assembly.

[0011] According to a flexible endoscope delivery guide device provided by the present invention, the screw mechanism also includes a screw, a guide rail, a driving member, a first screw nut and a second screw nut; the driving member is connected to the screw transmission, the first screw nut and the second screw nut are both installed on the screw, the first screw driving seat is fixedly connected to the first screw nut and is slidably connected to the guide rail, and the second screw driving seat is fixedly connected to the second screw nut and is slidably connected to the guide rail.

[0012] According to a flexible endoscope delivery guide device provided by the present invention, the driving member includes a driving motor and a transmission member, and the driving motor is connected to the lead screw through the transmission member.

[0013] According to the present invention, a flexible endoscope delivery guide device further includes a photoelectric sensor, which is used to determine the position of the first screw drive seat or the second screw drive seat.

[0014] The present invention also provides a flexible endoscope robot, comprising: a robotic arm, an end drive device and the flexible endoscope delivery guide device; The end drive device is installed on the robot arm, and the flexible endoscope delivery guide device is installed on the end drive device.

[0015] The flexible endoscope delivery guide device and flexible endoscope robot provided by the present invention can drive the telescopic deformation of the scissor assembly by the mutual approach or separation of the first screw drive seat and the second screw drive seat in the screw mechanism. In this way, the flexible endoscope delivery guide device itself has a certain self-support and adjustment ability, and can achieve the end of the scissor assembly to remain at the entrance of the human body during delivery without the need for additional brackets. Since there is no need to deploy additional brackets on the hospital bed, the installation steps and complexity of the equipment are reduced, and the difficulty and risk of operation are reduced; at the same time, the additional manufacturing cost, installation cost, and disinfection and isolation cost caused by the bracket are avoided, meeting the requirements for rapid deployment and single-use cost, and is particularly suitable for the application scenario of disposable flexible endoscope robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is a schematic structural diagram of the flexible endoscope delivery guide device provided by the present invention.

[0018] Figure 2 It is a structural schematic diagram of the delivery guide mechanism provided by the present invention.

[0019] Figure 3 This is one of the structural diagrams of the screw mechanism provided by the present invention.

[0020] Figure 4 This is the second structural diagram of the screw mechanism provided by the present invention.

[0021] Figure 5 It is a structural schematic diagram of the flexible endoscope robot provided by the present invention.

[0022] Reference numerals: 1. Flexible endoscope delivery guide device; 11. Delivery guide mechanism; 111. Scissors assembly; 1111. First scissors; 11111. First fork; 11112. Second fork; 1112. Second scissors; 11121. Third fork; 11122. Fourth fork; 1113. Third scissors; 11131. Fifth fork; 11132. Sixth fork; 112. Guide seat; 12. Screw mechanism; 121. Housing; 122. First screw drive seat; 123. Second screw drive seat; 124. Drive member; 1241. Drive motor; 1242. Transmission member; 125. Screw; 126. Guide rail; 13. Photoelectric sensor; 2. Robotic arm; 3. End drive device; 4. Operating table. DETAILED DESCRIPTION

[0023] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0024] like Figure 1 and Figure 2 As shown, the flexible endoscope delivery guide device 1 according to an embodiment of the present invention includes: a screw mechanism 12 and a delivery guide mechanism 11.

[0025] The screw mechanism 12 includes a first screw drive seat 122 and a second screw drive seat 123, and the first screw drive seat 122 and the second screw drive seat 123 can move closer to or farther away from each other; the delivery guide mechanism 11 includes a scissor fork assembly 111 and a plurality of guide seats 112, the scissor fork assembly 111 includes a first scissor fork 1111, a second scissor fork group and a third scissor fork 1113, the first scissor fork 1111 includes a first fork arm 11111 and a second fork arm 11112 cross-connected, the second scissor fork group includes a plurality of second scissor forks 1112 connected in sequence, each second scissor fork 1112 includes a third fork arm 11121 and a fourth fork arm 11122 cross-connected, the third scissor fork 1113 includes a fifth fork arm 11131 and a sixth fork arm 11132 connected, one end of the first fork arm 11111 and The first fork 11111 is connected to the first screw drive seat 122, the other end of the first fork arm 11111 is connected to the fourth fork arm 11122 of the second scissors fork 1112 located at the head end, one end of the second fork arm 11112 is connected to the second screw drive seat 123, the other end of the second fork arm 11112 is connected to the third fork arm 11121 of the second scissors fork 1112 located at the head end, the free end of the fifth fork arm 11131 is connected to the fourth fork arm 11122 of the second scissors fork 1112 located at the end, and the free end of the sixth fork arm 11132 is connected to the third fork arm 11121 of the second scissors fork 1112 located at the end; wherein, the first scissors fork 1111, each second scissors fork 1112 and the third scissors fork 1113 are all installed with a guide seat 112, and each guide seat 112 is provided with a guide groove suitable for the insertion of the catheter.

[0026] It should be noted that the first scissors fork 1111 includes a first fork arm 11111 and a second fork arm 11112, which are arranged in a cross-like manner and are hinged to each other. Similarly, the second scissors fork 1112 includes a third fork arm 11121 and a fourth fork arm 11122, which are arranged in a cross-like manner and are hinged to each other. For example, the middle part of the third fork arm 11121 is hinged to the middle part of the fourth fork arm 11122. Among them, in two adjacent second scissors forks 1112, the third fork arm 11121 of the first scissors fork is hinged to the fourth fork arm 11122 of the second scissors fork, and the fourth fork arm 11122 of the first scissors fork is hinged to the third fork arm 11121 of the second scissors fork. For example, the other end of the first fork arm 11111 is hinged to one end of the fourth fork arm 11122 of the second scissors fork 1112 located at the head end, the other end of the fourth fork arm 11122 of the second scissors fork 1112 located at the head end is hinged to one end of the third fork arm 11121 of the next second scissors fork 1112, the other end of the second fork arm 11112 is hinged to one end of the third fork arm 11121 of the second scissors fork 1112 located at the head end, and the other end of the third fork arm 11121 of the third scissors fork 1113 located at the head end is hinged to one end of the fourth fork arm 11122 of the next second scissors fork 1112. In addition, the third scissors fork 1113 includes a fifth fork arm 11131 and a sixth fork arm 11132, which are arranged in a V shape, and the fixed end of the fifth fork arm 11131 is hinged to the fixed end of the sixth fork arm 11132.

[0027] Among them, the first fork arm 11111, the second fork arm 11112, the third fork arm 11121, the fourth fork arm 11122, the fifth fork arm 11131 and the sixth fork arm 11132 and the guide seat 112 can all be made of 3D printing or injection molding materials. In this way, the cost of single use can be greatly reduced, and the delivery guide mechanism 11 can be used as a disposable consumable.

[0028] It is particularly important to point out that when the first screw drive seat 122 and the second screw drive seat 123 can approach each other, the overall length of the scissors-type assembly 111 becomes longer, and when the first screw drive seat 122 and the second screw drive seat 123 can move away from each other, the overall length of the scissors-type assembly 111 becomes shorter.

[0029] It will be appreciated that a guide seat 112 is mounted on each of the first scissor forks 1111, each of the second scissor forks 1112, and the third scissor fork 1113. Each guide seat 112 is provided with a guide groove suitable for inserting a catheter. The guide seat 112 and its guide groove provide a stable guide channel for the catheter, ensuring that the catheter can accurately move along the predetermined path during delivery, avoiding deviation or shaking, and improving delivery stability and accuracy.

[0030] It should be noted that the scissor assembly 111 can be driven to extend and contract by the mutual approach or distance between the first screw drive seat 122 and the second screw drive seat 123 in the screw mechanism 12. In this way, the flexible endoscope delivery guide device 1 itself has a certain self-support and adjustment capability, and can keep the end of the scissor assembly 111 at the entrance of the human body during delivery without the need for an additional bracket. For example, during the delivery process, the positions of the two screw 125 drive seats are adjusted according to actual needs, so that the scissor assembly 111 is extended or contracted to an appropriate length, ensuring that the end of the scissor assembly 111 is accurately aligned with the entrance of the human body. Since there is no need to deploy an additional bracket on the bed, the installation steps and complexity of the equipment are reduced, and the difficulty and risk of operation are reduced; at the same time, the additional manufacturing cost, installation cost, and disinfection and isolation cost caused by the bracket are avoided, meeting the requirements for rapid deployment and single-use cost, and is particularly suitable for the application scenario of disposable flexible endoscope robots.

[0031] In an optional embodiment, if Figure 1 and Figure 2 As shown, the first fork arm 11111 includes a first section and a second section, the first section is connected to the first screw drive seat 122, and the length of the first section is smaller than the length of the second section; the second fork arm 11112 includes a third section and a fourth section, the third section is connected to the second screw drive seat 123, and the length of the third section is smaller than the length of the fourth section.

[0032] Specifically, the first fork arm 11111 is divided into a first section and a second section, with the hinge point on the first fork arm 11111 serving as the boundary. Similarly, the second fork arm 11112 is divided into a third section and a fourth section, with the hinge point on the second fork arm 11112 serving as the boundary. In practical applications, the length of the first section is shorter than the length of the second section, and the length of the third section is shorter than the length of the fourth section, thereby reducing the travel range of the first and second screw drive seats 122 and 123.

[0033] In practical applications, the difference between the length of the second segment and the length of the first segment is 8-12 mm, and the difference between the length of the fourth segment and the length of the third segment is also 8-12 mm. For example, the difference between the length of the second segment and the length of the first segment is 10 mm, that is, the length of the second segment is 10 mm longer than the length of the first segment. Similarly, the difference between the length of the fourth segment and the length of the third segment is also 10 mm.

[0034] In an optional embodiment, if Figure 1 and Figure 2 As shown, the first section includes a first connecting portion and a second connecting portion arranged at an angle, the first connecting portion being connected to the first screw drive seat 122; the third section includes a third connecting portion and a fourth connecting portion arranged at an angle, the third connecting portion being connected to the second screw drive seat 123. This ensures that even when the first fork arm 11111 and the second fork arm 11112 are retracted to their limit, a certain length of force arm is still maintained to extend the scissor assembly 111.

[0035] In practical applications, the angle between the first connecting portion and the second connecting portion is 90° to 110°; the angle between the third connecting portion and the fourth connecting portion is 90° to 110°. For example, the angle between the first connecting portion and the second connecting portion is 100°; the angle between the third connecting portion and the fourth connecting portion is 100°.

[0036] In an optional embodiment, if Figure 1 and Figure 2 As shown, the central axis of each guide groove is arranged to coincide with the central axis of the scissor assembly 111. In other words, the contraction central axis of the scissor assembly 111 always coincides with the long axis direction of the catheter. Exemplarily, the guide seat 112 corresponding to the first scissor fork 1111 is installed at the hinge point of the first scissor fork 1111, the guide seat 112 corresponding to the second scissor fork 1112 is installed at the hinge point of the second scissor fork 1112, and the guide seat 112 corresponding to the third scissor fork 1113 is installed at the hinge point of the third scissor fork 1113.

[0037] In an optional embodiment, if Figure 1 、 Figure 3 and Figure 4 As shown, the screw mechanism 12 also includes a screw 125, a guide rail 126, a driving member 124, a first screw nut and a second screw nut; the driving member 124 is transmission-connected to the screw 125, the first screw nut and the second screw nut are both installed on the screw 125, the first screw driving seat 122 is fixedly connected to the first screw nut and is slidingly connected to the guide rail 126, and the second screw driving seat 123 is fixedly connected to the second screw nut and is slidingly connected to the guide rail 126.

[0038] It should be noted that the lead screw 125 used in this embodiment is a positive and negative thread lead screw. The unique configuration of the positive and negative thread lead screw enables the first lead screw nut and the second lead screw nut to move closer to or farther from each other, thereby achieving a specific motion effect.

[0039] In terms of the actual structural setting, the first screw drive seat 122 and the first screw nut are designed as an integrated unit, and the second screw drive seat 123 and the second screw nut are also designed as an integrated unit. This integrated design simplifies the structure, reduces the number of components, and helps to improve the overall stability and reliability of the device.

[0040] In terms of connection, one end of the first fork arm 11111 in the first scissor fork 1111 is hinged to the first screw drive seat 122, and one end of the second fork arm 11112 is hinged to the second screw drive seat 123. The hinged connection allows the first fork arm 11111 and the second fork arm 11112 to flexibly rotate relative to the first and second screw drive seats 122 and 123, thereby coordinating with the movement of the screw nut 125 to achieve telescopic deformation of the scissor fork assembly 111, meeting the requirements of flexible endoscope delivery guidance.

[0041] In actual application scenarios, the driving member 124 includes a driving motor 1241 and a transmission member 1242. The driving motor 1241 is connected to the lead screw 125 through the transmission member 1242. Specifically, the transmission member 1242 includes a first gear and a second gear. In terms of structural arrangement, a first gear is installed on the output shaft of the driving motor 1241, and a second gear is installed at one end of the lead screw 125, and the first gear and the second gear are engaged with each other. Through this gear engagement, the power of the driving motor 1241 is efficiently and stably transmitted to the lead screw 125 to drive the lead screw 125 to operate.

[0042] In an optional embodiment, if Figure 1 、 Figure 3 and Figure 4 As shown, the flexible endoscope delivery guide device 1 further includes a photoelectric sensor 13, which is used to determine the position of the first screw drive seat 122 or the second screw drive seat 123. The photoelectric sensor 13 includes a transmitting sensor and a receiving sensor that match each other, and the transmitting sensor and the receiving sensor are integrated together.

[0043] For example, the photoelectric sensor 13 can be mounted on the base, and the reflector can be mounted on the first lead screw drive seat 122. That is, the photoelectric sensor 13 is stationary, and the reflector is in motion. The photoelectric sensor 13 emits a light beam to the reflector in real time and receives the light beam reflected back from the reflector. The reflector can be a reflective plate. In this way, the motion state of the lead screw mechanism 12 can be monitored, thereby ensuring that the first lead screw drive seat 122 and the second lead screw drive seat 123 are at their origin positions in the initial state.

[0044] In addition, if Figure 1 、 Figure 2 、 Figure 3 and Figure 4As shown, an embodiment of the present invention further provides a flexible endoscope robot, comprising: a robotic arm 2, an end drive 3, and a flexible endoscope delivery guide 1; the end drive 3 is mounted on the robotic arm 2, and the flexible endoscope delivery guide 1 is mounted on the end drive 3. It should be noted that the end drive 3 is used to control the bending and rotation of the catheter, and this embodiment does not involve its structural improvement. The screw mechanism 12 further includes a housing 121, and the remaining components of the screw mechanism 12 can be mounted within the housing 121. The housing 121 is provided with a strip-shaped groove to facilitate the articulation of one end of the first fork arm 11111 of the first scissor fork 1111 with the first screw drive seat 122, and one end of the second fork arm 11112 with the second screw drive seat 123. Thus, the housing 121 can be mounted on the end drive 3. For example, the housing 121 can be detachably mounted on the end drive 3, for example, by snap-fit connection or adhesive bonding.

[0045] Specifically, during actual use, while controlling the robotic arm 2 to deliver along the long axis of the catheter, the scissor assembly 111 is controlled to extend or contract so that the end of the scissor assembly 111 is always maintained at the entrance of the human body on the operating table 4 relative to the patient, and the end drive device 3 delivers the catheter forward all the time, causing the catheter to move relative to the delivery guide mechanism 11.

[0046] Specifically, since the flexible endoscope robot includes the flexible endoscope delivery guide device 1 as described above, and the specific structure of the flexible endoscope delivery guide device 1 refers to the above embodiment, the flexible endoscope robot shown in this embodiment includes all the technical solutions of the above embodiment, and therefore has at least all the beneficial effects achieved by all the above technical solutions, which will not be repeated here one by one.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A flexible endoscope delivery guide device, characterized in that include: The screw mechanism includes a first screw drive seat and a second screw drive seat, wherein the first screw drive seat and the second screw drive seat can move closer to or farther away from each other; The delivery guide mechanism includes a scissors fork assembly and multiple guide seats, the scissors fork assembly includes a first scissors fork, a second scissors fork group and a third scissors fork, the first scissors fork includes a first fork arm and a second fork arm connected in a cross-connected manner, the second scissors fork group includes a plurality of second scissors forks connected in sequence, each of the second scissors forks includes a third fork arm and a fourth fork arm connected in a cross-connected manner, the third scissors fork includes a fifth fork arm and a sixth fork arm connected to each other, one end of the first fork arm is connected to the first screw drive seat, the other end of the first fork arm is connected to the fourth fork arm of the second scissors fork located at the head end, one end of the second fork arm is connected to the second screw drive seat, the other end of the second fork arm is connected to the third fork arm of the second scissors fork located at the head end, the free end of the fifth fork arm is connected to the fourth fork arm of the second scissors fork located at the end, and the free end of the sixth fork arm is connected to the third fork arm of the second scissors fork located at the end; wherein, the first scissors fork, each of the second scissors forks and the third scissors fork are all equipped with the guide seat, and each of the guide seats is provided with a guide groove suitable for the insertion of the catheter.

2. The flexible endoscope delivery guide device according to claim 1, characterized in that The first fork arm includes a first section and a second section, the first section is connected to the first screw drive seat, and the length of the first section is smaller than the length of the second section; the second fork arm includes a third section and a fourth section, the third section is connected to the second screw drive seat, and the length of the third section is smaller than the length of the fourth section.

3. The flexible endoscope delivery guide device according to claim 2, characterized in that The difference between the length of the second segment and the length of the first segment is 8-12 mm, and the difference between the length of the fourth segment and the length of the third segment is 8-12 mm.

4. The flexible endoscope delivery guide device according to claim 2, characterized in that The first section includes a first connecting portion and a second connecting portion arranged at an angle, and the first connecting portion is connected to the first screw drive seat; the third section includes a third connecting portion and a fourth connecting portion arranged at an angle, and the third connecting portion is connected to the second screw drive seat.

5. The flexible endoscope delivery guide device according to claim 4, characterized in that The included angle between the first connecting portion and the second connecting portion is 90° to 110°; the included angle between the third connecting portion and the fourth connecting portion is 90° to 110°.

6. The flexible endoscope delivery guide device according to claim 1, characterized in that The central axis of each guide groove is arranged to coincide with the central axis of the scissor lift assembly.

7. The flexible endoscope delivery guide device according to any one of claims 1 to 6, characterized in that: The screw mechanism also includes a screw, a guide rail, a driving member, a first screw nut and a second screw nut; the driving member is connected to the screw in a transmission manner, the first screw nut and the second screw nut are both installed on the screw, the first screw driving seat is fixedly connected to the first screw nut and is slidably connected to the guide rail, and the second screw driving seat is fixedly connected to the second screw nut and is slidably connected to the guide rail.

8. The flexible endoscope delivery guide device according to claim 7, characterized in that The driving member includes a driving motor and a transmission member, and the driving motor is connected to the lead screw through the transmission member.

9. The flexible endoscope delivery guide device according to any one of claims 1 to 6, characterized in that: A photoelectric sensor is also included, and the photoelectric sensor is used to determine the position of the first screw drive seat or the second screw drive seat.

10. A flexible endoscope robot, characterized in that: include: A robotic arm, an end drive, and a flexible endoscope delivery guide according to any one of claims 1 to 9; The end drive device is installed on the robot arm, and the flexible endoscope delivery guide device is installed on the end drive device.

Images