A flexible endoscope control robot

Abstract

The present invention relates to a medical robot, and in particular to a flexible endoscope manipulation robot. The robot comprises a flexible endoscope support unit and a flexible endoscope main operation robot arranged on the flexible endoscope support unit, wherein the flexible endoscope main operation robot comprises a flexible endoscope positioning unit, a flexible endoscope conveying unit, a flexible endoscope operation unit and a flexible endoscope following unit, wherein the flexible endoscope positioning unit is connected to the flexible endoscope support unit, and the flexible endoscope operation unit is connected to the flexible endoscope positioning unit through the flexible endoscope following unit; the flexible endoscope operation unit is used to connect to the flexible endoscope and control the movement of the flexible endoscope; the flexible endoscope conveying unit is arranged on the flexible endoscope positioning unit, and is used to clamp and convey the flexible endoscope. The present invention realizes intelligent robot intervention by precisely controlling the flexible endoscope and combining remote teleoperation to avoid X-ray radiation to the doctor, and integrates sensor information.

Description

Technical Field

[0001] The invention relates to a medical robot, in particular to a soft endoscope manipulation robot. Background Art

[0002] Digestive, urinary, respiratory and other natural cavity diseases seriously endanger people's health. For example, the incidence and mortality of diseases such as gastric cancer, bile duct cancer, lung cancer and bladder cancer are increasing year by year. Interventional treatments such as flexible endoscopes such as gastroscopy, bronchoscope, uroscope, ultrasound endoscope and duodenoscope have become the main treatment methods for natural cavity or through natural cavity diseases due to their advantages of small incision and fast recovery.

[0003] Since the surgical operation space of the natural cavity is narrow and closed, and the operation process is delicate and complicated, the surgical instruments need very high dexterity to conform to the anatomical structure of the cavity, and need fine control to point to the target. However, the surgical instruments used for flexible endoscopes in the prior art lack independent degrees of freedom, and only rely on the bending of the endoscope to achieve the movement of the instruments, and require doctors and nurses to coordinate and complete the manual control of the instruments. The control accuracy is low and the labor intensity is high, which is very easy to cause physiological fatigue. When operating in some narrow spaces, a lot of time is often wasted to adjust the position and direction of the instruments due to the lack of instrument dexterity, which reduces the efficiency and safety of the operation. And some complex operations such as endoscopic retrograde cholangiopancreatography (ERCP) require the cooperation of multiple medical staff because they involve many types of surgical instruments and require multiple instruments to operate in coordination, which greatly increases the uncontrollability of medical costs and surgical effects. In addition, the visual feedback of existing instruments is limited to the camera integrated at the front end of the soft endoscope. The instrument itself does not have force sensing. When the instrument enters a narrow cavity, it cannot accurately obtain the information of the delivery force. Superselective intubation relies entirely on experience to perform tentative surgical operations, which brings a very high risk of complications to the operation. The operation and control of the soft endoscope require doctors to complete. The long surgical process will cause fatigue to the doctor and affect the surgical effect. The above technical obstacles directly affect the development of soft endoscopic surgery and its promotion and application in clinical practice. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide a flexible endoscope control robot to solve the problems in the prior art that doctors need the cooperation of multiple people to operate surgical instruments, suffer fatigue from long-term operation, cannot accurately obtain flexible endoscope intervention force information, and will be exposed to X-ray radiation.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A flexible endoscope manipulation robot comprises a flexible endoscope support unit and a flexible endoscope main operation robot arranged on the flexible endoscope support unit, wherein the flexible endoscope main operation robot comprises a flexible endoscope positioning unit, a flexible endoscope conveying unit, a flexible endoscope operation unit and a flexible endoscope following unit, wherein the flexible endoscope positioning unit is connected to the flexible endoscope support unit, and the flexible endoscope operation unit is connected to the flexible endoscope positioning unit via the flexible endoscope following unit; the flexible endoscope operation unit is used to connect with the flexible endoscope and control the movement of the flexible endoscope; the flexible endoscope conveying unit is arranged on the flexible endoscope positioning unit, and is used to clamp and convey the flexible endoscope.

[0007] The flexible endoscope positioning unit includes a first joint, a flange, a first connecting rod, an adapter plate and a mirror holding arm, wherein the first joint and the flange are arranged at one end of the first connecting rod, the other end of the first connecting rod is connected to the mirror holding arm through the adapter plate, and the mirror holding arm is connected to the flexible endoscope conveying unit.

[0008] The flexible endoscope following unit includes a following unit second link, a following unit second joint, a following unit third link, a following unit third joint, a following unit fourth link, a following unit fourth joint, a joint connector and a transition link which are connected in sequence, wherein the following unit second link is connected to the flexible endoscope positioning unit, and the transition link is connected to the flexible endoscope operating unit.

[0009] The flexible endoscope operating unit includes a mounting base plate and a flexible endoscope fixing mechanism, an adapter fixing plate, a large impeller operator, a small impeller operator, a forceps lifting operator, a first rotation drive mechanism, a second rotation drive mechanism and a third rotation drive mechanism arranged on the mounting base plate, wherein the small impeller operator, the large impeller operator and the forceps lifting operator are coaxially installed from the inside to the outside and are all rotatable, the first rotation drive mechanism, the second rotation drive mechanism and the third rotation drive mechanism are respectively connected to the forceps lifting operator, the large impeller operator and the small impeller operator in transmission; the flexible endoscope fixing mechanism is connected to the mounting base plate through the adapter fixing plate; the flexible endoscope fixing mechanism is used to fix the flexible endoscope, and the flexible endoscope is connected to the forceps lifting operator, the large impeller operator and the small impeller operator.

[0010] The first rotary drive mechanism includes a first motor, a pinion, a large gear and a motor mounting plate, wherein the motor mounting plate is connected to the mounting base plate, the first motor is mounted on the motor mounting plate and the output end is connected to the pinion; the large gear is connected to the clamp lift operator and meshes with the pinion.

[0011] The second rotary drive mechanism comprises a second motor and a small synchronous belt, and the output end of the second motor is transmission-connected to the large impeller operator through the small synchronous belt;

[0012] The third rotation driving mechanism comprises a third motor and a large synchronous belt, and the output end of the third motor is transmission-connected to the small impeller operator via the large synchronous belt.

[0013] The flexible endoscope conveying unit includes a conveying unit frame and a first-stage synchronous belt, a sensor fixing flange, a torque sensor, a motor I, a driving wheel, a passive wheel, a second-stage synchronous belt and a clamping mechanism installed on the conveying unit frame, wherein the output end of the motor I is connected to the sensor fixing flange through the first-stage synchronous belt, the sensor fixing flange is connected to one end of the torque sensor, the other end of the torque sensor is connected to a driving wheel, and the driving wheel is connected to another driving wheel through the second-stage synchronous belt; two passive wheels are provided on the clamping mechanism, and the two passive wheels cooperate with the two driving wheels to achieve the clamping and conveyance of the flexible endoscope.

[0014] The clamping mechanism includes a motor II, a rack, a gear, a movable plate and a linear slider, wherein the movable plate is connected to the conveying unit frame through the linear slider; the rack is arranged on the movable plate and is parallel to the linear slider; the motor II is arranged on the conveying unit frame, and its output end is connected to the gear, and the gear is meshed with the rack; the two passive wheels are rotatably arranged on the movable plate.

[0015] The flexible endoscope support unit includes a chassis, a chassis shell, a lifting slide, a column, a first support arm, and a second support arm, wherein wheels are provided at the bottom of the chassis, and the chassis shell cover is provided on the outside of the chassis; the lifting slide is provided at the top of the chassis shell, the column is connected to the lifting slide, one end of the first support arm is connected to the column, and the other end is rotatably connected to the second support arm.

[0016] The flexible endoscope manipulation robot also includes a flexible endoscope coaxial instrument operating unit, which includes a flexible sheath driving mechanism, a driver motor box, a flexible sheath, a guidewire delivery clamping mechanism and a guidewire, wherein the flexible sheath driving mechanism and the guidewire delivery clamping mechanism are arranged on the driver motor box, and the flexible sheath driving mechanism is connected to the flexible endoscope through the flexible endoscope manipulation robot connection unit; one end of the flexible sheath is connected to the flexible sheath driving mechanism, and the other end passes through the flexible endoscope manipulation robot connection unit and is inserted into the flexible endoscope, and the flexible sheath driving mechanism is used to drive the flexible sheath to bend; the guidewire delivery clamping mechanism is used to deliver the guidewire, and the guidewire is inserted in the flexible sheath.

[0017] The advantages and positive effects of the present invention are:

[0018] The present invention cooperates the flexible endoscope master operation robot with the flexible endoscope coaxial instrument operation robot, and can assist doctors in remote operation through the master-slave operation of the robots, thereby reducing the probability of doctors being exposed to X-rays.

[0019] The present invention realizes smooth intervention of the flexible endoscope by designing a flexible endoscope following unit, which cooperates with the flexible endoscope positioning and conveying unit. At the same time, the flexible endoscope control unit can realize flexible control of the flexible endoscope, thereby assisting doctors to complete surgical operations accurately and efficiently.

[0020] The present invention combines visual image information to make the doctor's operation more intuitive. Under the condition of image guidance, the doctor can be more targeted and operate more conveniently, and the safety of the operation can be improved through increased perception.

[0021] The present invention introduces a torque sensor and a length sensor to extract quantitative operation data, more intuitively regulate human operations, and increase operational safety.

[0022] The robot system designed in the present invention replaces the manual operation of doctors and greatly reduces the surgical risks through sensor information fusion, which is expected to improve the intelligence level of soft endoscopic intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 An axonometric diagram of the flexible endoscope manipulation robot of the present invention;

[0024] Figure 2 This is a front view of the flexible endoscope control robot of the present invention;

[0025] Figure 3 It is a structural schematic diagram of the support unit in the present invention;

[0026] Figure 4 It is a structural schematic diagram of the positioning, conveying and following units in the present invention;

[0027] Figure 5 It is a structural schematic diagram of the positioning unit of the flexible endoscope in the present invention;

[0028] Figure 6 It is a structural schematic diagram of the flexible endoscope following unit in the present invention;

[0029] Figure 7 It is a structural schematic diagram of the flexible endoscope operating unit in the present invention;

[0030] Figure 8 It is a schematic structural diagram of the flexible endoscope in the present invention;

[0031] Fig. 9 This is one of the structural schematic diagrams of the flexible endoscope delivery unit of the present invention;

[0032] Fig.10 This is the second structural schematic diagram of the flexible endoscope delivery unit in the present invention;

[0033] Fig.11 The third structural diagram of the flexible endoscope delivery unit of the present invention;

[0034] Fig.12 This is one of the structural schematic diagrams of the coaxial instrument operation unit of the flexible endoscope in the present invention;

[0035] Fig.13 This is the second structural schematic diagram of the coaxial instrument operation unit of the flexible endoscope in the present invention.

[0036] In the figure: 100 is a patient, 200 is a bed, 300 is a flexible endoscope positioning unit, 301 is a first joint, 302 is a flange, 303 is a first connecting rod, 304 is an adapter plate, 305 is a mirror holding arm, 400 is a flexible endoscope conveying unit, 401 is a first-stage synchronous belt, 402 is a sensor fixing flange, 403 is a torque sensor, 404 is a motor I, 405 is a motor II, 406 is an output shaft, 407 is a driving wheel, 408 is a driven wheel, 409 is a second-stage synchronous belt, 410 is a clamping mechanism, 411 is a rack, 412 is a torque sensor, 413 is a torque sensor, 414 is a torque sensor, 415 is a torque sensor, 416 is a torque sensor, 417 is a torque sensor, 418 is a torque sensor, 419 is a torque sensor, 420 is a torque sensor, 421 is a torque sensor, 422 is a torque sensor, 423 is a torque sensor, 424 is a torque sensor, 425 is a torque sensor, 426 is a torque sensor, 427 is a torque sensor, 428 is a torque sensor, 429 is a torque sensor, 430 is a torque sensor, 431 is a torque sensor, 432 is a torque sensor, 433 is a torque sensor, 434 is a torque sensor, 435 is a torque sensor, 436 is a torque sensor, 437 is a torque sensor, 438 is a torque sensor, 439 is a torque sensor, 440 is a torque sensor, 441 is a torque sensor, 442 is a torque sensor, 443 is a torque sensor, 444 is a torque sensor, 445 is a torque sensor, 446 is a torque sensor 12 is a gear, 413 is a movable plate, 414 is a linear slider, 450 is a flexible endoscope, 500 is a flexible endoscope operating unit, 501 is a flexible endoscope fixing mechanism, 502 is a transfer fixing plate, 503 is a mounting base, 504 is a small gear, 505 is a large wave wheel operator, 506 is a small wave wheel operator, 507 is a forceps lifting operator, 508 is a first motor, 509 is a second motor, 510 is a small synchronous belt, 511 is a large gear, 512 is a motor mounting plate, 513 is a third motor, 514 is a large synchronous belt, 600 is The flexible endoscope following unit, 601 is the second link of the following unit, 602 is the second joint of the following unit, 603 is the third link of the following unit, 604 is the third joint of the following unit, 605 is the fourth link of the following unit, 606 is the fourth joint of the following unit, 607 is the joint connector, 608 is the transition link, 700 is the flexible endoscope supporting unit, 701 is the wheel, 702 is the chassis, 703 is the chassis shell, 704 is the lifting slide, 705 is the column, 706 is the first support arm, 707 is the second support arm 707, 800 is the flexible endoscope supporting unit, 701 is the wheel, 702 is the chassis, 703 is the chassis shell, 704 is the lifting slide, 705 is the column, 706 is the first support arm, 707 is the second support arm 707, 800 is the flexible endoscope supporting unit, 801 is the wheel, 802 is the chassis, 803 is the chassis shell, 804 is the lifting slide, 805 is the column, 806 is the first support arm, 807 is the second support arm 8 ... endoscope manipulation robot connection unit, 900 is a flexible endoscope coaxial instrument operation unit, 901 is a flexible sheath driving mechanism, 902 is a driver motor box, 903 is a flexible sheath, 904 is a guide wire delivery clamping mechanism, 905 is a guide wire, 907 is a winding wheel, 908 is a fixed base plate, 909 is a flexible sheath fixing part, 910 is a spring tube pressing part, 911 is a winding wheel shaft fixing mechanism, 913 is a fixed base plate of the delivery clamping mechanism, 914 is a guide wire delivery wheel, 915 is a guide wire clamping mechanism, and 916 is a spiral micro-motion knob. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] like Figure 1-2As shown, a flexible endoscope manipulation robot provided by the present invention includes a flexible endoscope support unit 700 and a flexible endoscope main operation robot arranged on the flexible endoscope support unit 700, the flexible endoscope main operation robot includes a flexible endoscope positioning unit 300, a flexible endoscope conveying unit 400, a flexible endoscope operating unit 500 and a flexible endoscope following unit 600, wherein the flexible endoscope positioning unit 300 is connected to the flexible endoscope support unit 700, and the flexible endoscope operating unit 500 is connected to the flexible endoscope positioning unit 300 through the flexible endoscope following unit 600; the flexible endoscope operating unit 500 is used to connect with the flexible endoscope 450 and control the movement of the flexible endoscope 450; the flexible endoscope conveying unit 400 is arranged on the flexible endoscope positioning unit 300, and is used to clamp and convey the flexible endoscope 450.

[0039] like Figure 3 As shown, in the embodiment of the present invention, the flexible endoscope support unit 700 includes a chassis 702, a chassis shell 703, a lifting slide 704, a column 705, a first support arm 706, and a second support arm 707, wherein the bottom of the chassis 702 is provided with wheels 701, the chassis shell 703 is covered on the outside of the chassis 702; the lifting slide 704 is arranged on the top of the chassis shell 703, and the column 705 is connected to the lifting slide 704, so that the column 705 and the upper parts thereof can move up and down. One end of the first support arm 706 is connected to the column 705, and the other end is rotatably connected to the second support arm 707 through a rotary joint.

[0040] like Figure 4 As shown, in the embodiment of the present invention, the flexible endoscope positioning unit 300, the flexible endoscope conveying unit 400, the flexible endoscope operating unit 500 and the flexible endoscope following unit 600 constitute a flexible endoscope main operating robot.

[0041] like Figure 5 As shown, in an embodiment of the present invention, the flexible endoscope positioning unit 300 includes a first joint 301, a flange 302, a first connecting rod 303, an adapter plate 304 and a mirror holding arm 305, wherein the first joint 301 and the flange 302 are arranged at one end of the first connecting rod 303, the first joint 301 is connected to the second support arm 707 of the support unit 700 as a base, the other end of the first connecting rod 303 is connected to the mirror holding arm 305 through the adapter plate 304, and the mirror holding arm 305 is connected to the flexible endoscope conveying unit 400.

[0042] like Figure 6As shown, in an embodiment of the present invention, the flexible endoscope following unit 600 includes a following unit second link 601, a following unit second joint 602, a following unit third link 603, a following unit third joint 604, a following unit fourth link 605, a following unit fourth joint 606, a joint connector 607 and a transition link 608 connected in sequence, wherein the following unit second link 601 is connected to the flange 302 of the flexible endoscope positioning unit 300, and the transition link 608 is connected to the flexible endoscope operating unit 500.

[0043] The flexible endoscope following unit 600 can also achieve the purpose of flexible endoscope following transportation by changing the assembly order of various parts.

[0044] like Figure 7 As shown, in the embodiment of the present invention, the flexible endoscope operating unit 500 includes a mounting base plate 503 and a flexible endoscope fixing mechanism 501 arranged on the mounting base plate 503, a switching fixing plate 502, a large impeller operator 505, a small impeller operator 506, a forceps lifting operator 507, a first rotation driving mechanism, a second rotation driving mechanism and a third rotation driving mechanism, wherein the small impeller operator 506, the large impeller operator 505 and the forceps lifting operator 507 are coaxially installed from inside to outside and are all It is rotatable, and the first rotation drive mechanism, the second rotation drive mechanism and the third rotation drive mechanism are respectively connected to the forceps lifting operator 507, the large impeller operator 505 and the small impeller operator 506; the flexible endoscope fixing mechanism 501 is connected to the mounting base plate 503 through the adapter fixing plate 502; the flexible endoscope fixing mechanism 501 is used to fix the flexible endoscope 450, and the flexible endoscope 450 is connected to the forceps lifting operator 507, the large impeller operator 505 and the small impeller operator 506.

[0045] In this embodiment, the first rotary drive mechanism includes a first motor 508, a pinion 504, a large gear 511 and a motor mounting plate 512, wherein the motor mounting plate 512 is connected to the mounting base plate 503, the first motor 508 is mounted on the motor mounting plate 512 and the output end is connected to the pinion 504; the large gear 511 is connected to the clamp lift operator 507 and meshes with the pinion 504. The second rotary drive mechanism includes a second motor 509 and a small synchronous belt 510, the output end of the second motor 509 is connected to the large pulsator operator 505 through the small synchronous belt 510; the third rotary drive mechanism includes a third motor 513 and a large synchronous belt 514, the output end of the third motor 513 is connected to the small pulsator operator 506 through the large synchronous belt 514.

[0046] like Figure 8As shown, in the embodiment of the present invention, the flexible endoscope 450 is the control object of the mechanism. The flexible endoscope 450 is a commercially available product, and the model is Olympus TJF-Q190V as an example. Its structure includes a forceps lifter 451, a large dial wheel 452, a small dial wheel 453, a surgical instrument cavity 454, and a mirror body 455. The above-mentioned flexible endoscope control robot takes the flexible endoscope as the control object, positions the flexible endoscope through the flexible endoscope fixing mechanism 501, and then controls the forceps lifter 451, the large dial wheel 452, and the small dial wheel 453 through the large wave wheel operator 505, the small wave wheel operator 506, and the forceps lifter operator 507 respectively to realize the bending of the front end of the endoscope, and the flexible endoscope conveying unit 400 realizes the conveyance of the mirror body 455 through friction.

[0047] like Fig. 9 , Fig.10 As shown, in an embodiment of the present invention, a flexible endoscope conveying unit 400 includes a conveying unit frame and a first-stage synchronous belt 401, a sensor fixing flange 402, a torque sensor 403, a motor I 404, a driving wheel 407, a passive wheel 408, a second-stage synchronous belt 409 and a clamping mechanism 410 installed on the conveying unit frame, wherein the output end of the motor I 404 is connected to the first-stage synchronous belt 401, the first-stage synchronous belt 401 is connected to the input end of the torque sensor 403, the torque sensor 403 is installed on the conveying unit frame through the sensor fixing flange 402, the output end of the torque sensor 403 is connected to a driving wheel 407, the driving wheel 407 is connected to another driving wheel 407 through the second-stage synchronous belt 409, and the two driving wheels 407 are synchronously rotated through the second-stage synchronous belt 409; two passive wheels 408 are provided on the clamping mechanism 410, and the two passive wheels 408 cooperate with the two driving wheels 407 to clamp and convey the flexible endoscope 450. In this embodiment, the first-stage synchronous belt 401 and the second-stage synchronous belt 409 are arranged in parallel at two ends of the conveying unit frame.

[0048] like Fig.10 , Fig.11 As shown, in the embodiment of the present invention, the clamping mechanism 410 includes a motor II 405, a rack 411, a gear 412, a movable plate 413 and a linear slider 414, wherein the movable plate 413 is connected to the conveying unit frame through the linear slider 414; the rack 411 is arranged on the movable plate 413 and is parallel to the linear slider 414; the motor II 405 is arranged on the conveying unit frame, and its output end is connected to the gear 412, and the gear 412 is meshed with the rack 411; two passive wheels 408 are rotatably arranged on the movable plate 413. The motor II 405 is connected to the gear 412, and the movable plate 413 is driven to move up and down through the mutual cooperation of the rack 411 and the gear 412, and the movable plate 413 is fixedly connected to the passive wheel 408, thereby realizing the clamping movement.

[0049] like Figure 1 As shown, based on the above-mentioned embodiments, the flexible endoscope manipulation robot of the present invention also includes a flexible endoscope coaxial instrument operation unit 900, and the flexible endoscope coaxial instrument operation unit 900 is arranged on another flexible endoscope support unit 700, and the flexible endoscope main operation robot and the coaxial auxiliary instrument operation robot cooperate with each other to complete the implant intervention surgery.

[0050] like Fig.12 As shown, in an embodiment of the present invention, the flexible endoscope coaxial instrument operating unit 900 includes a flexible sheath driving mechanism 901, a driver motor box 902, a flexible sheath 903, a guide wire delivery clamping mechanism 904 and a guide wire 905, wherein the flexible sheath driving mechanism 901 and the guide wire delivery clamping mechanism 904 are arranged on the driver motor box 902, and the flexible sheath driving mechanism 901 is connected to the flexible endoscope 450 through the flexible endoscope control robot connecting unit 800; one end of the flexible sheath 903 is connected to the flexible sheath driving mechanism 901, and the other end passes through the flexible endoscope control robot connecting unit 800 and is inserted into the flexible endoscope 450, and the flexible sheath driving mechanism 901 is used to drive the flexible sheath 903 to bend; the guide wire delivery clamping mechanism 904 is used to deliver the guide wire 905, and the guide wire 905 is inserted into the flexible sheath 903.

[0051] The flexible endoscope control robot connection unit 800 achieves the purpose of limiting by setting an intermediate cavity, the starting end of the intermediate cavity is connected to the instrument insertion end of the flexible endoscope, and the other end of the intermediate cavity is connected to the coaxial instrument operation unit of the flexible endoscope control robot.

[0052] like Fig.13 As shown, in the embodiment of the present invention, the bendable sheath tube driving mechanism 901 includes a fixed base plate 908 and a winding wheel 907, a bendable sheath tube fixing member 909, a spring tube pressing member 910 and a winding wheel shaft fixing mechanism 911 arranged on the fixed base plate 908, wherein the winding wheel 907 is arranged between the winding wheel shaft fixing mechanism 911 and the fixed base plate 908, and is used to wind the driving tendon of the bendable sheath tube 903; the bendable sheath tube fixing member 909 and the spring tube pressing member 910 are arranged at the front end of the winding wheel 907, the bendable sheath tube fixing member 909 is used to fix the bendable sheath tube 903, and the spring tube pressing member 910 is used to press the spring tube outside the driving tendon of the bendable sheath tube 903. The driver motor box 902 drives the winding wheel 907 to rotate, and the winding wheel 907 rotates to realize the winding or release of the driving tendon, and then the bending action of the bendable sheath tube 903 is realized by pulling the driving tendon.

[0053] In this embodiment, the guide wire conveying and clamping mechanism 904 includes a conveying and clamping mechanism fixed base plate 913 and a guide wire conveying wheel 914, a guide wire clamping mechanism 915 and a spiral fine-motion knob 916 arranged on the conveying and clamping mechanism fixed base plate 913, wherein the guide wire clamping mechanism 915 can move in a direction close to or away from the guide wire conveying wheel 914, and the spiral fine-motion knob 916 is connected to the guide wire clamping mechanism 915 for adjusting the position of the guide wire clamping mechanism 915. Specifically, the guide wire clamping mechanism 915 includes a guide wire clamping wheel, which clamps the guide wire 905 with the guide wire conveying wheel 914, and realizes the conveyance of the guide wire 905 by rotation.

[0054] The present invention cooperates with the flexible endoscope master operation robot and the flexible endoscope coaxial instrument operation robot, and can assist doctors in remote operation through the master-slave operation of the robots, thereby reducing the probability of doctors being exposed to X-rays. The present invention changes the operation mode from "relying on experience and trial operation" to "fine robot operation guided by visual information", greatly reducing the risk of surgery, and improving the intelligence of flexible endoscope intervention through the fusion of visual and sensor information.

[0055] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A flexible endoscope manipulation robot, characterized in that: The invention comprises a flexible endoscope support unit (700) and a flexible endoscope main operation robot arranged on the flexible endoscope support unit (700), wherein the flexible endoscope main operation robot comprises a flexible endoscope positioning unit (300), a flexible endoscope conveying unit (400), a flexible endoscope operation unit (500) and a flexible endoscope following unit (600), wherein the flexible endoscope positioning unit (300) is connected to the flexible endoscope support unit (700) The flexible endoscope operation unit (500) is connected to the flexible endoscope positioning unit (300) via the flexible endoscope following unit (600); the flexible endoscope operation unit (500) is used to connect to the flexible endoscope (450) and control the movement of the flexible endoscope (450); the flexible endoscope conveying unit (400) is arranged on the flexible endoscope positioning unit (300) and is used to clamp and convey the flexible endoscope (450); The flexible endoscope positioning unit (300) comprises a first joint (301), a flange (302), a first connecting rod (303), an adapter plate (304) and a mirror holding arm (305), wherein the first joint (301) and the flange (302) are arranged at one end of the first connecting rod (303), the other end of the first connecting rod (303) is connected to the mirror holding arm (305) via the adapter plate (304), and the mirror holding arm (305) is connected to the flexible endoscope conveying unit (400); The flexible endoscope following unit (600) comprises a following unit second link (601), a following unit second joint (602), a following unit third link (603), a following unit third joint (604), a following unit fourth link (605), a following unit fourth joint (606), a joint connector (607) and a transition link (608) which are connected in sequence, wherein the following unit second link (601) is connected to the flexible endoscope positioning unit (300), and the transition link (608) is connected to the flexible endoscope operating unit (500); The flexible endoscope support unit (700) comprises a chassis (702), a chassis shell (703), a lifting slide (704), a column (705), a first support arm (706), and a second support arm (707), wherein a wheel (701) is provided at the bottom of the chassis (702), and the chassis shell (703) is covered on the outside of the chassis (702); the lifting slide (704) is provided on the top of the chassis shell (703), the column (705) is connected to the lifting slide (704), one end of the first support arm (706) is connected to the column (705), and the other end is rotatably connected to the second support arm (707); The flexible endoscope manipulation robot further comprises a flexible endoscope coaxial instrument operation unit (900), wherein the flexible endoscope coaxial instrument operation unit (900) comprises a bendable sheath tube drive mechanism (901), a driver motor box (902), a bendable sheath tube (903), a guide wire delivery clamping mechanism (904) and a guide wire (905), wherein the bendable sheath tube drive mechanism (901) and the guide wire delivery clamping mechanism (904) are arranged on the driver motor box (902), and the bendable sheath tube drive mechanism (901) is driven by the flexible endoscope. The endoscope manipulation robot connection unit (800) is connected to the flexible endoscope (450); one end of the flexible sheath (903) is connected to the flexible sheath driving mechanism (901), and the other end passes through the flexible endoscope manipulation robot connection unit (800) and is inserted into the flexible endoscope (450), and the flexible sheath driving mechanism (901) is used to drive the flexible sheath (903) to bend; the guide wire delivery clamping mechanism (904) is used to deliver the guide wire (905), and the guide wire (905) is inserted into the flexible sheath (903).

2. The flexible endoscope manipulation robot according to claim 1, characterized in that: The flexible endoscope operating unit (500) comprises a mounting base plate (503) and a flexible endoscope fixing mechanism (501) arranged on the mounting base plate (503), an adapter fixing plate (502), a large impeller operator (505), a small impeller operator (506), a forceps lifting operator (507), a first rotation driving mechanism, a second rotation driving mechanism and a third rotation driving mechanism, wherein the small impeller operator (506), the large impeller operator (505) and the forceps lifting operator (507) are coaxially mounted from the inside to the outside and can rotate, and the first impeller operator (506) is a plurality of rotating mechanisms. The first rotary drive mechanism, the second rotary drive mechanism and the third rotary drive mechanism are respectively connected to the forceps lifting operator (507), the large impeller operator (505) and the small impeller operator (506) in transmission; the flexible endoscope fixing mechanism (501) is connected to the mounting base plate (503) via the adapter fixing plate (502); the flexible endoscope fixing mechanism (501) is used to fix the flexible endoscope (450), and the flexible endoscope (450) is connected to the forceps lifting operator (507), the large impeller operator (505) and the small impeller operator (506).

3. The flexible endoscope manipulation robot according to claim 2, characterized in that: The first rotating drive mechanism includes a first motor (508), a small gear (504), a large gear (511) and a motor mounting plate (512), wherein the motor mounting plate (512) is connected to the mounting base plate (503), the first motor (508) is mounted on the motor mounting plate (512) and the output end is connected to the small gear (504); the large gear (511) is connected to the forceps lifting operator (507) and meshes with the small gear (504).

4. The flexible endoscope manipulation robot according to claim 2, characterized in that: The second rotation driving mechanism comprises a second motor (509) and a small synchronous belt (510), and the output end of the second motor (509) is transmission-connected to the large impeller operator (505) via the small synchronous belt (510); The third rotary drive mechanism comprises a third motor (513) and a large synchronous belt (514), and the output end of the third motor (513) is transmission-connected to the small impeller operator (506) via the large synchronous belt (514).

5. The flexible endoscope manipulation robot according to claim 1, characterized in that: The flexible endoscope conveying unit (400) comprises a conveying unit frame and a first-stage synchronous belt (401) mounted on the conveying unit frame, a sensor fixing flange (402), a torque sensor (403), a motor I (404), a driving wheel (407), a driven wheel (408), a second-stage synchronous belt (409) and a clamping mechanism (410), wherein the output end of the motor I (404) is connected to the sensor fixing flange (402) via the first-stage synchronous belt (401). The sensor fixing flange (402) is connected to one end of the torque sensor (403), and the other end of the torque sensor (403) is connected to a driving wheel (407), and the driving wheel (407) is connected to another driving wheel (407) through a second-stage synchronous belt (409); two passive wheels (408) are provided on the clamping mechanism (410), and the two passive wheels (408) respectively cooperate with the two driving wheels (407) to achieve the clamping and transportation of the flexible endoscope (450).

6. The flexible endoscope manipulation robot according to claim 5, characterized in that: The clamping mechanism (410) includes a motor II (405), a rack (411), a gear (412), a movable plate (413) and a linear slider (414), wherein the movable plate (413) is connected to the conveying unit frame via the linear slider (414); the rack (411) is arranged on the movable plate (413) and is parallel to the linear slider (414); the motor II (405) is arranged on the conveying unit frame, and its output end is connected to the gear (412), and the gear (412) is meshed with the rack (411); the two passive wheels (408) are rotatably arranged on the movable plate (413).

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