Digestive endoscopy robot

Abstract

A digestive endoscope robot relates to a robot. The present invention aims to solve the problems that when existing doctors use digestive endoscopes to perform surgery on patients, it is difficult to accurately control the movement of the endoscope and the possibility of being contaminated by the patient's secretions, vomit or excrement, and that long-term standing and holding the endoscope will cause the doctor to be easily fatigued, thereby affecting the quality of inspection or treatment. The endoscope body of the present invention is detachably mounted on an endoscope body pushing device; the robotic arm system includes a conveying device, a rotating mechanism, an adjustable robotic arm and a base, the adjustable robotic arm is mounted on the base, and the conveying device and the rotating mechanism are respectively mounted on both sides of the end of the adjustable robotic arm; the adjustable robotic arm is an "S"-shaped special-shaped arm, and the upper part of the special-shaped arm extends obliquely to the upper right, the endoscope body pushing device and the endoscope body are mounted on the adjustable robotic arm, and the endoscope body pushing device and the endoscope body are located on the same side of the adjustable robotic arm. The present invention is used in human digestive system surgery.

Description

Technical Field

[0001] The present invention relates to a surgical robot, in particular to a digestive endoscope robot, which completes endoscopic surgery by adopting a remote platform or remote control method, and belongs to the field of medical equipment. Background Art

[0002] Traditional diagnosis and treatment operations require medical staff to stand on the patient's side and hold the endoscope. During the operation, the doctor holds the endoscope handle with his left hand and adjusts the large (to adjust the endoscope end to bend upward and downward) and small (to adjust the endoscope end to bend left and right) knobs to control the bending direction and angle of the front end of the endoscope to control the direction of travel of the endoscope. At the same time, the right hand is needed to hold the endoscope body to control the forward and backward movement of the endoscope and assist in axial rotation, so that the endoscopic operation can be completed accurately and smoothly. Being able to adjust the large and small knobs at the same time is very important for accurately controlling the movement of the endoscope and completing smooth and accurate inspections or treatments, but most doctors find it difficult to do so. In addition, the doctor needs to stand in front of the patient, and there is a possibility of contamination by the patient's secretions, vomitus or excrement. At the same time, standing for a long time holding the endoscope will cause the doctor to be easily fatigued, affecting the quality of the inspection or treatment.

[0003] In summary, when existing doctors use digestive endoscopes to perform surgery on patients, it is difficult to accurately control the movement of the endoscope and there is a possibility of contamination by the patient's secretions, vomit or excrement. In addition, standing for a long time holding the endoscope will cause the doctor to easily fatigue, which in turn affects the quality of examination or treatment. Summary of the invention

[0004] The purpose of the present invention is to solve the problems that when doctors use digestive endoscopes to perform surgery on patients, it is difficult to accurately control the movement of the endoscope and the possibility of contamination by the patient's secretions, vomitus or excrement, and the doctor is easily fatigued when standing and holding the endoscope for a long time, thereby affecting the quality of examination or treatment. A digestive endoscope robot is provided.

[0005] The technical solution of the present invention is: a digestive endoscopy robot, comprising a robotic arm system, an endoscope body pushing device and an endoscope body, wherein the endoscope body is detachably mounted on the endoscope body pushing device; the robotic arm system comprises a conveying device, a rotating mechanism, an adjustable robotic arm and a base, wherein the adjustable robotic arm is mounted on the base, and the conveying device and the rotating mechanism are respectively mounted on both sides of the end of the adjustable robotic arm; the adjustable robotic arm comprises an "S"-shaped special-shaped arm, and the upper part of the special-shaped arm extends obliquely to the upper right, the endoscope body pushing device and the endoscope body are mounted on the special-shaped arm, and the endoscope body pushing device and the endoscope body are located on the same side of the special-shaped arm.

[0006] Compared with the prior art, the present invention has the following effects:

[0007] 1. The present invention is a complete digestive endoscopy robot system, which can replace human hands to complete endoscopic surgery. The doctor sits in front of the control panel and remotely controls all functions of traditional endoscopy through the control handle (referring to the handle on the main console 7). The doctor is more comfortable and safe, and effectively avoids contamination by the patient's secretions, vomitus or excrement.

[0008] 2. Since the present invention designs a steel wire one drive member and a steel wire two drive member, the steel wire structure of the endoscope handle is directly driven. The two are independent of each other, and the direct drive method avoids the influence of structural backlash on control accuracy. The steel wire one drive member and the steel wire two drive member are driven by motor-driven gears, and the gear transmission accuracy is high, and there is almost no error accumulation after long-term work. Therefore, the present invention can make the operation of the dual knobs completed simultaneously and accurately, and reduce the erroneous operation caused by slight tremors of the doctor. At the same time, the design can realize remote (off-site) remote control operation, thereby making it possible for high-end experts to have instant remote consultations.

[0009] 3. The present invention can complete all the actions of traditional endoscopes (referring to 1. controlling the endoscope head to rotate freely in different directions (the endoscope can be bent upward 210 degrees); 2. controlling the endoscope body to move forward or backward; 3. controlling the endoscope body to complete a 360-degree rotation and other series of actions, thereby easily, effectively and accurately completing endoscopic inspection or treatment work.), and at the same time can avoid the risk of contamination in near-table endoscope operation and the fatigue caused by long-term standing and manual operation that causes the quality of endoscope operation to decline, and through the design of mechanisms such as motors, high-precision and high-comfort far-table and remote surgery is achieved.

[0010] The high precision of the present invention lies mainly in two points: the first point is the driving mechanism, which designs a steel wire driving member 1 and a steel wire driving member 2 to directly drive the steel wire structure of the endoscope handle. The two are independent of each other, and the direct drive method avoids the influence of structural backlash on the control accuracy. The steel wire driving member 1 and the steel wire driving member 2 are driven by the motor and the gears, and the gear transmission has high precision, and there is almost no error accumulation after long-term work. The second point is the conveying device, which designs a structure in which a single motor, a forward and reverse rotating screw and a cylinder cooperate. The clamping mirror body is more stable, the screw drive form has high precision, and the movement is coherent.

[0011] In addition, in the conveying device of the present invention, a force sensor is designed at the position of the lead screw nut in the cylinder, which can sense the resistance encountered when conveying the mirror body and provide real-time feedback to the operator. The position of the force sensor is reasonably designed, making the resistance detection more accurate and less interfering. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is an axonometric view of the endoscope body of the present invention when it is not mounted on the robot arm system 6; Figure 2 is an axonometric view of the endoscope body of the present invention mounted on the robot arm system 6; Figure 3is a schematic diagram of the structure of the robot arm system 6; Figure 4 is a schematic structural diagram of a conveying device 1; Figure 5 is a schematic diagram of the structure of the fixed housing 10; Figure 6 It is a structural schematic diagram of the rotary mechanism 11; Figure 7 It is a structural schematic diagram of the transmission mode 1 of the feeding mechanism 12; Figure 8 It is a structural schematic diagram of the transmission mode 2 of the feeding mechanism 12; Fig. 9 It is a structural schematic diagram of the transmission mode 3 of the feeding mechanism 12; Fig.10 is a schematic structural diagram of the rotating device 2; Fig.11 is a schematic diagram of the structure of the adjustable mechanical arm 3; Fig.12 is a cross-sectional view of the connecting seat 31; Fig.13 It is a schematic structural diagram of the special-shaped arm 35; Fig.14 is a schematic diagram of the structure of the base 4; Fig.15 is a schematic structural diagram of an endoscope body 5; Fig.16 is a schematic structural diagram of the driving mechanism housing 21; Fig.17 is a schematic structural diagram of the driving mechanism 22; Fig.18 It is a structural schematic diagram of the main console 7. Fig.19 It is a cross-sectional view of the drive component. DETAILED DESCRIPTION

[0013] The technical solution of the present invention is not limited to the specific implementation modes listed below, but also includes any reasonable combination of the specific implementation modes.

[0014] Specific implementation method 1: Combination Figures 1 to 18 The present embodiment is described, and the present embodiment includes a robotic arm system 6, an endoscope body pushing device and an endoscope body 5. The endoscope body 5 can be detachably mounted on the endoscope body pushing device to facilitate disinfection and avoid secondary contamination; the robotic arm system 6 includes a conveying device 1, a rotating mechanism 2, an adjustable robotic arm 3 and a base 4. The adjustable robotic arm 3 is mounted on the base 4, and the conveying device 1 and the rotating mechanism 2 are respectively mounted on both sides of the end of the adjustable robotic arm 3; the adjustable robotic arm 3 includes an "S"-shaped special-shaped arm 35, and the upper part of the special-shaped arm 35 is inclined and extends to the upper right, and its role is to make the center of gravity of the special-shaped arm 35 with the endoscope body pushing device and the endoscope body 5 installed coincide with the center of the rotating shaft connected to it in the vertical direction, so as to facilitate the overall adjustment of the special-shaped arm 35. The endoscope body pushing device and the endoscope body 5 are installed on the special-shaped arm 35, and the endoscope body pushing device and the endoscope body 5 are located on the same side of the special-shaped arm 35, so that the endoscope body pushing device and the endoscope body 5 are easy to locate and synchronize with each other, and the relative position is fixed, and no position error will occur when the robotic arm moves.

[0015] Before using this embodiment, the invention is easy to prepare for surgery. All parts in contact with the endoscope body are disposable, which is convenient to disinfect and has high safety. The robot endoscope body is disinfected as a whole. After disinfection, the whole body is connected to the robot arm system 6 and connected to the external endoscope host. The endoscope body is placed in the conveying device 1 and passed through the endoscope body. Figure 7 Put the front buckle 1207 and the rear buckle 1208 into Figure 7 of the whole.

[0016] The digestive endoscopy robot of this embodiment can be adjusted in any direction and angle through the robotic arm system 6, the endoscope body 5 can be driven to rotate to a desired angle through the rotating device, the endoscope body 5 can be driven to move toward the patient through the special-shaped arm 35, and the endoscope of the endoscope body 5 can be smoothly and continuously delivered in / out through the conveying device 1, and the rotation of the endoscope body around its own axis can be realized at the same time.

[0017] The conveying device 1 of this embodiment smoothly and continuously advances / retracts the endoscope of the endoscope body 5 and is synchronized with the special-shaped arm 35 driving the endoscope body 5 to move toward the patient. The conveying device 1 can realize the rotation of the body around its own axis and is synchronized with the rotation device of the robotic arm system 6 driving the endoscope body 5 to rotate.

[0018] Specific implementation method 2: Combination Figure 4 This embodiment is described. The endoscope body pushing device of this embodiment includes a fixed shell 10 and a feeding mechanism 12. The feeding mechanism 12 is installed in the fixed shell 10. The feeding mechanism 12 includes a feeding motor 1212, a transmission mechanism and two clamping and moving mechanisms. The two clamping and moving mechanisms are driven by the transmission mechanism driven by the feeding motor 1212, and move in opposite directions respectively. When one clamping and moving mechanism is in a clamping state, the other clamping and moving mechanism is in a loose state. The continuous feeding of the endoscope is achieved by the coordinated cooperation of the two clamping and moving mechanisms, and the whole pushing process is smooth. Other components and connection relationships are the same as those of the specific embodiment 1.

[0019] Specific implementation method three: Combination Figure 7 This embodiment is described. The clamping and moving mechanism of this embodiment includes a horizontal moving bracket 1219, a cylinder 1220 and a cylinder clamp 1221. The cylinder 1220 and the cylinder clamp 1221 are installed on the horizontal moving bracket 1219. The cylinder 1220 controls the opening and closing of the cylinder clamp 1221 by ventilation and deflation. The cylinder clamp 1221 is used to clamp the endoscope body. The horizontal moving bracket 1219 is connected to the transmission mechanism to achieve horizontal movement relative to the fixed housing 10. In this way, the cylinder clamp can be quickly opened and closed under the drive of the cylinder, and then pushed by the horizontal moving bracket, which is flexible and reliable to operate. Other components and connection relationships are the same as those of the first or second specific embodiments.

[0020] Specific implementation method four: Combination Figure 7 To explain this embodiment, the transmission mechanism of this embodiment includes a driving gear 1213 connected to the feeding motor 1212, a driven gear 1214 meshing with the driving gear 1213, and two screw rods 1215 coaxially fixedly connected to the driven gear 1214 and having opposite rotation directions. A screw nut 1217 fixedly connected to the horizontal moving bracket 1219 is rotatably mounted on each of the two screw rods 1215; the feeding motor 1212 drives the two screw rods 1215 to rotate in the same direction, driving the two screw nuts 1217 on the two screw rods 1215 to move in opposite directions, thereby driving the horizontal moving bracket 1219 to move in opposite directions. In this way, the transmission mode 1 uses two screw rods with opposite rotation directions, which can effectively improve the transmission efficiency. Only one motor is needed to realize the relative movement of the two horizontal moving brackets 1219, which greatly saves the occupied space and manufacturing cost of the device. Moreover, since only one motor is used, there is no need to face the problems of complex synchronous control. At the same time, the driven gear 1214 drives the screw rod 1215 to rotate, the screw rod 1215 drives the screw nut 1217 to move linearly, and finally the screw nut 1217 drives the horizontal moving bracket 1219 to move, and the entire transmission process has high precision. Other components and connection relationships are the same as any one of the specific implementation methods one to three.

[0021] Specific implementation method five: Combination Figure 8To illustrate this embodiment, the transmission mechanism of this embodiment includes two driving gears 1213 respectively connected to the two feeding motors 1212, a driven gear 1214 respectively meshing with the two driving gears 1213, and two screw rods 1215 coaxially fixedly connected to the two driven gears 1214, the two screw rods 1215 are located in a straight line and two bearings that do not interfere with each other are connected at the joint, and a screw nut 1217 fixedly connected to the horizontal moving bracket 1219 is rotatably installed on the two screw rods 1215; the two feeding motors 1212 respectively drive the two screw rods 1215 to rotate, driving the two screw nuts 1217 on the two screw rods 1215 to move in opposite directions, thereby driving the horizontal moving bracket 1219 to move in opposite directions. The two sections of the screw rod 1215 of this embodiment have the same or opposite rotation directions; when the rotation directions are the same, the driving directions of the two feeding motors 1212 are opposite at the same time; when the rotation directions are opposite, the driving directions of the two feeding motors 1212 are the same at the same time. With such a configuration, as the second transmission mode, this embodiment connects two non-interfering bearings at the joint of the two sections of the screw rod 1215, so that the two sections of the screw rod 1215 are driven independently. Compared with the first transmission mode, the requirements for the feeding motor 1212 are reduced, and the structure of this embodiment is simple, and the transmission is more stable and flexible. The other components and connection relationships are the same as any one of the specific embodiments one to four.

[0022] Specific implementation method six: Combination Figure 8 To explain this embodiment, the transmission mechanism of this embodiment further includes a guide rod 1205 and a guide rail 1211, both of which are fixed in the fixed housing 10, and are used to provide support and movement guidance for the horizontal moving bracket 1219, and a nut mounting frame 1216 is mounted on the guide rod 1205, and a screw nut 1217 is fixedly mounted on the nut mounting frame 1216, and the horizontal moving bracket 1219 is relatively fixed to the nut mounting frame 1216 and slidably mounted on the guide rail 1211. Such an arrangement facilitates the stability of the horizontal movement of the endoscope. Other components and connection relationships are the same as any one of the specific embodiments 1 to 5.

[0023] Specific implementation method seven: Combination Fig. 9To explain this embodiment, the transmission mechanism of this embodiment includes two gears 1230 connected to the two feeding motors 1212 respectively, and a rack 1231 arranged horizontally relative to the fixed housing 10 and meshing with the two gears at the same time. The feeding motor 1212 is fixed on the horizontal movable bracket 1219, and the driving gear 1230 rotates to drive the horizontal movable bracket 1219 to translate relative to the rack 1231. With such a configuration, the transmission method of the nut screw pair is omitted in the transmission scheme three, and the gear rack transmission method is directly adopted, which has a simple structure and high linear motion accuracy. The other components and connection relationships are the same as any one of the specific embodiments one to six.

[0024] Specific implementation method eight: Combination Figure 7 To explain this embodiment, the transmission mechanism of this embodiment further includes a guide rod 1205 and a guide rail 1211, both of which are fixed in the fixed housing 10, and are used to provide support and movement guidance for the horizontal moving bracket 1219, the guide rod 1205 is provided with a motor mounting bracket 1216, the feeding motor 1212 is fixedly mounted on the motor mounting bracket 1216, the horizontal moving bracket 1219 is relatively fixed to the motor mounting bracket 1216 and slidably mounted on the guide rail 1211, and the rack 1231 is fixedly mounted on the side of the guide rail 1211 close to the feeding motor 1212. With such a configuration, the structure is compact, and the other components and connection relationships are the same as any one of the specific embodiments 1 to 7.

[0025] Specific implementation method nine: Combination Figure 7 To explain this embodiment, a U-shaped groove 1232 is provided in the guide rail 1211 of this embodiment, and a sliding shaft 1233 whose size matches the U-shaped groove 1232 is installed on the horizontal movable bracket 1219, and the sliding shaft 1233 is assembled in the U-shaped groove 1232. Such an arrangement makes the movement of the horizontal movable bracket 1219 smoother and more stable, thereby ensuring the comfort of the patient. Other components and connection relationships are the same as any of the above-mentioned specific embodiments.

[0026] Specific implementation method ten: Combination Figure 4 and Figure 5The present embodiment is described. The endoscope body pushing device 1 of the present embodiment comprises a fixed housing 10, a rotating mechanism 11 and a feeding mechanism 12. The feeding mechanism 12 is installed in the fixed housing 10, and the rotating mechanism 11 is installed outside the fixed housing 10. The rotating mechanism 11 drives the feeding mechanism 12 to rotate around its own axis on the fixed housing 10. The fixed housing 10 comprises an arc housing 1001, a flat housing 1002, a front end bushing 1003, a rear end bushing 1004 and a rotating photoelectric switch 1005. The flat housing 1002 is installed at the side end of the arc housing 1001 and forms an integral body. The front end bushing 1003 is fixedly installed at the front end of the arc housing 1001, the rear end bushing 1004 is fixed on the flat housing 1002, and the rotating photoelectric switch 1005 is fixedly installed on the flat housing 1002, and the rotating photoelectric switch 1005 is located on the left and right sides of the rear end bushing 1004. Other components and connection relationships are the same as any of the above-mentioned specific embodiments.

[0027] This embodiment realizes the functions of clamping the endoscope forward and backward and rotating around the axis through the cooperation of the driving assembly with the clamping moving mechanism and the rotating mechanism 2. The feeding mechanism driving assembly adopts a customized screw to ensure that the feeding process is continuous, stable and uninterrupted. The body of the robot endoscope is installed on the rotating mechanism 2, so that the body can be adjusted in any direction and angle. The special-shaped arm 35 drives the body of the robot endoscope to move toward the patient. The endoscope of the body is smoothly and continuously fed into / retracted into the body through the endoscope body pushing device 1, and the body can be rotated around its own axis.

[0028] The endoscope body pushing device 1 smoothly and continuously pushes the endoscope of the endoscope body 5 in / out and is synchronized with the special-shaped arm 35 driving the endoscope body 5 to move toward the patient. The endoscope body pushing device 1 can realize the rotation of the body around its own axis and drive the robot endoscope body to rotate synchronously.

[0029] Combination Figures 7 to 9The feeding mechanism 12 includes a front baffle 1201, an arc plate 1202, a rear baffle 1203, a guide rod 1205, a large gear 1206, a front buckle 1207, a rear buckle 1208, a front photoelectric switch 1209, a rear photoelectric switch 1210, a guide rail 1211, a feeding motor 1212, a clamping and moving mechanism, a force sensor 1218, a horizontal moving bracket 1219, a cylinder 1220, a cylinder clamp 1221, a slider 1222, a photoelectric trigger plate 1223, and a symmetrical clamping and moving mechanism. The front baffle plate 1201 and the rear baffle plate 1203 are respectively mounted on the two ends of the opening side of the arc plate 1202, the front and rear ends of the guide rod 1205 are respectively connected to the front baffle plate 1201 and the rear baffle plate 1203, the large gear 1206 is mounted on the outer wall of the rear baffle plate 1203, the photoelectric triggering arc surface 1225 is mounted on the rear baffle plate 1203, and the photoelectric triggering arc surface 1225 is located below the large gear 1206, and the front buckle 1207 and the rear buckle 1208 are respectively The front baffle 1201 and the large gear 1206 are installed, the horizontal moving bracket 1219 is installed in the arc plate 1202, the cylinder 1220 is installed on the horizontal moving bracket 1219, the front photoelectric switch 1209 and the rear photoelectric switch 1210 are installed horizontally on the cylinder 1220 from front to back, the clamping moving mechanism is installed in the arc plate 1202, and the clamping moving mechanism moves horizontally along the guide rod 1205, the front end of the force sensor 1218 is installed in the front part of the clamping moving mechanism, and the rear part of the force sensor 1218 is installed in the front part of the clamping moving mechanism. The end is mounted on the left protrusion of the horizontal moving bracket 1219, the cylinder clamp 1221 is mounted on the cylinder 1220, the slider 1222 is mounted on the horizontal moving bracket 1219, and the slider 1222 is slidably matched with the guide rail 1211, the photoelectric trigger plate 1223 is mounted on the right side of the horizontal moving bracket 1219, and is used to trigger the front photoelectric switch 1209 and the rear photoelectric switch 1210 during the linear movement of the cylinder 1220, and the symmetrical clamping and moving mechanism 1224 is mounted on the inner wall of the rear baffle 1203. The force sensor is installed between the motor drive and the clamping mirror body device. During the overall forward or backward movement, it can sense pressure or tension and can provide real-time resistance feedback to the doctor.

[0030] During the rotation, one of the cylinder clamping jaws 1221 or the clamping jaws of the symmetrical clamping moving mechanism 1224 must clamp the mirror body, thereby driving the mirror body to rotate around its own axis. During the clockwise rotation, when the rotation angle exceeds 90 degrees, the photoelectric trigger arc surface 1225 will trigger the left switch of the rotating photoelectric switch 1005, and the controller will send a signal to reverse the rotating motor 1101. During the counterclockwise rotation, when the photoelectric trigger arc surface 1225 triggers the right switch of the rotating photoelectric switch 1005, the controller will send a signal to reverse the rotating motor 1101 again, and so on and so forth, achieving the purpose of rotation reversal and protection.

[0031] When the feed motor 1212 rotates, the driven gear 1214 rotates together with the lead screw 1215, and the lead screw 1215 is designed to rotate rightward in the first half and leftward in the second half. When the feed motor 1212 rotates forward, the lead screw 1215 rotates, and the lead screw nut 1217 fixed on the nut mounting bracket 1216 moves from front to back, thereby pushing the force sensor 1218 to move from front to back, and the force sensor 1218 generates an electrical signal. The force sensor 1218 then pushes the horizontal moving bracket 1219 to drive the cylinder 1220 and its related components to move from front to back, and at the same time, the symmetrical clamping moving mechanism 1224 moves from back to front. The force sensor 1218 is subjected to pressure during the movement from front to back, and the force sensor of the symmetrical clamping moving mechanism 1224 is subjected to tension. When moving from back to front, the pressure and tension are reversed. In this way, the force sensing function when pushing forward and pulling backward is realized.

[0032] When both structures reach the middle position, the feeding motor 1212 rotates in the opposite direction, driving the cylinder 1220 and its related components to move from the back to the front, and at the same time, the symmetrical clamping moving mechanism 1224 moves from the front to the back. The moving position limit of the cylinder 1220 is sensed by the front photoelectric switch 1209 and the rear photoelectric switch 1210. When the cylinder 1220 moves to the front end, the photoelectric trigger board 1223 triggers the front photoelectric switch 1209 and sends a signal to the control system to reverse the feeding motor 1212. When the cylinder 1220 moves to the rear end, the photoelectric trigger board 1223 triggers the rear photoelectric switch 1210 and continues to send signals to the control system. In this way, the symmetrical movement of the cylinder 1220 and its related components and the symmetrical clamping moving mechanism 1224 is achieved, and the forward and backward movements occur simultaneously.

[0033] Combination Fig.10 The rotating mechanism 2 includes a housing 2001, a rotating motor mounting frame 2002, a rotating motor 2003, a rotating coupling 2004, a rotating encoder 2005 and a small bevel gear 2006. The rotating motor mounting frame 2002 is mounted in the housing 2001, the rotating motor 2003 is mounted on the rotating motor mounting frame 2002 in the housing 2001, the rotating encoder 2005 is connected to the output shaft of the rotating motor 2003 through the rotating coupling 2004, and the small bevel gear 2006 is connected to the rotating coupling 2004. It is convenient to measure the rotation angle of the endoscope.

[0034] Combination Fig.11It is explained that the adjustable mechanical arm 3 includes a connecting seat 31, a first passive arm 32, a second passive arm 33, a button 34 and a special-shaped arm 35; the connecting seat 31 is vertically slidably mounted on the base 4, one end of the first passive arm 32 is horizontally rotatably mounted on the connecting seat 31, one end of the second passive arm 33 is horizontally rotatably mounted on the other end of the first passive arm 32, the special-shaped arm 35 is rotatably mounted on the other end of the second passive arm 33, and the button 34 is mounted on the special-shaped arm 35. It is convenient to provide multi-degree-of-freedom displacement for the robot endoscope.

[0035] Combination Fig.12 The connection base 31 includes a base lower cover 3101, a stator fixing base 3102, a brake stator 3103, a brake rotor 3104, a rotor connector 3105, a hollow shaft 3106, a base shell 3107, a lower bearing 3108 and an upper bearing 3109. The base lower cover 3101 is mounted on the lower end surface of the base shell 3107, the stator fixing base 3102 is mounted on the base lower cover 3101, the brake stator 3103 is mounted on the stator fixing base 3102, the brake rotor 3104 is mounted on the brake stator 3103, the hollow shaft 3106 is connected to the brake rotor 3104 through the rotor connector 3105, and the lower bearing 3108 and the upper bearing 3109 are installed between the hollow shaft 3106 and the inner side wall of the base shell 3107. It is convenient to connect with the base 4.

[0036] Combination Fig.12 It is explained that the first passive arm 32 includes a passive arm housing 3201 and a passive arm upper cover 3202, the passive arm housing 3201 is mounted on the base housing 3107, the passive arm upper cover 3202 is mounted on the passive arm housing 3201, and the passive arm housing 3201 and the passive arm upper cover 3202 rotate with the rotation of the hollow shaft 3106. It is convenient to realize up and down movement under the drive of the connecting seat 31, and can also realize rotation.

[0037] Combination Fig.13Description, the special-shaped arm 35 of this embodiment includes a left shell 3501, a right shell 3502, an end seat 3503, a cloth retaining roller 3504, a screw support side 3505, a long screw 3506, a screw fixing side 3507, a screw coupling 3508, a long screw motor 3509, a slide rail fixing frame 3510, a long slide rail 3511, a long slider 3512, a nut connector 3513, a clamp 3514 and a long screw nut 3515; the left shell 3501 and the right shell 3502 are connected in sequence from left to right and tilted to the upper right, the end seat 3503 is installed on the left shell 3501, the cloth retaining roller 3504 is respectively installed at the four corners in the right shell 3502, and the long The two ends of the lead screw 3506 are respectively installed in the right housing 3502 through the lead screw fixing side 3507 and the lead screw supporting side 3505, the long lead screw motor 3509 is installed in the right housing 3502 and connected to the long lead screw 3506 through the lead screw coupling 3508, the long lead screw nut 3515 is installed on the long lead screw 3506 through the nut connector 3513, the clamp 3514 is installed on the nut connector 3513, the long slide rail 3511 is installed on the right housing 3502 through the slide rail fixing frame 3510 and is located on one side of the long lead screw 3506, the long slider 3512 is slidably installed on the long slide rail 3511, and the nut connector 3513 and the long slide rail 3511 are slidably matched. It is convenient to provide the mirror body with power to move to the lower left and upper right.

[0038] Combination Fig.14 It is explained that the base 4 of this embodiment includes a base 41, a column 42, an electrical cabinet 43, a module motor 44 and a linear module 45. The column 42 is installed on the base 41, the electrical cabinet 43 is installed inside the column 42, and the electrical cabinet 43 is located at the lower part of the column 42. The linear module 45 is vertically installed on the upper part of the column 42, the module motor 44 is installed at the lower end of the linear module 45, and the output shaft of the module motor 44 is connected to the lead screw of the linear module 45, and the slider of the linear module 45 is connected to the connecting seat 31. The base 41 can facilitate the pushing device to be moved to the desired position according to actual needs, and at the same time, the linear module 45 can provide accurate vertical displacement for the mirror body.

[0039] Combination Figures 1 to 14 The working principle of the endoscope body pushing device 1 is described below:

[0040] In a specific operation, considering the problem of disinfection, the front buckle 1207, the rear buckle 1208, and the cylinder clamp 1221 need to contact the mirror body and are designed as disposable parts. The front buckle 1207 and the rear buckle 1208 are used to ensure that the mirror body can achieve linear motion even if it is flexible, and the cylinder clamp is used to clamp the endoscope and move it forward or backward. The places in contact with the mirror body are designed as disposable parts to ensure safety.

[0041] Before the operation, the center holes of the rear end buckle 1208 and the front end buckle 1207 are passed through the endoscope to be used in sequence, and the distance is adjusted. At the same time, the control system sends instructions to the front and rear cylinders, and the cylinder clamps are loosened. At this time, the front end buckle 1207 and the rear end buckle 1208 that cover the endoscope are inserted into the front baffle 1201 and the large gear 1206, and then the control system sends instructions to the cylinder clamps of the symmetrical clamping moving mechanism 1224 to clamp the endoscope, and the preoperative preparation work is completed. The present invention is convenient for preoperative preparation, and the places that contact the endoscope body are all disposable parts, which are convenient for disinfection.

[0042] During the operation, the feeding motor 1212 first rotates forward, the cylinder clamping claw of the symmetrical clamping moving mechanism 1224 clamps the endoscope, the cylinder clamping claw 1221 is released, and the symmetrical clamping moving mechanism 1224 moves forward while clamping the endoscope from the back to the front. This action is recorded as state one; when the photoelectric trigger plate 1223 triggers the rear photoelectric switch 1210, the feeding motor 1212 reverses, the cylinder clamping claw of the symmetrical clamping moving mechanism 1224 is released, the cylinder clamping claw 1221 clamps the endoscope, and the cylinder 1220 and its related components move forward while clamping the endoscope from the front to the back. This action is recorded as state two; when the photoelectric trigger plate 1223 triggers the front photoelectric switch 1209, it returns to state one. If it is to retreat, the opening and closing of the clamping claw is reversed, and so on, the endoscope can be fed in or out continuously, and only one motor is used.

[0043] After the operation, all the cylinder clamps are loosened, and the front end buckle 1207, the rear end buckle 1208 and the mirror body are taken out together, and the front end buckle 1207, the rear end buckle 1208 and all the cylinder clamps are directly discarded.

[0044] like Figure 7 As shown, another implementation of the feeding mechanism 12. Figure 5 In contrast, the lead screw is divided into two ends from the middle, one for forward and one for reverse rotation. Each lead screw section is driven by a motor, and the two motors are arranged relatively symmetrically, with mirrored drive structures and staggered drive timing, which can achieve the same Figure 5 The single motor solution has the same control effect.

[0045] like Fig.10 As shown, the rotating mechanism 2 includes a housing 2001, a rotating motor mounting frame 2002, a rotating motor 2003, a rotating coupling 2004, a rotating encoder 2005, and a small bevel gear 2006. The rotating motor mounting frame 2002 is fixed to the housing 2001, and the rotating motor 2003 and the rotating encoder 2005 are fixed to the rotating motor mounting frame 2002. The rotating coupling 2004 connects the rotating motor 2003 and the small bevel gear 2006. The housing 2001 is designed with an arc groove for mechanical limiting. When matched with the endoscope body device, the body device can be driven to rotate around its own axis.

[0046] like Fig.11 As shown, the adjustable mechanical arm 3 includes a small base 31, a first passive arm 32, a second passive arm 33, a button 34, and a special-shaped arm 35. The components are connected in sequence, wherein the small base 31 and the first passive arm 32 can rotate relative to each other at the joint, the first passive arm 32 and the second passive arm 33 can rotate relative to each other at the joint, and the second passive arm 33 and the special-shaped arm 35 can rotate relative to each other at the joint. The button 34 is installed on the upper shell of the special-shaped arm 35.

[0047] like Fig.12 As shown, the small base 31 and the first passive arm 32 include a base lower cover 3101, a stator fixing base 3102, a brake stator 3103, a brake rotor 3104, a rotor connector 3105, a hollow shaft 3106, a base housing 3107, a lower bearing 3108, an upper bearing 3109, a passive arm housing 3201, and a passive arm upper cover 3202. The stator fixing base 3102 is fixed to the brake stator 3103, the brake rotor 3104 is fixed to the rotor connector 3105, and the rotor connector 3105 sequentially fixes the hollow shaft 3106 and the passive arm housing 3201. The other joints of the mechanical arm are similar to this and will not be repeated.

[0048] Pressing button 34 can control the electromagnetic clutch to be energized, and releasing it will de-energize it. When the electromagnetic clutch is energized, the brake rotor 3104 and its upper parts can rotate around the axis. Similarly, the other two joints can also adjust the rotation angle at will. Before the operation, press button 34 to release the electromagnetic clutch, and operate the adjustable mechanical arm 3 to make the endoscope body pushing device 1 in a suitable position on the bed. After releasing button 34, the clutch is locked, all joints cannot rotate, and the robot as a whole remains stable.

[0049] like Fig.13As shown, the special-shaped arm 35 includes a left housing 3501, a right housing 3502, an end seat 3503, a cloth-blocking roller 3504, a screw support side 3505, a long screw 3506, a screw fixing side 3507, a screw coupling 3508, a long screw motor 3509, a slide rail fixing frame 3510, a long slide rail 3511, a long slider 3512, a nut connector 3513, a clamp 3514, and a long screw nut 3515. The end seat 3503 is fixed between the left housing 3501 and the right housing 3502, and the three constitute an integral large arm, and the remaining components are all installed in the right housing 3502. The cloth-blocking rollers 3504 are respectively arranged at the four corners of the right housing 3502, and are used to support the cloth and make it slide smoothly. The left and right ends of the long lead screw 3506 are respectively mounted on the lead screw support side 3505 and the lead screw fixed side 3507. The right side is connected to the long lead screw motor 3509 through the lead screw coupling 3508. The long lead screw nut 3515 can rotate on the lead screw. The long slide rail 3511 is mounted on the slide rail fixing frame 3510, parallel to the long lead screw 3506. The long slider 3512 and the clamp 3514 can slide along the long slide rail 3511. The nut connector 3513 connects the long lead screw nut 3515 and the clamp 3514 at the same time.

[0050] When the lead screw motor 3509 rotates, the lead screw 3506 is driven to rotate, so that the lead screw nut 3515 drives the clamp 3514 to achieve translational motion through the nut connector 3513, and the long slider 3512 and the clamp 3514 are fixed to the rotating device 2. Therefore, the lead screw motor 3509 rotates to drive the rotating device 2 to move forward and backward as a whole. As the endoscope body pushing device 1 moves the endoscope body forward or backward, the rotating device 2 keeps moving forward or backward synchronously to ensure the stability of the feeding.

[0051] like Fig.14 As shown, the base 4 includes a base 41, a column 42, an electrical cabinet 43, a module motor 44, and a linear module 45. The module motor 44 is connected to the lead screw of the linear module 45, and the slider of the linear module 45 is fixed to the small base 31.

[0052] Pressing the two buttons on the right side of the button 34 can control the forward and reverse rotation of the module motor 44. When the module motor 44 rotates forward, the linear module 45 drives the entire adjustable robot arm 3 and the endoscope body pushing device 1 and the rotating device 2 to translate upward, and similarly translate downward when reversed. In conjunction with the button on the left side of the button 34, it is used for preoperative robot positioning.

[0053] Specific implementation method eleven: Combination Fig.15This embodiment is described, and includes a driving mechanism housing 21, a driving mechanism 22 and an endoscope handle 23. The endoscope handle 23 is installed in the driving mechanism housing 21, and the driving mechanism 22 is installed in the driving mechanism housing 21 and is located at the lower end of the endoscope handle 23. The driving mechanism 22 controls the bending angle of the end of the endoscope handle 23 by driving the rotation of the steel wire in the endoscope handle 23. Other components and connection relationships are the same as any of the above-mentioned specific embodiments.

[0054] Before use, the present invention is easy to prepare for surgery, and the parts in contact with the endoscope are all disposable parts, which are easy to disinfect and have high safety. The robot endoscope body is disinfected as a whole, and after disinfection, the whole body is connected to the robot arm system 6, connected to the external endoscope host, and the endoscope body is placed in the conveying device before surgery.

[0055] The digestive endoscope robot of this embodiment can be adjusted in any direction and angle through the robotic arm system 6, and can drive the robot endoscope body 5 to rotate to the desired angle through the rotating device, and can drive the robot endoscope body 5 to move toward the patient through the special-shaped arm 35. The endoscope of the robot endoscope body 5 can be smoothly and continuously delivered in / out of the scope body through the conveying device 1, and the scope body can be rotated around its own axis at the same time.

[0056] The conveying device 1 of this embodiment smoothly and continuously advances / retracts the endoscope of the robot endoscope body 5, and is synchronized with the special-shaped arm 35 driving the robot endoscope body 5 to move toward the patient. The conveying device 1 can realize the rotation of the endoscope body around its own axis, and is synchronized with the rotation device of the robotic arm system 6 driving the robot endoscope body 5 to rotate.

[0057] Specific implementation method 12: Combination Fig.16 The present embodiment is described. The drive mechanism housing 21 of the present embodiment comprises an upper enclosure housing 2101, a lower enclosure housing 2102, a ferrule 2103, a bevel gear shaft 2104, a large bevel gear 2105 and a shaft end nut 2106. The upper enclosure housing 2101 is mounted on the lower enclosure housing 2102. The ferrule 2103 is mounted on one end face of the upper enclosure housing 2101 in the width direction and one end face of the upper enclosure housing 2101 in the length direction. The bevel gear shaft 2104 is mounted on the other end face of the upper enclosure housing 2101 in the width direction. The large bevel gear 2105 is mounted and sleeved on the bevel gear shaft 2104. The shaft end nut 2106 is mounted on the end of the bevel gear shaft 2104. With such a configuration, the small bevel gear 2006 of the rotating device 2 is meshed with the large bevel gear 2105 of the drive mechanism housing 21, and the drive mechanism housing 21 can be driven to rotate around its own axis in the rotating device 2. Other components and connection relationships are the same as any of the above-mentioned specific embodiments.

[0058] Specific implementation method 13: Combination Fig.15This embodiment is described. The driving mechanism 22 of this embodiment includes a first driving unit and a second driving unit. The first driving unit and the second driving unit respectively drive a steel wire in the endoscope handle 23 and drive the corresponding steel wire to scale. In this way, the driving accuracy is guaranteed by driving the two steel wires separately. The other components and connection relationships are the same as any of the above-mentioned specific embodiments.

[0059] In the prior art with announcement number CN103767659A, the angle control of the endoscope is achieved by driving the rotation of the steel wire through the dial wheel of the driving handle. However, the driving mechanism of this embodiment can directly drive the steel wire to move, omitting the dial wheel in the prior art, thereby driving the front end of the mirror body to bend in all directions, which is flexible to use. Moreover, this embodiment also adopts a stacked multi-layer gear structure, which is more stable, has high precision and saves space, and avoids the problems of reduced precision caused by wear of the belt drive. In addition, the steel wire drive part is directly inserted into the steel wire buckle of the endoscope handle, which simplifies the structure, improves the driving precision, and makes it easier to install the handle.

[0060] The steel wire one motor of this embodiment drives the steel wire one small gear to rotate, the steel wire one small gear meshes with the steel wire one large gear for transmission, the steel wire one large gear drives the steel wire one driving member to rotate through the buckle, and the steel wire one driving member directly drives the steel wire inside the endoscope handle to rotate. Because the steel wire is directly driven for transmission, the influence of the structural backlash on the transmission accuracy is avoided. And the structure is simple, and the handle is easy to install. The drive of the steel wire two of the above structure is similar, the steel wire one large gear and the steel wire two large gear, the steel wire one driving member and the steel wire two driving member are directly matched with bearings, and each rotates independently. The installation method is stacked installation, and the structure is stable and accurate. The gear transmission itself has very small errors, and the accuracy will not decrease after long-term operation.

[0061] Specific implementation method 14: Combination Fig.17 To illustrate this embodiment, the first driving unit of this embodiment includes a steel wire-motor 2201, a steel wire-motor mounting frame 2202, a steel wire-pinion gear 2203, a steel wire-encoder 2204, a steel wire-large gear 2205, a large gear surrounding frame 2211, a steel wire-bearing 2212 and a steel wire-driving member 2213.

[0062] The steel wire-motor mounting frame 2202 is mounted in the driving mechanism housing 21, the steel wire-motor 2201 is mounted on the steel wire-motor mounting frame 2202, the steel wire-pinion gear 2203 is connected to the output shaft of the steel wire-motor 2201, and the steel wire-encoder 2204 is mounted at the lower end of the steel wire-pinion gear 2203 to detect the angle of rotation of the steel wire-pinion gear 2203;

[0063] A large gear 2205 of steel wire is rotatably mounted in the driving mechanism housing 21, and the large gear 2205 of steel wire is meshed with a small gear 2203 of steel wire, a driving member 2213 of steel wire is mounted on the upper end surface of the large gear 2205 of steel wire, a large gear surrounding frame 2211 is rotatably mounted on the driving member 2213 of steel wire through a bearing 2212 of steel wire, and the upper end of the driving member 2213 of steel wire is clamped on a steel wire in the endoscope handle 23, wherein the upper part of the large gear 2205 of steel wire is fixedly connected with the lower outer side wall of the driving member 2213 of steel wire, and the large gear 2205 of steel wire drives the driving member 2213 to rotate synchronously. In this way, the meshing mode of the gear is adopted to transmit power to the steel wire, and the angle of rotation of the small gear of the steel wire is accurately measured and fed back at the same time, so as to avoid the problem that the rotation angle of the mirror body is inaccurate due to loss of rotation or poor transmission accuracy, and thus the present embodiment effectively guarantees the zoom accuracy of the steel wire. Other components and connection relationships are the same as any of the above-mentioned specific implementations.

[0064] Specific implementation method 15: Combination Fig.17 The second drive unit of the present embodiment includes a second motor 2206, a second motor mounting frame 2207, a second pinion 2208, a second encoder 2209, a second gear 2210 and a second drive member 2214. The second motor mounting frame 2207 is mounted in the drive mechanism housing 21, the second motor 2206 is mounted on the second motor mounting frame 2207, and the second pinion 2208 is connected to the second motor 2214. 06 is connected to the output shaft, the second large gear 2210 of the steel wire is rotatably installed in the driving mechanism housing 21, the second large gear 2210 of the steel wire is meshed with the second small gear 2208 of the steel wire, the second encoder 2209 is installed at the lower end of the second large gear 2210 of the steel wire, the second driving member 2214 of the steel wire is embedded in the first driving member 2213 of the steel wire and connected to the second large gear 2210 of the steel wire, and the upper end of the second driving member 2214 of the steel wire is clamped on another steel wire in the endoscope handle 23.

[0065] In this way, the second wire encoder 2209 detects the angle of rotation of the second wire gear 2210, which effectively improves the control accuracy of the mirror wire. The other components and connection relationships are the same as any of the above-mentioned specific embodiments.

[0066] Specific implementation method 16: Combination Fig.19 To illustrate this embodiment, the steel wire driving member 2213 of this embodiment is a stepped hollow columnar member, and the uppermost end of the steel wire driving member 2213 is provided with an inner concave slot for connecting the steel wire. The lower end of the steel wire driving member 2213 is provided with two buckles, and the steel wire driving member 2213 is connected to the steel wire large gear 2205 through the two buckles.

[0067] In this way, the steel wire is firmly connected through the slot to ensure that the angle of the steel wire is rotated, and the buckle is used to ensure that the angle of the steel wire driving member 2213 is the angle of the steel wire gear 2205. Other components and connection relationships are the same as any of the above-mentioned specific embodiments.

[0068] Specific implementation method 17: Combination Fig.19 To explain this embodiment, the upper half of the second steel wire driving member 2214 of this embodiment is a stepped hollow columnar member, and the lower half of the second steel wire driving member 2214 is a solid columnar member, which is convenient for ensuring the structural strength of the second steel wire driving member 2214, and the uppermost end of the second steel wire driving member 2214 is provided with a concave card slot for connecting the steel wire. The lowermost end of the second steel wire driving member 2214 is provided with two buckles, and the second steel wire driving member 2214 is connected to the second steel wire gear 2210 through the two buckles, and the uppermost end of the second steel wire driving member is provided with a concave card slot.

[0069] With such arrangement, the buckle can ensure synchronization with the rotation angle of the second large gear 2210 of the steel wire, and the clamping groove is convenient for firmly fixing the steel wire. Other components and connection relationships are the same as any of the above-mentioned specific embodiments.

[0070] Specific implementation method 18: Combination Fig.19 To illustrate this embodiment, the second wire driving member 2214 of this embodiment is a stepped member whose inner diameter is smaller than the inner diameter of the first wire driving member 2213 .

[0071] Such arrangement effectively saves space, has a compact structure, and the driving process is stable and accurate. Other components and connection relationships are the same as any of the above-mentioned specific embodiments.

[0072] Specific implementation method 19: Combination Fig.19 To explain this embodiment, the second drive unit of this embodiment further includes a connecting member 2215 and a rolling body 2216. The first steel wire driving member 2213 is connected to the connecting member 2215 by a screw. The connecting member 2215 and the second steel wire driving member 2214 are coaxially spaced and set, and the second steel wire driving member 2214 and the connecting member 2215 do not interfere with each other and rotate independently. The rolling body 2216 is rollingly installed at the lower connection between the second steel wire driving member 2214 and the connecting member 2215, and the rolling body 2216 is located in the inner pit of the second steel wire driving member 2214. Other components and connection relationships are the same as any of the above-mentioned specific embodiments.

[0073] The first steel wire driving member 2213 and the second steel wire driving member 2214 are coaxially mounted and rotate independently without interfering with each other. Such an arrangement effectively saves space and makes the control more flexible. The other components and connection relationships are the same as any one of the specific implementation modes 1 to 8.

[0074] The reason why the wire-driving member 2213 and the connecting member 2215 are made into separate parts in this embodiment is to overcome the problems of difficulty in processing and difficulty in ensuring processing accuracy when the existing components are made into one piece. The separated components are not only easy to process and manufacture, but also easy to assemble, as well as the inspection and replacement of the connecting member 2215.

[0075] In addition, a rolling body 2216 is provided between the connecting member 2215 and the second driving member 2214 of the steel wire in the present embodiment. The rolling body 2216 can not only make the relative rotation between the connecting member 2215 and the second driving member 2214 smoother, but also ensure the gap between the connecting member 2215 and the second driving member 2214, thereby effectively preventing the wear of components between the connecting member 2215 and the second driving member 2214 due to eccentric rotation, reducing friction, and increasing the service life of the drive unit.

[0076] like Fig.18 As shown, the main console 7 includes a desktop 70, a display 71, a left-hand handle 72, a right-hand handle 73 and a linear motor 74. The right-hand handle 72 is mounted on the linear motor 74. The main console and the robotic arm system are connected by a cable, and the endoscopic surgery is completed by remote control (the operator is not beside the patient but controls the endoscope at a certain distance from the patient through a control console connected to the endoscope by a cable) or remote control (the operator is not beside the patient but controls the endoscope at a longer distance from the patient through a control console connected to the endoscope by radio / network).

[0077] The buttons on the left-hand handle are used to control the water and air supply buttons, suction buttons, fixation, electronic staining, magnification and other functions of the endoscope handle. The advancement and retreat of the right-hand handle are used to control the synchronous advancement and retreat of the endoscope body. The rotation of the right-hand handle itself around the axis can control the endoscope as a whole to achieve synchronous rotation around its own axis. When the force sensor 1218 senses that the resistance is greater than a certain value, the control system controls the linear motor to apply synchronous resistance to the advancement and retreat of the right-hand handle to ensure safety during the operation.

[0078] Working principle of endoscope body 5:

[0079] Combination Figures 15 to 18 It is explained that the robot endoscope body 5 includes a driving mechanism housing 21, a driving mechanism 22 and an endoscope handle 23. The driving mechanism 22 is installed in the driving mechanism housing 21, and the driving mechanism housing 21 is installed on the housing 2001 of the rotating mechanism 2, so as to realize rotation around its own axis.

[0080] The drive mechanism housing 21 includes an upper surrounding housing 2101, a lower surrounding housing 2102, a ferrule 2103, a bevel gear shaft 2104, a large bevel gear 2105 and a shaft end nut 2106. The bevel gear shaft 2104, the ferrule 2103 and the lower surrounding housing 2102 are all fixed to the upper surrounding housing 2101. The large bevel gear 2105 and the shaft end nut 2106 are sequentially mounted on the bevel gear shaft 2104. The drive mechanism housing 21 is matched with the rotating mechanism as a whole, the large bevel gear 2105 is meshed with the small bevel gear 2106, the rotating motor 2003 rotates, and the drive mechanism housing 21 rotates as a whole. The function of the ferrule 2103 is to clamp the endoscope handle. The functions of water supply, gas supply, screenshot, dyeing, etc. are realized by the electrical signals of the endoscope host, and can be controlled remotely or remotely by the doctor.

[0081] The driving mechanism housing 21 is matched with the rotating mechanism as a whole, and a sealing ring is provided between the bevel gear shaft 2106 and the housing 2001 for disinfection and waterproofing. The large bevel gear 2107 is meshed with the small bevel gear 2006, and the rotating motor 2003 rotates, and the driving mechanism housing 21 rotates as a whole. The shaft end nut 2108 ensures the axial limit of the large bevel gear 2107 on the bevel gear shaft 2106, and ensures the meshing reliability.

[0082] The steel wire motor 2201 is installed on the steel wire motor mounting frame 2202, and is connected to the steel wire pinion 2203. The steel wire encoder 2204 is used to detect the angle of the steel wire pinion 2203. The steel wire motor 2206 is installed on the steel wire motor mounting frame 2207, and is connected to the steel wire pinion 2208. The steel wire motor mounting frame 2202 and the steel wire motor mounting frame 2207 are both fixed on the upper enclosure shell 2101, and the installation position adopts an oblong hole design to facilitate the adjustment of the center distance of the gear meshing. The remaining components are installed in sequence from bottom to top, in the order of steel wire encoder 2209, steel wire large gear 2210, steel wire large gear 2205, steel wire large gear bearing 2212, large gear enclosure frame 2211, steel wire drive member 2213, steel wire drive member 2214, and endoscope handle 23. Among them, the small gear 2203 of the steel wire 1 is meshed with the large gear 2205 of the steel wire, and the large gear 2205 of the steel wire 1 is relatively fixed with the driving member 2213 of the steel wire 1 through an internal buckle; the small gear 2208 of the steel wire 2 is meshed with the large gear 2210 of the steel wire 2, and the large gear 2210 of the steel wire 2 is relatively fixed with the driving member 2214 of the steel wire 2 through an internal buckle. When the motor 2201 of the steel wire 1 and the motor 2206 of the steel wire 2 rotate, the driving member 2213 of the steel wire 1 and the driving member 2214 of the steel wire 2 respectively drive the steel wire in the endoscope handle 23 to rotate, which plays a role in controlling the bending of the end. The encoder 2209 of the steel wire 2 is used to detect the angle of rotation of the large gear 2210 of the steel wire 2.

[0083] An arc groove is designed below the large wire gear 2205 and the second large wire gear 2210, and a protrusion is provided at the corresponding position of the lower surrounding shell 2102, which cooperates to achieve mechanical limiting.

[0084] The present invention uses a teleoperation and remote control method to achieve endoscopic operation. Traditional diagnosis and treatment operations require medical staff to stand on the patient's side and hold the endoscope to complete the endoscopic operation. During the operation, the doctor holds the endoscope handle with his left hand and adjusts the large (adjusts the end of the endoscope to bend in the up and down direction) and small (adjusts the end of the endoscope to bend in the left and right direction) knobs to control the bending direction and angle of the front end of the endoscope to control the travel direction of the endoscope; at the same time, the right hand is required to hold the endoscope body to control the forward and backward movement of the endoscope and assist in axial rotation; thereby, the endoscopic operation can be completed accurately and smoothly. Being able to adjust the large and small knobs at the same time is very important for accurately controlling the travel of the endoscope, thereby completing a smooth and accurate examination or treatment, but it is difficult for most doctors to do so, and the doctor needs to stand in front of the patient, and there is a possibility of contamination by the patient's secretions, vomitus or excrement. At the same time, standing for a long time holding the endoscope will cause the doctor to be easily fatigued, affecting the quality of the examination or treatment.

[0085] The main part of the robot endoscope includes the endoscope body system and the endoscope steering control system that is all mechanically controlled (electrically controlled), as well as the suction, air and water supply systems and the original fixation, electronic staining, magnification and other control systems. The endoscope body is connected to the dedicated endoscope host light source system. The robotic arm system includes an endoscope conveying (advance and retreat) device, a rotating control device, and an adjustable robotic arm and base. Before the operation, the doctor can adjust the position of the endoscope conveying device through the manipulable robotic arm to align the endoscope lens end with the patient's oral cavity; the robotic arm system can complete the operations of endoscope delivery, withdrawal, axial rotation, etc., and the doctor can feel the resistance of delivery during the operation; the main control console 7 is connected to the robotic arm system and the main body of the robot endoscope through a cable. The doctor sits in front of the main control console and controls the endoscope through the control handle to complete the following actions: 1. Control the endoscope lens end to rotate freely in different directions (the endoscope can be bent upward 210 degrees); 2. Control the endoscope body to advance or retreat; 3. Control the endoscope body to complete a series of actions such as 360-degree rotation, so as to easily, effectively and accurately complete endoscopic examination or treatment work.

[0086] The present invention makes endoscopic operation safer, more reliable and more accurate, and makes the operating doctor more comfortable and relaxed.

Claims

1. A digestive endoscopy robot, characterized in that: It comprises a mechanical arm system (6), an endoscope body pushing device and an endoscope body (5), wherein the endoscope body (5) is detachably mounted on the endoscope body pushing device; The robot arm system (6) comprises a conveying device (1), a rotating mechanism (2), an adjustable robot arm (3) and a base (4), wherein the adjustable robot arm (3) is mounted on the base (4), and the conveying device (1) and the rotating mechanism (2) are respectively mounted on both sides of the end of the adjustable robot arm (3); the adjustable robot arm (3) comprises an "S"-shaped special-shaped arm (35), and the upper part of the special-shaped arm (35) extends obliquely to the upper right, so that the center of gravity of the special-shaped arm (35) on which the endoscope body pushing device and the endoscope body (5) are installed coincides with the center of the rotating shaft connected thereto in the vertical direction, so as to facilitate the adjustment of the special-shaped arm (35) as a whole; the endoscope body pushing device and the endoscope body (5) are both mounted on the special-shaped arm (35), and the endoscope body pushing device The endoscope body pushing device and the endoscope body (5) are located on the same side of the special-shaped arm (35), so that the endoscope body pushing device and the endoscope body (5) are mutually convenient for positioning and position synchronization, and the relative positions are fixed, so that no position error will be generated when the mechanical arm moves; the endoscope body pushing device comprises a fixed shell (10) and a feeding mechanism (12), the feeding mechanism (12) is installed in the fixed shell (10), and the feeding mechanism (12) comprises a feeding motor (1212), a transmission mechanism and two clamping and moving mechanisms; the two clamping and moving mechanisms are driven by the transmission mechanism driven by the feeding motor (1212) to move in opposite directions respectively, and when one of the clamping and moving mechanisms is in a clamping state, the other of the clamping and moving mechanisms is in a loose state; The endoscope body (5) comprises a drive mechanism housing (21), a drive mechanism (22) and an endoscope handle (23); the endoscope handle (23) is mounted in the drive mechanism housing (21); the drive mechanism (22) is mounted in the drive mechanism housing (21) and is located at the lower end of the endoscope handle (23); The driving mechanism (22) comprises a first driving unit and a second driving unit, the first driving unit and the second driving unit are arranged in an upper and lower double layer and respectively use a gear pair to directly drive a steel wire in the endoscope handle (23) and drive the corresponding steel wire to expand and contract to achieve control of the bending angle of the end of the endoscope handle (23).

2. The digestive endoscopy robot according to claim 1, characterized in that: The clamping and moving mechanism comprises a horizontal moving bracket (1219), a cylinder (1220) and a cylinder clamp (1221); the cylinder (1220) and the cylinder clamp (1221) are mounted on the horizontal moving bracket (1219); the cylinder (1220) controls the opening and closing of the cylinder clamp (1221) by ventilation and deflation; the cylinder clamp (1221) is used to clamp the endoscope body; the horizontal moving bracket (1219) is connected to a transmission mechanism to achieve horizontal movement relative to the fixed housing (10).

3. The digestive endoscopy robot according to claim 2, characterized in that: The transmission mechanism comprises a driving gear (1213) connected to the feeding motor (1212), a driven gear (1214) meshing with the driving gear (1213), and two screw rods (1215) coaxially fixedly connected to the driven gear (1214) and rotating in opposite directions, wherein a screw nut (1217) fixedly connected to the horizontal movable bracket (1219) is rotatably mounted on each of the two screw rods (1215); the feeding motor (1212) drives the two screw rods (1215) to rotate in the same direction, thereby driving the two screw nuts (1217) on the two screw rods (1215) to move in opposite directions, thereby driving the horizontal movable bracket (1219) to move in opposite directions.

4. The digestive endoscopy robot according to claim 3, characterized in that: The transmission mechanism comprises two driving gears (1213) respectively connected to the two feeding motors (1212), driven gears (1214) respectively meshing with the two driving gears (1213), and two screw rods (1215) respectively coaxially fixedly connected to the two driven gears (1214); the two screw rods (1215) are located in a straight line and two bearings that do not interfere with each other are connected at the joint; and a screw nut (1217) fixedly connected to the horizontal movable bracket (1219) is rotatably mounted on the two screw rods (1215); the two feeding motors (1212) respectively drive the two screw rods (1215) to rotate, thereby driving the two screw nuts (1217) on the two screw rods (1215) to move in opposite directions, thereby driving the horizontal movable bracket (1219) to move in opposite directions.

5. The digestive endoscopy robot according to claim 4, characterized in that: The two sections of the lead screw (1215) have the same or opposite rotation directions; when the rotation directions are the same, the driving directions of the two feeding motors (1212) are opposite at the same time; when the rotation directions are opposite, the driving directions of the two feeding motors (1212) are the same at the same time.

6. The digestive endoscopy robot according to claim 5, characterized in that: The driving mechanism housing (21) comprises an upper surrounding housing (2101), a lower surrounding housing (2102), a ferrule (2103), a bevel gear shaft (2104), a large bevel gear (2105) and a shaft end nut (2106); the upper surrounding housing (2101) is mounted on the lower surrounding housing (2102); the ferrule (2103) is mounted on one end face in the width direction and one end face in the length direction of the upper surrounding housing (2101); the bevel gear shaft (2104) is mounted on the other end face in the width direction of the upper surrounding housing (2101); the large bevel gear (2105) is mounted and sleeved on the bevel gear shaft (2104); and the shaft end nut (2106) is mounted on the end of the bevel gear shaft (2104).

7. The digestive endoscopy robot according to claim 6, characterized in that: The first driving unit comprises a steel wire-motor (2201), a steel wire-motor mounting frame (2202), a steel wire-pinion gear (2203), a steel wire-encoder (2204), a steel wire-large gear (2205), a large gear surrounding frame (2211), a steel wire-bearing (2212) and a steel wire-driving member (2213), A steel wire-motor mounting frame (2202) is mounted in a driving mechanism housing (21), a steel wire-motor (2201) is mounted on the steel wire-motor mounting frame (2202), a steel wire-pinion gear (2203) is connected to an output shaft of the steel wire-motor (2201), and a steel wire-encoder (2204) is mounted at the lower end of the steel wire-pinion gear (2203) for detecting an angle through which the steel wire-pinion gear (2203) has rotated; A large steel wire gear (2205) is rotatably mounted in a driving mechanism housing (21), and the large steel wire gear (2205) is meshed with a small steel wire gear (2203). A steel wire driving member (2213) is mounted on an upper end surface of the large steel wire gear (2205). A large gear surrounding frame (2211) is rotatably mounted on the steel wire driving member (2213) via a steel wire bearing (2212). The upper end of the steel wire driving member (2213) is clamped on a steel wire in an endoscope handle (23), wherein the upper portion of the large steel wire gear (2205) is fixedly connected to the lower outer side wall of the steel wire driving member (2213).

8. The digestive endoscopy robot according to claim 7, characterized in that: The second driving unit comprises a second steel wire motor (2206), a second steel wire motor mounting frame (2207), a second steel wire small gear (2208), a second steel wire encoder (2209), a second steel wire large gear (2210) and a second steel wire driving member (2214). The second steel wire motor mounting frame (2207) is mounted in the driving mechanism housing (21), the second steel wire motor (2206) is mounted on the second steel wire motor mounting frame (2207), and the second steel wire pinion (2208) is connected to the output shaft of the second steel wire motor (2206). The second large gear (2210) of the steel wire is rotatably mounted in the driving mechanism housing (21), the second large gear (2210) of the steel wire is meshed with the second small gear (2208) of the steel wire, the second encoder (2209) of the steel wire is mounted at the lower end of the second large gear (2210), the second driving member (2214) of the steel wire is embedded in the first driving member (2213) of the steel wire and connected to the second large gear (2210), and the upper end of the second driving member (2214) of the steel wire is clamped on another steel wire in the endoscope handle (23).

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