Diagnosis and treatment exchange front end and medical robot

Abstract

This invention relates to the field of medical device technology, providing a diagnostic and therapeutic interchangeable front end and a medical robot. The interchangeable front end includes a housing, a turntable assembly, an instrument seat, and a telescopic assembly. The housing forms a sealed receiving cavity, and the front end of the housing forms an instrument channel communicating with the receiving cavity. The turntable assembly includes a turntable with multiple positioning holes, which are adapted to switch any one of the positioning holes to correspond with the instrument channel. Multiple instrument seats are inserted one-to-one into the multiple positioning holes. The telescopic assembly corresponds to the instrument channel. By controlling the movement of the turntable assembly, the target diagnostic and therapeutic instrument can be positioned to correspond to the instrument channel. By controlling the movement of the telescopic assembly, the target diagnostic and therapeutic instrument can be extended out of the instrument channel. The diagnostic and therapeutic interchangeable front end is equipped with a variety of modular diagnostic and therapeutic instruments, offering rich functionality and enabling intelligent automatic switching, thus improving the convenience of in-vivo diagnosis and treatment.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a diagnostic and therapeutic interchangeable front end and a medical robot. Background Technology

[0002] With the integration and intelligent development of diagnostic and therapeutic devices, higher demands are placed on the functionality of surgical robots. To improve the convenience of surgical procedures, surgical robots need to possess as many functions as possible and reduce manual operations by the surgeon during the operation. However, surgical robots with front-end diagnostic and therapeutic functions have not yet emerged in related technologies, making surgical operations quite cumbersome for doctors. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in related technologies. To this end, this invention proposes a diagnostic and therapeutic interchangeable front end, which can intelligently and automatically switch between diagnostic and therapeutic instruments, has multiple functions, and is convenient to operate.

[0004] This invention also provides a medical robot.

[0005] According to a first aspect embodiment of the present invention, a diagnostic and therapeutic interchange front end includes:

[0006] The housing is a cylindrical structure with a sealed receiving cavity inside, and the front end of the housing has an instrument channel communicating with the receiving cavity;

[0007] A turntable assembly is disposed within the receiving cavity. The turntable assembly includes a turntable on which a plurality of positioning holes are formed. The turntable assembly is adapted to switch any one of the plurality of positioning holes to correspond to the instrument channel.

[0008] Multiple instrument seats are inserted into multiple positioning holes in a one-to-one correspondence, and the side of the instrument seat facing the instrument channel is suitable for installing diagnostic and therapeutic instruments.

[0009] A telescopic assembly is disposed within the receiving cavity and located on the side of the turntable opposite to the instrument channel, the telescopic assembly corresponding to the instrument channel.

[0010] According to one embodiment of the present invention, the turntable assembly further includes:

[0011] A first motor is disposed within the receiving cavity;

[0012] A drive shaft is connected to the center of the turntable, and the drive shaft is connected to the output shaft of the first motor via gears.

[0013] According to one embodiment of the present invention, the telescopic component includes:

[0014] A second motor is disposed within the receiving cavity;

[0015] A lead screw is rotatably connected to the cavity wall of the receiving cavity and is connected to the output shaft of the second motor via gears. The center of the lead screw corresponds to the center of the instrument channel.

[0016] A lead screw sleeve is rotatably connected to the lead screw;

[0017] A lead screw sleeve limiting component is used to limit the rotation of the lead screw sleeve.

[0018] According to one embodiment of the present invention, the lead screw sleeve limiting member forms a cavity, the cavity wall of the cavity is formed with a guide groove extending toward the direction of the instrument channel, and the outer side wall of the lead screw sleeve is provided with a protrusion, the protrusion being slidably connected to the guide groove.

[0019] According to one embodiment of the present invention, the guide groove includes a first guide portion, a second guide portion, and a third guide portion connected in sequence, wherein the first guide portion and the third guide portion are arranged in the same direction, and the second guide portion is perpendicular to the first guide portion and the third guide portion;

[0020] The sidewall of the instrument seat is formed with a sliding groove, the sliding groove includes a first sliding part and a second sliding part that are interconnected, the second sliding part and the second guide part are arranged in the same direction, the first sliding part and the third guide part are arranged in the same direction, and the first sliding part extends to the edge of the instrument seat facing the turntable.

[0021] The positioning hole has a slider on its wall, and the slider is adapted to the sliding groove.

[0022] According to one embodiment of the present invention, the adjacent end faces of the instrument seat and the lead screw sleeve are provided with a first plug-in structure and a second plug-in structure that match each other.

[0023] According to one embodiment of the present invention, the first insertion structure is a sleeve, and the second insertion structure is a boss, the boss being adapted to be inserted into the sleeve;

[0024] The inner wall of the sleeve is provided with a plurality of first annular electrodes, and the outer wall of the boss is provided with a plurality of second annular electrodes. When the boss is inserted into the sleeve, the plurality of first annular electrodes are connected to the plurality of second annular electrodes one by one.

[0025] According to one embodiment of the present invention, a motor fixing member is provided in the receiving cavity, and a mounting groove is formed in the motor fixing member. The first motor and the second motor are disposed in the mounting groove, and the output shafts of the first motor and the second motor are arranged in opposite directions.

[0026] According to one embodiment of the present invention, the motor fixing member and the lead screw sleeve limiting member are connected by a support member, the support member forming a limiting hole, and the drive shaft is rotatably connected to the limiting hole.

[0027] According to a second aspect of the present invention, a medical robot includes at least one flexible drive component and a diagnostic and therapeutic interchangeable front end according to a first aspect of the present invention, wherein the diagnostic and therapeutic interchangeable front end is connected to the flexible drive component, and the instrument channel of the diagnostic and therapeutic interchangeable front end is away from the flexible drive component.

[0028] The above-described one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0029] According to a first aspect of the present invention, a diagnostic and therapeutic interchangeable front end includes a housing, a turntable assembly, an instrument seat, and a telescopic assembly. The housing has a cylindrical structure and a sealed receiving cavity formed inside. An instrument channel communicating with the receiving cavity is formed at the front end of the housing. The turntable assembly is disposed within the receiving cavity and includes a turntable with multiple positioning holes. The turntable assembly is adapted to switch any one of the multiple positioning holes to correspond with the instrument channel. Multiple instrument seats are inserted one-to-one into the multiple positioning holes, with the side of the instrument seat facing the instrument channel suitable for mounting diagnostic and therapeutic instruments. The telescopic assembly is disposed within the receiving cavity and located on the side of the turntable away from the instrument channel, corresponding to the instrument channel. When the diagnostic and therapeutic interchangeable front end is in operation, by controlling the movement of the turntable assembly, the target diagnostic and therapeutic instrument can be positioned corresponding to the instrument channel. By controlling the movement of the telescopic assembly, the instrument seat can be moved closer to the instrument channel, and the target diagnostic and therapeutic instrument can be extended out of the instrument channel. The diagnostic and therapeutic interchangeable front end can accommodate various modular diagnostic and therapeutic instruments, offering rich functionality and enabling intelligent automatic switching, thus improving the convenience of surgical operations for doctors.

[0030] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a perspective view of the diagnostic and therapeutic interchange front end provided in an embodiment of the present invention;

[0033] Figure 2This is a cross-sectional view of the diagnostic and therapeutic interchange front end provided in an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the internal structure of the diagnostic and therapeutic interchange front end provided in an embodiment of the present invention;

[0035] Figure 4 This is a top view of the housing of the diagnostic and therapeutic interchangeable front end provided in an embodiment of the present invention;

[0036] Figure 5 This is a cross-sectional view (AA) of the housing of the diagnostic and therapeutic interchangeable front end provided in an embodiment of the present invention;

[0037] Figure 6 This is a perspective view of the turntable of the diagnostic and treatment interchange front end provided in an embodiment of the present invention;

[0038] Figure 7 This is a perspective view of the instrument holder of the diagnostic and therapeutic interchangeable front end provided in an embodiment of the present invention;

[0039] Figure 8 This is a three-dimensional view of the minimally invasive robot provided in an embodiment of the present invention.

[0040] Figure label:

[0041] 100. Interchangeable front end for diagnosis and treatment; 102. Housing; 104. Receiving cavity; 1042. Motor fixing component; 1044. Mounting slot; 106. Instrument channel; 108. Support component; 1082. Limiting hole;

[0042] 110. Turntable assembly; 112. Turntable; 114. Positioning hole; 1140. Slider; 116. First motor; 117. Gear; 118. Drive shaft;

[0043] 120. Instrument base; 122. Sliding groove; 124. First sliding part; 126. Second sliding part; 128. First insertion structure;

[0044] 130. Telescopic assembly; 132. Second motor; 134. Lead screw; 136. Lead screw sleeve; 1360. Protrusion; 1362. Second insertion structure; 1364. Second annular electrode; 138. Lead screw sleeve limiting component; 1380. Guide groove; 1382. First guide part; 1384. Second guide part; 1386. Third guide part;

[0045] 200. Diagnostic and therapeutic instruments;

[0046] 300. Flexible drive components. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the invention clearer, the technical solutions of the invention will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0048] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0049] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0050] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0051] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0052] There are currently no surgical robots with front-end diagnostic and treatment switching capabilities in the relevant technologies, making it quite cumbersome for doctors to operate during surgery.

[0053] Please refer to the diagnostic and therapeutic interchange front-end 100 provided in the first aspect embodiment of the present invention. Figures 1 to 7 It includes a housing 102, a turntable assembly 110, an instrument base 120, and a telescopic assembly 130.

[0054] The shell 102 is an elliptical or circular columnar structure. The size and outline of the shell 102 are adapted to the cavities inside the human body. When the shell 102 comes into contact with human tissue, it will not cause pain or abrasion.

[0055] The housing 102 includes opposing front and rear ends, the rear end being adapted to connect to the flexible drive assembly 300, and the front end being able to extend different diagnostic and therapeutic instruments to achieve different operations.

[0056] A sealed receiving cavity 104 is formed inside the housing 102, and an instrument channel 106 communicating with the receiving cavity 104 is formed at the front end of the housing 102. When the diagnostic and therapeutic instrument 200 is placed in the receiving cavity 104, the diagnostic and therapeutic instrument 200 can extend along the instrument channel 106.

[0057] In some embodiments, a light-transmitting hole is also formed at the front end of the housing 102, which is used to provide illumination or emit laser light inside the human body.

[0058] The turntable assembly 110 is disposed within the receiving cavity 104. The turntable assembly 110 includes a turntable 112, on which a plurality of positioning holes 114 are formed. The turntable 112 is parallel to the front end face of the housing 102. The turntable assembly 110 can precisely control the rotation of the turntable 112, and any one of the plurality of positioning holes 114 can be aligned with the instrument channel 106.

[0059] There are multiple instrument seats 120, and each instrument seat 120 is inserted into a multiple positioning hole 114 in a one-to-one correspondence. The side of the instrument seat 120 facing the instrument channel 106 is suitable for installing the diagnostic and therapeutic instrument 200, and the side of the instrument seat 120 facing away from the instrument channel 106 is suitable for connecting to the telescopic assembly 130.

[0060] The telescopic assembly 130 is disposed in the receiving cavity 104, located on the side of the turntable 112 away from the instrument channel 106, and the position of the telescopic assembly 130 corresponds to the position of the instrument channel 106.

[0061] According to the diagnostic and therapeutic interchangeable front end provided in the embodiment of the present invention, the turntable assembly 110 can make different positioning holes 114 correspond to the instrument channel 106. When the telescopic assembly 130 extends, it can drive the instrument seat 120 closer to the instrument channel 106. At the same time, the diagnostic and therapeutic instruments 200 mounted on the instrument seat 120 extend along the instrument channel 106. After use, the telescopic assembly 130 retracts, and the instrument seat 120 falls back into the positioning hole 114. At this time, other diagnostic and therapeutic instruments 200 can be switched. By controlling the operation of the turntable assembly 110 and the telescopic assembly 130, the automatic switching of different diagnostic and therapeutic instruments 200 can be realized at the front end of the housing 102, which has rich functions and improves the convenience of doctors during surgical operations.

[0062] In some embodiments, the turntable assembly 110 further includes a first motor 116 and a drive shaft 118. The first motor 116 is disposed within the receiving cavity 104, and the drive shaft 118 is connected to the center of the turntable 112. When the drive shaft 118 rotates, the turntable 112 rotates synchronously. The drive shaft 118 is connected to the output shaft of the first motor 116 via a gear 117. By controlling the first motor 116, the rotation angle and rotation direction of the turntable 112 can be adjusted, thereby allowing different diagnostic and therapeutic instruments 200 to correspond to the instrument channel 106.

[0063] In some embodiments, the telescopic assembly 130 includes a second motor 132, a lead screw 134, a lead screw sleeve 136, and a lead screw sleeve limiting member 138.

[0064] The second motor 132 is disposed in the receiving cavity 104, and the lead screw 134 is rotatably connected to the cavity wall of the receiving cavity 104. The output shaft of the second motor 132 is connected to the lead screw 134 through a gear, and the center of the lead screw 134 corresponds to the center of the instrument channel 106.

[0065] The lead screw sleeve 136 is rotatably connected to the lead screw 134. When the lead screw 134 rotates, the lead screw sleeve 136 rotates relative to the lead screw 134. At the same time, the lead screw sleeve 136 moves toward or away from the instrument channel 106.

[0066] The lead screw sleeve limiting member 138 is disposed on the outside of the lead screw sleeve 136 and is used to limit the rotation of the lead screw sleeve 136.

[0067] It is understandable that controlling the rotation direction and angle of the second motor 132 can precisely control the distance by which the lead screw sleeve 136 extends or retracts.

[0068] When the lead screw sleeve 136 extends, the end of the lead screw sleeve 136 is connected to the instrument seat 120, which can bring the instrument seat 120 close to the instrument channel 106. At this time, the diagnostic and therapeutic instruments 200 on the instrument seat 120 extend along the instrument channel 106.

[0069] When the lead screw sleeve 136 retracts, the end of the lead screw sleeve 136 is connected to the instrument seat 120, and the instrument seat 120 can be put back into the positioning hole 114. When the lead screw sleeve 136 continues to retract, the end of the lead screw sleeve 136 is disengaged from the instrument seat 120, and the operation can be terminated or other diagnostic and treatment instruments 200 can be switched.

[0070] In some embodiments, a cavity is formed within the lead screw sleeve limiting member 138, and a guide groove 1380 is formed on the cavity wall, extending toward the direction of the instrument channel 106. A protrusion 1360 is provided on the outer wall of the lead screw sleeve 136, and the protrusion 1360 is slidably connected to the guide groove 1380.

[0071] Understandably, the guide groove 1380 restricts the rotation of the lead screw sleeve 136. When the lead screw 134 rotates, the lead screw sleeve 136 moves away from or closer to the instrument channel 106 along the guide groove 1380 in the cavity. The guide groove 1380 increases the stability of the lead screw sleeve 136 during movement.

[0072] In some embodiments, the guide groove 1380 includes a first guide portion 1382, a second guide portion 1384, and a third guide portion 1386 connected in sequence, wherein the first guide portion 1382 and the third guide portion 1386 are arranged in the same direction, the second guide portion 1384 is perpendicular to the first guide portion 1382 and the third guide portion 1386, and the second guide portion 1384 is located between the first guide portion 1382 and the third guide portion 1386.

[0073] The instrument base 120 has a sliding groove 122 formed on its side wall. The sliding groove 122 includes a first sliding portion 124 and a second sliding portion 126, with the first sliding portion 124 communicating with the second sliding portion 126. The first sliding portion 124 and the third guide portion 1386 are arranged in the same direction, as are the second sliding portion 126 and the second guide portion 1384. The first sliding portion 124 extends to the edge of the instrument base 120 facing the turntable 112. A slider 1140 is provided on the wall of the positioning hole 114, and the slider 1140 is adapted to fit the sliding groove 122.

[0074] When the lead screw 134 is rotated, the protrusion 1360 moves along the first guide portion 1382 and approaches the instrument channel 106. When the protrusion 1360 reaches the second guide portion 1384, the end of the lead screw sleeve 136 abuts against the instrument seat 120 and engages with the instrument seat 120.

[0075] As the lead screw 134 continues to rotate, the protrusion 1360 slides within the second guide portion 1384, and the lead screw sleeve 136 rotates relative to the lead screw sleeve limiting member 138. At this time, the instrument seat 120 rotates synchronously, and the slider 1140 moves along the second sliding portion 126 and approaches the first sliding portion 124.

[0076] As the lead screw 134 continues to rotate, the protrusion 1360 moves along the third guide portion 1386 closer to the instrument channel 106, and the slider 1140 slides out along the first sliding portion 124, thereby unlocking the instrument seat 120.

[0077] As the lead screw 134 continues to rotate, the protrusion 1360 approaches the instrument channel 106 along the third guide 1386, and the lead screw sleeve 136 and the instrument seat 120 simultaneously approach the instrument channel 106. The diagnostic and therapeutic instrument 200 extends along the instrument channel 106 for the doctor to operate.

[0078] Reversing the lead screw sleeve 136 retracts the diagnostic instrument 200, allowing the instrument seat 120 to enter the positioning hole 114. The slider 1140 then moves along the first sliding part 124 into the second sliding part 126, locking the instrument seat 120.

[0079] After locking the instrument seat 120, when switching to the diagnostic instrument 200, the other instrument seats 120 are in a stable state and will not loosen or fall off.

[0080] To enhance the locking effect of the instrument seat 120, the friction between the slider 1140 and the second sliding part 126 is relatively large. An elastic structure or a damping structure can be provided to prevent the instrument seat 120 from becoming loose or slipping.

[0081] In some embodiments, the adjacent end faces of the instrument seat 120 and the lead screw sleeve 136 are provided with a first plug-in structure 128 and a second plug-in structure 1362 that match each other. For example, the first plug-in structure 128 is provided on the end face of the instrument seat 120, and the second plug-in structure 1362 is provided on the end of the lead screw sleeve 136.

[0082] It should be noted that there is friction between the first plug-in structure 128 and the second plug-in structure 1362. After the first plug-in structure 128 is connected to the second plug-in structure 1362, there is no relative rotation between the instrument seat 120 and the lead screw sleeve 136.

[0083] In some embodiments, the first insertion structure 128 is a sleeve, and the second insertion structure 1362 is a boss. When the boss is inserted into the sleeve, the instrument seat 120 and the lead screw sleeve 136 are stably connected.

[0084] The side of the instrument holder 120 facing the instrument channel 106 is suitable for mounting the diagnostic and therapeutic instruments 200. Multiple instrument holders 120 can mount a variety of diagnostic and therapeutic instruments 200 to achieve the diversity of functions of the diagnostic and therapeutic interchangeable front end.

[0085] The inner wall of the sleeve is provided with multiple first annular electrodes, and the outer wall of the boss is provided with multiple second annular electrodes 1364. When the boss is inserted into the sleeve, the multiple first annular electrodes and the multiple second annular electrodes 1364 are connected one-to-one to realize the identification, power supply and signal transmission of the diagnostic and therapeutic device. The number of first annular electrodes and second annular electrodes 1364 is determined according to the function to be performed.

[0086] According to the embodiments of the present invention, the diagnostic and therapeutic interchangeable front end, the diagnostic and therapeutic instrument, the instrument base 120 and the first plug-in structure 128 form a modular structure, which can realize a variety of diagnostic and therapeutic functions, such as lighting, flushing, suction, mechanical cutting and laser treatment.

[0087] When the turntable assembly 110 rotates, the modular structure enables intelligent automatic switching, improving the convenience of in vivo diagnosis and treatment.

[0088] It should be noted that the second annular electrode 1364 can be a flexible structure. The flexible structure is conducive to the installation and disassembly of the boss and the sleeve, and at the same time helps to ensure the tightness of the connection between the first annular electrode and the second annular electrode 1364, avoiding poor contact.

[0089] When the lead screw sleeve 136 approaches the instrument seat 120, the boss inserts into the sleeve, and the boss can drive the sleeve and the instrument seat 120 to rotate synchronously, thereby unlocking the instrument seat 120.

[0090] When the lead screw sleeve 136 moves away from the instrument seat 120, the boss drives the sleeve and the instrument seat 120 to rotate, causing the slider 1140 to slide into the second sliding part 126, thereby locking the instrument seat 120.

[0091] In some embodiments, a motor fixing member 1042 is provided in the receiving cavity 104, and a mounting groove 1044 is formed in the motor fixing member 1042. A first motor 116 and a second motor 132 are disposed in the mounting groove 1044, and the output shafts of the first motor 116 and the second motor 132 are arranged in opposite directions.

[0092] The motor fixing component 1042 increases the positional stability of the first motor 116 and the second motor 132, which not only makes the position switching of the turntable 112 more stable, but also makes the extension and retraction movement of the lead screw sleeve 136 more stable.

[0093] The output shafts of the first motor 116 and the second motor 132 are set in opposite directions, which makes the layout of the turntable assembly 110 and the telescopic assembly 130 more reasonable and reduces the size of the diagnostic and treatment interchange front end.

[0094] In some embodiments, the motor fixing member 1042 and the lead screw sleeve limiting member 138 are connected by a support member 108. The support member 108 increases the structural strength of the housing 102, the motor fixing member 1042 and the lead screw sleeve limiting member 138, thereby improving the positional accuracy of the diagnostic and therapeutic device 200.

[0095] The support member 108 forms a limiting hole 1082, and the drive shaft 118 is rotatably connected to the limiting hole 1082. The limiting hole 1082 increases the stability of the turntable 112 when it rotates.

[0096] For a medical robot provided according to a second aspect embodiment of the present invention, please refer to [link / reference needed]. Figure 8 It includes at least one flexible drive component 300 and a diagnostic and therapeutic interchangeable front end 100 provided according to a first aspect embodiment of the present invention, wherein the diagnostic and therapeutic interchangeable front end 100 is connected to the flexible drive component 300 and the instrument channel 106 of the diagnostic and therapeutic interchangeable front end is away from the flexible drive component 300.

[0097] The flexible drive component 300 can perform actions such as bending, rotating, stretching, or compressing. The diagnostic and therapeutic interchangeable front end 100 is connected to the flexible drive component 300 and can be inserted deep into the human body to perform minimally invasive surgery.

[0098] It should be noted that there can be multiple flexible drive components 300. When multiple flexible drive components 300 are connected in sequence, they can adapt to the complex cavity structure inside the human body, which is beneficial for sending the diagnostic and therapeutic interchangeable front end 100 into the target position. After reaching the target position, adjusting the turntable component 110 and the telescopic component 130 can automatically switch between different diagnostic and therapeutic instruments 200 to achieve the relevant diagnostic and therapeutic operations.

[0099] In summary, according to the embodiments of the present invention, the interchangeable front end and medical robot for diagnosis and treatment, the interchangeable front end 100 includes a housing 102, a turntable assembly 110, an instrument seat 120, and a telescopic assembly 130; the housing 102 is a cylindrical structure and has a sealed receiving cavity 104 formed inside, and the front end of the housing 102 has an instrument channel 106 communicating with the receiving cavity 104; the turntable assembly 110 is disposed in the receiving cavity 104, and the turntable assembly 110 includes a turntable 112, on which a plurality of positioning holes 114 are formed, and the turntable assembly 110 is adapted to switch any one of the plurality of positioning holes 114 to correspond with the instrument channel 106; a plurality of instrument seats 120 are inserted one-to-one into the plurality of positioning holes 114, and the side of the instrument seat 120 facing the instrument channel 106 is adapted to install a diagnostic and treatment instrument 200; the telescopic assembly 130 is disposed in the receiving cavity 104 and is located on the side of the turntable 112 away from the instrument channel 106, and the telescopic assembly 130 corresponds to the instrument channel 106. When the diagnostic and therapeutic interchange front end 100 is in operation, by controlling the movement of the turntable assembly 110, the target diagnostic and therapeutic instrument 200 can be positioned to correspond to the instrument channel 106. By controlling the movement of the telescopic assembly 130, the instrument seat 120 can be brought closer to the instrument channel 106, and the target diagnostic and therapeutic instrument 200 can extend out of the instrument channel 106. The diagnostic and therapeutic interchange front end 100 can accommodate a variety of modular diagnostic and therapeutic instruments 200, offering rich functionality and enabling intelligent automatic switching, thus improving the convenience of in-body diagnosis and treatment.

[0100] This invention provides a diagnostic and therapeutic interchangeable front end for medical robots. The front end includes: a diagnostic and therapeutic instrument autonomous switching module, which uses a motor and locking structure to switch between different functional diagnostic and therapeutic instruments to the target instrument channel and lock them in place, preparing for subsequent surgery. It can also achieve remote autonomous switching based on remote commands; an instrument transmission section, which uses a transmission structure such as a lead screw, lead screw sleeve, and guide groove to enable the diagnostic and therapeutic instrument to extend from the instrument channel and perform surgical functions; and an instrument communication section, which adopts a modular interface design to adapt to and identify different devices, providing driving force and enabling data transmission. The diagnostic and therapeutic interchangeable front end provided by this invention can adapt to different diagnostic and therapeutic instruments, expanding the functionality of the medical robot. Based on the autonomous switching design, this invention enables remote autonomous switching of diagnostic and therapeutic instruments without exiting the working state or manually changing instruments, greatly improving surgical efficiency and instrument positioning accuracy. In this invention, a single instrument channel can achieve switching between multiple diagnostic and therapeutic instruments, saving the number of channels on the front end of the medical robot, reducing the front end diameter, and solving the coupling problem of instruments in multi-channel situations.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A diagnostic and therapeutic interchangeable front end, characterized in that, include: The housing is a cylindrical structure with a sealed receiving cavity inside, and the front end of the housing has an instrument channel communicating with the receiving cavity; A turntable assembly is disposed within the receiving cavity. The turntable assembly includes a turntable on which a plurality of positioning holes are formed. The turntable assembly is adapted to switch any one of the plurality of positioning holes to correspond to the instrument channel. Multiple instrument seats are inserted into multiple positioning holes in a one-to-one correspondence, and the side of the instrument seat facing the instrument channel is suitable for installing diagnostic and therapeutic instruments. A telescopic assembly is disposed within the receiving cavity and located on the side of the turntable opposite to the instrument channel, the telescopic assembly corresponding to the instrument channel; The turntable assembly also includes: A first motor is disposed within the receiving cavity; A drive shaft is connected to the center of the turntable, and the drive shaft is connected to the output shaft of the first motor via gears; The telescopic component includes: A second motor is disposed within the receiving cavity; A lead screw is rotatably connected to the cavity wall of the receiving cavity and is connected to the output shaft of the second motor via gears. The center of the lead screw corresponds to the center of the instrument channel. A lead screw sleeve is rotatably connected to the lead screw; A lead screw sleeve limiting component is used to limit the rotation of the lead screw sleeve; The lead screw sleeve limiting member forms a cavity, and the cavity wall of the cavity forms a guide groove extending toward the direction of the instrument channel. The outer side wall of the lead screw sleeve is provided with a protrusion, and the protrusion is slidably connected to the guide groove. The guide groove includes a first guide portion, a second guide portion, and a third guide portion connected in sequence. The first guide portion and the third guide portion are arranged in the same direction, and the second guide portion is perpendicular to the first guide portion and the third guide portion. The sidewall of the instrument seat is formed with a sliding groove, the sliding groove includes a first sliding part and a second sliding part that are interconnected, the second sliding part and the second guide part are arranged in the same direction, the first sliding part and the third guide part are arranged in the same direction, and the first sliding part extends to the edge of the instrument seat facing the turntable. The positioning hole has a slider on its wall, and the slider is adapted to the sliding groove.

2. The diagnostic and therapeutic interchange front end according to claim 1, characterized in that, The instrument seat and the lead screw sleeve are provided with a first plug-in structure and a second plug-in structure that match each other.

3. The diagnostic and therapeutic interchange front end according to claim 2, characterized in that, The first insertion structure is a sleeve, and the second insertion structure is a boss, the boss being adapted to be inserted into the sleeve; The inner wall of the sleeve is provided with a plurality of first annular electrodes, and the outer wall of the boss is provided with a plurality of second annular electrodes. When the boss is inserted into the sleeve, the plurality of first annular electrodes are connected to the plurality of second annular electrodes one by one.

4. The diagnostic and therapeutic interchange front end according to claim 1, characterized in that, The cavity contains a motor mounting component with a mounting groove. The first motor and the second motor are mounted in the mounting groove, and the output shafts of the first motor and the second motor are arranged in opposite directions.

5. The diagnostic and therapeutic interchange front end according to claim 4, characterized in that, The motor fixing component and the lead screw sleeve limiting component are connected by a support component, the support component forming a limiting hole, and the drive shaft is rotatably connected to the limiting hole.

6. A medical robot, characterized in that, It includes at least one flexible drive component and a diagnostic and therapeutic interchangeable front end as described in any one of claims 1 to 5, wherein the diagnostic and therapeutic interchangeable front end is connected to the flexible drive component and the instrument channel of the diagnostic and therapeutic interchangeable front end is opposite to the flexible drive component.

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