An intervention device for an endoscope and its application

Abstract

The present application discloses an endoscopic intervention device and its application. The intervention device includes an endoscope and a transmission device. The intervention device further includes a rotary part, a bending part and a hollow shaft. The transmission device includes a first transmission mechanism and a second transmission mechanism. The first transmission mechanism and the second transmission mechanism are fixed on the hollow shaft. Both ends of the first transmission mechanism are respectively connected to the endoscope and one end of the rotary part. The other end of the rotary part is connected to one end of the bending part. The second transmission mechanism is respectively connected to the other end of the bending part and the endoscope. In the present invention, the endoscopic intervention device can realize the coaxial rotation and bending of the endoscope, and has a simple structure. The intervention device is connected to an external motor through a quick-change structure and fixed on the robotic arm of a medical robot to replace the operation of a doctor's hand. This structure is more conducive to high-temperature disinfection and transmission of the endoscopic intervention device.

Description

Technical Field

[0001] The present invention relates to the field of minimally invasive medical technology, and particularly to an endoscopic intervention device and its application. Background Art

[0002] Minimally invasive medical technology aims to reduce the amount of damaged tissue in medical procedures, thereby reducing the patient's recovery time, discomfort, and harmful side effects. As a commonly used minimally invasive technique in clinical medical examinations, endoscopes have been widely used. Endoscopes can enter body organs such as the stomach, intestines, and lungs through natural orifices to view internal lesions in the human body and are very important medical devices. For example, doctors use a bronchoscope to insert it into the lower respiratory tract of a patient through the mouth or nose for observing lesions in the lung lobes, segments, and sub-segments, biopsy sampling, drug administration, puncturing of lung nodules, etc.

[0003] In traditional endoscopy, doctors need to hold the endoscope and rotate and bend it. After working for a long time, doctors are prone to fatigue and their hands are prone to trembling, which affects the functional requirements of the endoscope's rotation and bending, and thus affects the examination results. With the development of science and technology, robotic medical assistance technology can well solve these problems.

[0004] Currently, common endoscopic intervention devices are often integrated with motors, resulting in a more complex design structure and layout. Moreover, since motors are not resistant to high temperatures and disinfection reagents, the endoscopic intervention device cannot be sterilized at high temperatures alone; even if the endoscopic intervention device and the motor are disassembled for disinfection, the process of reinstalling them together is very complicated. Therefore, it is of great significance to design an endoscopic intervention device structure with a simpler structure, easier installation, and suitable for high-temperature disinfection. Summary of the Invention

[0005] An object of the present invention is to provide an endoscopic intervention device that can achieve coaxial movement of the rotation and bending functions during endoscopy and has a simple structure.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An endoscopic intervention device includes an endoscope and a transmission device. The intervention device further includes a rotation part, a bending part, and a hollow shaft. The transmission device includes a first transmission mechanism and a second transmission mechanism. The first transmission mechanism and the second transmission mechanism are fixed on the hollow shaft; both ends of the first transmission mechanism are respectively connected to the endoscope and one end of the rotation part, the other end of the rotation part is connected to one end of the bending part, and the second transmission mechanism is respectively connected to the other end of the bending part and the endoscope.

[0008] Since this endoscopic intervention device has a pure mechanical structure, it can be sterilized at high temperatures alone, realizes coaxial movement of the rotation and bending functions of the endoscope during examination, and has a simple structure.

[0009] Specifically, channels are formed in the rotating part and the bending part.

[0010] Furthermore, the device further includes at least two flexible wires. One end of the at least two flexible wires is connected to the front end of the endoscope, and the other end passes through the channel of the rotating part, enters the bending part and passes through the channel of the bending part, and the other ends of the two flexible wires are fastened to the bending part through a fixing member.

[0011] Preferably, the transmission device is a worm and worm gear transmission device, a gear transmission device, a synchronous belt transmission device or a rack and pinion transmission device.

[0012] Preferably, a first connection module is provided between the first transmission mechanism and the rotating part, and a second connection module is provided between the bending part and the second transmission mechanism.

[0013] Preferably, the rotating part and the bending part are respectively connected to the first connection module and the second connection module through a quick connector or a ball plug.

[0014] Another object of the present invention is to provide a medical robot using an endoscope intervention device. After connecting the motor to the endoscope intervention device through a quick-change structure, it is installed on the robotic arm of the medical robot, and the endoscope device is driven by the motor for inspection, replacing the manual operation of the doctor.

[0015] To achieve the above object, the present invention provides the following technical solutions:

[0016] A medical robot includes a motor, and the aforementioned endoscope intervention device is connected to the motor driving device through a quick-change structure.

[0017] The transmission direction of the endoscope intervention device is perpendicular to the direction of the motor shaft.

[0018] Furthermore, the quick-change structure includes a locking device, a positioning device and a linkage device.

[0019] Specifically, the locking device includes a plug and pull pin. The plug and pull pin includes a button, a push rod, a steel ball, a spring, a pin sleeve and a matching sleeve. One end of the button is connected to the push rod. The spring is sleeved on the push rod. Annular grooves are provided on both sides of the position where the push rod contacts the steel ball. An opening is provided at the position of the pin sleeve corresponding to the steel ball, and the diameter of the opening is smaller than the diameter of the steel ball.

[0020] Specifically, the linkage device includes a first dial wheel connected to the motor and a second dial wheel connected to the transmission device of the endoscope intervention device. The first dial wheel and the second dial wheel are in concave-convex cooperation.

[0021] Specifically, the positioning device includes a positioning pin and a fixing frame.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] In the present invention, the endoscopic intervention device can achieve coaxial rotation and bending of the endoscope, and has a simple structure; the endoscopic intervention device can be quickly disassembled or installed together with an external motor through a quick-change structure, and is fixed on the robotic arm of a medical robot to replace the operation of a doctor's hand; at the same time, the ports of the external motor are kept in the same plane, and the transmission direction of the endoscopic intervention device is perpendicular to the direction of the motor shaft, and this structure is more conducive to high-temperature disinfection and transmission of the endoscopic intervention device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic structural diagram of the first embodiment of the endoscopic intervention device of the present invention;

[0025] Figure 2 is a schematic structural diagram of the rotating part and bending of the endoscopic intervention device of the present invention;

[0026] Figure 3 is a schematic structural diagram of the second embodiment of the endoscopic intervention device of the present invention;

[0027] Figure 4 is a schematic structural diagram of the plug-in pin in the medical robot of the present invention;

[0028] Figure 5 is a schematic structural diagram of the ball head plug in the medical robot of the present invention;

[0029] Figure 6 is a schematic structural diagram of the motor box in the medical robot of the present invention;

[0030] Figure 7a is a schematic diagram of the concave-convex dial in the medical robot of the present invention;

[0031] Figure 7b is a schematic structural diagram of the concave dial in the medical robot of the present invention;

[0032] Figure 8 is a schematic structural diagram of the support frame in the medical robot of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] In order to make the above objects, features, and advantages of the present invention more obvious and understandable, the following detailed description of the specific embodiments of the present invention will be made with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present invention, but the present invention can be implemented in many other ways different from those described herein. Those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0034] In the present invention, words such as the term "comprising" mean that the elements before this word cover the elements listed thereafter, and do not exclude the possibility of also covering other elements. "Connection" can be that two components are directly connected together, or two components are connected together through an intermediate component. The orientation or positional relationship indicated by terms such as "left", "right", "front", "rear", "upper", "lower", "side", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to this application. In addition, terms such as "first", "second", etc. are only used for distinction in description and have no special meaning.

[0035] As Figure 1-2 Shown in FIG. 1 is the first embodiment of the present invention. In this first embodiment, the transmission device adopts a worm and worm gear transmission device. The specific solution is as follows: An endoscopic intervention device includes an endoscope 1 and a transmission device. The endoscopic intervention device further includes a rotary part 2, a bending part 3, a bearing 4 and a hollow shaft. The worm wheels in the first worm and worm gear transmission device 5A and the second worm and worm gear transmission device 5B are fixed on the hollow shaft. The left end of the first worm and worm gear transmission device 5A is connected to the endoscope 1, and its right end is connected to the first connection module 6A. The right end of the first connection module 6A is connected to the left end of the rotary part 2. The inner ring of the bearing 4 is connected to the right end of the rotary part 2, and the outer ring of the bearing 4 is connected to the left end of the bending part 3. The right end of the bending part 3 is connected to the second connection module 6B. The right end of the second connection module 6B is connected to the second worm and worm gear transmission device 5B. The right end of the second worm and worm gear transmission device 5B is connected to the endoscope. The endoscope passes through the hollow shaft, that is, it is coaxially connected to each component from the leftmost end to the rightmost end.

[0036] The external motor drives the first worm and worm gear transmission device 5A to drive the hollow shaft to rotate. The hollow shaft drives the rotary part to move, and the rotary part drives the endoscope to perform a rotational movement. The external motor drives the second worm and worm gear transmission device 5B to drive the hollow shaft to rotate. The hollow shaft drives the bending part to move, and the bending part controls the front end of the endoscope to perform a bending movement. Relative movement occurs between the bending part and the rotary part. The outer ring and the inner ring of the bearing not only achieve coaxial transmission but also enable the inner and outer rings to move independently, thus realizing the transformation from non-coaxial to coaxial within a limited space, that is, realizing the coaxial movement of the rotation and bending functions during endoscopic examination, and the structure is simple. Of course, the rotary part and the bending part can be connected through other components as long as the relative movement between the rotary part and the bending part can be achieved.

[0037] Preferably, the rotating part and the bending part are respectively connected to the first connection module and the second connection module through quick connectors, which facilitates the quick installation or separation of the rotating part and the bending part from the transmission device. Accordingly, grooves are provided on at least two sides of the rotating part and the bending part. Of course, connection can also be achieved through ball plugs or other quickly detachable connection devices.

[0038] Both the rotating part 2 and the bending part 3 are provided with channels. The intervention device further includes at least two flexible wires. In this application, the flexible wires are preferably steel wires. One end of the two steel wires 7 is connected to the front end of the endoscope (i.e., the end entering the human body) (the connection method is that one end of the steel wire is fixed to the front end head of the endoscope, and the fixation can be achieved by winding or other methods, as long as the movement of the front end of the endoscope can be controlled by the steel wire). The other ends of the two steel wires pass through the channels of the rotating part 2, enter the bending part 3 and then pass through the channels, and the other ends of the two steel wires are fastened to the bending part through fixing parts. Preferably, the other ends of the two steel wires are fixed on opposite sides of the bending part. In this embodiment, the steel wires exposed outside are preferably sleeved with spring tubes to prevent wear of the steel wires and increase the service life. The channels facilitate the routing of the steel wires, which can well reduce the friction between the steel wires and the mechanical structure, and eliminate the problems of fracture and limited tensile force caused by damage to the steel wires. When the steel wires are routed through the channels, the steel wires need to be tightened inside the endoscope, and the front end of the endoscope should be kept straight in the initial posture. At this time, the steel wires are straightened, and after adjusting the steel wires to the appropriate positions with fixing parts, the ends are fixed. In this embodiment, the fixing parts are selected to be the way of screws plus gaskets to fasten the ends of the steel wires. After fastening, the bending part is rotated to realize the left and right pulling of the steel wires, and then the front end of the endoscope makes corresponding bending movements. Of course, the fixing parts can also be other ways, as long as the ends of the steel wires are fixed to the bending part.

[0039] In addition to realizing the functions of coaxial rotation and bending, the above-mentioned intervention device for endoscopes can achieve comprehensive disinfection of the entire intervention device due to its pure mechanical structure.

[0040] Working principle: The left-side worm and worm gear drive the rotating part to achieve a rotating motion, and the right-side worm and worm gear drive the bending part of the endoscope to achieve a bending motion; when the right-side worm and worm gear (i.e., the second worm and worm gear) are in transmission, the hollow shaft drives the bending part to rotate relative to the left-side rotating part. At this time, one of the two steel wires is stretched and tightened, while the other is loose. At this time, the tightened-side steel wire drives the endoscope to bend; when the left-side worm and worm gear (i.e., the first worm and worm gear) are in transmission, the hollow shaft drives the rotating part to rotate, and the rotating part drives the endoscope connected to it to rotate around its own axis (i.e., self-rotate).

[0041] Such as Figure 3The perspective view of the second embodiment of the present invention is shown. The difference between the second embodiment and the first embodiment is that: the transmission device adopted in the second embodiment is a gear transmission device, and the gear transmission device includes a first gear transmission device 5A' and a first gear transmission device 5B'. For the connection relationship and working principle of the remaining components, please refer to the first embodiment, which will not be elaborated here.

[0042] Of course, the transmission device is not limited to the worm and worm gear transmission device and the gear transmission device, and can also be a synchronous belt transmission device, a rack and pinion transmission device or other transmission mechanisms, as long as it can change the power direction and provide power to the endoscope.

[0043] Another implementation of the present invention is a medical robot for an endoscopic intervention device. After connecting the motor to the endoscopic intervention device through a quick-change structure, it is installed on the robotic arm of the medical robot, and the endoscopic device is driven by the motor for inspection, replacing the doctor's hand operation.

[0044] A medical robot includes a motor, and the aforementioned endoscopic intervention device is connected to the motor drive device through a quick-change structure.

[0045] In order to better connect the motor with the endoscopic intervention device, the motor is placed in the motor box, and the endoscopic intervention device is placed in the support frame. By connecting the motor box and the support frame, the connection between the motor and the endoscopic intervention device is realized.

[0046] In order to save the assembly time of the motor box and the support frame, the quick-change mechanism in this application includes a locking device, a positioning device and a linkage device. The locking device includes a plug-in pin 8 and a ball head plug 9. The plug-in pin and the ball head plunger are used to realize the locking function of the quick-change mechanism; the positioning device is composed of a fixed frame and a positioning pin to realize the positioning function. The linkage device realizes the connection between the motor and the transmission mechanism in the endoscopic intervention device, and realizes the drive of the endoscopic intervention device by the motor.

[0047] As Figure 4As shown in the figure, the plug pin 8 includes a button 81, a push rod 82, a steel ball 83, a spring 84, a pin sleeve 85 and a matching sleeve 88. One end of the button is connected to the push rod. The spring 84 is sleeved on the push rod 82. Ring-shaped grooves 86 are provided on both sides of the position where the push rod 82 contacts the steel ball 83. An opening 87 is provided at the position of the pin sleeve 85 corresponding to the steel ball 83. The diameter of the opening is smaller than the diameter of the steel ball to prevent the steel ball from being extruded out of the pin sleeve 85. The spring is preferably a compression spring. In this embodiment, the matching sleeve is a variable-diameter sleeve, that is, small at the mouth and large inside, so that it is convenient for the steel ball to be stuck at the small-diameter part. Of course, the sleeve can also be of the following structure: the inner diameter of the sleeve is equal to the outer diameter of the lower end of the pin sleeve, and a groove matching the steel ball is provided on the side wall of the sleeve. When the button is pressed, the push rod moves downward, and the steel ball slides down from the opening of the pin sleeve and falls into the ring-shaped groove. At this time, the steel ball does not protrude from the opening of the pin sleeve. When the button is in a free state, the steel ball is squeezed by the spring and the push rod and protrudes and is fixed from the opening on the pin sleeve.

[0048] As Figure 5 shown in the figure, the ball head plug 9 mainly includes a spring 91, a steel ball 92 and a housing 93. When the ball head plug abuts against a plane, the spring is compressed greatly and the elastic force is large. When the steel ball falls into a concave pit on the plane, the compression amount of the spring becomes smaller, and the elastic force is smaller at this time. When the ball head plug is shaken, since moving the ball head plug requires compressing the spring to overcome a certain elastic force, the ball head plug can be stably in the concave pit position within a certain range.

[0049] As Figure 6 shown in the figure, the positioning device is installed on the motor box 11. The positioning device includes a positioning pin 101 and a fixing frame 102. In this embodiment, the fixing frame is preferably a square frame, and the method of using a square frame plus a positioning pin is used to quickly find the correct direction and position, so as to realize the quick alignment of the motor box and the support frame. Of course, the positioning device in the present invention can also be of other structures, such as connection by a slide rail type, concave-convex fit, snap structure, etc.

[0050] The ball head plug 9 is placed on the opposite side surfaces of the fixing frame 102 in the motor box 11, that is, on the left and right sides and / or the front and back sides. At least two ball head plugs are provided. The corresponding parts of the support frame connected to the fixing frame are protrusions, and grooves corresponding to the ball head plugs are provided on the side surfaces of the protrusions. When the support frame and the motor box are aligned, the protrusions of the support frame cooperate with the fixing frame, and the spring automatically pushes the steel ball into the groove on the side surface of the protrusion, realizing self-locking and not easily falling off. To ensure the safety and reliability of the connection, the motor box and the support frame are connected by a plug pin on the side surface, that is, the matching sleeve is installed on one side of the support frame, and the rest of the plug pin is installed on the side of the motor box that cooperates with the support frame. While aligning, press the button of the plug pin, and the two sides of the motor box and the support frame are locked at the same time. This connection can improve the safety of the medical robot with an endoscopic intervention device during operation. The pin sleeve and the matching sleeve in the plug pin are respectively fixed on the motor box and the support frame by means of bolt connection or welding.

[0051] Furthermore, in order to realize the linkage between the motor and the endoscopic intervention device, the quick-change structure further includes a linkage device. As Figure 7a , 7b shown, the linkage device includes a first pulley 12a connected to the motor shaft and a second pulley 12b connected to the endoscopic intervention device. The first pulley and the second pulley are in concave-convex fit, and the number of the first pulley and the second pulley is the same, that is, the number of the pulleys matches the number of the transmission devices in the endoscopic intervention device. That is to say, the grooved pulley connected to the motor shaft and the convex pulley fixed to the worm shaft in the worm and worm gear transmission device cooperate with each other, and connection and transmission can be realized when they are fitted to the corresponding positions. The ports of all the motors connected to the endoscopic intervention device are on the same horizontal plane, and the transmission direction of the endoscopic intervention device is perpendicular to the direction of the motor shaft. The quick-change structure in the present application realizes convenient disinfection of the medical robot, quick installation or disassembly, ensures the stable operation of the intervention device, and does not affect the service life of the motor.

[0052] The following introduces the structure of the first pulley 12a (i.e., the grooved pulley) connected to one of the motor shafts: The pulley specifically includes a pulley body 121. A pit 122 is provided on the pulley body. A spring 123 is placed in the chamber of the pulley body. The upper end of the spring 123 contacts the upper surface of the chamber, and the lower end of the spring is connected to a push rod 124. One end of the push rod is connected to a limit pin 125. Correspondingly, a limit hole is opened on the pulley body corresponding to the limit pin, and the length of the limit hole is at least not less than the length of the push rod extending out of the pulley body. Such a setting can reduce the damage of the first pulley and the second pulley before the groove and the protrusion are fitted, thereby prolonging the service life of the pulley. In this embodiment, it is preferable that the cross section of the push rod is hexagonal to facilitate the adjustment of the angle during assembly; of course, the cross section can also be quadrilateral or other shapes.

[0053] When the pulley is working, the motor shaft drives the first pulley to rotate. Due to the elastic force of the spring, the pulley always has a tendency to press the second pulley connected to the endoscopic intervention device due to the elastic force; when the quick-change mechanism is locked, after the first pulley and the second pulley rotate to a certain angle, the groove and the protrusion on the pulley must cooperate. At this time, the first pulley can drive the second pulley to transmit power, thereby realizing the motor to drive the endoscopic intervention device to perform inspection work.

[0054] When multiple functions are required for the endoscopic intervention device, the support frame can be designed into multiple parts. Intervention devices with different functions are placed in the parts, and then the parts are combined and connected to the motor drive device through the quick-change structure. In this embodiment, it is preferable to have two parts, namely a left support and a right support. As Figure 8As shown in the figure, grooves 13a-1 and protrusions 13b-1 are respectively arranged on the contact surfaces of the left bracket 13a and the right bracket 13b, thereby forming a moving pair, that is, a slide rail connection. The cooperation between the protrusion 13b-1 and the groove 13a-1 facilitates the disassembly, assembly and recombination of the left bracket and the right bracket. After the left bracket and the right bracket are connected into a whole, they are connected to the motor box through a quick-change mechanism. The left bracket can accommodate the intervention device for realizing the feeding and rotation of the endoscope, and the right bracket can accommodate the intervention device for realizing the rotation and bending of the endoscope. By setting at least two brackets, the functions of the medical robot are increased.

[0055] Through the quick-change structure, the doctor can quickly fix the disinfected endoscope intervention device on the motor box, and the motor box is fixedly connected to the robot arm. In this way, the installation or replacement task of the end-effector mechanism of the robot can be quickly completed, and the problem of endoscope examination between the doctor and the patient without contact can be well solved.

[0056] Working principle: The plug pin is fixed on both sides of the motor box and the bracket. When quick-changing, press the button, so that the spring inside the plug pin is compressed, and at the same time, the internal pit is pushed towards the steel ball. After the steel ball is pushed by the button, it falls into the pit inside the plug pin. After the steel ball is sunken, the plug pin is pushed into the sleeve that matches it; at the same time, the fixed frame on the motor box cooperates with the protrusion of the support frame for placing the endoscope intervention device. This fixed frame restricts the relative rotation between the motor box and the support frame, ensures that the insertion direction is correct, and can correct the crosstalk caused by the clearance of the fixed frame. Ball plugs are also installed on the side of the fixed frame. These ball plugs also cooperate with the plug pin to complete the locking task, and are used for interface fixing protection when the plug pin fails. After the plug pin is fixed, start the motor, and the grooved pulley driven by the motor shaft starts to rotate. As it rotates, the pit on the grooved pulley and the protrusion of the protruded pulley fixedly connected to the worm shaft in the endoscope intervention device cooperate at a certain position, that is, the two pulleys are combined, and then the transmission is carried out, and the whole quick-connection action is completed.

[0057] At this point, those skilled in the art should recognize that although the exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications that conform to the principles of the present invention can still be directly determined or derived from the content disclosed in the present invention without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should be understood and construed as covering all such other variations or modifications.

Claims

1. A medical robot, comprising a motor and an endoscopic intervention device. The endoscopic intervention device includes an endoscope and a transmission device, characterized in that, The endoscopic intervention device further includes a rotating part, a bending part and a hollow shaft. The transmission device includes a first transmission mechanism and a second transmission mechanism. The first transmission mechanism and the second transmission mechanism are fixed on the hollow shaft. One end of the first transmission mechanism is respectively connected to the endoscope and one end of the rotating part, the other end of the rotating part is connected to one end of the bending part, and the second transmission mechanism is respectively connected to the other end of the bending part and the endoscope. The endoscopic intervention device is connected to the motor through a quick-change structure.

2. The medical robot according to claim 1, characterized in that, Holes are formed in the rotating part and the bending part.

3. The medical robot according to claim 2, wherein, The endoscopic intervention device further includes at least two flexible wires. One end of the at least two flexible wires is connected to the front end of the endoscope, and the other end passes through the hole of the rotating part, enters the bending part and passes through the hole of the bending part, and the other ends of the two flexible wires are fastened to the bending part through a fixing member.

4. The medical robot according to claim 1, characterized in that, The transmission device is a worm and gear transmission device, a gear transmission device, a synchronous belt transmission device or a rack and pinion transmission device.

5. The medical robot according to claim 1, characterized in that, A first connection module is arranged between the first transmission mechanism and the rotating part, and a second connection module is arranged between the bending part and the second transmission mechanism.

6. The medical robot according to claim 1, characterized in that, The transmission direction of the endoscopic intervention device is perpendicular to the direction of the motor shaft.

7. The medical robot according to claim 1, characterized in that, The quick-change structure includes a locking device, a positioning device and a linkage device.

8. The medical robot according to claim 7, characterized in that, The locking device includes a plug-in pin. The plug-in pin includes a button, a push rod, a steel ball, a spring, a pin sleeve and a matching sleeve. One end of the button is connected to the push rod. The spring is sleeved on the push rod. Annular grooves are arranged on both sides of the position where the push rod contacts the steel ball. An opening is arranged at the position of the pin sleeve corresponding to the steel ball, and the diameter of the opening is smaller than the diameter of the steel ball.

9. The medical robot according to claim 7, wherein, The linkage device includes a first pulley connected to the motor and a second pulley connected to the transmission device of the endoscopic intervention device. The first pulley and the second pulley are in concave-convex fit.

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