A digestive endoscope robot using a mechanical arm and a digestive endoscope

Abstract

The present invention discloses a digestive endoscope robot and a digestive endoscope using a mechanical arm. The digestive endoscope robot using a mechanical arm comprises a first semicircular ring, a second semicircular ring is arranged on one side of the first semicircular ring, and the first semicircular ring and the second semicircular ring are connected by a plurality of auxiliary components; the inner circumferential sidewalls of the first semicircular ring and the second semicircular ring are provided with a plurality of buffer components, the outer circumferential sidewalls of the first semicircular ring and the second semicircular ring are both provided with connecting bosses, and the top of the connecting boss is provided with a mechanical arm. The present invention has a reasonable and reliable structure, simple and convenient operation, and can drive surgical instruments to perform precise adjustment movements inside the human body under the action of airbags through the arrangement of two sets of mechanical arms, so that the digestive endoscope robot can drive surgical instruments to perform precise cutting and processing on the diseased tissue of the human body, thereby reducing the time required for the operation and improving the efficiency.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a digestive endoscope robot and a digestive endoscope using a mechanical arm. Background Art

[0002] With the development of technology, digestive endoscopes are increasingly used in the diagnosis and treatment of diseases. A digestive endoscope usually includes a light source, an objective lens, and an instrument channel. The objective lens is used for imaging, the light source is used to illuminate human tissue when the objective lens is imaging, and the instrument channel is used to guide surgical instruments (such as electrosurgical knife, etc.). When in use, the digestive endoscope is first inserted into the patient's body along the human cavity, and then the surgical instrument is inserted into the instrument channel of the digestive endoscope and moved along the instrument channel to the lesion location.

[0003] Among them, patent number CN107007354A discloses a digestive endoscope robot and a digestive endoscope, wherein the robot includes a collar and a flexible mechanical arm arranged on the collar, wherein the flexible mechanical arm includes a plurality of rotating bodies and three or more driving ropes; the driving ropes are distributed along the circumference of the rotating bodies, and pass through the rotating bodies in series in sequence, and are fixedly connected to the rotating body at the end. The invention can realize the flexible change of direction of surgical instruments, ensure the movement accuracy of surgical instruments, reduce the space required for the movement of surgical instruments, and expand the scope of application of digestive endoscopes. However, the above-mentioned digestive endoscope robot fixes the digestive endoscope by means of threaded fasteners when the digestive endoscope is connected to the ring. When the digestive endoscope is fixed at one end of the threaded fastener, the stress point on the side wall of the digestive endoscope is smaller, which will affect the components in the digestive endoscope and reduce the service life of the digestive endoscope. At the same time, since the digestive endoscope is usually inserted into the patient's body, when the robotic arm needs to be driven by a driving rope outside the human body, it can only be adjusted in a single direction, and the robotic arm cannot be accurately adjusted, which will reduce the stability of the adjustment of the robotic arm.

[0004] Currently, no effective solution has been proposed for the problems in the related technologies. Summary of the invention

[0005] In response to the problems in the related technology, the present invention proposes a digestive endoscopy robot and a digestive endoscope using a robotic arm, which have the advantages of not affecting the internal components of the digestive endoscope when connecting the digestive endoscope and being able to stably adjust the robotic arm, thereby solving the problem that when the digestive endoscope is fixed by one end of a threaded fastener, the stress point on the side wall of the digestive endoscope is small, which will affect the components inside the digestive endoscope and cannot accurately adjust the robotic arm, thereby reducing the stability of the adjustment of the robotic arm.

[0006] In order to achieve the advantages of not affecting the internal components of the digestive endoscope when connecting the digestive endoscope and being able to stably adjust the robotic arm, the specific technical solution adopted by the present invention is as follows:

[0007] According to one aspect of the present invention, there is provided a digestive endoscopy robot using a robotic arm, comprising a first semicircular ring, a second semicircular ring being arranged on one side of the first semicircular ring, and the first semicircular ring and the second semicircular ring being connected via a plurality of auxiliary components; a plurality of buffer components are arranged on the inner circumferential side walls of the first semicircular ring and the second semicircular ring, connecting bosses are arranged on the outer circumferential side walls of the first semicircular ring and the second semicircular ring, and a robotic arm is arranged on the top of the connecting boss; a first placement plate is arranged on the top of one of the robotic arms, connecting plates are arranged on both sides of the top of the first placement plate, and clamping forceps are hingedly arranged between the connecting plates; a second placement plate is arranged on the top of the other robotic arm, and a cutting scalpel is arranged on the top of the second placement plate.

[0008] Furthermore, in order to achieve the connection between the first semicircular ring and the second semicircular ring, so as to be able to connect with the front end of the digestive endoscope, and at the same time, the first semicircular ring and the second semicircular ring can be quickly installed and disassembled, thereby improving the staff's work efficiency in installing and disassembling the digestive endoscope robot, slots are provided on both end side walls of one side of the first semicircular ring, and two groups of baffles are provided at the bottom of the slots, and the two groups of baffles are symmetrically arranged; blocks that cooperate with the baffles are provided at the bottom of both end side walls of one side of the second semicircular ring, and the cross-section of the blocks is arranged in a T-shaped structure; chamber one that cooperates with the auxiliary component is provided at the top of both end side walls of one side of the second semicircular ring, and a through hole one is provided on one end side wall of the chamber one, and one end of the through hole one extends to the side wall of the second semicircular ring; groove one is provided at both ends of the top of the second semicircular ring, and through hole two is provided at the bottom of the groove one, and one end of the through hole two extends to the top of the chamber one.

[0009] Furthermore, in order to achieve a more stable connection between the first semicircular ring and the second semicircular ring, the portion where the first semicircular ring and the second semicircular ring are connected can not move under the cooperation of the auxiliary block and the baffle and the block, thereby ensuring that the first semicircular ring and the second semicircular ring firmly clamp the front end of the digestive endoscope, thereby improving the stability of the connection between the front end of the digestive endoscope and the digestive endoscope robot, and ensuring the normal and stable operation of the digestive endoscope. The auxiliary component includes a limit block 1 arranged inside the chamber 1, and the cross-section of the limit block 1 is arranged to be a square structure; one end of the limit block 1 is provided with a moving rod that cooperates with the perforation 1, the top of the auxiliary block is provided with a moving rod that cooperates with the perforation 2, the top of the moving rod is provided with a driving block that cooperates with the groove 1, and the top of the driving block is provided with an anti-slip protrusion; the side wall of the other end of the limit block 1 is provided with a mounting hole 1, and the mounting hole 1 and the mounting hole 1 are provided with a spring 1, and one end of the spring 1 is fixedly connected to the inner side wall of the mounting hole 1, and the other end of the spring 1 is fixedly connected to the inner side wall of the chamber 1.

[0010] Furthermore, in order to achieve the coordinated installation of the first semicircular ring and the second semicircular ring with the buffer assembly, thereby ensuring the stability of the installation of the front end of the digestive endoscope, a plurality of chambers 2 that cooperate with the buffer assembly are opened inside the arc-shaped side walls of the first semicircular ring and the second semicircular ring, and the cross-section of the chamber 2 is set to a square structure, and a plurality of chambers 2 are evenly and equidistantly arranged on the arc-shaped side walls of the first semicircular ring and the second semicircular ring; a through hole 3 is opened at one end of the interior of the chamber 2, and one end of the through hole 3 extends to the inner side walls of the first semicircular ring and the second semicircular ring.

[0011] Furthermore, in order to prevent the components inside the digestive endoscope from being damaged by the clamping of the first semicircular ring and the second semicircular ring, the front end of the digestive endoscope is buffered to a certain extent during the clamping process by the provision of spring 2, and at the same time, the force on the side wall of the front end of the digestive endoscope is relatively uniform by the provision of multiple buffer plates. Under the provision of anti-slip grooves, the friction between the buffer plate and the front end of the digestive endoscope is improved, thereby improving the service life of the digestive endoscope. The buffer assembly includes a limit block 2 arranged inside chamber 2, and the cross-section of the limit block 2 is arranged to be a square structure; a buffer rod cooperating with the perforation 3 is arranged in the middle of one side wall of the limit block 2, a buffer plate is arranged at one end of the buffer rod, and the cross-section of the buffer plate is arranged to be an arc structure, and a plurality of anti-slip grooves are arranged on the arc side wall of the buffer plate away from the buffer rod, and the cross-section of the anti-slip groove is arranged to be an S-shaped structure; a spring 2 is arranged in the middle of the other side of the limit block 2, and one end of the spring 2 is fixedly connected to the side wall of the limit block 2, and the other end of the spring 2 is fixedly connected to the inner side wall of the chamber 2.

[0012] Furthermore, in order to enable the robotic arm to move flexibly under the action of the airbag, so as to drive the surgical instrument to move in multiple directions under the movement of the robotic arm, at the same time, through the setting of a plurality of airbags, the robotic arm can be driven to make precise adjustments inside the human body, so as to drive the surgical instrument to accurately cut and treat the diseased tissue, and under the setting of the electromagnetic air valve, the operation is simple and convenient when adjusting the robotic arm, thereby improving the work efficiency of the staff during the operation. The robotic arm includes a plurality of mounting rings arranged in sequence from top to bottom, and the mounting rings at the top are respectively connected to the bottom ends of the first placement plate and the second placement plate, and the mounting rings at the bottom are connected to the top end of the connecting boss; a connecting ring is provided in the middle of the circumferential side wall of the mounting ring, and a plurality of airbags are provided between two adjacent groups of connecting rings.

[0013] Furthermore, in order to achieve the coordinated installation between the mounting ring and the airbag, a plurality of semicircular holes are provided at the top and bottom ends of the mounting ring, and the plurality of semicircular holes are arranged evenly and equidistantly; the number of airbags on each mounting ring is set to four, the cross-section of the airbag is set to an arc structure, and an air pipe cooperating with the semicircular holes is provided on one side wall of the airbag, and an electromagnetic air valve is provided at one end of the air pipe.

[0014] According to another aspect of the present invention, a digestive endoscope is provided, including a front end portion extending into the human body, and also including a digestive endoscope robot using a mechanical arm, the digestive endoscope robot is connected to the side wall of the front end portion through a first semicircular ring and a second semicircular ring.

[0015] The beneficial effects of the present invention are:

[0016] 1. The present invention has a reasonable and reliable structure and is simple and convenient to operate. Through the setting of two sets of mechanical arms, the surgical instruments can be driven to perform precise adjustment movements inside the human body under the action of the airbag, and the digestive endoscopy robot can drive the surgical instruments to perform precise cutting and treatment of the diseased tissue of the human body, thereby reducing the time required for the operation and improving efficiency.

[0017] 2. By setting the first semicircular ring and the second semicircular ring, the connection between the first semicircular ring and the second semicircular ring is realized, and it can be connected to the front end of the digestive endoscope. At the same time, the first semicircular ring and the second semicircular ring can be quickly installed and disassembled, thereby improving the work efficiency of the staff in installing and disassembling the digestive endoscope robot.

[0018] 3. Through the setting of auxiliary components, the connection between the first semicircular ring and the second semicircular ring is made more stable. With the cooperation of the auxiliary block and the baffle and the block, the connection part between the first semicircular ring and the second semicircular ring will not move, thereby ensuring that the first semicircular ring and the second semicircular ring firmly clamp the front end of the digestive endoscope, thereby improving the stability of the connection between the front end of the digestive endoscope and the digestive endoscope robot, and ensuring the normal and stable operation of the digestive endoscope.

[0019] 4. By setting the buffer assembly, the components inside the digestive endoscope will not be damaged due to the clamping of the first semicircular ring and the second semicircular ring. By setting the second spring, the front end of the digestive endoscope will be buffered to a certain extent during the clamping process. At the same time, by setting multiple buffer plates, the force on the side wall of the front end of the digestive endoscope is more uniform. With the setting of the anti-slip groove, the friction between the buffer plate and the front end of the digestive endoscope is increased, thereby increasing the service life of the digestive endoscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 is a schematic structural diagram of a digestive endoscopy robot using a mechanical arm according to an embodiment of the present invention;

[0022] Figure 2 yes Figure 1 A partial enlarged view of the middle A;

[0023] Figure 3 This is one of the three-dimensional assembly diagrams of the first semicircular ring and the second semicircular ring in a digestive endoscopy robot using a mechanical arm according to an embodiment of the present invention;

[0024] Figure 4 yes Figure 3 A partial enlarged view of point B in the middle;

[0025] Figure 5 This is a second three-dimensional assembly diagram of a first semicircular ring and a second semicircular ring in a digestive endoscopy robot using a mechanical arm according to an embodiment of the present invention;

[0026] Figure 6 yes Figure 5 A partial enlarged view of point C in the middle;

[0027] Figure 7is a partial cross-sectional view of a first semicircular ring in a digestive endoscopy robot using a mechanical arm according to an embodiment of the present invention;

[0028] Figure 8 yes Figure 7 A partial enlarged view of point D in the middle;

[0029] Fig. 9 is a partial enlarged view of a mechanical arm in a digestive endoscopy robot using a mechanical arm according to an embodiment of the present invention;

[0030] Fig.10 yes Fig. 9 A partial enlarged view of point E in the middle;

[0031] Fig.11 is an assembly diagram of a digestive endoscope robot using a mechanical arm and a digestive endoscope according to an embodiment of the present invention;

[0032] Fig.12 yes Fig.11 A partial enlarged view of point F in the middle.

[0033] In the figure:

[0034] 1. First semicircular ring; 101. slot; 102. baffle; 103. chamber 2; 104. perforation 3; 2. Second semicircular ring; 201. block; 202. chamber 1; 203. perforation 1; 204. groove 1; 205. perforation 2; 3. auxiliary assembly; 301. stopper 1; 302. auxiliary block; 303. moving rod; 304. driving block; 305. mounting hole 1; 306. spring 1; 4. buffer Punch assembly; 401, limit block 2; 402, buffer rod; 403, buffer plate; 404, anti-slip groove; 405, spring 2; 5, connecting boss; 6, mechanical arm; 601, mounting ring; 6011, semicircular hole; 602, connecting ring; 603, air bag; 6031, trachea; 6032, solenoid valve; 7, first placement plate; 8, connecting plate; 9, clamping forceps; 10, second placement plate; 11, cutting scalpel. DETAILED DESCRIPTION

[0035] To further illustrate each embodiment, the present invention provides drawings, which are part of the disclosure of the present invention and are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, ordinary technicians in the field should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0036] According to an embodiment of the present invention, a digestive endoscopy robot and a digestive endoscope using a robotic arm are provided.

[0037] The present invention will now be further described with reference to the accompanying drawings and specific embodiments. Figure 1-12 As shown, according to one embodiment of the present invention, a digestive endoscopy robot using a robotic arm is provided, comprising a first semicircular ring 1, a second semicircular ring 2 is arranged on one side of the first semicircular ring 1, and the first semicircular ring 1 and the second semicircular ring 2 are connected by a plurality of auxiliary components 3; a plurality of buffer components 4 are arranged on the inner circumferential side walls of the first semicircular ring 1 and the second semicircular ring 2, connecting bosses 5 are arranged on the outer circumferential side walls of the first semicircular ring 1 and the second semicircular ring 2, and a robotic arm 6 is arranged on the top of the connecting boss 5; a first placement plate 7 is arranged on the top of one of the robotic arms 6, connecting plates 8 are arranged on both sides of the top of the first placement plate 7, and clamping forceps 9 are hingedly arranged between the connecting plates 8; a second placement plate 10 is arranged on the top of the other robotic arm 6, and a cutting scalpel 11 is arranged on the top of the second placement plate 10.

[0038] With the aid of the above-mentioned technical scheme of the present invention, the present invention has a reasonable and reliable structure and is simple and convenient to operate. Through the setting of two groups of mechanical arms 6, the surgical instruments can be driven to perform precise adjustment movements inside the human body under the action of the airbag 603, and the digestive endoscopy robot can drive the surgical instruments to perform precise cutting and treatment of the diseased tissue of the human body, thereby reducing the time required for the operation and improving efficiency.

[0039] In one embodiment, for the first semicircular ring 1 and the second semicircular ring 2, slots 101 are provided at both end side walls of one side of the first semicircular ring 1, and two groups of baffles 102 are arranged at the bottom of the slot 101, and the two groups of baffles 102 are arranged symmetrically; blocks 201 cooperating with the baffles 102 are provided at the bottom of both end side walls of one side of the second semicircular ring 2, and the cross section of the block 201 is arranged in a T-shaped structure; chambers 202 cooperating with the auxiliary component 3 are provided at the top of both end side walls of one side of the second semicircular ring 2, and a through hole 203 is provided on one end side wall of the chamber 202, and one end of the through hole 203 extends to the side wall of the second semicircular ring 2; grooves 204 are provided at both ends of the top of the second semicircular ring 2, and through holes 205 are provided at the bottom of the groove 204, and one end of the through hole 205 extends to the side wall of the second semicircular ring 2. Extending to the top of chamber one 202; a plurality of chambers two 103 cooperating with the buffer assembly 4 are provided inside the arc-shaped side walls within the first semicircular ring 1 and the second semicircular ring 2, and the cross-section of chamber two 103 is set as a square structure, and a plurality of chambers two 103 are evenly and equidistantly arranged on the arc-shaped side walls within the first semicircular ring 1 and the second semicircular ring 2; a perforation three 104 is provided at one end of the interior of chamber two 103, and one end of the perforation three 104 extends to the inner side walls of the first semicircular ring 1 and the second semicircular ring 2, thereby realizing the connection between the first semicircular ring 1 and the second semicircular ring 2, and being able to be connected to the front end of the digestive endoscope 12, and at the same time, enabling the first semicircular ring 1 and the second semicircular ring 2 to be quickly installed and disassembled, thereby improving the work efficiency of the staff in installing and disassembling the digestive endoscope robot.

[0040] In one embodiment, for the auxiliary component 3, the auxiliary component 3 includes a limit block 301 arranged inside the chamber 202, and the cross section of the limit block 301 is set to a square structure; one end of the limit block 301 is provided with an auxiliary block 302 that cooperates with the through hole 203, and the top of the auxiliary block 302 is provided with a moving rod 303 that cooperates with the through hole 205, and the top of the moving rod 303 is provided with a driving block 304 that cooperates with the groove 204, and the top of the driving block 304 is provided with an anti-slip bump; the side wall of the other end of the limit block 301 is provided with a mounting hole 305, and the mounting hole 305 and the mounting hole 305 are provided with a spring 306 (in addition, in specific applications, the spring 306 is provided inside the mounting hole 305). Spring 1603 is configured as a compression spring), and one end of spring 306 is fixedly connected to the inner side wall of mounting hole 305, and the other end of spring 306 is fixedly connected to the inner side wall of chamber 202, so that the connection between the first semicircular ring 1 and the second semicircular ring 2 is more stable, and with the cooperation of the auxiliary block 302 and the baffle 102 and the block 201, the connection portion between the first semicircular ring 1 and the second semicircular ring 2 will not move, thereby ensuring that the first semicircular ring 1 and the second semicircular ring 2 firmly clamp the front end of the digestive endoscope 12, thereby improving the stability of the connection between the front end of the digestive endoscope 12 and the digestive endoscope robot, and ensuring the normal and stable operation of the digestive endoscope.

[0041] In one embodiment, for the buffer component 4, the buffer component 4 includes a second limit block 401 arranged inside the second chamber 103, and the cross section of the second limit block 401 is set to a square structure; a buffer rod 402 cooperating with the third perforation 104 is set in the middle of one side wall of the second limit block 401, a buffer plate 403 is set at one end of the buffer rod 402, and the cross section of the buffer plate 403 is set to an arc structure, and the arc side wall of the buffer plate 403 away from the buffer rod 402 is provided with a plurality of anti-skid grooves 404, and the cross section of the anti-skid grooves 404 is set to an S-shaped structure; a spring second 405 is set in the middle of the other side of the second limit block 401 (in addition, in specific applications, the spring second 405 is set to a compression Compression spring), and one end of spring 2 405 is fixedly connected to the side wall of limit block 2 401, and the other end of spring 2 405 is fixedly connected to the inner side wall of chamber 2 103, so that the components inside the digestive endoscope 12 will not be damaged due to the clamping of the first semicircular ring 1 and the second semicircular ring 2. Through the setting of spring 2 405, the front end of the digestive endoscope 12 will be buffered to a certain extent during the clamping process. At the same time, through the setting of multiple buffer plates 403, the force on the side wall of the front end of the digestive endoscope 12 is relatively uniform. Under the setting of the anti-slip groove 404, the friction between the buffer plate 403 and the front end of the digestive endoscope 12 is increased, thereby increasing the service life of the digestive endoscope 12.

[0042] In one embodiment, for the robot arm, the robot arm 6 includes a plurality of mounting rings 601 arranged in sequence from top to bottom, and the mounting ring 601 at the top is respectively connected to the bottom ends of the first placement plate 7 and the second placement plate 10, and the mounting ring 601 at the bottom is connected to the top end of the connecting boss 5; a connecting ring 602 is provided in the middle of the circumferential side wall of the mounting ring 601, and a plurality of airbags 603 are provided between two adjacent groups of connecting rings 602; a plurality of semicircular holes 6011 are provided at the top and bottom ends of the mounting ring 601, and the plurality of semicircular holes 6011 are evenly and equidistantly arranged; the number of airbags 603 on each mounting ring 601 is set to four, and the cross section of the airbag 603 is set to an arc shape The structure is as follows: a first air bag 603 is provided with an air tube 6031 cooperating with the semicircular hole 6011 on one side wall of the air bag 603, and an electromagnetic air valve 6032 is provided at one end of the air tube 6031, so that the robot arm 6 can move flexibly under the action of the air bag 603, so that the surgical instrument can be driven to move in multiple directions under the movement of the robot arm 6. At the same time, through the setting of a plurality of air bags 603, the robot arm 6 can be driven to be precisely adjusted inside the human body, and then the surgical instrument can be driven to precisely cut the diseased tissue. Moreover, with the setting of the electromagnetic air valve 6032, the operation is simple and convenient during the adjustment process of the robot arm 6, thereby improving the work efficiency of the staff during the operation.

[0043] According to another embodiment of the present invention, a digestive endoscope is provided, including a front end portion 12 extending into the human body, and also including a digestive endoscope robot using a robotic arm, the digestive endoscope robot is sleeved on the side wall of the front end portion 12 through a first semicircular ring 1 and a second semicircular ring 2.

[0044] In order to facilitate understanding of the above technical solutions of the present invention, the working principle or operation mode of the present invention in the actual process is described in detail below.

[0045] In actual application, firstly, the first semicircular ring 1, the second semicircular ring 2 and the front end of the digestive endoscope 12 are connected, and the front end of the digestive endoscope 12 is placed between the first semicircular ring 1 and the second semicircular ring 2, and then the stopper 201 is inserted into the upper part of the inner part of the slot 101, and then the second semicircular ring 2 is moved downward so that the stopper 201 is inserted between the two baffles 102, and at the same time, the driving block 301 is pushed to make the driving block 304 move in the direction away from the baffle 102, thereby driving the moving rod 303 to move, and then driving the limit block 301 to move away from the baffle 102. 01 and the auxiliary block 302 move, and the spring 1 306 is compressed. When the stop block 201 is inserted between the two baffles 102, the driving block 304 is released, and then the limit block 1 301 drives the auxiliary block 302 to move upward inside the slot 101 under the action of the spring 1 306, so that the first semicircular ring 1 and the second semicircular ring 2 clamp the front end of the digestive endoscope 12 under the cooperation of the auxiliary block 302, the stop block 201 and the baffle 102. At the same time, in the process of clamping the front end of the digestive endoscope 12, the front end of the digestive endoscope 12 The end portion will generate a thrust toward the second perforation 104 on the buffer plate 403, thereby driving the buffer rod 402 and the second limit block 401 to move, thereby generating a thrust on the second spring 405, and then generating a thrust on the second limit block 401, the buffer rod 402 and the buffer plate 403 under the reaction force of the second spring 405, and then under the action of the anti-slip groove 404, the friction between the buffer plate 403 and the side wall of the front end of the digestive endoscope 12 can be increased, thereby ensuring the connection between the front end of the digestive endoscope 12 and the first semicircular ring 1 and the second semicircular ring 2 Stability, then move the installed digestive endoscope 12 to the inside of the human body for inspection. When diseased tissue is detected, the electromagnetic valve 6032 is controlled by an external controller, so that the airbag 603 is inflated through the trachea 6031, so that the airbag 603 is expanded, so that the spacing on one side of the connecting rod 602 is increased, so that the mechanical arm 6 at this position is offset toward the side opposite to the inflated airbags 603, and then the surgical instrument is driven to move and approach the diseased tissue, so as to facilitate the cutting of the diseased tissue. Since each airbag 603 can be controlled individually, the mechanical arm 6 can be adjusted to any shape as needed, such as an S-shaped or other complex shape. Compared with the existing technology, it is more flexible and can still drive the surgical instrument to approach the diseased tissue for treatment even in complex environments, and has strong adaptability.

[0046] In summary, with the aid of the above-mentioned technical scheme of the present invention, the present invention has a reasonable and reliable structure, simple and convenient operation, and through the arrangement of two groups of mechanical arms 6, it is possible to drive the surgical instrument to perform precise adjustment movements inside the human body under the action of the airbag 603, with a large adjustment range and high precision, so that the digestive endoscopy robot can drive the surgical instrument to perform precise cutting and treatment on the diseased tissue of the human body, thereby reducing the time required for the operation and improving efficiency; through the arrangement of the first semicircular ring 1 and the second semicircular ring 2, the connection between the first semicircular ring 1 and the second semicircular ring 2 is realized, and it can be connected to the front end of the digestive endoscope 12, and at the same time, the first semicircular ring 1 and the second semicircular ring 2 can be quickly installed and disassembled, thereby improving the work efficiency of the staff in installing and disassembling the digestive endoscopy robot; through the arrangement of the auxiliary component 3, the connection between the first semicircular ring 1 and the second semicircular ring 2 is made more stable, which can be used in the auxiliary With the cooperation of block 302 and baffle 102 and block 201, the connection portion between the first semicircular ring 1 and the second semicircular ring 2 will not move, thereby ensuring that the first semicircular ring 1 and the second semicircular ring 2 firmly clamp the front end of the digestive endoscope 12, thereby improving the stability of the connection between the front end of the digestive endoscope 12 and the digestive endoscope robot, and ensuring the normal and stable operation of the digestive endoscope; through the setting of the buffer component 4, the components inside the digestive endoscope 12 will not be damaged by the clamping of the first semicircular ring 1 and the second semicircular ring 2, and through the setting of spring 2 405, the front end of the digestive endoscope 12 will be buffered to a certain extent during the clamping process. At the same time, through the setting of multiple buffer plates 403, the force on the side wall of the front end of the digestive endoscope 12 is relatively uniform. Under the setting of the anti-slip groove 404, the friction between the buffer plate 403 and the front end of the digestive endoscope 12 is improved, thereby increasing the service life of the digestive endoscope 12.

[0047] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0048] 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 principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A digestive endoscopy robot using a mechanical arm, characterized in that: It comprises a first semicircular ring (1), a second semicircular ring (2) is arranged on one side of the first semicircular ring (1), and the first semicircular ring (1) and the second semicircular ring (2) are connected via a plurality of auxiliary components (3); The inner circumferential side walls of the first semicircular ring (1) and the second semicircular ring (2) are provided with a plurality of buffer components (4), the outer circumferential side walls of the first semicircular ring (1) and the second semicircular ring (2) are both provided with connecting bosses (5), and the top of the connecting bosses (5) is provided with a mechanical arm (6); A first placement plate (7) is arranged at the top of one of the mechanical arms (6), connecting plates (8) are arranged on both sides of the top of the first placement plate (7), and clamping forceps (9) are hingedly arranged between the connecting plates (8); a second placement plate (10) is arranged at the top of the other mechanical arm (6), and a cutting scalpel (11) is arranged at the top of the second placement plate (10); Both end side walls of one side of the first semicircular ring (1) are provided with slots (101), and two groups of baffles (102) are arranged at the bottom of the slots (101), and the two groups of baffles (102) are symmetrically arranged; The bottom of the side walls at both ends of one side of the second semicircular ring (2) are provided with stoppers (201) that cooperate with the stopper (102), and the cross section of the stopper (201) is arranged in a T-shaped structure; A chamber (202) cooperating with the auxiliary component (3) is provided at the top of the side walls at both ends of one side of the second semicircular ring (2); a through hole (203) is provided on one end of the side wall of the chamber (202), and one end of the through hole (203) extends to the side wall of the second semicircular ring (2); A groove 1 (204) is formed at both ends of the top of the second semicircular ring (2), a through hole 2 (205) is formed at the bottom of the groove 1 (204), and one end of the through hole 2 (205) extends to the top of the chamber 1 (202); The auxiliary component (3) comprises a limit block (301) arranged inside the chamber (202), and the cross section of the limit block (301) is arranged to be a square structure; One end of the limit block 1 (301) is provided with an auxiliary block (302) that matches the perforation 1 (203); the top end of the limit block 1 (301) is provided with a moving rod (303) that matches the perforation 2 (205); the top end of the moving rod (303) is provided with a driving block (304) that matches the groove 1 (204); and the top end of the driving block (304) is provided with an anti-slip protrusion; The side wall of the other end of the limit block 1 (301) is provided with a mounting hole 1 (305), and the mounting hole 1 (305) and the mounting hole 1 (305) are provided with a spring 1 (306) inside, and one end of the spring 1 (306) is fixedly connected to the inner side wall of the mounting hole 1 (305), and the other end of the spring 1 (306) is fixedly connected to the inner side wall of the chamber 1 (202); A plurality of chambers 2 (103) cooperating with the buffer assembly (4) are provided inside the arc-shaped side walls of the first semicircular ring (1) and the second semicircular ring (2); the cross section of the chamber 2 (103) is arranged in a square structure, and the plurality of chambers 2 (103) are evenly and equidistantly arranged on the arc-shaped side walls of the first semicircular ring (1) and the second semicircular ring (2); A third through hole (104) is provided at one end of the interior of the second chamber (103), and one end of the third through hole (104) extends to the inner side walls of the first semicircular ring (1) and the second semicircular ring (2).

2. A digestive endoscopy robot using a mechanical arm according to claim 1, characterized in that: The buffer assembly (4) comprises a second limiting block (401) arranged inside the second chamber (103), and the cross section of the second limiting block (401) is arranged to be a square structure; A buffer rod (402) cooperating with the third perforation (104) is arranged in the middle of one side wall of the second limit block (401), a buffer plate (403) is arranged at one end of the buffer rod (402), and the cross section of the buffer plate (403) is arranged as an arc structure, and a plurality of anti-skid grooves (404) are arranged on the arc-shaped side wall of the buffer plate (403) away from the buffer rod (402), and the cross section of the anti-skid groove (404) is arranged as an S-shaped structure; A spring 2 (405) is provided in the middle of the other side of the second limit block (401), and one end of the spring 2 (405) is fixedly connected to the side wall of the second limit block (401), and the other end of the spring 2 (405) is fixedly connected to the inner side wall of the second chamber (103).

3. A digestive endoscopy robot using a mechanical arm according to claim 2, characterized in that: The mechanical arm (6) comprises a plurality of mounting rings (601) arranged in sequence from top to bottom, and the mounting ring (601) at the top is connected to the bottom ends of the first placement plate (7) and the second placement plate (10) respectively, and the mounting ring (601) at the bottom is connected to the top end of the connecting boss (5).

4. A digestive endoscopy robot using a mechanical arm according to claim 3, characterized in that: A connecting ring (602) is arranged in the middle of the circumferential side wall of the mounting ring (601), and a plurality of air bags (603) are arranged between two adjacent groups of connecting rings (602).

5. The digestive endoscopy robot using a mechanical arm according to claim 4, characterized in that: A plurality of semicircular holes (6011) are provided at the top and bottom of the mounting ring (601), and the plurality of semicircular holes (6011) are evenly arranged at equal distances.

6. The digestive endoscopy robot using a mechanical arm according to claim 5, characterized in that: The number of the airbags (603) on each mounting ring (601) is set to four, the cross-section of the airbag (603) is set to an arc-shaped structure, and a side wall of the airbag (603) is provided with an air pipe (6031) that cooperates with the semicircular hole (6011), and one end of the air pipe (6031) is provided with an electromagnetic air valve (6032).

7. The digestive endoscopy robot using a mechanical arm according to claim 6, characterized in that: The solenoid valves (6032) are all connected to the controller.

8. A digestive endoscope, comprising a front end portion (12) extending into the human body, characterized in that: It also includes a digestive endoscopy robot using a robotic arm as described in any one of claims 1 to 7, wherein the digestive endoscopy robot is sleeved on the side wall of the front end portion (12) through the first semicircular ring (1) and the second semicircular ring (2).

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