A transrespiratory diagnosis and treatment robot system and its control method

Abstract

The present invention relates to the field of medical machinery technology, and in particular to a trans-respiratory diagnosis and treatment robot system and a control method thereof; the present invention includes a master-end control device for operating and controlling to issue control instructions, a slave-end control device for receiving control instructions from the master-end control device to perform operating actions, and a navigation device for tracking and guiding the slave-end control device. The slave-end control device includes a slave-end robot and a slave-end embedded controller installed in the slave-end robot. The slave-end robot is provided with a mechanical arm, a propulsion support plate connected to the mechanical arm, and a biopsy instrument introduction mechanism connected to the propulsion support plate for delivering a biopsy instrument, a bronchoscope rotation transmission mechanism for controlling a bronchoscope, and a bending control mechanism for controlling the angle of the flexible end of the bronchoscope; the present invention issues control instructions through the master-end control device, and the slave-end control device receives the control instructions from the master-end control device to perform operating actions, while the navigation device tracks and guides the slave-end control device to deliver the biopsy instrument and clamp the lesion tissue.

Description

Technical Field

[0001] The present invention relates to the technical field of medical machinery, and in particular to a trans-respiratory diagnosis and treatment robot system and a control method thereof. Background Art

[0002] According to statistics from the World Health Organization's International Agency for Research on Cancer, the number of people suffering from cancer worldwide is rapidly increasing, and lung cancer accounts for the largest proportion of annual deaths from cancer. Approximately 1.8 million people died from lung cancer in 2020; early detection is the key to the diagnosis and treatment of lung cancer, and the benign or malignant nature of small peripulmonary nodules is an important basis for early detection of lung cancer; clinical practice has confirmed that early diagnosis and early intervention of small peripulmonary nodules have very significant prognostic effects, and even allow many early lung cancer patients to be completely cured, greatly reducing the mortality rate.

[0003] Bronchoscopy and percutaneous biopsy are two common biopsy methods. Bronchoscopy uses CT or X-ray scans to determine the location of lung lesions. It has a higher diagnosis rate for central lesions located in the hilum of the lung and is less invasive to the body than percutaneous biopsy. When doctors work closely with patients suffering from respiratory infections such as novel coronavirus pneumonia, severe acute respiratory syndrome, and Middle East respiratory syndrome, there is already a certain risk of infection. Furthermore, performing a biopsy procedure can further open the patient's airway during the procedure, leading to the release of high concentrations of virus in the lower respiratory tract mucus, forming aerosols. This puts medical staff at a higher risk of infection and can lead to nosocomial infections. Even if medical staff take protective measures such as wearing protective clothing, medical protective masks and protective face shields, there will inevitably be psychological barriers to the threat of the virus, which will prolong the diagnosis time and increase the risk between doctors and patients. In addition, multiple factors such as long-term X-ray radiation, doctor fatigue and unstable manual operation during interventional biopsy surgery will also affect the quality of the operation and increase the risk of surgery. The use of robotic technology can minimize the above risks. At the same time, the internal environment of the bronchi is complex, and doctors need to operate multiple instruments at the same time, which is cumbersome. Summary of the Invention

[0004] The main technical problem solved by the present invention is to provide a transrespiratory diagnosis and treatment robot system, which sends control instructions through a master-end control device, and the slave-end control device receives the control instructions of the master-end control device to perform operating actions. At the same time, the navigation device tracks and guides the slave-end control device to deliver biopsy instruments and clamp the diseased tissue; a transrespiratory diagnosis and treatment robot control method is also provided.

[0005] To solve the above technical problems, the present invention adopts a technical solution: to provide a trans-respiratory diagnosis and treatment robot system, which includes:

[0006] The main control device is used for operation control and issuing control instructions;

[0007] A slave control device, configured to receive control instructions from the master control device and perform operation actions;

[0008] A navigation device, configured to track and guide the slave control device;

[0009] Among them, the slave-end control device includes a slave-end robot and a slave-end embedded controller installed in the slave-end robot. The slave-end robot is provided with a robotic arm, a propulsion support plate connected to the robotic arm, and a biopsy instrument introduction mechanism connected to the propulsion support plate for delivering a biopsy instrument and a bronchoscope rotation transmission mechanism for controlling a bronchoscope.

[0010] As an improvement of the present invention, the slave robot is further provided with a bending control mechanism connected to the bronchoscope rotation transmission mechanism and used for adjusting the terminal catheter of the bronchoscope.

[0011] As a further improvement of the present invention, the bronchoscope rotation transmission mechanism includes a rotation mechanism motor, a worm, a bearing support, a worm wheel and a rotation support shaft seat. The rotation mechanism motor is connected to the propulsion support plate through the motor support, the bearing support is fixedly connected to the propulsion support plate, the rotation mechanism motor is connected to the bearing support through the worm, the worm is meshed with the worm wheel, the rotation support shaft seat is connected in the worm wheel, and the rotation support shaft seat is connected to the propulsion support plate through the rotation support shaft.

[0012] As a further improvement of the present invention, the bending control mechanism includes a bending control knob, a bending control knob slot, a worm gear rotating slide, a bending control worm and a bending control motor. The bending control motor and the worm gear rotating slide are connected to the propulsion support plate, the bending control motor is connected to the bending control worm, the bending control worm is meshed with the worm gear arranged in the worm gear rotating slide, and the bending control knob is connected to the bending control knob slot arranged in the worm gear rotating slide and is used to clamp the rotation support shaft.

[0013] As a further improvement of the present invention, the biopsy instrument introduction mechanism includes an introduction motor, a conveying roller, an idler wheel fixed shaft, an idler wheel, a guide rail, a spring and a guide rail limit block. The introduction motor is connected to the base plate, the base plate is connected to the propulsion support plate, the conveying roller is connected to the introduction motor, the idler wheel shaft is connected to the idler wheel fixed shaft, the idler wheel fixed shaft is connected to the guide rail and is connected to the guide rail limit block through a spring, and the idler wheel and the conveying roller are used to guide the biopsy instrument to be rolled into the biopsy instrument channel of the terminal catheter of the bronchoscope.

[0014] As a further improvement of the present invention, the master-end control device includes a master-end computer host and a master-end robot that are electrically connected, and a motion controller for sending control instructions is provided in the master-end computer host.

[0015] As a further improvement of the present invention, the navigation device includes a visual display mechanism for display and an electromagnetic navigation terminal mechanism for guiding the slave control device.

[0016] As a further improvement of the present invention, the visual display mechanism includes a visual soft laryngoscope.

[0017] As a further improvement of the present invention, the electromagnetic navigation terminal mechanism includes an electromagnetic sensor, the electromagnetic navigation system is installed on a support plate on the operating table, and the electromagnetic navigation system includes a magnetic field generator.

[0018] A method for controlling a transrespiratory diagnosis and treatment robot, comprising the following steps:

[0019] Step S1, fixing the bronchoscope on the slave robot of the slave control device;

[0020] Step S2: operating the master-end control device to send a control instruction to control the slave-end robot to deliver the bronchoscope and biopsy instrument to the predetermined puncture and biopsy position in the patient's airway;

[0021] Step S3: controlling the biopsy instrument to operate and remove the lesion tissue;

[0022] Step S4: Place the removed lesion tissue on a glass slide, fix it with alcohol, and immediately send it for pathological examination;

[0023] Step S5: Control the slave robot to remove the bronchoscope and biopsy instrument from the patient's respiratory tract;

[0024] Step S6: Disinfect the slave robot.

[0025] The beneficial effects of the present invention are: compared with the existing technology, the present invention sends control instructions through the master-end control device, and the slave-end control device receives the control instructions of the master-end control device to perform operating actions. At the same time, the navigation device tracks and guides the slave-end control device to deliver biopsy instruments and clamp the diseased tissue. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram of the respiratory tract diagnosis and treatment robot system of the present invention;

[0027] Figure 2 Schematic diagram of the control of the respiratory tract diagnosis and treatment robot system of the present invention;

[0028] Figure 3Schematic diagram of diagnosis and treatment of a slave robot according to an embodiment of the present invention;

[0029] Figure 4 Schematic diagram of the geometric configuration of the propulsion part of the slave robot in an embodiment of the present invention;

[0030] Figure 5 Schematic diagram of a bronchoscope rotation transmission mechanism of a slave robot in an embodiment of the present invention;

[0031] Figure 6 Schematic diagram of a flexible distal end bending control mechanism of a bronchoscope of a slave robot in an embodiment of the present invention;

[0032] Figure 7 is a schematic diagram of a biopsy tool introduction mechanism of a slave robot in an embodiment of the present invention;

[0033] Figure 8 Schematic diagram of the geometric configuration of the telescopic catheter of the slave robot in an embodiment of the present invention;

[0034] Figure 9 Schematic diagram of the electromagnetic navigation terminal mechanism of the slave robot in an embodiment of the present invention;

[0035] Figure 1: 1-main body of slave robot, 2-connecting bracket of slave robot, 3-robot arm, 4-electromagnetic navigation system, 5-human body diagram, 6-operating table diagram, 11-bronchoscope rotation transmission mechanism, 12-bending control mechanism, 13-biopsy instrument introduction mechanism, 14-advance support plate, 15-scope body fastener, 16-scope body fastening nut, 17-telescopic rod, 18-bronchoscope catheter, 19-electromagnetic navigation terminal mechanism, 111-rotation mechanism motor, 112-worm gear, 113 -Bearing support, 114-worm gear, 115-rotation support shaft seat, 116-motor support, 121-bending control knob, 122-bending control knob slot, 123-worm gear rotating slide, 124-bending control worm, 125-bending control motor, 131-introduction motor, 132-transfer roller, 133-idle wheel fixing shaft, 134-idle wheel, 135-guide rail, 136-spring, 137-guide rail limit block, 191-biopsy channel, 192-electromagnetic sensor, 193-sensor fixing ring. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0037] Currently, the Monarch robot from Auris Health and the Ion robot from Intuitive Surgical use two robotic arms and two rotating wheels on them to drive the endoscope and puncture needle. Because the endoscope and biopsy needle of the Monarch robot need to be specially made to fit the rotating wheels, this places a huge burden on medical costs.

[0038] In addition, the Ion robot is Intuitive's new robotic platform for minimally invasive biopsies around the lungs. The system uses an ultra-thin articulated robotic catheter and fiber-optic shape-sensing technology for intraoperative navigation. The optical fiber needs to pass through the entire endoscope. After navigation, the endoscope lens must be removed from the catheter so that the working channel can accommodate the sampling tool. Therefore, the Ion cannot visualize the internal environment of the bronchus in real time during biopsy sampling, posing a significant threat to surgical safety.

[0039] Please refer to Figures 1 to 9 , a respiratory tract diagnosis and treatment robot system of the present invention comprises:

[0040] The main control device is used for operation control and issuing control instructions;

[0041] The slave control device is used to receive control instructions from the master control device and perform operation actions;

[0042] A navigation device, configured to track and guide the slave control device;

[0043] Among them, the slave-end control device includes a slave-end robot and a slave-end embedded controller installed in the slave-end robot. The slave-end robot is provided with a robotic arm 3, a propulsion support plate 14 connected to the robotic arm, and a biopsy instrument introduction mechanism 13 connected to the propulsion support plate 14 for delivering a biopsy instrument, and a bronchoscope rotation transmission mechanism 11 for controlling a bronchoscope.

[0044] The present invention uses a master-end control device to issue control instructions, and a slave-end control device receives the control instructions from the master-end control device to perform operating actions. At the same time, a navigation device tracks and guides the slave-end control device to deliver a biopsy instrument and clamp the lesion tissue.

[0045] In the present invention, the doctor operates the main-end control device of the surgical robot, detects the command information of the main-end control device in real time, and sends the control command to the slave-end control device through the wireless network. The slave-end control device manipulates the soft bronchoscope to perform corresponding advancement, retraction, rotation and tip bending movements. At the same time, the slave-end robot adopts electromagnetic navigation technology, combined with the bronchoscope's own visual navigation function, to accurately locate the position of the bronchoscope in real time.

[0046] In the present invention, the master-end control device includes an electrically connected master-end computer host and a master-end robot. The master-end computer host is equipped with a motion controller for sending control instructions, and the master-end robot adopts a universal force feedback device; the master-end computer host is connected to the master-end robot through an IEEE1394 interface; the motion controller is connected to the master-end computer host through a network card. The motion controller receives the operation command of the master robot, processes the operation command, calls the angle library motion command and sends it to the slave-end control device.

[0047] like Figure 1 As shown, the respiratory tract diagnosis and treatment robot control system of the present invention uses a computer host as a development platform and adopts the control method of an upper and lower computer.

[0048] like Figure 2 As shown, the respiratory diagnosis and treatment robot control system of the present invention includes a master robot, a control system connected to the master robot, a motion database, a slave robot and a slave embedded controller. The slave robot receives instructions from the slave embedded controller, and then completes operations on the corresponding task objects through the driver, such as pushing, pulling, rotating, and bending control. At the same time, the slave robot feeds back position and speed information to the slave embedded controller through the driver.

[0049] The present invention may also include a signal conversion unit, which is used to set the initial value of the encoder and record the signal conversion unit. The signal conversion unit is connected to the industrial PC through the RS485 interface, and the signal conversion unit is connected to the driver through the RS422 interface. The upper computer of the control system connects the main robot, motion controller, data acquisition card, etc. through the peripheral hardware interface and bus; the upper computer of the control system transmits the operation instructions of the main robot to the main control computer, the main control computer receives the robot motion state and processes the operation commands through the control algorithm; the production robot motion instructions are sent to the motion control card through the Ethernet card; the motion control card of the lower computer of the control system receives the control command of the main control computer, and drives the DC motor to make the robot complete the corresponding action; the lower computer sends the current value of the slave robot joint encoder to the main control computer.

[0050] The present invention provides an embodiment, which includes:

[0051] The main control device is used for operation control and issuing control instructions;

[0052] The slave control device is used to receive control instructions from the master control device and perform operation actions;

[0053] A navigation device, configured to track and guide the slave control device;

[0054] Among them, the slave-end control device includes a slave-end robot and a slave-end embedded controller installed in the slave-end robot. The slave-end robot is provided with a robotic arm 3, a propulsion support plate 14 connected to the robotic arm, and a biopsy instrument introduction mechanism 13 connected to the propulsion support plate 14 for delivering a biopsy instrument, a bronchoscope rotation transmission mechanism 11 for controlling a bronchoscope, and a bending control mechanism 12 connected to the bronchoscope rotation transmission mechanism 11 and used to adjust the terminal catheter of the bronchoscope.

[0055] In this embodiment, the bronchoscope rotation transmission mechanism 11 includes a rotation mechanism motor 111, a worm 112, a bearing support 113, a worm gear 114 and a rotation support shaft seat 115. The rotation mechanism motor 111 is connected to the propulsion support plate 14 through the motor support 116, the bearing support 113 is fixedly connected to the propulsion support plate 14, the rotation mechanism motor 111 is connected to the bearing support 113 through the worm 112, the worm 112 is meshed with the worm gear 114, the rotation support shaft seat 115 is connected in the worm gear 114, and the rotation support shaft seat 115 is connected to the propulsion support plate 14 through the rotation support shaft.

[0056] In this embodiment, the bending control mechanism 12 includes a bending control knob 121, a bending control knob slot 122, a worm gear rotating slide 123, a bending control worm 124 and a bending control motor 125. The bending control motor 125 and the worm gear rotating slide 123 are connected to the propulsion support plate 14. The bending control motor 125 is connected to the bending control worm 124. The bending control worm 124 is meshed with the worm gear set in the worm gear rotating slide 123. The bending control knob 121 is connected to the bending control knob slot 122 set in the worm gear rotating slide 123 and is used to clamp the rotating support shaft.

[0057] In this embodiment, the biopsy instrument introduction mechanism 13 includes an introduction motor 131, a conveying roller 132, an idler wheel fixed shaft 133, an idler wheel 134, a guide rail 135, a spring 136 and a guide rail limit block 137. The introduction motor 131 is connected to the base plate, and the base plate is connected to the propulsion support plate 14. The conveying roller 132 is connected to the introduction motor 131. The idler wheel 134 is axially connected to the idler wheel fixed shaft 133. The idler wheel fixed shaft 133 is connected to the guide rail 135 and is connected to the guide rail limit block 137 through the spring 136. The idler wheel 134 and the conveying roller 132 are used to guide the biopsy instrument to be rolled into the biopsy instrument channel of the terminal catheter of the bronchoscope.

[0058] In this embodiment, the navigation device includes a visual display mechanism for display and an electromagnetic navigation terminal mechanism 19 for guiding the slave control device, the visual display mechanism includes a visual soft laryngoscope; the electromagnetic navigation terminal mechanism 19 includes an electromagnetic sensor, and the electromagnetic navigation system is installed on a tray on the operating table 6, and the electromagnetic navigation system includes a magnetic field generator; specifically, the electromagnetic navigation system is placed on a tray fixed to the operating table 6 with bolts, and is used in conjunction with the electromagnetic navigation terminal mechanism 19 through electromagnetic signals. The electromagnetic navigation terminal mechanism 19 includes a biopsy channel 191, an electromagnetic sensor 192, and a sensor fixing ring 193. The sensor fixing ring 193 fixes the electromagnetic sensor 192 with viscosity to sense the position and shape information of the bronchoscope catheter 18 in real time, and guides the biopsy tool to accurately pass through the biopsy channel 191 to reach the lesion.

[0059] In this embodiment, the robot body 1 at the end connects the propulsion support plate 14 to the movable slide by bolts to complete the bronchoscope propulsion process, and the scope fastening nut 16 is connected to the scope fastener 16 through a thread to fix the bronchoscope; the telescopic rod 17 is fixed on the end rotation support shaft seat 115, and there are four 150mm telescopic rods nested and connected to guide the bronchoscope terminal catheter from the proximal end.

[0060] The present invention provides a method for controlling a transrespiratory diagnosis and treatment robot, comprising the following steps:

[0061] Step S1, fixing the bronchoscope on the slave robot of the slave control device;

[0062] Step S2: operating the master-end control device to send a control instruction to control the slave-end robot to deliver the bronchoscope and biopsy instrument to the predetermined puncture and biopsy position in the patient's airway;

[0063] Step S3: controlling the biopsy instrument to operate and remove the lesion tissue;

[0064] Step S4: Place the removed lesion tissue on a glass slide, fix it with alcohol, and immediately send it for pathological examination;

[0065] Step S5: Control the slave robot to remove the bronchoscope and biopsy instrument from the patient's respiratory tract;

[0066] Step S6: Disinfect the slave robot.

[0067] Specifically, the workflow includes:

[0068] 1. Install and debug the robot and fix the bronchoscope. Install the disinfection slave robot on the robotic arm and fix the bronchoscope on the slave robot.

[0069] 2. The doctor uses the master robot to control the slave robot and deliver the bronchoscope to the predetermined puncture or biopsy location in the airway.

[0070] 3. If biopsy forceps are used for forceps biopsy, the doctor manually delivers the biopsy forceps to the head of the bronchoscope. The biopsy instrument introduction mechanism will use the friction wheel to deliver the biopsy forceps deep into the lesion to clamp it. If a biopsy needle is used for needle aspiration biopsy, the biopsy needle is inserted through the bronchoscope. The biopsy instrument introduction mechanism uses the friction wheel to deliver the biopsy forceps. After the front end of the needle is exposed through the bronchoscope, the needle tip is pulled out of the needle sheath and inserted perpendicularly to the lesion in the direction of the bronchial wall to a depth of 0.5-1.2 cm. Then, connect a 20-50ml syringe to continuously suction under negative pressure and move the suction biopsy needle up and down for 3-5 times. Then stop suction, retract the needle tip into the sheath, and remove the puncture needle.

[0071] 4. Place the removed tissue on a glass slide, fix it with alcohol, and send it for pathological examination immediately;

[0072] 5. Control the slave robot to remove the bronchoscope and biopsy instruments from the patient's respiratory tract;

[0073] 6. Disinfection by end robot.

[0074] In the present invention, after the doctor operates the master robot, the master host sends the motion information to the slave robot. The slave robot receives the instructions from the slave embedded controller, and then completes the operation of the corresponding task object through the driver, such as pushing, pulling, rotating, and bending. At the same time, the slave robot feeds back the position and speed information to the slave embedded controller through the driver.

[0075] In the present invention, electromagnetic navigation uses NDI's Aurora electromagnetic tracking system, and visual navigation uses the display lens of the bronchoscope, and the two navigation methods are used in combination.

[0076] In the present invention, the doctor can install a universal bronchoscope on the robot. During the operation, the doctor can also choose different biopsy instruments such as biopsy forceps, biopsy needles, etc. according to needs.

[0077] In the present invention, after the doctor manually inserts the biopsy forceps or biopsy needle into the bronchoscope biopsy channel, the biopsy instrument introduction mechanism 13 will deliver the biopsy forceps or biopsy forceps deep into the lesion through the friction wheel to perform biopsy sampling.

[0078] The above description is only an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A trans-respiratory diagnosis and treatment robot system, characterized in that: include: A master-end control device is used for operation control and issuing control instructions. The master-end control device includes a master-end computer host and a master-end robot that are electrically connected. The master-end computer host is provided with a motion controller for sending control instructions. The master-end robot adopts a universal force feedback device. The master-end computer host is connected to the master-end robot via an IEEE1394 interface. The motion controller is connected to the master-end computer host via a network card. It receives the operation commands of the master robot and processes and calls the angle library motion instructions to send to the slave-end control device. The slave control device is used to receive the control instructions of the master control device to perform an operation. The slave control device includes a slave robot and a slave embedded controller installed in the slave robot. The slave robot is provided with a mechanical arm, a propulsion support plate connected to the mechanical arm, and a biopsy instrument introduction mechanism connected to the propulsion support plate for delivering a biopsy instrument and a bronchoscope rotation transmission mechanism for controlling a bronchoscope. The slave robot guides the bronchoscope terminal catheter to be introduced from the proximal end through four 150mm telescopic rods nested and connected. The mirror body fastening nut is connected by The thread is connected to the mirror body fastener to fix the bronchoscope; the biopsy instrument introduction mechanism includes an introduction motor, a transmission roller, an idler wheel fixed shaft, an idler wheel, a guide rail, a spring and a guide rail limit block, the introduction motor is connected to the base plate, the base plate is connected to the propulsion support plate, the transmission roller is connected to the introduction motor, the idler wheel shaft is connected to the idler wheel fixed shaft, the idler wheel fixed shaft is connected to the guide rail and connected to the guide rail limit block via a spring, the idler wheel and the transmission roller are used to guide the biopsy instrument to be rolled into the biopsy instrument channel of the terminal catheter of the bronchoscope; The navigation device is used to track and guide the slave control device, including a bronchoscope and an electromagnetic navigation terminal mechanism. The electromagnetic navigation terminal mechanism adhesively fixes the electromagnetic sensor through the sensor fixing ring, senses the position and shape information of the bronchoscope in real time, and cooperates with the magnetic field generator of the electromagnetic navigation system to guide the biopsy instrument accurately through the biopsy instrument channel to reach the lesion.

2. A trans-respiratory diagnosis and treatment robot system according to claim 1, characterized in that: The slave robot is also provided with a bending control mechanism connected to the bronchoscope rotation transmission mechanism and used for adjusting the terminal catheter of the bronchoscope.

3. A trans-respiratory diagnosis and treatment robot system according to claim 2, characterized in that: The bronchoscope rotation transmission mechanism includes a rotation mechanism motor, a worm, a bearing support, a worm wheel and a rotation support shaft seat. The rotation mechanism motor is connected to the propulsion support plate through the motor support, the bearing support is fixedly connected to the propulsion support plate, the rotation mechanism motor is connected to the bearing support through the worm, the worm is meshed with the worm wheel, the rotation support shaft seat is connected in the worm wheel, and the rotation support shaft seat is connected to the propulsion support plate through the rotation support shaft.

4. A trans-respiratory diagnosis and treatment robot system according to claim 3, characterized in that: The bending control mechanism includes a bending control knob, a bending control knob slot, a worm gear rotating slide, a bending control worm and a bending control motor. The bending control motor and the worm gear rotating slide are connected to the propulsion support plate. The bending control motor is connected to the bending control worm. The bending control worm is meshed with a worm gear arranged in the worm gear rotating slide. The bending control knob is connected to the bending control knob slot arranged in the worm gear rotating slide and is used to clamp the rotating support shaft.

Images