A hand-held concentric tube robot for minimally invasive surgery

Abstract

The present invention provides a handheld concentric tube robot for minimally invasive surgery, comprising a robot housing module, a roller gear drive module, a ball gear drive module and a robot flexible arm module. The roller gear drive module, the ball gear drive module and the robot flexible arm module are respectively installed within the robot housing module. The roller gear drive module is connected to the drive end of the robot flexible arm module and can drive the robot flexible arm module to perform axial movement and rotation around the axis. The ball gear drive module is connected to the drive end of the robot flexible arm module. The beneficial effects of the present invention are as follows: This handheld concentric tube robot is small in size and light in weight. In the structural design, it is optimized by using the principles of ergonomics. It can be used as easily as a traditional surgical tool and can also provide sufficient flexibility to complete complex minimally invasive surgery work.

Description

Technical Field

[0001] The present invention relates to a concentric tube robot, and particularly to a handheld concentric tube robot for minimally invasive surgery. Background Art

[0002] Concentric tube robots have been widely studied in the field of minimally invasive surgery in recent years. They are composed of a set of pre-bent superelastic concentric tubes nested with each other. Each concentric tube has two degrees of freedom: axial movement and rotation about the axis. Through the interaction of the curvatures of each tube, a specific 3D curve shape and the required end position can be achieved, thus having the ability to navigate along the complex body cavities. The concentric tubes are of hollow structure, and a surgical actuator can be installed at their ends to perform surgical tasks.

[0003] Existing concentric tube robots mostly adopt a master-slave type large device with teleoperation. When in use, special arrangements are required, and it must rely on a passive robotic arm or a fixed platform for auxiliary support, which greatly occupies the limited operating room space. In addition, the use method of this large concentric tube robot is very different from the existing general minimally invasive surgery process, and doctors cannot combine the concentric tube robot with existing minimally invasive surgery tools, which will cause great inconvenience in use. Summary of the Invention

[0004] In order to overcome the problems of large size and inconvenient use of current concentric tube robots, the present invention provides a handheld concentric tube robot for minimally invasive surgery. Without reducing flexibility, the size and weight of the concentric tube robot are greatly reduced, enabling it to have high flexibility and be used as easily as traditional tools. Doctors can hold it with one hand to perform surgical tasks and can alternate with traditional surgical tools (such as surgical forceps, tweezers, puncture needles, etc.) during surgical tasks, integrating the concentric tube robot into the general workflow of surgery. At the same time, considering that doctors need to hold it for use, ergonomic principles are applied in the structural design for optimization to ensure that doctors can complete various surgical tasks in a comfortable hand-holding posture.

[0005] The present invention provides a handheld concentric tube robot for minimally invasive surgery, including a robot housing module, a roller gear drive module, a ball gear drive module, and a robot flexible arm module. The roller gear drive module, the ball gear drive module, and the robot flexible arm module are respectively installed within the robot housing module. The roller gear drive module is connected to the drive end of the robot flexible arm module and can drive the robot flexible arm module to perform axial movement and rotation about the axis. The ball gear drive module is connected to the drive end of the robot flexible arm module and can drive the robot flexible arm module to bend in any direction when it extends out of the robot housing module.

[0006] As a further improvement of the present invention, the drum gear drive module is connected to the robot flexible arm module to drive the robot flexible arm module to form a characteristic spatial curve shape. When the robot flexible arm module extends out of the robot housing module, it passes through the ball gear drive module, and the ball gear drive module drives the flexible arm module to bend in any direction.

[0007] As a further improvement of the present invention, the robot flexible arm module includes a set of mutually nested superelastic concentric tubes and an inelastic rigid straight tube nested in the outermost layer. The superelastic concentric tubes correspond one-to-one with the drum gear drive module. The superelastic concentric tubes are installed on their respective different drum gear drive modules. The drum gear drive module drives the superelastic concentric tubes to perform axial movement and rotation around the axis. The inelastic rigid straight tube is fixedly connected to the ball gear drive module, and the ball gear drive module drives the superelastic concentric tubes to bend within the ball gear and point in any direction at the outlet.

[0008] As a further improvement of the present invention, a set of mutually nested superelastic concentric tubes has at least two mutually nested superelastic concentric tubes, which can be two mutually nested superelastic concentric tubes, or three mutually nested superelastic concentric tubes, or even more.

[0009] As a further improvement of the present invention, the mutually nested superelastic concentric tubes are made of superelastic materials. Each superelastic concentric tube is pre-bent during the manufacturing process, with one section being a straight tube and the other section being a bent tube with a constant curvature. The length of the outer tube is less than the length of the inner tube; the inelastic rigid straight tube nested in the outermost layer can guide the inner tubes.

[0010] As a further improvement of the present invention, the end of the innermost tube is used to install a surgical execution tool.

[0011] As a further improvement of the present invention, the drum gear drive module includes a drum gear, a gear for driving the drum gear to move, and a gear for driving the drum gear to rotate. The gear for driving the drum gear to move and the gear for driving the drum gear to rotate are respectively meshed with the drum gear. The axis of the gear for driving the drum gear to move is perpendicular to the axis of the drum gear, and the axis of the gear for driving the drum gear to rotate is parallel to the axis of the drum gear. The gear for driving the drum gear to move and the gear for driving the drum gear to rotate are both connected to drive motors. The gear for driving the drum gear to move can drive the drum gear to move axially back and forth, and the gear for driving the drum gear to rotate can drive the drum gear to rotate around the axis (i.e., rotate forward and backward). One superelastic concentric tube is correspondingly installed on each drum gear.

[0012] As a further improvement of the present invention, different drum gears are nested with each other.

[0013] As a further improvement of the present invention, the gear for driving the movement of the driving roller gear and the driving motor for driving the rotation of the driving roller gear are both DC reduction motors.

[0014] As a further improvement of the present invention, the ball gear drive module includes a ball gear, a ball gear left - right rotation drive mechanism for driving the left - right rotation of the ball gear, and a ball gear up - down rotation drive mechanism for driving the up - down rotation of the ball gear. The non - elastic hard straight pipe passes through the ball gear and is fixedly installed at the through - hole of the ball gear, and the super - elastic concentric pipe passes through the ball gear.

[0015] As a further improvement of the present invention, the ball gear up - down rotation drive mechanism includes a first helical gear, a second helical gear, an inner screw rod, an intermediate gear, and a single - pole gear. The first helical gear meshes with the second helical gear, the second helical gear is fixedly connected to the inner screw rod, the inner screw rod meshes with the intermediate gear, the intermediate gear meshes with the single - pole gear, the single - pole gear meshes with the ball gear, and the ball gear left - right rotation drive mechanism is connected to the single - pole gear.

[0016] As a further improvement of the present invention, the ball gear left - right rotation drive mechanism includes a worm, a worm wheel, a sleeve, and a support frame. The worm meshes with the worm wheel, the worm wheel is fixedly connected to the sleeve, the sleeve is fixedly connected to the support frame, the single - pole gear is rotatably installed on the support frame, and the rotation axis of the single - pole gear rotating around the support frame is perpendicular to the axis of the worm wheel.

[0017] As a further improvement of the present invention, the support frame includes a left support frame and a right support frame.

[0018] As a further improvement of the present invention, the single - pole gear, the intermediate gear, the inner worm, the large helical gear, the worm wheel, and the sleeve are connected to the left support frame and the right support frame, and the small helical gear and the worm are respectively driven by the DC reduction motor.

[0019] As a further improvement of the present invention, the robot housing module includes a handle, an upper guide cover, a lower guide cover, a fixed cover plate, and a control interface. The DC reduction motors for driving the robot flexible arm module are all fixed on the handle. The roller gear drive module is located between the upper guide cover and the lower guide cover. The ball gear in the ball gear drive module is located at the end position between the upper guide cover and the lower guide cover. The main body part of the ball gear drive module is installed on the handle through the fixed cover plate, and the control interface is embedded in the handheld position of the handle.

[0020] As a further improvement of the present invention, the roller gears are nested with each other and located between the upper guide cover and the lower guide cover.

[0021] As a further improvement of the present invention, the size and structural design of the handheld part of the handle are manufactured based on ergonomic theory, with large rounded corners for transition. The control interface is symmetric left and right and is embedded in the middle of the handle part for easy single-handed operation.

[0022] As a further improvement of the present invention, a cavity is formed inside after the upper guide cover and the lower guide cover are combined. The main part of the cavity is several cylinders with different diameters. The diameter of the cylindrical cavity corresponds to the outside diameter of the tooth tip circle of the roller gears placed inside it. The end position of the cavity is spherical, and the diameter of the spherical cavity corresponds to the outside diameter of the ball gear.

[0023] As a further improvement of the present invention, the ball gear drive module is installed at the front end of the handle, and the bottom end of the ball gear drive module is connected to the handle through a bearing.

[0024] As a further improvement of the present invention, the bottom end of the support frame is connected to the handle through a bottom bearing. An adjustment sleeve for adjusting the height of the single-pole gear is provided between the bottom end of the support frame and the bottom bearing. The upper end of the support frame is connected to the fixed cover plate through a top bearing. The support frame is provided with a support overhead cavity for accommodating the intermediate gear and the single-pole gear. The sleeve is sleeved on the outside of the support frame. The second helical gear and the inner screw are respectively installed on the outside of the support frame. The inside of the inner screw has an involute tooth profile arranged in a spiral and meshing with the intermediate gear.

[0025] As a further improvement of the present invention, the upper end of the ball gear drive module is fixed by a fixed cover plate, a bearing, bolts and nuts. During installation, the ball gear and the single-pole gear are adjusted to achieve backlash-free meshing by adjusting the length of the adjustment sleeve.

[0026] As a further improvement of the present invention, the handheld concentric tube robot further includes a power supply, a motor driver and a system controller. The power supply is connected to the motor driver. The motor driver is connected to the DC reduction motors of the roller gear drive module and the ball gear drive module and the system controller. The system controller is connected to the encoder of the DC reduction motor.

[0027] The beneficial effects of the present invention are as follows: The handheld concentric tube robot is small in size and light in weight. It is optimized using ergonomic principles in its structural design. It can be used as readily as traditional surgical tools and can also provide sufficient flexibility to complete complex minimally invasive surgical tasks. The ball gear drive mechanism is used, allowing the concentric tube to bend within the ball gear, thus pointing to any position at the exit, greatly expanding the working range of the end effector. The rotation of the ball gear replaces the bending of the human wrist, facilitating the doctor to perform surgical tasks with a comfortable hand posture. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0029] Figure 1 It is a structural diagram of the handheld concentric tube robot in an example of the present invention.

[0030] Figure 2 It is a three-dimensional structural schematic diagram of the robot housing module in an example of the present invention.

[0031] Figure 3 It is a three-dimensional structural schematic diagram of the roller gear drive module in an example of the present invention.

[0032] Figure 4 It is a three-dimensional structural schematic diagram and sectional view of the ball gear drive module in an example of the present invention.

[0033] Figure 5 It is a sectional schematic diagram of the installation of the ball gear drive module in the handle in an example of the present invention.

[0034] Figure 6 It is a three-dimensional structural schematic diagram of the robot flexible arm module in an example of the present invention.

[0035] Figure 7 It is a schematic diagram of the handheld concentric tube robot system in an example of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0037] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, 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. Therefore, it should not be construed as a limitation on the protection scope of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0038] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled" shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0039] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0040] The present invention provides a handheld concentric tube robot for minimally invasive surgery. Figure 1 The structure diagram of the handheld concentric tube robot in an example of the present invention includes a robot housing module 100, a roller gear drive module 200, a ball gear drive module 300, and a robot flexible arm module 400. An end effector required for the surgery can be added to the end of the robot flexible arm module 400, and the other end is fixed in the roller gear drive module 200 and passes through the ball gear drive module 300 when extending out of the robot housing module 100. The robot flexible arm module can form a specific spatial curve shape and reach the required spatial position of the end effector under the action of the roller gear drive module 200, and can bend in any direction when extending out of the robot housing module 100 under the action of the ball gear drive module 300, expanding the working range of the end effector and facilitating handheld operation.

[0041] Figure 2This is a schematic diagram of the three-dimensional structure of the robot housing module 100 in an example of the present invention, including a control interface 101, a handle 102, an upper guide cover 103, a lower guide cover 104, and a fixed cover plate 105. The control interface 101 includes a 360° rocker for controlling the spatial movement of the end of the robot flexible arm module and the rotation of the spherical gear, an on / off button, and a reset button. The user can operate by pushing the rocker or pressing the button with the thumb. The handle 102 is used for holding and fixing the DC reduction motors used by the spherical gear drive module 300 and the drum gear drive module 200. The upper guide cover 103 and the lower guide cover 104 are fixed to the handle 102 with bolts, and the cavity part formed is used to accommodate the drum gears 201, 203 and the spherical gear 303 to restrict their movement within the allowed range. The fixed cover plate 105 is used to fix the main part of the spherical gear drive module to reliably mount it on the handle 102.

[0042] Figure 3 This is a schematic diagram of the three-dimensional structure of the drum gear drive module 200 in an example of the present invention, including two drum gears 201, 203, drum covers 202, 204, spur gears 205, 206, 209 and 208, and four DC reduction motors 207 with encoders. During operation, the drum gears 201 and 203 are nested with each other, and software is used to control them so that they will not disengage. The spur gear 209 controls the forward and reverse rotation of the drum gear 201, the spur gear 208 controls the forward and backward movement of the drum gear 201, the spur gear 205 controls the forward and reverse rotation of the drum gear 203, and the spur gear 206 controls the forward and backward movement of the drum gear 203. The drum covers 202 and 204 are fixed to the drum gears 201 and 203 respectively by interference fit. There are through holes in the drum covers, which are bonded to the superelastic concentric tubes 401, 402 with cyanoacrylate glue respectively. In this way, the movement and rotation of the drum gears can be converted into the axial movement and the rotation around the axis of the corresponding superelastic concentric tubes.

[0043] Figure 4It is a three-dimensional structure diagram and sectional view of the ball gear drive module 300 in an example of the present invention, including a worm 301, a left support frame 302, a ball gear 303, a single-stage gear 304, a right support frame 305, an inner worm 306, a large helical gear (i.e., the second helical gear) 307, a small helical gear (i.e., the first helical gear) 308, a DC reduction motor with an encoder 309, a sleeve 310, a worm gear 311, an adjustment sleeve 312, bearings 313, an intermediate gear 314, bearings 315, and bearings 316. The small helical gear 308 drives the large helical gear 307 to rotate. The large helical gear 307 is connected to the inner worm 306 and can achieve co-rotation. The inner worm 306 has an involute tooth profile arranged in a spiral line inside, which can drive the intermediate gear 314 to rotate. The rotation of the intermediate gear 314 drives the single-stage gear 313 to rotate. The single-stage gear 313 meshes with the ball gear 303 and can drive the ball gear 303 to rotate up and down. In this way, the forward and reverse rotation of the small helical gear 308 is mapped to the up and down rotation of the ball gear 303; the worm 301 drives the worm gear 311 to rotate. The worm gear 311 is connected to the sleeve 310 through a common flat key, and the sleeve 310 is connected to the right support frame 305 through a common flat key. The rotation of the worm gear 311 can drive the support frame to rotate, so that the single-stage gear 304 rotates around the axis of the worm gear 311. The single-stage gear 304 drives the ball gear 303 to rotate. In this way, the forward and reverse rotation of the worm gear 311 is mapped to the left and right rotation of the ball gear 303. Through the combined action of the small helical gear 308 and the worm 301, the ball gear 303 can be rotated in any direction. The inside of the ball gear 303 is a cavity. There is a through hole at one end for the superelastic concentric tubes 401 and 402 to pass through. The inelastic rigid straight tube 403 is fixedly connected to the through hole of the ball gear with cyanoacrylate glue. The rotation of the ball gear can force the superelastic concentric tubes to bend in a specified direction, thereby expanding the working range of the end effector.

[0044] Figure 5 It is a sectional view showing the installation of the main part of the ball gear drive module in the handle in an example of the present invention. The two motors used are fixed at appropriate positions on the handle 102. The top bearing 31 and the bottom bearing 32 ensure that the support frame can rotate around its axis. The adjustment sleeve 312 is used to fix the axial position of the parts on the support frame and adjust the height of the single-stage gear 304 to ensure that it can mesh with the ball gear 303 without backlash. The fixed cover 105 is connected to the handle 102 by bolts to ensure the fixed requirements for the position of the ball gear drive module in the middle.

[0045] Figure 6It is a three-dimensional structural schematic diagram of the robotic flexible arm module 400 in an example of the present invention, including superelastic concentric tubes 401, 402 nested with each other and a non-rigid straight tube 403. Generally, a surgical execution tool is installed at the end of the inner tube 401. The superelastic concentric tubes 401, 402 are both pre-bent segmented constant-curvature tubes, respectively fixedly connected to the drum gears 201, 203. The relative rotation and axial movement between the two can achieve a specific spatial curve shape and the spatial position of the end effector. The inelastic straight tube 403 is fixedly connected to the ball gear 303 and serves to guide the superelastic concentric tubes 401, 402.

[0046] Figure 7 It is a schematic diagram of a handheld concentric tube robot system in an example of the present invention. In this example, in addition to the handheld concentric tube robot body, it also includes a power supply module, a motor driver module, and a single-chip microcomputer module, and these modules are integrated into the handle. The power supply module supplies power to the single-chip microcomputer module, the DC geared motors 207, 309. The motor drive module is used to drive the rotation of the DC motors; the single-chip microcomputer module is connected to the encoders of the DC geared motors, the motor drive module, and the control interface 101, converts the input of the user at the control interface 101 into the angle values that each motor needs to rotate, and sends control signals to the motor drive module. At the same time, it receives the position signals fed back by the motor encoders and adopts the PID closed-loop control method.

[0047] The handheld concentric tube robot provided by the present invention aims at the problems of large size and inconvenient use of traditional concentric tube robots, shrinks the concentric tube robot into a handheld device, considers the ergonomics problem, designs a novel ball joint mechanism, and applies it to the concentric tube robot for the first time. By bending the concentric tube at the outlet, the working range of the end effector is greatly expanded.

[0048] The handheld concentric tube robot provided by the present invention is small in size and light in weight, can be conveniently held and used like traditional surgical tools, and at the same time provides sufficient flexibility to complete complex minimally invasive surgical tasks, effectively overcoming the defects of large size and difficult practical popularization of traditional concentric tube robots; at the same time, based on the structural design optimization of ergonomics, the grasping part and operation mode of the handle are more user-friendly. In addition, the design of the ball joint enables the concentric tube to bend inside the ball gear, replacing the rotation of the human wrist and arm with the rotation of the ball gear, so that doctors can complete surgical tasks in various scenarios with a comfortable hand posture. The miniaturized design also greatly reduces the cost of the robot and is convenient for popularization and use.

[0049] The above content is a further detailed description of the present invention in combination with specific preferred embodiments. It cannot be determined that the specific implementation of the present invention is only limited to these descriptions. For those of ordinary skill in the technical field to which the present invention pertains, without departing from the concept of the present invention, several simple deductions or substitutions can still be made, and all should be regarded as belonging to the protection scope of the present invention.

Claims

1. A handheld concentric tube robot for minimally invasive surgery, characterized in that: It includes a robot housing module, a roller gear drive module, a spherical gear drive module, and a robot flexible arm module. The roller gear drive module, the spherical gear drive module, and the robot flexible arm module are respectively installed inside the robot housing module. The roller gear drive module is connected to the drive end of the robot flexible arm module and can drive the robot flexible arm module to perform axial movement and rotation around the axis. The spherical gear drive module is connected to the drive end of the robot flexible arm module and can drive the robot flexible arm module to bend in any direction when extending out of the robot housing module. The robot flexible arm module includes a set of mutually nested superelastic concentric tubes and an inelastic rigid straight tube nested in the outermost layer. The superelastic concentric tubes correspond one by one to the roller gear drive modules. The superelastic concentric tubes are installed on their respective different roller gear drive modules, and the roller gear drive modules drive the superelastic concentric tubes to perform axial movement and rotation around the axis. The inelastic rigid straight tube is fixedly connected to the spherical gear drive module. The spherical gear drive module drives the superelastic concentric tubes to bend inside the spherical gear and point in any direction at the outlet. The roller gear drive module includes a roller gear, a gear for driving the roller gear to move, and a gear for driving the roller gear to rotate. The gear for driving the roller gear to move and the gear for driving the roller gear to rotate are respectively meshed with the roller gear. The axis of the gear for driving the roller gear to move is perpendicular to the axis of the roller gear, and the axis of the gear for driving the roller gear to rotate is parallel to the axis of the roller gear. The gear for driving the roller gear to move and the gear for driving the roller gear to rotate are both connected with drive motors. The gear for driving the roller gear to move can drive the roller gear to move axially back and forth, and the gear for driving the roller gear to rotate can drive the roller gear to rotate around the axis. One superelastic concentric tube is correspondingly installed on each roller gear, and different roller gears are mutually nested. The spherical gear drive module includes a spherical gear, a spherical gear left-right rotation drive mechanism for driving the spherical gear to rotate left and right, and a spherical gear up-down rotation drive mechanism for driving the spherical gear to rotate up and down. The inelastic rigid straight tube is fixedly installed at the through hole of the spherical gear. The superelastic concentric tubes pass through the spherical gear. The spherical gear up-down rotation drive mechanism includes a first helical gear, a second helical gear, an inner screw, an intermediate gear, and a single-stage gear. The first helical gear is meshed with the second helical gear. The second helical gear is fixedly connected to the inner screw. The inner screw is meshed with the intermediate gear. The intermediate gear is meshed with the single-stage gear. The single-stage gear is meshed with the spherical gear. The spherical gear left-right rotation drive mechanism is connected to the single-stage gear.

2. The hand-held concentric tube robot for minimally invasive surgery according to claim 1, wherein: The mutually nested superelastic concentric tubes are made of superelastic materials. Each superelastic concentric tube is pre-bent during the manufacturing process, and the length of the outer tube is less than that of the inner tube. The inelastic rigid straight tube nested in the outermost layer can guide the inner tubes. The end of the innermost tube is used to install the surgical execution tool.

3. The hand-held concentric tube robot for minimally invasive surgery according to claim 1, characterized in that: The left and right rotation driving mechanism of the spherical gear includes a worm, a worm wheel, a sleeve and a support frame. The worm is meshed with the worm wheel. The worm wheel is fixedly connected to the sleeve. The sleeve is fixedly connected to the support frame. The monopole gear is rotatably installed on the support frame. The rotation axis of the monopole gear rotating around the support frame is perpendicular to the axis of the worm wheel.

4. The hand-held concentric tube robot for minimally invasive surgery according to claim 3, wherein: The robot housing module includes a handle, an upper guide cover, a lower guide cover, a fixed cover plate and a control interface. The control interface is located at the hand-held position of the handle. The upper guide cover and the lower guide cover are fixed to the handle with bolts. A cavity is formed by enclosing between the upper guide cover and the lower guide cover. The cavity can accommodate the roller gear and the spherical gear and restrict their movement within the allowed range. The fixed cover plate is fixedly connected to the handle.

5. The handheld concentric tube robot for minimally invasive surgery according to claim 4, wherein: The main part of the cavity is divided into several cylindrical cavities with different diameters. The diameter of the cylindrical cavity corresponds to the pitch circle diameter of the roller gear placed inside it. The end position of the cavity is a spherical cavity. The diameter of the spherical cavity corresponds to the outer diameter of the spherical gear. The spherical gear driving module is installed at the front end position of the handle. The bottom end of the spherical gear driving module is connected to the handle through a bearing. The upper end of the spherical gear driving module is connected to the fixed cover plate through a bearing.

6. The hand-held concentric tube robot for minimally invasive surgery according to claim 5, wherein: The bottom end of the support frame is connected to the handle through a bottom bearing. An adjustment sleeve for adjusting the height of the monopole gear is arranged between the bottom end of the support frame and the bottom bearing. The upper end of the support frame is connected to the fixed cover plate through a top bearing. A support air cavity for accommodating the intermediate gear and the monopole gear is provided on the support frame. The sleeve is sleeved on the outside of the support frame. The second helical gear and the inner screw are respectively installed on the outside of the support frame. The inner screw has an involute tooth profile with a spiral arrangement meshing with the intermediate gear inside it.

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