An integrated surgical robot to assist in colonoscopy diagnosis and treatment

Abstract

An integrated surgical robot for assisting colonoscopy diagnosis and treatment, relating to the field of medical equipment, includes a medical cart, a colonoscopy control box housing fixed on the medical cart, two instrument control mechanisms installed in the colonoscopy control box housing, and a colonoscopy transmission mechanism including a position adjustment mechanism installed on the medical cart, a colonoscopy rotation mechanism connected to the position adjustment mechanism, and a colonoscopy transport mechanism connected to the colonoscopy rotation mechanism. A colonoscopy control component, a biopsy mechanism, and a colonoscopy knob control mechanism are installed in the colonoscopy control box housing. The biopsy mechanism is connected to the colonoscopy control component, and the colonoscopy control component is connected to the colonoscopy knob control mechanism. The colonoscopy control component and the two instrument control mechanisms are all connected to the colonoscopy rotation mechanism and the colonoscopy transport mechanism through an instrument channel component. This invention can assist doctors in colonoscopy diagnosis, biopsy, and treatment, improving the safety and stability of colonoscopy operations, increasing examination and surgical efficiency, and reducing the workload of doctors.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to an integrated surgical robot for assisting colonoscopy diagnosis and treatment. Background Technology

[0002] According to the latest global cancer incidence and mortality data from the International Agency for Research on Cancer (IARC) of the World Health Organization, colorectal cancer is the third most common cancer and the second leading cause of cancer death worldwide. Due to neglect of regular bowel examinations, most colorectal cancers are diagnosed at an advanced stage. Early detection, diagnosis, and treatment of colorectal cancer can significantly improve patient survival rates. Currently, colonoscopy is the primary method for diagnosing and treating colorectal diseases. Due to the complexity of colonoscopy procedures, doctors require rigorous training before clinical diagnosis, with a lengthy learning period. Prolonged operation can cause physical fatigue for doctors, affecting the stability of subsequent colonoscopies and surgeries, and posing certain safety risks to patients.

[0003] Currently, most intestinal surgeries involve holding the endoscope in one hand and surgical instruments in the other via a biopsy channel. This method lacks flexibility, hinders complex surgical procedures, and places a significant strain on the surgeon's hands during prolonged endoscopy, leading to hand fatigue and increasing surgical risks. For example, Chinese patent CN111772800A, "An Endoscope Rotation Mechanism for a Flexible Endoscopic Surgical Robot System," is in the laboratory stage and uses a robotic arm to replace manual operation for colonoscopy. However, this technology cannot adjust the height and position of the colonoscope inlet according to the patient's body, nor can it stop and lock the colonoscope at any position; manual assistance is still required for endoscope insertion. Similarly, Chinese patent CN113952038A, "A Colonoscopy Robot System with Colonoscope Following Function," uses a remotely controlled robot to assist in colonoscopy diagnosis. However, the transmission friction wheels can obstruct the rotation of the colonoscope, potentially causing slippage or deformation of the endoscope's contact surface, which is detrimental to surgical procedures. Summary of the Invention

[0004] Existing integrated surgical robots for colonoscopy diagnosis and treatment are all in the laboratory research stage. They mainly use motor control to control the colonoscope and replace doctors in performing colonoscopy diagnostic operations, but cannot achieve integrated diagnosis and treatment. At the same time, colonoscopy surgical robots with treatment functions use biopsy channels to perform surgery, which greatly restricts the flexibility of doctors. In view of this, the present invention provides an integrated surgical robot for colonoscopy diagnosis and treatment. This integrated surgical robot can simultaneously complete colonoscopy diagnosis, biopsy, pathological analysis and surgical operation, and complete colonoscopy diagnosis and treatment in one go, realizing integrated diagnosis and treatment.

[0005] This invention provides an integrated surgical robot for assisting colonoscopy diagnosis and treatment.

[0006] The technical solution adopted by this invention to solve the technical problem is as follows:

[0007] The present invention provides an integrated surgical robot for assisting colonoscopy diagnosis and treatment, comprising: a colonoscopy control box housing, a first instrument control mechanism and a second instrument control mechanism installed in the colonoscopy control box housing, and further comprising:

[0008] The colonoscope control box housing is fixed to the medical vehicle.

[0009] The colonoscope transmission mechanism includes a position adjustment mechanism installed on a medical vehicle, a colonoscope rotation mechanism connected to the position adjustment mechanism, and a colonoscope transport mechanism connected to the colonoscope rotation mechanism.

[0010] The colonoscope control assembly, biopsy mechanism, and colonoscope knob control mechanism are installed in the outer shell of the colonoscope control box. The biopsy mechanism is connected to the colonoscope control assembly, and the colonoscope control assembly is connected to the colonoscope knob control mechanism. The colonoscope control assembly, the first instrument control mechanism, and the second instrument control mechanism are all connected to the colonoscope rotation mechanism and the colonoscope transport mechanism in the colonoscope transmission mechanism through the instrument channel assembly.

[0011] Furthermore, the medical vehicle includes: an electrical control cabinet, casters mounted on the lower end of the electrical control cabinet, an L-shaped support frame fixed on the upper end of the electrical control cabinet, a joint motor fixed on the upper end of the L-shaped support frame, a joint motor flange connected at both ends to the outer shell of the joint motor and the colonoscope control box respectively, a thrust ball bearing fitted on the joint motor flange, and an L-shaped cover plate fixed on the L-shaped support frame; the lower surface of the joint motor presses against the upper end of the thrust ball bearing.

[0012] Furthermore, the position adjustment mechanism includes: a base fixed on the electrical control cabinet, a first connector connected to the base via a first damping shaft, a large transmission arm connected to the first connector via a second damping shaft, a large transmission arm cover connected to the large transmission arm, a small transmission arm connected to the upper end of the large transmission arm via a third damping shaft, a small transmission arm cover connected to the small transmission arm, and a second connector connected to the upper end of the small transmission arm via a fourth damping shaft; the second connector is connected to the colonoscope rotation mechanism via a fifth damping shaft.

[0013] Furthermore, the colonoscope rotation mechanism includes: a colonoscope rotating housing connected to the second connector via a fifth damping shaft; a baffle vertically fixed to the colonoscope rotating housing; a colonoscope rotating support shaft connected to the colonoscope rotating housing via a colonoscope rotating large bearing; an interlaced helical large gear and a colonoscope rotating small bearing mounted on the colonoscope rotating support shaft; a colonoscope rotating motor fixed to the left side of the baffle; an interlaced helical small gear mounted on the right side of the baffle and fixed to the motor shaft of the colonoscope rotating motor via a set screw; and a colonoscope rotating box cover fastened to the colonoscope rotating housing; the outer ring of the colonoscope rotating small bearing is connected to the inner wall of the colonoscope rotating box cover; the colonoscope rotating support shaft is connected to the colonoscope transport mechanism; the interlaced helical small gear meshes with the interlaced helical large gear; the colonoscope rotating box cover has a through hole; and the colonoscope rotating motor rotates synchronously with the articulated motor.

[0014] Furthermore, the colonoscope transport mechanism includes: two upper wheel frames, upper friction wheels whose two ends are respectively connected to the two upper wheel frames one-to-one via first bearings, upper wheel seats connected to the upper ends of the two upper wheel frames, a stepped shaft with grooves and threads at both ends, the threaded end of the stepped shaft being threadedly connected to the upper wheel seat, a colonoscope transmission box connected to the threaded end of the stepped shaft via a second bearing, an upper wheel adjustment knob cover connected to the colonoscope transmission box, the grooved end of the stepped shaft being connected to the upper wheel adjustment knob cover via a second bearing, an upper wheel adjustment knob connected to the groove of the stepped shaft, a friction wheel bearing seat fixed on the inner wall of the colonoscope transmission box, and a lower friction wheel whose left end is connected to the friction wheel bearing seat via a third bearing. The system includes a lower friction wheel, a lower friction wheel connected at its right end to the end cap of the colonoscope transmission box, a colonoscope transmission box rear cover and a colonoscope transmission box cover connected to both ends of the colonoscope transmission box, a colonoscope transmission motor installed in the colonoscope transmission box rear cover and connected to the colonoscope transmission box, and a colonoscope transmission motor shaft that passes through the colonoscope transmission box and the third bearing before being connected to the lower friction wheel via a D-shaped shaft. The colonoscope rotation support shaft is connected to the colonoscope transmission box. Both sides of the colonoscope transmission box have colonoscope through holes and instrument through holes. The outer ring of the upper friction wheel has a groove, and the outer ring of the lower friction wheel has a groove. The grooves on the outer rings of the upper and lower friction wheels form the channel of the colonoscope and instrument channel assembly.

[0015] Further, the colonoscope control component includes: a colonoscope component, an electric push rod clamp fixed on the outer shell of the colonoscope control box, and an electric push rod fixed on the electric push rod clamp; the colonoscope component includes: a water and gas channel, a suction button, a channel, a colonoscope, a large colonoscope knob, and a small colonoscope knob. The electric push rod is arranged corresponding to the water and gas channel, and the opening and closing of the water and gas channel and the suction button are controlled by controlling the forward and backward movement of the electric push rod. The large colonoscope knob and the small colonoscope knob are both installed in the colonoscope knob control mechanism, and the colonoscope in the colonoscope control component is controlled to work through the colonoscope knob control mechanism; when the colonoscope is installed, the end of the colonoscope sequentially passes through the through hole on the colonoscope rotation box cover, the staggered spiral large gear, the colonoscope rotation support shaft, the installation hole on the colonoscope rotation outer shell, the colonoscope through hole on the right side wall of the colonoscope transmission box, and then passes through the channel of the colonoscope and instrument channel component composed of the grooves on the outer ring of the upper friction wheel and the grooves on the outer ring of the lower friction wheel, and finally passes through the colonoscope through hole on the left side wall of the colonoscope transmission box; start the colonoscope rotation motor to drive the staggered spiral small gear and the staggered spiral large gear to rotate, so as to drive the colonoscope rotation support shaft to rotate, and finally drive the colonoscope conveying mechanism and the colonoscope to rotate.

[0016] Further, the biopsy mechanism includes: a biopsy forceps base fixed on the outer shell of the colonoscope control box, a first electric push rod fixed at the lower end of the biopsy forceps base, a slide rail installed at the upper end of the biopsy forceps base, a slider slidably installed on the slide rail, a second electric push rod installed on the slider, a fixed column seat installed on the second electric push rod, a fixed column installed on the fixed column seat, an opening and closing clamp fixed at the end of the second electric push rod, a positioning screw installed at the left end of the first electric push rod, a slider connecting column installed at the right end of the first electric push rod, and a biopsy forceps component installed on the fixed column and the opening and closing clamp; the right end of the first electric push rod is connected to the slider through the slider connecting column;

[0017] The biopsy forceps component includes: a biopsy forceps pipe, a biopsy forceps installed at the end of the biopsy forceps pipe, a circular ring installed on the fixed column, an annular protrusion, two limiting rings, and a biopsy forceps pipe; the groove between the two limiting rings is installed on the opening and closing clamp; the end of the biopsy forceps pipe is inserted into the channel in the colonoscope component.

[0018] Further, surgical instruments are installed at the ends of the first instrument control mechanism and the second instrument control mechanism respectively. The surgical instruments at the ends of the first instrument control mechanism and the second instrument control mechanism are respectively inserted into the instrument channel component. The end of the instrument channel component sequentially passes through the colonoscope rotation box cover, the staggered spiral large gear, the colonoscope rotation support shaft, the colonoscope rotation outer shell and then reaches the colonoscope conveying mechanism, and then sequentially passes through the instrument through holes on both side walls of the colonoscope transmission box.

[0019] Furthermore, the colonoscope knob control mechanism includes: a handle control frame fixed to the colonoscope control box housing; a large knob motor frame fixed to the handle control frame; a large knob control motor fixed to the large knob motor frame; a small knob control motor fixed to the handle control frame; a small knob small synchronous pulley fixed to the small knob control motor shaft by a set screw; a small knob large synchronous pulley connected to the small knob small synchronous pulley via a small synchronous belt; a large knob housing; a large knob large synchronous pulley connected to the large knob housing; a large knob small synchronous pulley connected to the large knob large synchronous pulley via a large synchronous belt; and an upper bearing seat assembly connected to the lower end of the large knob housing, placed inside the large knob housing. The system comprises a rotating ring, a small knob housing installed within a large knob housing, a small knob connecting shaft connected at its upper end to the small knob housing, a locking slider mounted on the rotating ring, and an endoscope locking cover that presses the locking slider into the large knob housing. The lower end of the small knob connecting shaft passes sequentially through the large knob housing, the upper bearing seat assembly, the handle control frame, and the lower bearing seat assembly before being tightly connected to the small knob large synchronous belt pulley. A flat key transmits circumferential load between the small knob connecting shaft and the small knob large synchronous belt pulley. The tension of the small synchronous belt is adjusted by adjusting the position of the small knob control motor in the handle control frame. The tension of the large synchronous belt is adjusted by adjusting the position of the large knob control motor in the large knob motor frame.

[0020] Furthermore, the large knob shell has an inner layer and an outer layer, with a sliding groove formed between the two layers. A side groove is provided on the outer side of the large knob shell. The upper surface of the rotating ring has multiple evenly distributed bosses, and the sidewall of the rotating ring has small lateral bosses. A groove is provided on the lower side of the locking slider, the front surface of the upper end of the locking slider is set into a wedge shape, and a protrusion is provided above the rear end of the locking slider. The inner side of the colonoscope locking cover has multiple evenly distributed mounting grooves, and the lower surface of the colonoscope locking cover has multiple evenly distributed protrusions and grooves. The rotating ring is installed at the bottom of the sliding groove of the large knob shell. The small lateral protrusions on the rotating ring are placed in the side grooves of the large knob housing. Each protrusion on the rotating ring has a locking slider installed at its upper end, with the upper end of the protrusion inserted into the groove on the locking slider. The locking slider is pressed into the slide groove of the large knob housing by the colonoscope locking cover. The protrusion on the locking slider is installed in the groove on the colonoscope locking cover. A spring is installed between the inner wall of the protrusion on the locking slider and the protrusion on the colonoscope locking cover. The position of the locking slider is adjusted by rotating the small lateral protrusions on the rotating ring to compress the spring.

[0021] When the colonoscope control assembly's large and small knobs are pressed into the colonoscope knob control mechanism, the small knob falls into its housing and engages with it. When the large knob is pressed in, it pushes the wedge-shaped surface of the locking slider, compressing the spring between the protruding inner wall of the locking slider and the protrusion on the colonoscope locking cover, allowing the large knob to be smoothly pressed into its housing. Once the large knob is fully pressed in, the locking slider springs back to its initial position under the spring force. The system controls the movement of the colonoscope's large knob up and down. Simultaneously, by controlling the motor to rotate the motor, the small knob's small synchronous pulley, small synchronous belt, and large synchronous pulley are controlled, which in turn drive the small knob's housing to rotate, thus controlling the colonoscope's small knob's rotation. This, in turn, controls the colonoscope's large knob's rotation, and ultimately controls the colonoscope's end-effector's up-and-down, left-and-right, and yaw movements within the colonoscope control assembly.

[0022] The beneficial effects of this invention are:

[0023] This invention discloses an integrated surgical robot for assisting colonoscopy diagnosis and treatment, which can assist doctors in performing colonoscopy diagnosis, biopsy, and treatment. The invention utilizes a position adjustment mechanism to adjust the height and position of the colonoscope. The structural design of this mechanism, by setting the locking torque of each damping shaft, allows for flexible movement of each transmission arm, ensuring that the doctor can stop and lock at any position when moving the colonoscope's rotating mechanism up, down, left, or right. The doctor can adjust the positions of the colonoscope's rotating and transporting mechanisms using the position adjustment mechanism to ensure that the end of the colonoscope is precisely aligned with the patient's anus, facilitating the doctor's manipulation of the colonoscope's forward and backward movement within the patient's intestines. This invention features an innovative design for the colonoscope delivery mechanism. Rotating the upper wheel adjustment knob adjusts the height of the upper friction wheel, thereby altering the clamping force exerted by the upper and lower friction wheels on the colonoscope. This results in smoother colonoscope transmission, preventing slippage due to insufficient contact force or deformation of the colonoscope contact surface due to excessive contact force. After the colonoscope passes through the colonoscope port on the left side wall of the colonoscope transmission box and is inserted into the patient's anus, the forward and backward movement of the colonoscope within the patient's intestines can be controlled by rotating the colonoscope transmission motor. This invention utilizes a colonoscope knob control mechanism to control the up-down, left-right, and yaw movements of the colonoscope in the colonoscope control assembly. The colonoscope knob control mechanism also enables rapid colonoscope changes and simultaneous control of the rotation of both the large and small colonoscope knobs.

[0024] This invention discloses an integrated surgical robot for assisting colonoscopy, which solves the problem of high workload for doctors performing manual intestinal examinations, improves the safety and stability of colonoscopy procedures, and is equipped with two surgical instruments to perform surgical operations on lesion areas during colonoscopy, thereby improving the efficiency of colonoscopy and colonoscopy surgery. Furthermore, due to the complexity of colonoscopy procedures, doctors require rigorous training before clinical diagnosis, resulting in a long learning period. Using this integrated surgical robot for assisting colonoscopy can reduce the learning period for novice doctors, allowing them to quickly learn clinical colonoscopy diagnosis and treatment, and alleviating the workload of doctors in existing hospitals. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of an integrated surgical robot for assisting colonoscopy diagnosis and treatment according to the present invention;

[0026] Figure 2 This is a schematic diagram illustrating the usage of an integrated surgical robot for assisting colonoscopy diagnosis and treatment according to the present invention.

[0027] Figure 3 This is a structural schematic diagram of a medical vehicle;

[0028] Figure 4 This is a schematic diagram showing the positional relationship between the joint motor flange, thrust ball bearing, and joint motor.

[0029] Figure 5 This is a schematic diagram showing the positional relationship between the joint motor flange, thrust ball bearing, and joint motor.

[0030] Figure 6 This is a schematic diagram of the overall structure of the colonoscope's transmission mechanism;

[0031] Figure 7 An exploded view of the position adjustment mechanism;

[0032] Figure 8 An exploded view of the colonoscope's rotating mechanism;

[0033] Figure 9 This is a schematic diagram showing the connection between the colonoscope rotation mechanism and the colonoscope delivery mechanism.

[0034] Figure 10 An exploded view of the colonoscope delivery mechanism;

[0035] Figure 11 This is a schematic diagram of the internal structure of the colonoscopy control box.

[0036] Figure 12 Top view of the colonoscopy control box;

[0037] Figure 13 This is a schematic diagram showing the positional relationship of the components of the colonoscopy control box;

[0038] Figure 14 This is a schematic diagram of the colonoscopy control assembly.

[0039] Figure 15 This is a schematic diagram of the biopsy facility.

[0040] Figure 16 This is a schematic diagram of the biopsy facility.

[0041] Figure 17 This is a schematic diagram of the biopsy forceps assembly;

[0042] Figure 18 This is a schematic diagram showing the installation location of the colonoscope knob control mechanism;

[0043] Figure 19 A schematic diagram of the colonoscope knob control mechanism;

[0044] Figure 20 A schematic diagram showing the positional relationship between the large knob housing, the rotating ring, the locking slider, the colonoscope locking cover, and the small knob housing;

[0045] Figure 21 This is a schematic diagram showing the positional relationship between the colonoscope assembly and the colonoscope knob control mechanism;

[0046] Figure 22 A 3D view of the large knob housing;

[0047] Figure 23 Top view of the large knob housing;

[0048] Figure 24 A three-dimensional diagram of the rotating ring;

[0049] Figure 25 A 3D view of the locking slider;

[0050] Figure 26 A 3D view of the locking slider;

[0051] Figure 27 A three-dimensional view of the colonoscope locking cover;

[0052] Figure 28 A three-dimensional view of the colonoscope locking cover;

[0053] In the diagram, 1 is the medical vehicle, 101 is the caster, 102 is the electrical control cabinet, 103 is the L-shaped support frame, 104 is the L-shaped cover plate, 105 is the joint motor flange, 106 is the thrust ball bearing, and 107 is the joint motor.

[0054] 2. Colonoscope transmission mechanism: 201. Base; 202. First connector; 203. First damping shaft; 204. Large transmission arm; 205. Large transmission arm cover; 206. Colonoscope rotating box cover; 207. Colonoscope rotating support shaft; 208. Colonoscope rotating small bearing; 209. Colonoscope rotating large bearing; 210. Interlaced helical large gear; 211. Colonoscope transmission box cover; 212. Upper wheel adjustment knob; 213. Upper wheel adjustment knob cover; 214. Upper wheel seat; 215. Upper wheel frame; 216. Colonoscope transmission box rear cover; 217. Colonoscope transmission motor; 218. Colonoscope transmission... 219. Moving box; 220. Friction wheel bearing seat; 221. Lower friction wheel; 222. Colonoscope rotating housing; 223. Colonoscope rotating motor; 224. Interlaced helical pinion; 225. Second connector; 226. Small transmission arm cover; 227. Small transmission arm; 228. Upper friction wheel; 229. Second damping shaft; 230. Third damping shaft; 231. Baffle; 232. Stepped shaft; 233. Fourth damping shaft; 234. Fifth damping shaft; 235. Set screw; 236. Shaft retainer; 237. First bearing; 238. Second bearing; 239. Third bearing.

[0055] 3. Colonoscopy control box;

[0056] 4. Colonoscopy control components;

[0057] 5. Biopsy facilities;

[0058] 6. First instrument control mechanism;

[0059] 7. Colonoscope knob control mechanism; 701. Small knob small synchronous belt pulley; 702. Handle control frame; 703. Large synchronous belt; 704. Large knob small synchronous belt pulley; 705. Large knob motor frame; 706. Small knob control motor; 707. Large knob control motor; 708. Small synchronous belt; 709. Small knob large synchronous belt pulley; 710. Lower bearing seat assembly; 711. Upper bearing seat assembly; 712. Large knob large synchronous belt pulley; 713. Large knob housing; 714. Rotating ring; 715. Locking slider; 716. Colonoscope locking cover; 717. Small knob housing; 718. Small knob connecting shaft;

[0060] 8. Colonoscope control box outer casing;

[0061] 9. Instrument access assembly;

[0062] 10. Second instrument control mechanism;

[0063] 11. Operating table;

[0064] 12. Patient. Detailed Implementation

[0065] The present invention will be further described in detail below with reference to the accompanying drawings.

[0066] As shown Figure 1 in the figure, an integrated surgical robot for assisting colonoscopy diagnosis and treatment according to the present invention mainly includes a medical cart 1, a colonoscope transmission mechanism 2, and a colonoscope control box 3. The colonoscope transmission mechanism 2 and the colonoscope control box 3 are both installed on the medical cart 1, and the colonoscope transmission mechanism 2 is connected to the colonoscope control box 3. As shown Figure 2 in the figure, during the surgical operation, the patient 12 lies on the operating table 11 in a lateral position. The doctor pushes the medical cart 1 to the vicinity of the operating table 11, and aligns the end of the colonoscope 4014 in the colonoscope control box 3 with the anus of the patient 12 by adjusting the position of the colonoscope transmission mechanism 2. The doctor manipulates the master hand to control the colonoscope control box 3 for examination, biopsy, and surgery.

[0067] As shown Figures 3 to 5 in the figure, the medical cart 1 mainly includes: casters 101, an electric control cabinet 102, an L-shaped support frame 103, an L-shaped cover plate 104, a joint motor flange 105, a thrust ball bearing 106, and a joint motor 107; the number of casters 101 is four, and the four casters 101 are all installed at the lower end of the electric control cabinet 102 by screws; the lower end of the L-shaped support frame 103 is fixed to the upper end of the electric control cabinet 102 by screws; a joint motor 107, a thrust ball bearing 106, and a joint motor flange 105 are installed at the upper end of the L-shaped support frame 103. The lower end of the joint motor 107 is connected to the joint motor flange 105 by screws, the thrust ball bearing 106 is sleeved on the joint motor flange 105, and the lower surface of the joint motor 107 presses on the upper end of the thrust ball bearing 106; the joint motor 107 is connected to the L-shaped support frame 103 by screws; the lower end of the joint motor flange 105 is provided with an external thread, and the lower end of the joint motor flange 105 is connected to the colonoscope control box 3 by screws; the L-shaped cover plate 104 is buckled and fixed on the outer wall of the L-shaped support frame 103.

[0068] As shown Figures 6 to 10 in the figure, the colonoscope transmission mechanism 2 mainly includes: a position adjustment mechanism, a colonoscope rotation mechanism, and a colonoscope delivery mechanism. The position adjustment mechanism is installed on the medical cart 1, the colonoscope rotation mechanism is connected to the position adjustment mechanism, and the colonoscope rotation mechanism is connected to the colonoscope delivery mechanism.

[0069] As shown Figure 6 and Figure 7As shown, the position adjustment mechanism mainly consists of a base 201, a first connector 202, a first damping shaft 203, a large transmission arm 204, a large transmission arm cover 205, a second connector 224, a small transmission arm cover 225, a small transmission arm 226, a second damping shaft 228, a third damping shaft 229, a fourth damping shaft 232, and a fifth damping shaft 233. The base 201 is fixed to the electrical control cabinet 102 of the medical vehicle 1 with screws. The lower end of the first damping shaft 203 is fixed to the base 201 with bolts, and the upper end of the first damping shaft 203 is fixed to one end of the first connector 202 with bolts. The left end of the second damping shaft 228 is fixed to the other end of the first connector 202 with bolts. The right end of the third damping shaft 229 is fixed to the lower end of the large transmission arm 204 by bolts; the large transmission arm cover 205 is connected to the large transmission arm 204 by screws; the left end of the third damping shaft 229 is fixed to the lower end of the small transmission arm 226 by bolts, and the right end of the third damping shaft 229 is fixed to the upper end of the large transmission arm 204 by bolts; the small transmission arm cover 225 is connected to the small transmission arm 226 by screws; the left end of the fourth damping shaft 232 is fixed to the upper end of the small transmission arm 226 by bolts, and the right end of the fourth damping shaft 232 is fixed to one end of the second connector 224 by bolts; the lower end of the fifth damping shaft 233 is fixed to the other end of the second connector 224 by bolts; the upper end of the fifth damping shaft 233 is fixed to the colonoscope rotation mechanism by bolts. The locking forces of each damping shaft are selected from top to bottom according to actual needs, from smallest to largest. Specifically, the locking forces of the fifth damping shaft 233, the fourth damping shaft 232, the third damping shaft 229, the second damping shaft 228, and the first damping shaft 203 are selected from smallest to largest according to actual needs. Through the structural design of the position adjustment mechanism, that is, by setting the magnitude of the locking torque of each damping shaft, the movement of each transmission arm can be made more flexible. This ensures that when the doctor holds the colonoscope rotation mechanism and moves it up, down, left, and right, it can stop and lock at any position. The doctor can adjust the position of the colonoscope rotation mechanism and the colonoscope delivery mechanism through the position adjustment mechanism so that the end of the colonoscope 4014 is just aligned with the anus of the patient 12, which facilitates the doctor's operation of the colonoscope 4014 forward and backward movement in the intestine of the patient 12.

[0070] like Figure 6 , Figure 8 and Figure 9As shown, the colonoscope rotation mechanism mainly consists of a colonoscope rotation box cover 206, a colonoscope rotation support shaft 207, a colonoscope rotation small bearing 208, a colonoscope rotation large bearing 209, an interlaced helical large gear 210, a colonoscope rotation housing 221, a colonoscope rotation motor 222, an interlaced helical small gear 223, a baffle 230, a set screw 234, and a shaft retaining spring 235; the upper end of the fifth damping shaft 233 in the position adjustment mechanism is fixed to the lower end of the colonoscope rotation housing 221 by bolts; a mounting hole 2210 is provided on the right side of the colonoscope rotation housing 221; the baffle 230 is vertical. The colonoscope is fixed to the rotating housing 221. One end of the colonoscope rotation support shaft 207 is provided with a connecting seat 2070 and a shoulder 2071. The connecting seat 2070 at one end of the colonoscope rotation support shaft 207 passes through the mounting hole 2210 of the colonoscope rotating housing 221, and then connects the connecting seat 2070 of the colonoscope rotation support shaft 207 to the colonoscope transport mechanism. The colonoscope rotation large bearing 209 is fitted and fixed on the shoulder 2071 of the colonoscope rotation support shaft 207. The inner ring of the colonoscope rotation large bearing 209 is connected to the shoulder 2071 of the colonoscope rotation support shaft 207. The outer ring of the large rotating bearing 209 is connected to the inner wall of the mounting hole 2210 of the colonoscope rotating housing 221; the other end of the colonoscope rotating large bearing 209 is secured by a shaft retainer 235; the staggered helical large gear 210 is fixedly mounted on the colonoscope rotating support shaft 207, and the inner ring of the staggered helical large gear 210 is connected to the colonoscope rotating support shaft 207; the colonoscope rotating small bearing 208 is fixedly mounted on the other end of the colonoscope rotating support shaft 207, and the inner ring of the colonoscope rotating small bearing 208 is connected to the outer wall of the colonoscope rotating support shaft 207, while the outer ring of the colonoscope rotating small bearing 208 is connected to the colonoscope rotating housing 221. The inner wall of the cover 206 is connected; the colonoscope rotary motor 222 is fixed to the left side of the baffle 230 by screws, and the staggered helical pinion 223 is installed on the right side of the baffle 230. The staggered helical pinion 223 is fixed to the motor shaft of the colonoscope rotary motor 222 by set screw 234, and the staggered helical pinion 223 meshes with the staggered helical gear 210; the colonoscope rotary cover 206 is fastened to the colonoscope rotary housing 221 and fixed with screws. The colonoscope rotary cover 206 is provided with a through hole 2060 for the colonoscope 4014 and the instrument channel assembly 9 to pass through. When the colonoscope 4014 is installed, the end of the colonoscope 4014 passes through the through hole 2060 on the colonoscope rotary cover 206, the staggered helical gear 210, the colonoscope rotary support shaft 207, and the mounting hole 2210 on the colonoscope rotary housing 221 in sequence to reach the colonoscope transport mechanism. The colonoscope rotary motor 222 is started, which drives the staggered helical pinion 223 and staggered helical gear 210 to rotate, thereby driving the colonoscope rotary support shaft 207 to rotate. Since the colonoscope rotary support shaft 207 is fixedly connected to the colonoscope transport mechanism, it can drive the colonoscope transport mechanism to rotate. At the same time, the colonoscope rotary motor 222 should rotate synchronously with the articulated motor 107 in the medical vehicle 1. The rotation of the colonoscope 4014 is controlled by the simultaneous rotation of the colonoscope rotary motor 222 and the articulated motor 107.

[0071] like Figure 6 and Figure 10As shown, the colonoscope transport mechanism mainly consists of a colonoscope transmission box cover 211, an upper wheel adjustment knob 212, an upper wheel adjustment knob cover 213, an upper wheel seat 214, an upper wheel frame 215, a colonoscope transmission box rear cover 216, a colonoscope transmission motor 217, a colonoscope transmission box 218, a friction wheel bearing seat 219, a lower friction wheel 220, an upper friction wheel 227, a stepped shaft 231, a first bearing 236, a second bearing 237, and a third bearing 238. There are two upper wheel frames 215, each with a bearing mounting hole at its center. A wheel axle 2270 is located at the center of each of the two sides of the upper friction wheel 227, and the wheel axles 2270 on both sides of the upper friction wheel 227 are connected to the two upper wheels via the first bearing 236. The upper wheel frame 215 is connected one-to-one. The inner ring of the first bearing 236 is connected to the wheel axle 2270, and the outer ring of the first bearing 236 is connected to the inner wall of the bearing mounting hole of the upper wheel frame 215. The upper wheel seat 214 is connected to the upper ends of the two upper wheel frames 215 one-to-one by screws on both sides. The upper wheel seat 214 has a threaded hole in the center. The upper end of the stepped shaft 231 has a groove 2310, and the lower end of the stepped shaft 231 has a thread. A second bearing 237 is installed on the shoulder surface of each end of the stepped shaft 231. The second bearing 237 at the threaded end of the stepped shaft 231 is installed in the bearing hole 2181 of the colonoscope transmission box 218. After the threaded end of the stepped shaft 231 passes through the bearing hole 2181 of the colonoscope transmission box 218, it is screwed into the upper wheel seat 214. The upper wheel adjustment knob cover 213 presses against the second bearing 237 located at one end of the stepped shaft 231 with a slot 2310, and the upper wheel adjustment knob cover 213 is fixedly connected to the colonoscope transmission box 218 by screws; one end of the stepped shaft 231 with a slot 2310 passes through the center hole of the upper wheel adjustment knob cover 213, and the boss on the upper wheel adjustment knob 212 is tightly fitted with the slot 2310 at the upper end of the stepped shaft 231; the side wall of the friction wheel bearing seat 219 is fixed to the inner wall of the colonoscope transmission box 218 by screws; the third bearing 238 is installed in the center hole of the friction wheel bearing seat 219; the lower friction wheel 220 is provided with axle 2201 at both ends, and the axle 2201 at the front end of the lower friction wheel 220 is installed on the colonoscope. The endoscope transmission box 218 is fixedly connected to the endoscope transmission box cover 211 by screws at the front end and the end end of the endoscope transmission box 218 is fixedly connected to the endoscope transmission box rear cover 216 by screws at the rear end. The endoscope transmission motor 217 is installed in the endoscope transmission box rear cover 216. The end end of the endoscope transmission motor 217 is fixedly connected to the end end of the endoscope transmission box 218 by screws at the front end. The motor shaft of the endoscope transmission motor 217 passes through the through hole 2180 and the inner hole of the third bearing 238 in the endoscope transmission box 218 and is connected to the lower friction wheel 220 by a D-shaped shaft. The connecting seat 2070 of the endoscope rotation support shaft 207 in the endoscope rotation mechanism is fixedly connected to the side wall of the endoscope transmission box 218 by screws.Both sides of the colonoscope transmission box 218 are provided with colonoscope through holes 2182 and instrument through holes 2183. The colonoscope through hole 2182 is used for the colonoscope 4014 to pass through, and the instrument through hole 2183 is used for the instrument channel assembly 9 to pass through. The outer ring of the upper friction wheel 227 is provided with a groove, and the outer ring of the lower friction wheel 220 is provided with a groove. The grooves of the outer rings of the upper friction wheel 227 and the lower friction wheel 220 form a colonoscope channel for the colonoscope 4014 to pass through. The end of the colonoscope 4014 passes through the colonoscope rotation mechanism, then passes through the colonoscope through hole 2182 on the right side wall of the colonoscope transmission box 218, then through the colonoscope channel formed by the grooves of the outer rings of the upper friction wheel 227 and the lower friction wheel 220, and finally exits through the colonoscope through hole 2182 on the left side wall of the colonoscope transmission box 218. The height of the upper friction wheel 227 can be adjusted by rotating the upper wheel adjustment knob 212, thereby changing the clamping force of the upper friction wheel 227 and the lower friction wheel 220 on the colonoscope 4014. This makes the transmission of the colonoscope 4014 smoother and avoids slippage caused by insufficient contact force or deformation of the colonoscope contact surface caused by excessive contact force. After the colonoscope passes through the colonoscope through-hole 2182 on the left side wall of the colonoscope transmission box 218 and is inserted into the anus of the patient 12, the forward and backward movement of the colonoscope 4014 in the patient 12 intestine can be controlled by controlling the rotation of the colonoscope transmission motor 217.

[0072] like Figures 11 to 13 As shown, the colonoscopy control box 3 mainly includes: a colonoscopy control assembly 4, a biopsy mechanism 5, a first instrument control mechanism 6, a colonoscopy knob control mechanism 7, a colonoscopy control box housing 8, an instrument channel assembly 9, and a second instrument control mechanism 10. The biopsy mechanism 5, the first instrument control mechanism 6, the colonoscopy knob control mechanism 7, and the second instrument control mechanism 10 are sequentially installed from left to right within the colonoscopy control box housing 8. The colonoscopy control assembly 4 is fixed to the inner wall of the colonoscopy control box housing 8 and is connected to the colonoscopy knob control mechanism 7. The first instrument control mechanism 6 and the second instrument control mechanism 10 are respectively connected to the instrument channel assembly 9, and the biopsy mechanism 5 is connected to the colonoscopy control assembly 4. The first instrument control mechanism 6 and the second instrument control mechanism 10 have the same structure and composition. The lower end of the joint motor flange 105 of the medical vehicle 1 is connected to the upper surface of the colonoscopy control box housing 8 by screws.

[0073] like Figure 12As shown in the figure, the colonoscope control component 4 mainly includes: a colonoscope component 401, an electric push rod clamp 402, and an electric push rod 403. Among them, the colonoscope component 401 adopts existing technology, specifically, it can adopt the Olympus gastroscope CV-290, but is not limited to this; the colonoscope component 401 mainly includes: a water and gas channel 4011, a suction button 4012, a channel 4013, a colonoscope 4014, a large colonoscope knob 4015, a small colonoscope knob 4016, etc. The electric push rod 403 is fixed on the electric push rod clamp 402 by screws, and the electric push rod clamp 402 is fixed on the colonoscope control box housing 8 by screws. The electric push rod 403 is arranged corresponding to the water and gas channel 4011 in the colonoscope component 401. By controlling the forward and backward movement of the electric push rod 403, the opening and closing of the water and gas channel 4011 and the suction button 4012 in the colonoscope component 401 are controlled. The colonoscope 4014 is installed at the end of the colonoscope component 401; the large colonoscope knob 4015 and the small colonoscope knob 4016 in the colonoscope control component 4 are both installed in the colonoscope knob control mechanism 7, and the colonoscope 4014 in the colonoscope control component 4 is controlled to work through the colonoscope knob control mechanism 7.

[0074] As Figures 14 to 16 shown in the figure, the biopsy mechanism 5 mainly includes: a biopsy forceps base 501, a first electric push rod 502, a slider 503, a slide rail 504, a second electric push rod 505, a fixed column 506, a fixed column seat 507, an opening and closing clamp 508, a positioning screw 509, a slider connecting column 510, and a biopsy forceps component 511; the biopsy forceps base 501 is fixed on the colonoscope control box housing 8, the first electric push rod 502 is fixed at the lower end of the biopsy forceps base 501, the slide rail 504 is installed at the upper end of the biopsy forceps base 501, the slider 503 is slidably installed on the slide rail 504, the second electric push rod 505 is installed on the slider 503, the fixed column seat 507 is fixed on the second electric push rod 505, the fixed column 506 is installed on the fixed column seat 507, the opening and closing clamp 508 is fixed at the end of the second electric push rod 505, the positioning screw 509 is installed at the left end of the first electric push rod 502, the slider connecting column 510 is installed at the right end of the first electric push rod 502, and the biopsy forceps component 511 is installed on the fixed column 506 and the opening and closing clamp 508.

[0075] In this embodiment, the biopsy forceps component 511 adopts existing technology and is purchased from Nanjing MicroPort, model: MTN-BF-23 / 23-A-C-1. As Figure 17 shown in the figure, the biopsy forceps component 511 mainly includes: a biopsy forceps, a ring 5111 installed on the fixed column 506, an annular protrusion 5112, two limiting rings 5113, and a biopsy forceps pipe 5114; the groove between the two limiting rings 5113 is installed on the opening and closing clamp 508, and the biopsy forceps is installed at the end of the biopsy forceps pipe 5114.

[0076] The doctor can operate the end of the colonoscope component 401 in the colonoscope control component 4 to examine the patient 12. After locating a lesion area, the end of the biopsy forceps tube 5114 is inserted into the channel 4013 in the colonoscope component 401. The opening and closing of the small claws in the biopsy forceps is controlled by controlling the forward and backward movement of the opening and closing clamp 508. The first electric actuator 502 and the second electric actuator 505 control the forward and backward movement of the biopsy forceps to complete the pathological examination of the lesion area. The biopsy mechanism 5 is equipped with two electric actuators. The first electric actuator 502 is used to control the overall forward and backward movement of the biopsy forceps handle. The second electric actuator 505 is equipped with the opening and closing clamp 508 and the fixing post 506 to adapt to existing commonly used biopsy forceps and to automatically control the opening and closing of the biopsy forceps.

[0077] Both the first instrument control mechanism 6 and the second instrument control mechanism 10 adopt existing technologies, such as the "instrument control mechanism 3" in the Chinese patent "An Integrated Surgical Robot for Diagnosis and Treatment via Natural Cavity" with publication number CN114668432A, but are not limited to this.

[0078] Surgical instruments are installed at the ends of both the first instrument control mechanism 6 and the second instrument control mechanism 10. The surgical instruments adopt existing technology, such as the "surgical instrument 2" in the Chinese patent with publication number CN114668432A, "An Integrated Surgical Robot for Diagnosis and Treatment via Natural Cavity", but are not limited to this.

[0079] The surgical instruments at the ends of the first instrument control mechanism 6 and the second instrument control mechanism 10 are respectively inserted into the first instrument channel 901 and the second instrument channel 902 in the instrument channel assembly 9. The ends of the first instrument channel 901 and the second instrument channel 902 pass sequentially through the through hole 2060 on the colonoscope rotating box cover 206, the interlaced helical gear 210, the colonoscope rotating support shaft 207, and the mounting hole 2210 on the colonoscope rotating outer shell 221 to reach the colonoscope transport mechanism, and then sequentially pass through the instrument through holes 2183 on both sides of the colonoscope transmission box 218. In use, the doctor controls the first instrument control mechanism 6 and the second instrument control mechanism 10 to control the forward and backward movement of the surgical instruments at their ends, as well as to control the swaying and opening and closing of the surgical instruments to perform surgical operations.

[0080] like Figures 18 to 28As shown, the colonoscope knob control mechanism 7 mainly includes: a small knob small synchronous belt pulley 701, a handle control frame 702, a large synchronous belt 703, a large knob small synchronous belt pulley 704, a large knob motor frame 705, a small knob control motor 706, a large knob control motor 707, a small synchronous belt 708, a small knob large synchronous belt pulley 709, a lower bearing housing assembly 710, an upper bearing housing assembly 711, a large knob large synchronous belt pulley 712, and a large knob housing. 713, rotating ring; 714, locking slider; 715, colonoscope locking cover; 716, small knob housing; 717, small knob connecting shaft; 718; the handle control frame 702 is fixed to the colonoscope control box housing 8; the small knob control motor 706 is fixed to the handle control frame 702 by screws; the small knob small synchronous belt pulley 701 is fixed to the motor shaft of the small knob control motor 706 by set screws; the small knob small synchronous belt pulley 701 and the small knob large synchronous belt pulley... 709 is connected via a small synchronous belt 708. The screw holes on the handle control frame 702 are elliptical, allowing for a certain amount of movement. The tension of the small synchronous belt 708 is adjusted by adjusting the position of the small knob control motor 706. The large knob control motor 707 is fixed to the large knob motor frame 705 with screws. The large knob motor frame 705 is fixed to the handle control frame 702 with screws. The large knob small synchronous belt pulley 704 and the large knob large synchronous belt pulley 712 are connected via a large synchronous belt 703. The screw holes on the large knob motor frame 705 are elliptical, allowing for a certain amount of movement. The tension of the large synchronous belt 703 is adjusted by adjusting the position of the large knob control motor 707. The large knob large synchronous belt pulley 712 is fixed to the large knob housing 713 with screws. The lower end of the large knob housing 713 is connected to the upper bearing seat assembly 711. The rotating ring 714 is placed inside the large knob housing 713.

[0081] like Figure 22 and Figure 23 As shown, the large knob housing 713 has an inner layer and an outer layer, with a groove 7132 formed between the two layers. A side groove 7131 is provided on the outer side of the large knob housing 713; as... Figure 24 As shown, the upper surface of the rotating ring 714 is provided with a plurality of evenly distributed protrusions 7141, and the sidewall of the rotating ring 714 is provided with small lateral protrusions 7142; as Figure 25 and Figure 26 As shown, a groove 7151 is provided on the lower side of the locking slider 715, a wedge-shaped surface 7152 is provided on the upper front surface of the locking slider 715, and a protrusion 7153 is provided above the rear end of the locking slider 715; Figure 27 and Figure 28As shown, the colonoscope locking cover 716 has multiple evenly distributed mounting grooves 7162 on its inner side, and multiple evenly distributed protrusions 7161 and grooves 7163 on its lower surface. A rotating ring 714 is installed at the bottom of the sliding groove 7132 of the large knob housing 713. Lateral protrusions 7142 on the rotating ring 714 are placed in the side grooves 7131 of the large knob housing 713. Each protrusion 7141 on the rotating ring 714 has a locking slider 715 mounted on its upper end, with the upper end of the protrusion 7141 inserted into the groove 7151 on the locking slider 715. The locking slider 715 is pressed by the colonoscope locking cover 716 into the sliding groove 7132 of the large knob housing 713. The protrusions 7153 on the locking slider 715 are installed in the grooves 7163 on the colonoscope locking cover 716. A spring is installed between the inner wall of the endoscope 7153 and the protrusion 7161 on the endoscope locking cover 716. The position of the locking slider 715 is adjusted by rotating the small side protrusion 7142 of the rotating ring 714 to compress the spring. The small knob housing 717 is installed in the large knob housing 713. The upper end of the small knob connecting shaft 718 is fixed to the small knob housing 717 with screws. The lower end of the small knob connecting shaft 718 passes through the large knob housing 713, the upper bearing seat assembly 711, the handle control frame 702 and the lower bearing seat assembly 710 in sequence before being tightly connected to the small knob large synchronous pulley 709. The small knob connecting shaft 718 and the small knob large synchronous pulley 709 are connected by a flat key to transmit circumferential load. The small knob connecting shaft 718 below the lower bearing seat assembly 710 is equipped with a shaft retainer spring to restrict the axial movement of the small knob connecting shaft 718.

[0082] When the colonoscope large knob 4015 and colonoscope small knob 4016 in the colonoscope control assembly 4 are pressed into the colonoscope knob control mechanism 7, the colonoscope small knob 4016 falls into the small knob housing 717 and engages with the small knob housing 717. When the colonoscope large knob 4015 is pressed in, it pushes the wedge-shaped surface 7152 of the locking slider 715, thereby compressing the spring between the inner wall of the protrusion 7153 on the locking slider 715 and the protrusion 7161 on the colonoscope locking cover 716. Finally, the colonoscope large knob 4015 is smoothly pressed into the large knob housing 713. The colonoscope large knob 4015 engages with the large knob housing 713. When the colonoscope large knob 4015 is fully pressed in, the locking slider 715 will spring back to the initial position under the action of the spring force, thereby blocking the up and down movement of the colonoscope large knob 4015. The doctor can control the rotation of the small knob control motor 706 to control the rotation of the small knob small synchronous pulley 701, small synchronous belt 708, and small knob large synchronous pulley 709, which in turn drives the small knob housing 717 to rotate, thereby controlling the rotation of the colonoscope small knob 4016. Simultaneously, by controlling the rotation of the large knob control motor 707, the doctor can control the rotation of the large knob small synchronous pulley 704, large synchronous belt 703, and large knob large synchronous pulley 712, which in turn drives the large knob housing 713 to rotate, thereby controlling the rotation of the colonoscope large knob 4015. This, in turn, controls the up-down, left-right, and yaw movements of the end of the colonoscope 4014 in the colonoscope control assembly 4. Through the structural design of the colonoscope knob control mechanism 7, the colonoscope 4014 can be quickly replaced, and the rotation of both the colonoscope large knob 4015 and the colonoscope small knob 4016 can be controlled simultaneously.

[0083] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to facilitate the description of this invention and to simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An integrated surgical robot for assisting colonoscopy diagnosis and treatment, comprising: The colonoscope control box housing, the first instrument control mechanism and the second instrument control mechanism installed in the colonoscope control box housing, are characterized in that they further include: The colonoscope control box housing is fixed to the medical vehicle. The colonoscope transmission mechanism includes a position adjustment mechanism installed on a medical vehicle, a colonoscope rotation mechanism connected to the position adjustment mechanism, and a colonoscope transport mechanism connected to the colonoscope rotation mechanism. The colonoscope control assembly, biopsy mechanism, and colonoscope knob control mechanism are installed in the outer shell of the colonoscope control box. The biopsy mechanism is connected to the colonoscope control assembly, and the colonoscope control assembly is connected to the colonoscope knob control mechanism. The colonoscope control assembly, the first instrument control mechanism, and the second instrument control mechanism are all connected to the colonoscope rotation mechanism and the colonoscope transport mechanism in the colonoscope transmission mechanism through the instrument channel assembly. The medical vehicle includes: an electrical control cabinet, casters mounted on the lower end of the electrical control cabinet, an L-shaped support frame fixed on the upper end of the electrical control cabinet, a joint motor fixed on the upper end of the L-shaped support frame, a joint motor flange connected at both ends to the outer shell of the joint motor and the colonoscope control box respectively, a thrust ball bearing fitted on the joint motor flange, and an L-shaped cover plate fixed on the L-shaped support frame; the lower surface of the joint motor presses against the upper end of the thrust ball bearing; The position adjustment mechanism includes: a base fixed on the electrical control cabinet; a first connector connected to the base via a first damping shaft; a large transmission arm connected to the first connector via a second damping shaft; a large transmission arm cover connected to the large transmission arm; a small transmission arm connected to the upper end of the large transmission arm via a third damping shaft; a small transmission arm cover connected to the small transmission arm; and a second connector connected to the upper end of the small transmission arm via a fourth damping shaft; the second connector is connected to the colonoscope rotation mechanism via a fifth damping shaft. The colonoscope rotation mechanism includes: a colonoscope rotating housing connected to a second connector via a fifth damping shaft; a baffle vertically fixed to the colonoscope rotating housing; a colonoscope rotating support shaft connected to the colonoscope rotating housing via a colonoscope rotating large bearing; an interlaced helical large gear and a colonoscope rotating small bearing mounted and fixed on the colonoscope rotating support shaft; a colonoscope rotating motor fixed to the left side of the baffle; an interlaced helical small gear mounted on the right side of the baffle and fixed to the motor shaft of the colonoscope rotating motor via a set screw; and a colonoscope rotating box cover fastened and fixed to the colonoscope rotating housing; the outer ring of the colonoscope rotating small bearing is connected to the inner wall of the colonoscope rotating box cover; the colonoscope rotating support shaft is connected to the colonoscope transport mechanism; the interlaced helical small gear meshes with the interlaced helical large gear; the colonoscope rotating box cover has a through hole; and the colonoscope rotating motor and the articulated motor rotate synchronously. The colonoscope transport mechanism includes: two upper wheel frames, upper friction wheels whose ends are respectively connected to the two upper wheel frames via first bearings, upper wheel seats connected to the upper ends of the two upper wheel frames, a stepped shaft with grooves and threads at both ends, the threaded end of the stepped shaft being threadedly connected to the upper wheel seat, a colonoscope transmission box connected to the threaded end of the stepped shaft via a second bearing, an upper wheel adjustment knob cover connected to the colonoscope transmission box, the grooved end of the stepped shaft being connected to the upper wheel adjustment knob cover via a second bearing, an upper wheel adjustment knob connected to the groove of the stepped shaft, a friction wheel bearing seat fixed to the inner wall of the colonoscope transmission box, and a lower friction wheel whose left end is connected to the friction wheel bearing seat via a third bearing. The lower friction wheel is connected to the right end of the colonoscope transmission box cover; the colonoscope transmission box rear cover and colonoscope transmission box cover are connected to both ends of the colonoscope transmission box respectively; the colonoscope transmission motor is installed in the colonoscope transmission box rear cover and connected to the colonoscope transmission box; the motor shaft of the colonoscope transmission motor passes through the colonoscope transmission box and the third bearing in sequence and is connected to the lower friction wheel through a D-shaped shaft; the colonoscope rotation support shaft is connected to the colonoscope transmission box; colonoscope through holes and instrument through holes are provided on both side walls of the colonoscope transmission box; the outer ring of the upper friction wheel is provided with a groove, and the outer ring of the lower friction wheel is provided with a groove, and the grooves of the outer rings of the upper and lower friction wheels form the channel of the colonoscope and instrument channel assembly.

2. The integrated surgical robot for assisting colonoscopy diagnosis and treatment according to claim 1, characterized in that, The colonoscope control assembly includes: a colonoscope assembly, an electric actuator clamp fixed to the outer shell of the colonoscope control box, and an electric actuator fixed to the electric actuator clamp; the colonoscope assembly includes: a water-air channel, a suction button, a channel, a colonoscope, a large colonoscope knob, and a small colonoscope knob. The electric actuator is correspondingly arranged with the water-air channel, and the opening and closing of the water-air channel and the suction button are controlled by controlling the forward and backward movement of the electric actuator. The large and small colonoscope knobs are both installed in the colonoscope knob control mechanism, which controls the operation of the colonoscope in the colonoscope control assembly. During colonoscopy installation, the end of the colonoscope is sequentially passed through the through hole on the colonoscope rotating box cover, the interlaced helical gear, the colonoscope rotating support shaft, the mounting hole on the colonoscope rotating outer shell, and the colonoscope through hole on the right side wall of the colonoscope transmission box. It then passes through the channel of the colonoscope and instrument channel assembly, which is formed by the grooves of the outer rings of the upper and lower friction wheels, and finally exits through the colonoscope through hole on the left side wall of the colonoscope transmission box. The colonoscope rotating motor is started, which drives the interlaced helical small gear and the interlaced helical large gear to rotate, thereby driving the colonoscope rotating support shaft to rotate, and ultimately driving the colonoscope delivery mechanism and the colonoscope to rotate.

3. The integrated surgical robot for assisting colonoscopy diagnosis and treatment according to claim 1, characterized in that, The biopsy mechanism includes: a biopsy forceps base fixed to the outer shell of the colonoscope control box; a first electric push rod fixed to the lower end of the biopsy forceps base; a slide rail installed on the upper end of the biopsy forceps base; a slider slidably installed on the slide rail; a second electric push rod installed on the slider; a fixing post installed on the second electric push rod; a fixing post installed on the fixing post; an opening and closing clamp fixed to the end of the second electric push rod; a positioning screw installed on the left end of the first electric push rod; a slider connecting post installed on the right end of the first electric push rod; and a biopsy forceps assembly installed on the fixing post and the opening and closing clamp; the right end of the first electric push rod is connected to the slider via the slider connecting post. The biopsy forceps assembly includes: a biopsy forceps tube, a biopsy forceps installed at the end of the biopsy forceps tube, a ring installed on a fixing post, an annular protrusion, two limiting rings, and the biopsy forceps tube; the groove between the two limiting rings is installed on the opening and closing clamp; the end of the biopsy forceps tube is inserted into the channel in the colonoscope assembly.

4. The integrated surgical robot for assisting colonoscopy as described in claim 1, characterized in that, Surgical instruments are installed at the ends of both the first and second instrument control mechanisms. The surgical instruments at the ends of the first and second instrument control mechanisms are respectively inserted into the instrument channel assembly. The end of the instrument channel assembly passes through the colonoscope rotating box cover, the interlaced helical gear, the colonoscope rotating support shaft, and the colonoscope rotating shell in sequence to reach the colonoscope transport mechanism, and then passes through the instrument through holes on both sides of the colonoscope transmission box in sequence.

5. The integrated surgical robot for assisting colonoscopy diagnosis and treatment according to claim 1, characterized in that, The colonoscope knob control mechanism includes: a handle control frame fixed to the colonoscope control box housing; a large knob motor frame fixed to the handle control frame; a large knob control motor fixed to the large knob motor frame; a small knob control motor fixed to the handle control frame; a small knob small synchronous pulley fixed to the motor shaft of the small knob control motor by a set screw; a small knob large synchronous pulley connected to the small knob small synchronous pulley via a small synchronous belt; a large knob housing; a large knob large synchronous pulley connected to the large knob housing; a large knob small synchronous pulley connected to the large knob large synchronous pulley via a large synchronous belt; an upper bearing seat assembly connected to the lower end of the large knob housing; and a rotation mechanism placed inside the large knob housing. The system comprises a rotating ring, a small knob housing installed within a large knob housing, a small knob connecting shaft connected at its upper end to the small knob housing, a locking slider mounted on the rotating ring, and an endoscope locking cover that presses the locking slider against the large knob housing. The lower end of the small knob connecting shaft passes sequentially through the large knob housing, the upper bearing seat assembly, the handle control frame, and the lower bearing seat assembly before being tightly connected to the small knob large synchronous belt pulley. A flat key is used to transmit circumferential load between the small knob connecting shaft and the small knob large synchronous belt pulley. The tension of the small synchronous belt is adjusted by adjusting the position of the small knob control motor in the handle control frame. The tension of the large synchronous belt is adjusted by adjusting the position of the large knob control motor in the large knob motor frame.

6. The integrated surgical robot for assisting colonoscopy diagnosis and treatment according to claim 5, characterized in that, The large knob shell has an inner layer and an outer layer, with a sliding groove formed between the two layers. A side groove is provided on the outer side of the large knob shell. The upper surface of the rotating ring has multiple evenly distributed protrusions, and the sidewall of the rotating ring has small lateral protrusions. The lower end of the locking slider has a groove on its side, the upper front surface of the locking slider is wedge-shaped, and a protrusion is located above the rear end of the locking slider. The inner side of the colonoscope locking cover has multiple evenly distributed mounting grooves, and the lower surface of the colonoscope locking cover has multiple evenly distributed protrusions and grooves. The rotating ring is installed at the bottom of the sliding groove of the large knob shell and rotates... The small lateral protrusions on the ring are placed in the side grooves of the large knob housing. Each protrusion on the rotating ring has a locking slider installed at its upper end, with the upper end of the protrusion inserted into the groove on the locking slider. The locking slider is pressed into the slide groove of the large knob housing by the colonoscope locking cover. The protrusion on the locking slider is installed in the groove on the colonoscope locking cover. A spring is installed between the inner wall of the protrusion on the locking slider and the protrusion on the colonoscope locking cover. The position of the locking slider is adjusted by rotating the small lateral protrusions on the rotating ring to compress the spring. When the colonoscope control assembly's large and small knobs are pressed into the colonoscope knob control mechanism, the small knob falls into its housing and engages with it. When the large knob is pressed in, it pushes the wedge-shaped surface of the locking slider, compressing the spring between the protruding inner wall of the locking slider and the protrusion on the colonoscope locking cover, allowing the large knob to be smoothly pressed into its housing. Once the large knob is fully pressed in, the locking slider springs back to its initial position under the spring force. The system controls the movement of the colonoscope's large knob up and down. Simultaneously, by controlling the motor to rotate the motor, the small knob's small synchronous pulley, small synchronous belt, and large synchronous pulley are controlled, which in turn drive the small knob's housing to rotate, thus controlling the colonoscope's small knob's rotation. This, in turn, controls the colonoscope's large knob's rotation, and ultimately controls the colonoscope's end-effector's up-and-down, left-and-right, and yaw movements within the colonoscope control assembly.

Images