A multi-mode operation robotic system for capturing internal tissues in the natural cavities of the human body

Abstract

The present invention discloses a multi-mode operation robot system for capturing internal tissues in the natural body cavity, including a pipeline environment model imitating the natural body cavity. From the entrance to the exit, it is designed as a twisted part pipeline model, a large inner diameter inner cavity pipeline model and a bifurcated pipeline model respectively. Each part is supported by a bracket for simulating a complex natural body cavity. It also includes a multi-mode operation robot whole machine system, which has a catheter disc module designed based on an angular rod scissor unit for realizing the need to always be coiled in a ring during the catheter transportation process; a catheter transportation device for transporting the catheter; and a multi-mode grasping module installed at the catheter transportation end and realizing the movement in the cavity and the capture of the target by the drive of three wires. The three drive wires are individually driven by a wire drive module, and the tension of the drive wires is measured by a tension measurement module. The present invention can replace doctors to realize the operation process of interventional surgery and has multiple operation modes to realize complex operation tasks.

Description

Technical Field

[0001] The present invention belongs to the technical field of machinery and relates to a multi-mode operation robot system for capturing internal tissues of the human natural cavity. Background Art

[0002] With the development of medical technology, surgery through the human natural cavity has gradually become the preferred method for treating many diseases due to its advantages such as no need for incision, less harm to patients during the operation process, and quick postoperative recovery. For example, transcatheter interventional surgery and transvascular interventional surgery. In some interventional surgery fields, such as tissue biopsy in the human digestive tract and removal of foreign bodies in the digestive system, etc., during the operation process, it is necessary to capture and take out the tissues or foreign bodies at the target position in the human natural cavity. Currently, for the operation process of tissue biopsy through the human natural cavity, it is often necessary to first detect through the endoscope through the human natural cavity to reach the lesion position, and then deliver the biopsy forceps through the biopsy hole in the endoscope to the target position to obtain the diseased tissue. The entire operation process requires frequent replacement of surgical instruments, increasing the difficulty of implementing the operation and the operation time. Since the biopsy forceps generally adopt a scissor-like forceps structure, its grasping ability for biopsy tissues is relatively limited, and the volume of biopsy tissues that can be grasped is also relatively small, which is not conducive to subsequent pathological detection and analysis. In addition, since the implementation process of interventional surgery requires doctors to hold the interventional catheter and related instruments and perform long-distance transportation in the human natural cavity, long-term operation and delivery of interventional instruments are extremely likely to make doctors feel fatigued, and error factors such as inevitable hand tremors during the human operation process will also affect the operation accuracy of the front-end operating instruments of interventional surgery. Summary of the Invention

[0003] In view of the above problems, the present invention proposes a multi-mode operation robot system for capturing internal tissues of the human natural cavity, which can replace doctors to perform interventional surgery operations, can not only guide in the human natural cavity but also perform target capture after reaching the target position, can realize multi-mode motion operations, and is an automated robot system that can reliably capture larger-volume diseased tissues, which is beneficial to reducing the working intensity of doctors, reducing the operation time of interventional surgery, and improving the success rate of interventional surgery.

[0004] The multi-mode operation robot system for capturing internal tissues of the human natural cavity of the present invention includes a pipeline environment model imitating the human natural cavity and a multi-mode operation robot whole machine system.

[0005] The pipeline environment model imitating the human natural cavity is formed by splicing a plurality of pipelines into an integral whole and is supported by a pipeline support, and is used to simulate the complex human natural cavity for simulating operation experiments of the multi-mode operation robot.

[0006] The whole robot system is used to capture internal tissues in the natural cavities of the human body and has five functional modules, namely, a catheter coiling module, a catheter conveying module, a tension measurement module, a wire driving module, and a multi-mode grasping module. Among them, the wire driving module, the tension measurement module, the catheter coiling module, and the catheter conveying module are arranged from left to right; the multi-mode grasping module is installed at the end of the conveying end of the catheter and is at the entrance of the pipeline annular model.

[0007] The catheter coiling module includes four catheter seats arranged circumferentially. Among them, three catheter seats are respectively installed on the guide rail sliders of three guide rails. The three guide rails include a left guide rail, a right guide rail, and a middle guide rail; the left guide rail and the right guide rail are symmetrically arranged left and right, and the included angle with the middle guide rail is 45°; the other catheter seat is fixed at the intersection position of the three guide rails. Catheter perforations are longitudinally designed on the four catheter seats, and the catheter sequentially bypasses each catheter perforation and is arranged in multiple layers in a ring shape. The fixed end of the catheter is fixed through a catheter inlet frame; the conveying end of the catheter is supported by a catheter outlet frame and is connected to the catheter conveying module.

[0008] Angle bar scissor units are installed between two adjacent catheter seats above. The coiled catheter is always in a circular ring shape during the conveying process through two sets of angle bar scissor units. The two sets of angle bar scissor units are symmetrically arranged and include a scissor unit A and a scissor unit B; among them, the scissor unit A has two angle bars, and the included angle of the angle bars is 120°. The two angle bars are stacked up and down, and are hinged at the included angle position; the scissor unit B has an angle bar and a connecting rod. Among them, the connecting rod and the angle bar are stacked up and down, and the B end of the connecting rod is hinged at the included angle of the angle bar.

[0009] In the above scissor unit A and scissor unit B, the included angles of the angle bars all face the outside of the circumference where the four catheter seats are located. The A ends of the upper and lower angle bars on the same side of the scissor unit A are respectively hinged between the guide rail seat and the sliding seat on the middle linear guide rail; the B ends of the upper and lower angle bars are respectively hinged to the A end of the angle bar and the A end of the connecting rod in the scissor unit B. The B end of the angle bar in the scissor mechanism B is hinged to the catheter seat on the side linear guide rail. In the scissor unit A, the connection line of the A end hinge points of the two angle bars intersects at a point A and forms a 45° included angle. In the scissor unit B, the connection line of the A end hinge points of the angle bar and the connecting rod intersects with the perpendicular connection line of the B end hinge point of the angle bar and the middle linear guide rail at a point B, and the two straight lines form a 45° included angle. The above intersection point B coincides with the intersection point A.

[0010] The catheter conveying module includes a base, a slider, a compression spring, an adjusting bolt, a motor seat, a catheter conveying stepping motor, a pair of active friction wheels, a passive idler wheel with a U-shaped groove, and a gear transmission module.

[0011] Among them, two rectangular notches are designed at the top of the base, and a chute is opened downward from the top surface between the two notches. The middle part of the slider is a rod-shaped structure placed in the chute, and the two ends are block-shaped structures, which are respectively arranged in the two rectangular notches; thus, the whole slider can slide up and down. Compression springs are arranged between the block-shaped structures at both ends of the slider and the bottom surface of the notch, and the two ends of the compression springs are fitted and sleeved with the protrusions designed at the corresponding positions; at the same time, slots are opened on the side surfaces of the cube structures at both ends of the slider and are respectively connected and fixed to the axles of the two passive idler wheels. The U-shaped grooves opened in the circumferential direction of the two passive idler wheels are fitted with the conduit. Two threaded through holes are opened at the top of the base, respectively above the middle parts of the two rectangular notches; adjusting bolts are installed with internal threads in the two threaded through holes, and by rotating the adjusting bolts, the compression degree of the compression spring is realized, and further the up and down position adjustment of the slider is realized. The two active friction wheels are installed on the base through the central rotating shaft, and the axes of the two active friction wheels are respectively corresponding up and down to the axes of the two idler wheels. The conduit sent out by the conduit outlet bracket is conveyed horizontally between the active friction wheel and the idler wheel.

[0012] The multi-mode grasping module includes a folding and unfolding grasping part, a flexible joint and a driving wire. The folding and unfolding grasping part includes three scissor units evenly distributed in the circumferential direction, which are formed by two connecting rods cross-hinged in an X shape, and a return torsion spring is installed at the hinged position. Among adjacent scissor units, the relative top ends and bottom ends are respectively connected by a first connecting component and a second connecting component; the first connecting component and the second connecting component are connected to the scissor unit through two joints with coplanar axes to form a rotating pair.

[0013] The top of the flexible joint assembly has an upper connecting platform, and the upper connecting platform is connected to the three second connecting components through three circumferential connecting rods to form a rotating pair, and a return torsion spring is installed at the connecting position; the bottom of the flexible joint assembly has a lower connecting platform, and a connecting head is designed on the bottom surface of the lower connecting platform to connect the push conduit; a flexible joint is designed between the upper connecting platform and the lower connecting platform.

[0014] The above flexible joint assembly and the folding and unfolding grasping part are connected by three connecting rods. The bottom ends of the three connecting rods are connected to three vertical planes evenly spaced in the circumferential direction of the upper connecting platform to form a rotating pair. The top ends of the three connecting rods are respectively connected to the joints designed on the three second connecting components to form a rotating pair, and the axes of the rotating pairs are respectively perpendicular to the three vertical planes in the circumferential direction of the upper connecting platform.

[0015] There are three driving wires, and the output ends are respectively fixed on the three first connecting components, and then are guided downward through the guiding holes on the first connecting components - the guiding holes in the second connecting components, and finally penetrate into the connecting head at the bottom of the flexible joint assembly and then enter the push conduit, and are respectively connected to their respective drivers inside the push conduit.

[0016] The tension measurement module has three tension sensors and corresponding three sensing and detection channels. The three tension sensors are longitudinally installed on the sensor bracket; the sensing and detection channels are composed of two guide wheels arranged side by side on the left and right and a sensor wheel. Among them, the two guide wheels are symmetrically arranged with respect to the sensor wheel; the three are installed on the sensor bracket and can rotate passively around their own axes. The sensor wheel is installed on the protruding shaft of the tension sensor through a bearing and can rotate passively around the protruding shaft. The three drive wires respectively pass through the three sensing and detection channels; during the penetration process, the drive wires first horizontally pass under the guide wheel on the right side, then pass over the sensor wheel and horizontally pass under the guide wheel on the left side after bypassing the sensor wheel, and are introduced into the wire drive module.

[0017] The wire drive module has three wire drive stepping motors to respectively drive the three drive wires to extend and retract. By driving the three drive wires, two operation modes of the multi-mode grasping module are controlled, including forward and guiding movement in a narrow and tortuous pipeline and capturing the target object after reaching the target position. The specific process is as follows:

[0018] At the initial moment, the multi-mode grasping module enters from the entrance of the pipeline environment model under the transportation of the catheter transportation module and moves according to the following movement mode 1. The process is as follows:

[0019] When the multi-mode grasping module needs to pass through the narrow and curved tortuous part inside, the bending movement of the multi-mode grasping module in the retracted state is realized through the drive wire control method 1. At this time, the wire drive module drives the three drive wires to move. Due to the existence of the resistance of the reset torsion spring in the multi-mode grasping module, the acting force of the drive wire on the multi-mode grasping module is not enough to overcome the resistance of the torsion spring. Therefore, the lengths of the three drive wires located in the folding and grasping part will not change, and the multi-mode grasping module will remain in the retracted state; and because the driving force required to bend the flexible joint is lower than the force required for the multi-mode grasping module to overcome the resistance of the torsion spring, the flexible joint will bend under the action of the three drive wires; the resultant force of the actions of the three drive wires on the flexible joint is equivalent to a force along the axial direction of the flexible joint and a couple of forces along a certain direction in space; due to the incompressibility of the axial direction of the flexible joint, the force along the joint axial direction will not act on the movement of the flexible joint, and the flexible joint will bend in the plane where the resultant force couple of the three drive wires is located. By controlling the three drive wires to move with different tensions, the flexible joint realizes bending movement in any plane within 360° in space; the multi-mode grasping module is in the retracted state at this time to pass through the narrow and curved pipeline environment.

[0020] When the multi-mode grasping module arrives near the capture target, it first relaxes the three driving wires and returns to the initial state under the action of the restoring force of the flexible joint. At this time, the wire driving module changes the control mode of the driving wires to Mode 2 to achieve the unfolding and folding movement, specifically the following Movement Mode 2:

[0021] Drive the three driving wires synchronously. The resultant force of the three driving wires on the flexible joint is a pure force along the axis of the flexible joint without a deflecting couple. Due to the incompressibility of the flexible joint along the axis, the flexible joint will not move. At this time, increase the acting forces of the three driving wires synchronously and ensure that the acting forces of the three driving wires are always equal. As the driving force gradually increases, the acting force of the driving wires on the folding and unfolding grasping part will overcome the resistance of the torsion spring, and the folding and unfolding grasping part will gradually unfold under the synchronous action of the three driving wires. When the multi-mode grasping module unfolds to an external dimension sufficient to capture the target object, since the position of the target object inside the pipeline is unknown, the multi-mode grasping module needs to adjust its own direction to achieve the grasping of the target object. At this time, it moves according to the following Movement Mode 3:

[0022] The control mode of the driving wires is switched from Control Mode 2 to Control Mode 1. Due to the resistance of the torsion spring inside the multi-mode grasping module, the external dimension of the unfolded folding and unfolding grasping part does not change. However, since the acting forces of the three driving wires are no longer equal, the resultant force acting on the flexible joint in addition to the force along the axis also has an additional couple, causing the flexible joint to perform bending movement within the plane of the couple. At this time, the multi-mode grasping module realizes bending in any plane within 360° in three-dimensional space while maintaining the large unfolded external dimension, and finally finds the position of the target object and captures the target object.

[0023] When the target object successfully enters the inside of the folding and unfolding grasping part, it moves according to the following Movement Mode 3 at this time:

[0024] Switch the movement control mode of the three driving wires again, and switch the movement control mode of the driving wires from Control Mode 1 back to Movement Mode 2. At this time, since the acting forces of the three driving wires are equal again, the resultant force of the actions of the three driving wires on the flexible joint becomes a pure force again. Since the three driving wires are relaxed simultaneously, under the restoring acting force of the torsion spring of the multi-mode grasping module, the size of the folding and unfolding grasping part will gradually shrink. Since the target object has entered the inside of the folding and unfolding grasping part at this time, when the size of the folding and unfolding grasping part gradually shrinks under the action of the torsion spring, the target object will be locked inside the folding and unfolding grasping part. At this time, the catheter conveying module retrieves the catheter to take the multi-mode grasping module and the captured target object out of the pipeline model together.

[0025] The advantages of the present invention are:

[0026] 1. A multi-mode operation robot system for capturing internal tissues in the natural cavities of the human body, which can replace doctors to implement the operation process of interventional surgery and has multiple operation modes to achieve complex operation tasks. It not only greatly simplifies the operation process of traditional natural cavity interventional surgery, reduces the operation time, but also greatly reduces the working intensity of doctors. It has broad application prospects in tissue biopsy surgery in the internal natural cavity environment of the human body and natural cavity surgery such as capturing foreign bodies in the human gastrointestinal tract.

[0027] 2. The multi-mode grasping module of the multi-mode operation robot system for capturing internal tissues in the natural cavities of the human body has multiple motion modes, with variable outer dimensions and different operation modes, and can simultaneously achieve the operation tasks of passing through the narrow and tortuous natural cavity environment and capturing tissues after reaching the target position.

[0028] 3. A multi-mode operation robot system for capturing internal tissues in the natural cavities of the human body. Based on the angular rod scissor unit, a catheter coiling module that can autonomously coil the catheter is designed, which can replace the long-distance coiling and conveying of the catheter by the doctor's assistant in the traditional interventional surgery process.

[0029] 4. In the multi-mode operation robot system for capturing internal tissues in the natural cavities of the human body, a corresponding wire drive control method is proposed to realize the control and switching of different operation tasks of the robot. Brief Description of the Drawings

[0030] Figure 1 It is a schematic diagram of the overall composition of the multi-mode operation robot system for capturing internal tissues in the natural cavities of the human body and the pipeline environment model structure.

[0031] Figure 2 It is a pipeline environment model diagram of the multi-mode operation robot system for capturing internal tissues in the natural cavities of the human body.

[0032] Figure 3 It is a schematic diagram of the structure of the catheter coiling module in the multi-mode operation robot system for capturing internal tissues in the natural cavities of the human body.

[0033] Figure 4 It is a top view of the maximum coiling diameter state of the catheter coiling device in the multi-mode operation robot system for capturing internal tissues in the natural cavities of the human body.

[0034] Figure 5 It is a top view of the motion mode of the catheter coiling device in the multi-mode operation robot system for capturing internal tissues in the natural cavities of the human body.

[0035] Figure 6Top view of the minimum coiling diameter state of the catheter coiling device in the multi-mode operation robot system for capturing internal tissues of the human natural cavity of the present invention

[0036] Figure 7 Axonometric view of the intermediate coiling diameter state of the catheter coiling device in a multi-mode operation robot system for capturing internal tissues of the human natural cavity of the present invention.

[0037] Figure 8 Schematic structural diagram of the catheter delivery module in the multi-mode operation robot system for capturing internal tissues of the human natural cavity of the present invention

[0038] Figure 9 Schematic diagram of the driving mode of the catheter delivery module in the multi-mode operation robot system for capturing internal tissues of the human natural cavity of the present invention;

[0039] Figure 10 Schematic structural diagram of the scissor mechanism unit of the multi-mode grasping module in the multi-mode operation robot system for capturing internal tissues of the human natural cavity of the present invention;

[0040] Figure 11 Schematic overall structure diagram of the multi-mode grasping module in the multi-mode operation robot for capturing internal tissues of the human natural cavity of the present invention;

[0041] Figure 12 Schematic diagram of the first connection component of the multi-mode grasping module in the multi-mode operation robot for capturing internal tissues of the human natural cavity of the present invention;

[0042] Figure 13 Schematic diagram of the second connection component of the multi-mode grasping module in the multi-mode operation robot for capturing internal tissues of the human natural cavity of the present invention;

[0043] Figure 14 Schematic structural diagram of the flexible joint component in the multi-mode operation robot for capturing internal tissues of the human natural cavity of the present invention;

[0044] Figure 15 Schematic diagram of the closed state of the multi-mode grasping module in the multi-mode operation robot for capturing internal tissues of the human natural cavity of the present invention;

[0045] Figure 16 Schematic cross-sectional structure diagram of the catheter in the multi-mode operation robot system for capturing internal tissues of the human natural cavity of the present invention;

[0046] Figure 17 Schematic diagram of the tension measurement module in the multi-mode operation robot system for capturing internal tissues of the human natural cavity of the present invention of the present invention;

[0047] Figure 18Schematic diagram of the wire drive module in the multi-mode operation robot system for capturing internal tissues in the natural human body cavity of the present invention;

[0048] Figure 19 Block diagram of the control method of the multi-mode operation robot system for capturing internal tissues in the natural human body cavity of the present invention;

[0049] Figure 20 Schematic diagram of a multi-mode operation robot system for capturing internal tissues in the natural human body cavity of the present invention during the capture of an object in a demonstration experiment pipeline model.

[0050] In the figure:

[0051] 1 - Pipeline imitating the natural human body cavity 2 - Multi-mode operation robot system

[0052] Environmental model

[0053] 4 - Optical platform B 5 - Splitter 6 - Catheter

[0054] 101 - Twisted part pipeline model 102 - Large inner diameter inner cavity pipeline model 103 - Bifurcated pipeline model

[0055] 104 - Outlet pipeline A 105 - Outlet pipeline B 201 - Catheter coiling module

[0056] 202 - Catheter conveying module 203 - Tension measurement module 204 - Wire drive module

[0057] 205 - Multi-mode grasping module 201a - Component mounting plate 201b - Limiting device

[0058] 201c - Catheter inlet bracket 201d - Catheter outlet bracket 201e - Sliding seat

[0059] 201h Catheter seat 201g - Linear guide rail 201h - Catheter fixing seat

[0060] 201i - Angular rod scissors unit 202a - Base 202b - Slide block

[0061] 202c - Compression spring 202d - Adjusting bolt 202e - Motor seat

[0062] 202f - Catheter conveying stepper motor 202g - Driving friction wheel 202h - Driven idler wheel

[0063] 202i - Gear transmission module 202j - Cover plate 202k - Catheter input bracket

[0064] 202l - Catheter output bracket 203a - Tension sensor 203b - Connecting bracket

[0065] 203c - Sensor bracket, 204a - Motor mounting bracket, 204b - Lead screw drive stepper motor 204c - Reel, 204d - Wheel bracket, 205a - Link rod

[0066] 205b - First connection assembly, 205b1 - Connector A, 205b2 - Connector B

[0067] 205b3 - First guide hole, 205c - Second connection assembly, 205c1 - Connector C

[0068] 205c2 - Connector D, 205c3 - Connector E, 205c4 - Second guide hole

[0069] 205d - Upper connection platform, 205d1 - Vertical connection surface, 205e - Flexible joint

[0070] 205f - Lower connection platform, 205g - Third guide hole, 205h - Connector

[0071] 205i - Fourth guide hole, 205j - Fifth guide hole, 205k - Third connection assembly Detailed implementation mode

[0072] The present invention will be further described below with reference to the accompanying drawings.

[0073] As Figure 1 shown, the multi - mode operation robot system for capturing internal tissues of the human natural cavity of the present invention is mainly divided into two parts. One part is the pipe environment model 1 imitating the human natural cavity, which is used to simulate the complex human natural cavity for the simulation operation experiment of the multi - mode operation robot; the other part is the whole - machine system 2 of the multi - mode operation robot, which is used to realize the capture of internal tissues of the human natural cavity. Another

[0074] As Figure 2 shown, the pipe environment model 1 is composed of several functional modules, including a twisted part pipe model 101, a large - inner - diameter inner - cavity pipe model 102 and a bifurcated pipe model 103. Among them, the twisted part pipe model 101 has a twisted geometric shape and a smaller inner - diameter size, and is used to simulate the relatively narrow and tortuous parts of the human natural cavity (such as the esophagus, intestine, etc.). The large - inner - diameter inner - cavity pipe model 102 is used to simulate the part with a larger inner diameter in the human natural cavity (such as the stomach), where there is a larger working space for corresponding operation tasks. The bifurcated pipe model 103 is used to simulate the bifurcated position in the human natural cavity.

[0075] One end of the above-mentioned twisted part of the pipeline model 101 is the inlet end of the entire pipeline environment model 1, which is supported and fixed at the left position of the optical platform A3 through a bracket. The middle part of the large-inner-diameter inner cavity pipeline model 102 is the large-inner-diameter section, which is supported and fixed on the optical platform A3 through the pipeline bracket 7; the inlet end of the large-inner-diameter inner cavity pipeline model 102 is connected to the outlet end of the twisted part of the pipeline model 101, and the outlet section is connected to the inlet end of the bifurcated pipeline model 103. The bifurcated pipeline model 103 has two outlets. One outlet turns horizontally and is connected to the horizontal outlet pipeline A104 supported and fixed on the optical platform A3 through the pipeline 7 bracket; the other outlet is connected to the horizontal outlet pipeline B106 supported and fixed on the optical platform A3 through the connecting arc pipeline 105 after extending upward and then accessing horizontally.

[0076] Each pipeline in the above-mentioned pipeline environment model 1 is made of transparent photosensitive resin by 3D printing, and has a transparent outer contour to observe the operation process of the multi-mode operation robot inside it in real time and adjust its operation tasks. One end of each of the above-mentioned pipelines connected to each other has a flange structure, and they can be positioned and connected to each other through bolts. At the same time, each pipeline bracket 7 for supporting the pipeline is composed of upper and lower parts, and the upper and lower parts can be fixed through bolts. The upper part has an arc-shaped groove to adapt to the circular outer wall of the pipeline, and the two cooperate to position the pipeline.

[0077] The whole robot system 2 has five functional modules, namely a catheter coiling module 201, a catheter conveying module 202, a tension measurement module 203, a wire driving module 204 and a multi-mode grasping module 205. Among them, the wire driving module 204, the tension measurement module 203, the catheter coiling module 202, and the catheter conveying module 202 are installed on the optical flat B4 from left to right, as Figure 1 shown; the multi-mode grasping module 205 is installed at the end of the conveying end of the catheter 6.

[0078] The mutual positioning between the robot system 2 and the pipeline environment model 1 is realized through the positioning plate installed at the same-side relative included angle between the above-mentioned optical flat A3 and the optical flat B4, so that the multi-mode grasping module 205 is at the inlet of the twisted part of the pipeline model 101 in the pipeline annular model 1.

[0079] The catheter coiling module 201 is used to realize multi-turn coiling and support of the catheter 6, and avoid winding and bending of the catheter 6 during the conveying process, which affects the progress of the operation task. In the present invention, the catheter coiling module 201 is a multi-turn coiling device based on an angular rod scissor unit, as Figure 3 shown, which includes a component mounting plate 201a, a limiting device 201b, a catheter inlet bracket 201c, a catheter outlet bracket 201d, a sliding seat 201e, a catheter seat 201f, a linear guide rail 201g, a catheter fixing seat 201h, and an angular rod scissor unit 201i.

[0080] The component mounting plate 201a is horizontally arranged and is mounted on the optical platform B4 through the supports mounted circumferentially on the bottom surface. Three linear guide rails 201g are fixedly mounted on its upper surface, namely the left linear guide rail, the middle linear guide rail and the right linear guide rail respectively. The left linear guide rail and the right linear guide rail are respectively located on the left and right sides of the middle linear guide rail, symmetrically arranged, and have an included angle of 45° with each other. There are sliding tables sliding along the guide rails on the three linear guide rails 201g, and a sliding seat 201e is also mounted on the middle linear guide rail; this sliding seat 201e is located behind the sliding table of the middle linear guide rail.

[0081] There are four catheter seats 201f, the main body of which is plate-shaped, and catheter perforations are arranged at equal intervals along the longitudinal direction thereon. Let the four catheter seats 201f be the middle catheter seat, the left catheter seat, the right catheter seat and the fixed catheter seat respectively. Among them, the middle catheter seat, the left catheter seat and the right catheter seat are all perpendicular to the component mounting plate 201a and are respectively fixedly mounted on the upper surfaces of the sliding tables of the middle linear guide rail, the left linear guide rail and the right linear guide rail through the bottom connecting plates. The fixed catheter seat is located at the intersection of the axes of the three linear guide rails 201g and is fixedly mounted on the upper surface of the component mounting plate 201a through the bottom connecting plate. At the same time, the middle catheter seat and the fixed catheter seat are arranged parallel to the middle linear guide rail, and the left catheter seat and the right catheter seat are arranged perpendicular to the middle linear guide rail. When the coiling diameter of the catheter 6 is at the maximum initial position, the above four catheter seats 201f are respectively located at the endpoints of two mutually perpendicular diameters of the same circle.

[0082] When the catheter 6 is coiled, the end of the catheter 6 is fixed to the catheter fixing seat 201h mounted on the optical flat B4; then it sequentially passes through the catheter inlet of the catheter inlet frame 201c mounted on the component mounting plate 201a and the lowermost catheter perforation of the fixed catheter seat in the horizontal direction, and further passes through the catheter perforations on the right catheter seat, the middle catheter seat and the left catheter seat counterclockwise from bottom to top in sequence, and finally passes out through the uppermost catheter perforation of the fixed catheter seat, and is horizontally connected to the catheter conveying module 202 through the perforation coaxial with the uppermost catheter perforation of the fixed catheter seat on the catheter outlet frame 201d. Thus, the catheter 6 is coiled in a ring shape around the four catheter seats 201f in multiple layers. During the conveying process of the catheter 6, the catheter seats 201f on the three linear slide rails 201g are pulled by the catheter 6 and move along the linear guide rails 201f, so that the diameter of the coiled catheter 6 gradually decreases. Columnar limiting devices 201b are also arranged outside the left linear guide rail and the right linear guide rail, and are fixedly mounted on the component mounting plate 201a at the bottom to prevent the catheter 6 from exceeding the maximum coiling diameter.

[0083] In order to prevent the catheter 6 from being entangled and bent during transportation, the catheter 6 needs to be coiled in a circular ring shape throughout the transportation process. Therefore, symmetric angle-bar scissor units 201i are installed between the middle linear guide rail and the linear guide rails on both sides. By utilizing the characteristic that the radial velocities of the ends of the angle-bar scissor units 201i with the same parameters are the same during movement, it is ensured that the shape of the catheter remains circular throughout the transportation process. Since the two sets of designed angle-bar scissor units 201i are symmetric, one of the angle-bar scissor units 201i will be described as follows:

[0084] Let the guide rail seat 201f on the middle linear guide rail be guide rail seat A, and the guide rail seat 201f on the linear guide rail on one side of it be guide rail seat B. As Figure 4 shown, the basic component units of the angle-bar scissor unit 201i are Figure 4 the scissor unit A and scissor unit B composed of angle bars shown in. Among them, scissor unit A has two angle bars (angle bar 1 and angle bar 2), and each angle bar is an integral structure formed by connecting the ends of two side bars with an included angle of 120 degrees, and the sizes are equal; the two angle bars are stacked up and down, and are hinged at the included angle position to form scissor unit A. Similar to scissor unit A, scissor unit B has one angle bar (angle bar 3) and one connecting rod; among them, the angle bar has the same structural size as the angle bar in scissor unit A; the size of the connecting rod is the same as the size of the side bar forming the angle bar; the connecting rod and the angle bar are stacked up and down, and the end of the connecting rod is hinged to the included angle of the angle bar to form scissor unit B.

[0085] In the above scissor unit A and scissor unit B, the included angles of the angle bars all face the outside of the circumference where each catheter seat is located. In scissor unit A, the A ends on the same side of the upper and lower angle bars are respectively hinged to the bottom connecting plate of guide rail seat A and the sliding seat 201e to form a rotating pair, and the axis of the rotating pair is perpendicular to the component mounting plate 201a; the B ends on the other side of the upper and lower angle bars are respectively hinged to the A end of the angle bar in scissor unit B and the end of the connecting rod. The other B end of the angle bar in scissor mechanism B is hinged to the bottom connecting plate of guide rail seat B to form a rotating pair, and the axis of the rotating pair is perpendicular to the component mounting plate 201a. At the same time, the connection lines of the hinge points on the same side of the two angle bars in scissor unit A intersect at a point A and form a 45° included angle; during the movement of the angle-bar scissor unit 4, the included angle between the two straight lines is always 45°. Similarly, the connection line of the hinge points between the connecting rod and the angle bar in scissor unit B and scissor unit A, and the vertical connection line of the hinge point on the other side of the angle bar and the middle linear guide rail intersect at a point B, and the two straight lines form a 45° included angle; the above intersection point B coincides with intersection point A.

[0086] As Figure 5 、 Figure 6As shown, during the movement of the corner rod scissor unit 4, the included angle between the two straight lines is always 45°. Through the degree-of-freedom formula calculation, the degree of freedom of the overall mechanism composed of the corner rod scissor unit 4 of the above structure, the intermediate conduit seat, the intermediate linear guide rail, the sliding seat 201e, the conduit seat 201f on the side linear guide rail 201g, and the side linear guide rail 201g is 1. Since the two designed corner rod scissor units 201i are centrosymmetric about the center of the intermediate linear guide rail, the degree of freedom of the combined mechanism of the two corner rod scissor units 201i and the three linear guide rails 201g is also 1, which ensures that it can achieve reliable single-degree-of-freedom movement. Since the included angle between the perpendiculars to the axes of the moving pairs of the two scissor units forming the corner rod scissor unit 201i is always 45° and always converges at a point, it is ensured that the relative positions of the four designed conduit seats 201f are always at the endpoints of two mutually perpendicular diameters of circles with different diameters during the movement process.

[0087] From the above analysis process, it can be seen that during the conveyance of the conduit 6, the coiled shape of the conduit 6 coiled around the four conduit seats 201f is always circular, avoiding the occurrence of entanglement and bending of the conduit 6 during the conveyance process. From Figures 4 to 6 the process, it can be seen that as the diameter of the circle formed by the four conduit seats 201f gradually decreases, the coiled conduit 6 gradually slides in the corresponding conduit perforations on the conduit seats 201f, and its coiled diameter decreases as the diameter of the circle formed by the four conduit seats 201f decreases. At this time, the coiled conduit 6 is gradually conveyed outwards through the conduit outlet of the conduit outlet frame 201d. As Figure 7 shown, the number of coiled turns of the conduit 6 in the present invention is 3 turns. In actual application, the number of coiled turns of the conduit 6 can also be adjusted by increasing or decreasing the number of conduit perforations on the conduit seats 201f. When the number of coiled turns of the conduit 6 is n, the relationship between the conveyance distance ΔL of the conduit 6 by the conduit coiling module 201 and the change in the coiled diameter ΔD of the conduit 6 is ΔL = nπΔD. Thus, in the case of conveying a long-distance conduit 6, the external dimensions occupied by the conduit 6 can be greatly reduced, and its dimensions can be reduced by nπ times relative to the conveyance length.

[0088] The conduit conveyance module 202 includes a base 202a, a slider 202b, a compression spring 202c, an adjustment bolt 202d, a motor base 202e, a conduit conveyance stepper motor 202f, a pair of active friction wheels 202g, a passive idler wheel 202h with a U-shaped groove, and a gear transmission module 202i, as Figure 8 、 Figure 9 shown.

[0089] Among them, the base 202a and the motor base 202e are fixed on the optical platform B4 and are located on the right side of the conduit outlet frame 201d. The top of the base 202a is designed with two rectangular notches, and a chute is opened downward from the top surface between the two notches. As Figure 9As shown, the middle part of the slider 202b is a rod-shaped structure placed in the chute, and the two ends are block-shaped structures, which are respectively arranged in two rectangular notches; thus, the entire slider 202b can slide up and down. A cover plate 202j is installed on the top of the base 202a, and the two rectangular notches and the top surface of the chute are closed by the cover plate 202j to realize the limit of the slider 202b. Compression springs 202c are arranged between the block-shaped structures at both ends of the slider 202b and the bottom surface of the notch, and the two ends of the compression springs 202c are cooperatively sleeved with the protrusions designed at the corresponding positions; at the same time, the side surfaces of the cubic structures at both ends of the slider 202b are grooved and respectively connected and fixed to the axles of the two passive idlers 202h. The U-shaped grooves opened in the circumferential direction of the two passive idlers 202h are fitted with the conduit 6 to ensure that the idlers 202h have better conveying characteristics for the conduit 6. Two threaded through holes are opened at the top of the cover plate 202j, which are respectively located above the middle parts of the two rectangular notches; adjusting bolts 202d are threadedly installed in the two threaded through holes, and the compression degree of the compression spring 202c is realized by rotating the adjusting bolts 202d, so as to realize the up and down position adjustment of the slider 202b. Two driving friction wheels 202g are installed on the base 202a through the central rotating shafts, and the axes of the two driving friction wheels 202g are respectively corresponding to the axes of the two idlers 202h in the up and down positions. The conduit 6 sent out through the conduit outlet bracket 201d is conveyed horizontally between the driving friction wheels 202g and the idlers 202h; to ensure that the conveying path of the conduit 6 is horizontal, a conduit inlet bracket 202k is installed at one side of the base 202a between the driving friction wheels 202g and the idlers 202h, and a conduit outlet bracket 202l is installed on the opposite side. The conduit 6 sent out through the conduit outlet bracket 201d horizontally passes through the conduit through hole on the conduit inlet bracket 202k, then enters between the driving friction wheels 202g and the idlers 202h, and passes out through the conduit through hole on the conduit outlet bracket 202l; thus, the horizontal conveying of the conduit 6 is ensured by the conduit inlet bracket 202k and the conduit outlet bracket 202l.

[0090] At the initial moment, under the action of the compression spring 202c, the slider 202b is located at the highest point, that is, the slider 202b is in contact with the bottom surface of the cover plate 202j. At this time, by tightening the adjusting bolt 202d, the slider 202b gradually moves downward under the pressure of the adjusting bolt 202d, and the two idlers 202h on the slider 202b gradually approach the two driving friction wheels 202g. Continue to tighten the adjusting bolt 202d until the two idlers 202h press the conduit 6 against the driving friction wheels 202g. At this time, by driving the driving friction wheels 202g to cooperate with the idlers 202h, the conveying of the conduit 6 can be realized. Since the tightening distance of the adjusting bolt 202d is adjustable, the outer diameter size of the conveyed conduit 6 and the pressing force of the driving friction wheels 202g and the idlers 202h on the conduit 6 are both adjustable.

[0091] The synchronous movement between the above two active friction wheels 202g is achieved through the gear transmission module 202i. The gear transmission module 202i has two outer gears and one intermediate gear. The central rotating shafts of the two active friction wheels 202g are respectively connected to the two outer gears on the back side of the base 202a through bolt shafts; the intermediate gear is the motion input of the catheter conveying module 202, which meshes with both outer gears and is coaxially connected to the output shaft of the catheter conveying stepping motor 202f installed on the motor base 202e through a coupling. Thus, the intermediate gear is driven to rotate by the catheter conveying stepping motor 202f, and then drives the two outer gears meshing with it and the active friction wheels 202g fixedly connected to them to rotate in the same direction, realizing the conveying of the catheter 6. Thus, by the forward and reverse rotation of the catheter conveying stepping motor 202f to drive the forward and reverse rotation of the active friction wheels 202g, the forward and backward movement of the catheter 6 can be realized; and then the multi-mode grasping module 205 installed at the end of the catheter conveying end is conveyed to the designated position for capture operation.

[0092] When the task is completed and the catheter 6 needs to be retracted, only need to reverse the catheter conveying stepping motor 202f to drive the active friction wheels 202g to reverse, and the catheter 6 will retract and enter the catheter coiling module 202. As the catheter 6 gradually retracts, the diameter size of the catheter 6 coiled in the catheter coiling module 202 gradually increases with the increase of the retraction distance of the catheter 6, and its relationship still satisfies ΔL = nπΔD.

[0093] The multi-mode grasping module 205 is mainly composed of four parts, including three scissor mechanism units, a flexible joint assembly, a driving wire and a connecting assembly.

[0094] The three scissor mechanism units have the same structure, as Figure 10 shown, and are both composed of two connecting rod members 205a arranged in an X-shaped cross. The centers of the two connecting rod members 205a are designed with hinged positions, and a cross rotating pair is formed at the hinged position; and the profile of the connecting rod member 205a in the above scissor mechanism unit is different from that of a general straight rod, but is designed as an arc-shaped rod with an arc-shaped outer contour, and the outer arc surfaces are arranged in the same direction.

[0095] The three scissor mechanism units with the above structure are circumferentially uniformly distributed and longitudinally arranged, then one connecting rod member 205a in each scissor mechanism unit is located inside, and the other connecting rod member 205a is located outside. At the same time, the included angle between the motion planes of adjacent scissor mechanism units is 60°, as Figure 11 shown. The three scissor mechanism units are connected by a first connecting assembly 205b and a second connecting assembly 205c in the circumferential direction, and the outer arc surfaces of the connecting rod members 205a in each scissor mechanism unit all face outward, making the whole better adapt to the circular inner wall environment of the human natural cavity.

[0096] The first connection component 205b has three columnar joints in the circumferential direction. As Figure 12 shown, let two of the joints be joint A205b1 and the other be joint B205b2. Connecting holes are coaxially formed in the two joints A205b1, and the axes of the connecting holes are arranged at an included angle of 120°. A first guiding hole 205b3 is formed in the joint B205b2. The axis of the first guiding hole 205b3 is perpendicular to the plane where the axes of the two connecting holes are located and is on the angular bisector of the included angle between the axes of the two connecting holes.

[0097] The structure of the second connection component 205c is similar to that of the first connection component 205b. As Figure 13 shown, it has four columnar joints. Let two of the joints be joint C205c1, one joint be joint D205c2, and the other joint be joint E205c3. Connecting holes are coaxially formed in the two joints C205c1, and the axes of the connecting holes are arranged at an included angle of 120°. The axis of the joint D205c2 is perpendicular to the axes of the two joints C205c1. A second guiding hole 205c4 is coaxially formed thereon. The axis of the second guiding hole 205c4 is perpendicular to the plane where the axes of the two connecting holes are located and is on the angular bisector of the included angle between the axes of the two connecting holes. The joint E205c3 is located at the included angle position between the joint C205c1 and the joint D205c2. A connecting hole with an axis perpendicular to the axis of the second guiding hole 205c4 is formed thereon, and the axis of this connecting hole forms an angle of 30 degrees with the joint C205c1.

[0098] As Figure 11 shown, the above-mentioned first connection component 205b and the second connection component 205c are grouped in pairs and arranged longitudinally, respectively used for the connection between adjacent two scissor mechanism units, and the connection methods are the same. In two connection components of the same group, the first connection component 3 is respectively connected to the top ends of the inner link rod member 205a and the outer link rod member 205a in the adjacent scissor mechanism unit 1 through the two joints A205b1 to form a revolute pair; the second connection component 205c is respectively connected to the bottom end of the outer link rod member 205a and the top end of the inner link rod member 205a in the adjacent scissor mechanism unit through the two joints C205c1 to form a revolute pair; finally, the three scissor mechanism units are connected to each other in pairs to form an integral folding and grasping part, and the degree of freedom of movement of this part is 1, which can realize stable and reliable unfolding and folding movements.

[0099] As Figure 14As shown, the flexible joint assembly includes an upper connecting platform 205d, a flexible joint 205e, and a lower connecting platform 205f. Among them, the flexible joint 205e is a cylindrical structure made of rubber, with approximately linear elastic characteristics, and can maintain its own shape without external force. The top and bottom surfaces of the flexible joint 205e are respectively connected and fixed to the lower surface of the upper connecting platform 205d and the upper surface of the plate-shaped lower connecting platform 205f. The upper part of the upper connecting platform 205d is designed with a flexible joint connecting platform, and three vertical connecting surfaces 205d1 are designed at equal angular intervals in the circumferential direction; at the same time, three third guiding holes 205g are designed at equal angular intervals in the circumferential direction of the upper connecting platform 205d. A tubular structure connector 205h is fixedly installed on the lower surface of the lower connecting platform 205f for connecting the conduit 6; at the same time, three fourth guiding holes 205i are designed at equal angular intervals in the circumferential direction of the lower connecting platform 205f; three fifth guiding holes 205j are designed at equal angular intervals in the circumferential direction at the top of the connector 205h; and the circumferential positions of the three fourth guiding holes 205i and the three fifth guiding holes 205j correspond to the three third guiding holes 205g.

[0100] The above flexible joint assembly is connected to the folding and grasping part through a third connecting component 205k. The third connecting component 205k is three straight rods, evenly distributed in the circumferential direction. One end is respectively connected to the joint E205c3 in the three second connecting components 205c to form a rotating pair, and the other end is respectively connected to the three vertical connecting surfaces 205d1 designed on the circumferential direction of the flexible joint connecting platform to form a rotating pair, as Figure 11 shown; and after the above connection, it is ensured that the circumferential positions of the third guiding holes 205g, the fourth guiding holes 205i, and the fifth guiding holes 205j in the flexible joint assembly correspond to the first guiding holes 205b3 and the second guiding holes 205c4.

[0101] In the above structure, a torsion spring installation slot is designed at the hinged position of the third connecting component 205k and the second connecting component 205c to install a return torsion spring; both ends of the return torsion spring are respectively connected to the third connecting component 205k and the second connecting component 205c. At the same time, in the three scissor mechanism units, a return torsion spring is installed at the hinged position of the two connecting rod members 205a; both ends of the return torsion spring are respectively fixed to the two connecting rod members 205a. Thus, through the action of the two return torsion springs, the folding and grasping part can maintain a closed shape without external force intervention. At this time, the three first connecting components 205b and the three second connecting components 205c in the circumferential direction are at the position with the smallest diameter of the circle, so the overall structure of the folding and grasping part has a relatively small geometric external dimension, as Figure 15 shown.

[0102] The attitude and grasping operation control of the above folding and grasping part are realized by three driving wires to complete the required tasks. The output ends of the three driving wires respectively pass through the rope holes in the three first connection components 205b and are knotted to realize positioning with the first connection component 205b; then they are guided downward through the first guiding holes 205b3, and respectively pass through the second guiding holes 205c4 in the second connection components 205c at the longitudinally corresponding positions. After being continuously guided downward through the second guiding holes 205c4, they respectively pass through the third guiding holes 205g in the circumferential direction of the upper connection platform 205d, and further pass through the fourth guiding holes 205i in the circumferential direction of the lower connection platform 205f, and then enter the three inner cavities inside the connection head 205h through the three fifth guiding holes 205j in the circumferential direction of the connection head 205h, and finally enter the catheter 6. After routing inside the catheter 6, they are connected to their respective drivers to form a multi-mode grasping module 205 with flexible joints.

[0103] In the present invention, the catheter 6 is designed as a three-chamber catheter with three channels along the axial direction inside, as Figure 16 shown. The three driving wires are respectively inserted into the three inner cavities of the catheter and led out from the fixed end of the catheter 6. A wire splitter 5 is arranged on the left side of the fixed end of the catheter 6, as Figure 1 shown. The wire splitter 5 is fixed on the optical flat plate B4, and the wire splitter 5 has a horizontal channel and two inclined channels. The two inclined channels are respectively located on the upper and lower sides of the horizontal channel and are arranged at an angle of 45 degrees with the horizontal channel. The three driving wires are introduced into the tension measurement module 203 arranged on the left side of the wire splitter 5 through the horizontal channel and the two inclined channels.

[0104] The tension measurement module 203 has three tension sensors 203a, as Figure 17 shown. The three tension sensors 203a are longitudinally arranged and are fixedly installed on the sensor bracket 203c through the connecting frame 203b. Each tension sensor corresponds to a sensing detection channel; the sensing detection channel is composed of two guide wheels 203d and a sensor wheel 203e arranged side by side on the left and right. All three are passive idler wheels and are designed with V-shaped grooves in the circumferential direction. Among them, the sensor wheel 203e is located between the two guide wheels 203d, and the two guide wheels 203d are symmetrically arranged with respect to the sensor wheel 203e, and the axes of the three are on the same horizontal plane; the two guide wheels 203d are installed on the threaded shaft through bearings and are installed on the sensor bracket 203c through the threaded shaft and can rotate passively around their own axes. The sensor wheel 203e is installed on the protruding shaft of the tension sensor 203c through a bearing and can rotate passively around the protruding shaft.

[0105] After the three driving wires pass through the guide 206, they respectively pass through three sensing and detection channels. During the penetration process, the driving wires first horizontally pass under the guide wheel 203d on the right side, and then bypass the sensor wheel 203e above the sensor wheel 203e and horizontally pass under the guide wheel 203d on the left side, and are introduced into the wire driving module 204. When the driving wires in the sensing and detection channels are tensioned, under the guidance of the guide wheel 203d and the sensor wheel 203e, the included angle of the driving wires on both sides of the sensor wheel 203e is 120°. When the driving wires are tensioned, they will generate a downward pressure on the sensor wheel 203e and the tension sensor 203a. By using the included angle of the guiding wires on both sides of the sensor wheel 203e, the built-in calculation unit of the sensor calculates and displays the magnitude of the tension of the driving wires in real time.

[0106] As Figure 18 shown, the wire driving module 204 includes a motor mounting bracket 204a, a wire driving stepping motor 204b, a winding wheel 204c and a wheel bracket 204d. Among them, the bottom of the motor mounting bracket 204a is fixed to the optical flat B4 by screws. Three wire driving stepping motors 204b are longitudinally installed on the motor mounting bracket 204a, and the motor shafts of the three wire driving stepping motors 204b are respectively connected to the three winding wheels 204c on the opposite side through couplings. The three winding wheels 204c are installed on the wheel bracket 204d, and the wheel bracket 204d is fixed to the optical flat B4. The three driving wires entering the wire driving module 204 are respectively wound around the three winding wheels 204c. The wire driving stepping motor 204b drives the three winding wheels 204c to rotate to realize the driving of the three driving wires, so that the three driving wires are wound around the winding wheels 204c, and then the two operation modes of the multi-mode grasping module 205 can be controlled, including the forward and guiding movements in the narrow and tortuous pipeline and the capture of the target object after reaching the target position. The control and switching methods of the two operation modes are as Figure 19 shown, which shows the process of the multi-mode grasping module 205 performing multi-mode complex operation tasks in the complex pipeline environment model 1 with a complex design. The specific process is as follows:

[0107] At the initial moment, the multi-mode grasping module 205 enters from the entrance of the pipeline environment model 1 under the transportation of the conduit transportation module 202 and moves according to the following movement mode 1. The specific process is:

[0108] When the multi-mode grasping module 205 needs to pass through the narrow and curved part with curvature inside, the bending movement of the multi-mode grasping module 205 in the closed state is realized through the driving wire control method 1, as Figure 20As shown. At this time, the three drive wires are driven to move by the wire drive module 204. Due to the resistance of the return torsion spring in the multi-mode grasping module 205, the force exerted by the drive wires on the multi-mode grasping module 205 is not sufficient to overcome the resistance of the torsion spring. Therefore, the lengths of the three drive wires located in the folding and grasping part will not change, and the multi-mode grasping module 205 will remain in the retracted state. Since the flexible joint 205e has a low stiffness, the driving force required to bend it is lower than the force required for the multi-mode grasping module 205 to overcome the resistance of the torsion spring. The flexible joint 205e will bend under the action of the forces of the three drive wires. Since the flexible joint 205e is a cylindrical structure made of rubber material and is axially incompressible, its motion can be analyzed and modeled using an equal-curvature model. The resultant force of the actions of the three drive wires on the flexible joint 205e can be equivalent to a force acting along the axis of the flexible joint 205e and a couple of forces acting along a certain direction in space. Due to the axial incompressibility of the flexible joint 205e, the force acting along the joint axis will not affect the motion of the flexible joint 205e, and the flexible joint 205e will perform a bending motion within the plane where the resultant couple of the equivalent resultant forces of the three drive wires is located. By controlling the three drive wires to move with different tensions, the flexible joint 205e can achieve bending motion in any plane within 360° in space. Through this bending motion, the multi-mode grasping module 205 is in the retracted state at this time and has a small outer dimension, enabling the multi-mode grasping module 205 to pass through a narrow and curved pipeline environment and gradually reach the vicinity of the capture target position at the large-inner-diameter inner cavity pipeline model 102.

[0109] When the multi-mode grasping module 205 reaches near the capture target, first, the three drive wires are relaxed, and the flexible joint 205e will return to its initial cylindrical shape under the action of its own restoring force. At this time, due to the change of the operation task, the multi-mode grasping module 205 needs to switch from the bending guiding motion to the unfolding and retracting motion to perform the capture operation on the target object at this place. At this time, the wire drive module 204 changes the drive wire control method 2 to achieve the unfolding and retracting motion, and specifically moves according to the following motion method 2. The process is as follows:

[0110] Synchronously drive the movement of three drive wires. Since the movements of the three drive wires are synchronous, the resultant force of the three drive wires on the flexible joint 205e is a pure force along the axis of the flexible joint 205e without a deflecting couple. Due to the incompressibility along the axis of the flexible joint 205e, this force will not cause the flexible joint 205e to move. At this time, synchronously increase the acting forces of the three drive wires and ensure that the acting forces of the three drive wires are always equal, that is, their resultant force is always a pure force acting on the central axis of the flexible joint 205e. As the driving force gradually increases, the acting force of the drive wires on the folding and grasping part will overcome the resistance of the torsion spring, and the folding and grasping part will gradually unfold under the synchronous action of the three drive wires. When the multi-mode grasping module 205 unfolds to an outer dimension sufficient to capture the target object, since the position of the target object inside the pipeline is unknown, at this time, the multi-mode grasping module 205 needs to be able to adjust its own direction to achieve the grasping work on the target object. At this time, move according to the following movement mode 3, and the specific process is as follows:

[0111] The control mode of the drive wires is switched from control mode 2 to control mode 1, that is, the three drive wires drive the gripper 5 again with different tensions. At this time, due to the resistance of the torsion spring inside the multi-mode grasping module 205, the length of the drive wires of the folding and grasping part will not change, that is, the unfolded outer dimension of the folding and grasping part will not change. And since the acting forces of the three drive wires are no longer equal, in addition to the force along the axis, the acting force of their resultant force on the flexible joint 205e will additionally increase a couple. The flexible joint 205e will perform a bending movement within the plane of the couple action. The movement situation of the flexible joint 205e at this time is similar to the movement shown in movement process 1, that is, at this time, the multi-mode grasping module 205 will achieve bending in any plane within 360° in three-dimensional space while maintaining a larger unfolded outer dimension, and finally find the position of the target object and capture the target object, as shown in movement process 3.

[0112] When the target object successfully enters the inside of the folding and grasping part, at this time, move according to the following movement mode 3, and the specific process is as follows:

[0113] Switch the movement control mode of the three drive wires again, and switch the movement control mode of the drive wires from control mode 1 back to movement mode 2, that is, the three drive wires are synchronously relaxed. At this time, since the acting forces of the three drive wires are equal again, the resultant acting force on the flexible joint 205e is again a pure force. And since the three drive wires are relaxed at the same time, under the restoring acting force of the torsion spring of the multi-mode grasping module 205, the size of the folding and grasping part will gradually shrink. Since the target object has entered the inside of the folding and grasping part at this time, when the size of the folding and grasping part gradually shrinks under the acting force of the torsion spring, the target object will be tightly locked inside the folding and grasping part. At this time, by using the catheter conveying module 202 to recover the catheter 6, the multi-mode grasping module 205 and the captured target object can be taken out of the pipeline model 1 together.

[0114] The above process is the process of the designed robot system 2 capturing the target object at the inner cavity 102 of the pipeline model. When it is necessary to capture the target object at the outlet pipeline A 106 and the outlet pipeline B 106, when the gripper 5 reaches the pipeline bifurcation 103, it can drive the flexible joint 205e to turn left through a similar motion process 1 to reach near the position of the target object at the outlet 104, and then the target object at this position can be captured and taken out of the pipeline model 1 through the above similar motion processes 2-4. When it is necessary to capture the target object at the outlet 105, the flexible joint 55 can be driven to deflect upward and the gripper 5 can be driven to finally reach near the target object at the outlet 105, and then the above process can be repeated to capture the target object at this position and take it away from the pipeline model 1.

[0115] In the above multi-mode operation robot whole machine system 2, each functional module is powered by the DC power supply 8 fixed on the optical flat B 4. And the driving of each functional module is realized by the four-axis controller 9.

Claims

1. A multi-mode operation robot system for capturing internal tissues in the natural cavities of the human body, characterized in that: It includes a pipeline environment model imitating the natural human cavity and a multi-mode operation robot whole machine system; The pipeline environment model imitating the natural human cavity is formed by splicing multiple pipelines into a whole and supported by a pipeline bracket, and is used to simulate the complex natural human cavity for the simulation operation experiment of the multi-mode operation robot; The robot whole machine system is used to realize the capture of internal tissues in the natural human cavity and has five functional modules, namely a catheter coiling module, a catheter conveying module, a tension measurement module, a wire driving module and a multi-mode grasping module; among them, the wire driving module, the tension measurement module, the catheter coiling module and the catheter conveying module are arranged from left to right; the multi-mode grasping module is installed at the end of the conveying end of the catheter and is located at the entrance of the pipeline environment model; The catheter coiling module includes four catheter seats arranged circumferentially; among them, three catheter seats are respectively installed on the guide rail sliders of three guide rails; the three guide rails include a left guide rail, a right guide rail and a middle guide rail; the left guide rail and the right guide rail are symmetrically arranged left and right and form an angle of 45° with the middle guide rail; the other catheter seat is fixed at the intersection position of the three guide rails; catheter perforations are longitudinally designed on the four catheter seats, and the catheter sequentially bypasses each catheter perforation and is arranged in multiple layers in a ring shape; the fixed end of the catheter is fixed through a catheter inlet bracket; the catheter conveying end is supported by a catheter outlet bracket and is connected to the catheter conveying module; An angle bar scissor unit is installed between two adjacent catheter seats above, and the coiled catheter is always in a circular ring shape during the conveying process through two sets of angle bar scissor units; the two sets of angle bar scissor units are symmetrically arranged and include a scissor unit A and a scissor unit B; among them, the scissor unit A has two angle bars, and the included angle of the angle bars is 120°; the two angle bars are stacked up and down and are hinged at the included angle position; the scissor unit B has an angle bar and a connecting rod; among them, the connecting rod and the angle bar are stacked up and down, and the B end of the connecting rod is hinged at the included angle of the angle bar; In the above scissor unit A and scissor unit B, the included angles of the angle bars all face the outside of the circle where the four catheter seats are located; in the scissor unit A, the A ends on the same side of the upper angle bar and the lower angle bar are respectively hinged between the guide rail seat and the sliding seat on the middle linear guide rail; the B ends of the upper angle bar and the lower angle bar are respectively hinged to the A end of the angle bar and the A end of the connecting rod in the scissor unit B; the B end of the angle bar in the scissor mechanism B is hinged to the catheter seat on the side linear guide rail; in the scissor unit A, the connection line of the A end hinge points of the two angle bars intersects at a point A and forms an angle of 45°; in the scissor unit B, the connection line of the A end hinge points of the angle bar and the connecting rod intersects with the vertical connection line of the B end hinge point of the angle bar and the middle linear guide rail at a point B, and the two straight lines form an angle of 45°; the above intersection point B coincides with the intersection point A; The catheter conveying module includes a base, a slider, a compression spring, an adjusting bolt, a motor seat, a catheter conveying stepping motor, a pair of active friction wheels and a passive idler wheel with a U-shaped groove and a gear transmission module; Among them, two rectangular notches are designed at the top of the base. A chute is opened downward from the top surface between the two notches. The middle part of the slider is a rod-shaped structure placed in the chute, and the two ends are block-shaped structures, which are respectively arranged in the two rectangular notches. Thus, the whole slider can slide up and down. Compression springs are arranged between the block-shaped structures at the two ends of the slider and the bottom surface of the notch, and the two ends of the compression springs are fitted and sleeved with the raised parts designed at the corresponding positions. At the same time, the sides of the cubic structures at the two ends of the slider are grooved and respectively connected and fixed to the axles of the two passive idler wheels. The U-shaped grooves opened in the circumferential direction of the two passive idler wheels are fitted with the conduit. Two threaded through holes are opened at the top of the base, respectively above the middle parts of the two rectangular notches. Adjusting bolts are installed in the two threaded through holes by threading. By rotating the adjusting bolts, the compression degree of the compression springs is realized, and further the up and down position adjustment of the slider is realized. The two driving friction wheels are installed on the base through the central rotating shaft, and the axes of the two driving friction wheels are respectively corresponding to the axes of the two idler wheels in the up and down positions. The conduit sent out by the conduit outlet bracket is conveyed horizontally between the driving friction wheels and the idler wheels. The multi-mode grasping module includes a folding and unfolding grasping part, a flexible joint assembly and a driving wire. The folding and unfolding grasping part includes three scissor units evenly distributed in the circumferential direction, which are formed by two connecting rods cross-hinged in an X shape, and a return torsion spring is installed at the hinged position. Among adjacent scissor units, the relative top and bottom ends are respectively connected by a first connecting component and a second connecting component. The first connecting component and the second connecting component are connected to the scissor unit through two joints with coplanar axes to form a rotating pair. The top of the flexible joint assembly has an upper connecting platform. The upper connecting platform is connected to the three second connecting components through three circumferential connecting rods to form a rotating pair, and a return torsion spring is installed at the connecting position. The bottom of the flexible joint assembly has a lower connecting platform. A connecting head is designed on the bottom surface of the lower connecting platform to connect the pushing conduit. A flexible joint is designed between the upper connecting platform and the lower connecting platform. The above flexible joint assembly and the folding and unfolding grasping part are connected by three connecting rods. The bottom ends of the three connecting rods are connected to three vertical planes evenly spaced in the circumferential direction of the upper connecting platform to form a rotating pair. The top ends of the three connecting rods are respectively connected to the joints designed on the three second connecting components to form a rotating pair, and the axes of the rotating pairs are respectively perpendicular to the three vertical planes in the circumferential direction of the upper connecting platform. There are three driving wires, and the output ends are respectively fixed on the three first connecting components. Then, they are guided downward through the guiding holes on the first connecting components - the guiding holes in the second connecting components, and finally penetrate into the connecting head at the bottom of the flexible joint assembly and enter the pushing conduit, and are respectively connected to their respective drivers inside the pushing conduit. The tension measurement module has three tension sensors and corresponding three sensing and detection channels; the three tension sensors are longitudinally installed on the sensor bracket; the sensing and detection channels are composed of two guide wheels arranged side by side on the left and right and a sensor wheel; among them, the two guide wheels are symmetrically arranged with respect to the sensor wheel; the three are installed on the sensor bracket and can rotate passively around their own axes; the sensor wheel is installed on the protruding shaft of the tension sensor through a bearing and can rotate passively around the protruding shaft; the three drive wires respectively pass through the three sensing and detection channels. During the penetration process, the drive wire first horizontally passes under the guide wheel on the right side, then passes over the sensor wheel and horizontally passes under the guide wheel on the left side, and is introduced into the wire drive module; The wire drive module has three wire drive stepping motors to respectively drive the three drive wires to extend and retract; the two operation modes of the multi-mode grasping module are controlled by driving the three drive wires, including the forward and guiding movement in a narrow and tortuous pipeline and the capture of the target object after reaching the target position. The specific process is as follows: At the initial moment, the multi-mode grasping module enters from the entrance of the pipeline environment model under the transportation of the catheter transportation module and moves according to the following movement mode 1. The process is as follows: When the multi-mode grasping module needs to pass through the narrow and curved tortuous part inside, the bending movement of the multi-mode grasping module in the closed state is realized through the drive wire control method 1; at this time, the wire drive module drives the three drive wires to move. Due to the resistance of the return torsion spring in the multi-mode grasping module, the acting force of the drive wire on the multi-mode grasping module is not enough to overcome the resistance of the torsion spring. Therefore, the lengths of the three drive wires located in the folding and unfolding grasping part will not change, and the multi-mode grasping module will remain in the closed state; and because the driving force required to bend the flexible joint is lower than the force required for the multi-mode grasping module to overcome the resistance of the torsion spring, the flexible joint will bend under the action of the three drive wires; the resultant force of the three drive wires acting on the flexible joint is equivalent to a force along the axial direction of the flexible joint and a couple of forces along a certain direction in space; due to the incompressibility of the axial direction of the flexible joint, the force along the joint axial direction will not act on the movement of the flexible joint, and the flexible joint will bend in the plane where the equivalent resultant force couple of the three drive wires is located. By controlling the three drive wires to move with different tensions, the flexible joint can realize the bending movement in any plane of 360° in space; the multi-mode grasping module is in the closed state at this time to pass through the narrow and curved pipeline environment; When the multi-mode grasping module reaches near the capture target, first relax the three drive wires, and the multi-mode grasping module restores to the initial state under the action of the self-restoring force of the flexible joint; at this time, the wire drive module changes the drive wire control method 2 to realize the unfolding and folding movement, specifically the following movement mode 2: Synchronously drive the movement of three driving wires. The resultant force of the three driving wires on the flexible joint is a pure force along the axis of the flexible joint without a deflecting couple. Due to the incompressibility along the axis of the flexible joint, the flexible joint will not move. At this time, synchronously increase the acting forces of the three driving wires and ensure that the acting forces of the three driving wires are always equal. As the driving force gradually increases, the acting force of the driving wires on the folding and grasping part will overcome the resistance of the torsion spring, and the folding and grasping part will gradually unfold under the synchronous action of the three driving wires. When the multi-mode grasping module unfolds to an outer dimension sufficient to capture the target object, since the position of the target object inside the pipeline is unknown, at this time, the multi-mode grasping module needs to adjust its own direction to achieve the grasping work of the target object. At this time, perform the movement according to the following movement mode 3: The control mode of the driving wires is switched from control mode 2 to control mode 1. At this time, due to the resistance of the torsion spring inside the multi-mode grasping module, the outer dimension of the unfolded folding and grasping part does not change. And because the acting forces of the three driving wires are no longer equal, the acting force of the resultant force on the flexible joint in addition to the force along the axis also additionally increases a couple, causing the flexible joint to perform a bending movement within the plane of the couple. At this time, the multi-mode grasping module realizes a 360° arbitrary plane bending in three-dimensional space while maintaining the large unfolded outer dimension, and finally finds the position of the target object and captures the target object; When the target object successfully enters the inside of the folding and grasping part, at this time, perform the movement according to the following movement mode 3: Switch the movement control mode of the three driving wires again, and re-switch the movement control mode of the driving wires from control mode 1 to movement mode 2. At this time, since the acting forces of the three driving wires are equal again, the resultant acting force of the three driving wires on the flexible joint becomes a pure force again. Since the three driving wires are simultaneously relaxed, under the restoring acting force of the torsion spring in the multi-mode grasping module, the dimension of the folding and grasping part will gradually shrink. Since the target object has entered the inside of the folding and grasping part at this time, when the dimension of the folding and grasping part gradually shrinks under the acting force of the torsion spring, the target object will be locked inside the folding and grasping part. At this time, the recovery catheter of the catheter delivery module is used to take out the multi-mode grasping module and the captured target object out of the pipeline model together.

2. The multi-mode operation robot system for capturing internal tissues in the natural cavities of the human body according to claim 1, wherein: The pipeline environment model includes a twisted part pipeline model, a large-inner-diameter inner cavity pipeline model, and a bifurcated pipeline model. Among them, the twisted part pipeline model has a twisted geometric shape and a small inner diameter size, simulating the narrow and tortuous part of the natural human body cavity; the large-inner-diameter inner cavity pipeline model is used to simulate the large-inner-diameter part of the natural human body cavity; the bifurcated pipeline model is used to simulate the bifurcated position in the natural human body cavity; one end of the twisted part pipeline model is the inlet end of the entire pipeline environment model; the inlet end of the large-inner-diameter inner cavity pipeline model is connected to the outlet end of the twisted part pipeline model, and the outlet section is connected to the inlet end of the bifurcated pipeline model; the bifurcated pipeline model has two outlets, one outlet turns horizontally and is connected to the horizontal outlet pipeline A; the other outlet is horizontally connected to the horizontal outlet pipeline B after extending upward through the connecting arc pipeline.

3. The multimodal operation robot system for capturing internal tissues in the natural cavities of the human body according to claim 1, wherein: The included angle between the movement planes of adjacent scissor units is 60°.

4. The multi-mode operation robot system for capturing internal tissues in the natural cavities of the human body according to claim 1, characterized in that: The catheter is a triple-lumen catheter with three channels along the axis inside. Three drive wires are respectively inserted into the three inner cavities of the catheter and led out from the fixed end of the catheter.

5. The multimode operation robot system for capturing internal tissues in the natural cavities of the human body according to claim 1, wherein: The three drive wires are connected to the tension measurement module through a wire splitter. The wire splitter has a horizontal channel and two inclined channels. The two inclined channels are respectively located on the upper and lower sides of the horizontal channel and are set at an angle of 45 degrees to the horizontal channel.

6. The multi-mode operation robot system for capturing internal tissues in a natural human body cavity according to claim 1, wherein: When the drive wires in the sensing and detection channel are tensioned, under the guidance of the guide wheel and the sensor wheel, the included angle between the drive wires on both sides of the sensor wheel is 120°.

7. The multimode operation robot system for capturing internal tissues in the natural cavities of the human body according to claim 1, wherein: The wire drive module includes a motor mounting bracket, a wire drive stepping motor, a reel and a wheel bracket. Among them, three wire drive stepping motors are longitudinally mounted on the motor mounting bracket, and the motor shafts of the three wire drive stepping motors are respectively connected to the three reels on the opposite side through couplings. The three reels are mounted on the wheel bracket. The three drive wires entering the wire drive module are respectively wound around the three reels. The three reels are driven to rotate by the wire drive stepping motor to drive the three drive wires and wind the three drive wires on the reels.

8. The multi-mode operation robot system for capturing internal tissues in the natural cavities of the human body according to claim 1, wherein: Each functional module in the multi-mode operation robot whole machine system is powered by a DC power supply; and the drive of each functional module is realized by a four-axis controller.

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