A conveying device and robot for automatic replacement of a variety of flexible wire harness instruments

Abstract

The application provides a conveying device for automatic replacement of multiple flexible wire harnesses and a bronchoscope surgery robot comprising the conveying device. The conveying device for automatic replacement of multiple flexible wire harnesses comprises an execution end and a driving end. The execution end comprises multiple conveying channels and a common outlet. The conveying channels are used for accommodating and guiding the flexible wire harnesses, and conveying mechanisms are arranged on the conveying channels to drive the flexible wire harnesses in the conveying channels to advance or retreat. The output ends of the multiple conveying channels are all communicated with the common outlet, and the flexible wire harnesses in use enter the common outlet and extend out. The driving end is connected with the conveying mechanisms to drive the conveying mechanisms to operate. The conveying device for automatic replacement of multiple flexible wire harnesses and the bronchoscope surgery robot disclosed by the application realize automatic replacement of the flexible wire harnesses in bronchoscope surgery, and solve the problem that the flexible wire harnesses need to be replaced by doctors in the prior art.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and particularly relates to a delivery device for automatic replacement of various flexible wire harness instruments and a bronchoscopic surgical robot. Background Technology

[0002] With advancements in medicine and technology, the diagnosis and treatment of lung diseases have gradually entered an era of minimally invasive and precise procedures. Bronchoscopy and percutaneous puncture remain the mainstream methods for diagnosing and treating lung diseases. Bronchoscopy typically utilizes surgical instruments such as puncture needles, biopsy forceps, and ultrasound probes. The surgeon must manually insert these instruments through the endoscope's channels to reach the lesion and perform related probes and biopsies.

[0003] There are now bronchoscopic surgery robots that assist doctors in performing bronchoscopic surgery. The principle of bronchoscopic surgery robots is to use the robot's flexible robotic arms to insert an extremely thin and flexible bronchoscope into the deeper part of the lungs to discover lesions that are difficult to find or reach with traditional bronchoscopy.

[0004] Then, bronchoscopy requires the use of various flexible wire harness instruments such as puncture needles, biopsy forceps, and ultrasound detectors. The diversity and complexity of these flexible wire harness instruments mean that bronchoscopy robots require the assistance of doctors to perform instrument insertion and replacement operations, making it impossible to remotely control the bronchoscopy robot to complete the bronchoscopy surgery. Summary of the Invention

[0005] The purpose of this invention is to provide a delivery device and a bronchoscopic surgical robot for automatic replacement of various flexible wire harness instruments, so as to solve the problem that in the prior art, the bronchoscopic surgical robot requires the doctor's assistance to replace the flexible wire harness instruments.

[0006] The technical solution of this invention is as follows:

[0007] A conveying device for automatic replacement of various flexible wire harness instruments includes an actuator end and a drive end; the actuator end includes:

[0008] Multiple conveying channels are provided for accommodating and guiding flexible wire harness instruments. Each conveying channel is equipped with a conveying mechanism for driving the flexible wire harness instruments within the conveying channel to move forward or backward.

[0009] A common outlet is provided, and the output ends of the multiple conveying channels are all connected to the common outlet. A flexible wire harness device in use enters the common outlet and extends outward.

[0010] The drive end is connected to the conveying mechanism and is used to drive the conveying mechanism to operate.

[0011] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided. The conveying channel includes an input section and an output section. The conveying mechanism is provided between the input section and the output section. The output end of the output section is connected to a common outlet. The flexible wire harness instruments pass through the input section, the conveying mechanism, and the output section in sequence.

[0012] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments has an input end of the input section and / or an input end of the output section that is a tapered opening.

[0013] A conveying device for automatic replacement of various flexible wire harness instruments in one embodiment, the conveying mechanism including an active roller and a passive roller, the active roller and the passive roller being used to clamp the flexible wire harness instruments;

[0014] The driving end includes a roller driver, the output end of which is connected to the active roller and is used to drive the active roller to rotate in coordination with the passive roller to drive the clamped flexible wire harness device to move forward or backward.

[0015] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided, wherein the execution end further includes an execution end mounting base, the conveying channel and the common outlet are both provided on the execution end mounting base, and the drive roller is rotatably connected to the execution end mounting base;

[0016] The passive roller is sleeved and rotatably connected to the passive spindle, the passive spindle is slidably connected to the actuator mounting base, and a roller elastic element is provided between the passive spindle and the actuator mounting base. The roller elastic element is used to generate an elastic force to drive the passive spindle to move in the direction of the active roller.

[0017] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided, wherein the roller elastic element is a compression spring, and the compression spring is located on the side of the passive mandrel away from the active roller.

[0018] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments includes a drive end further comprising an opening and closing driver. The output end of the opening and closing driver is connected to the passive mandrel and is used to drive the passive mandrel to slide against the resistance of the roller elastic element.

[0019] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided. The opening and closing driver is a linear driver, and its output end is connected to a lever. One side of the lever abuts against the outer wall of the passive mandrel. When the output end of the linear driver extends, the lever pushes the passive mandrel to overcome the resistance of the roller elastic element and move it away from the active roller to release the flexible wire harness instrument.

[0020] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided, wherein the driving end includes a plurality of roller drivers and at least one opening and closing driver, wherein each roller driver corresponds one-to-one with the active roller, the output end of each roller driver is connected to an active roller, and the output end of each opening and closing driver is connected to a passive mandrel.

[0021] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided, wherein the execution end further includes an execution end mounting base, and the conveying channel, the common outlet, and the conveying mechanism are all disposed on the execution end mounting base;

[0022] The passive roller is sleeved and rotatably connected to the passive spindle, and the passive spindle is slidably connected to the actuator mounting base;

[0023] The driving end also includes an opening and closing driver, the output end of which is connected to the passive mandrel and is used to drive the passive mandrel to slide.

[0024] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments has an active roller whose rotation axis is parallel to that of a passive roller, and a passive mandrel whose sliding direction is perpendicular to the rotation axis of the passive roller.

[0025] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided, wherein the execution end further includes an execution end mounting base, and the conveying channel and the common outlet are both located on the execution end mounting base;

[0026] Both the active roller and the passive roller include a hub and a flexible sleeve. The hub is rotatably connected to the actuator mounting base, and the flexible sleeve is sleeved on the hub and prevents relative rotation between the flexible sleeve and the hub through friction. The flexible sleeves in the active roller and the passive roller cooperate with each other to clamp the flexible wire harness device.

[0027] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided, wherein an annular mounting groove is provided on the outer side wall of the hub, and the flexible sleeve is installed in the annular mounting groove.

[0028] In one embodiment of the conveying device for automatic replacement of various flexible wire harness instruments, in the same conveying mechanism, at least one of the hubs of the active roller and the passive roller has an annular groove on the bottom surface of the annular mounting groove around the hub, and the flexible sleeve covers the annular groove.

[0029] In one embodiment of the conveying device for automatic replacement of various flexible wire harness instruments, both the hub of the active roller and the hub of the passive roller are provided with the annular groove, and the positions of the annular grooves of the two are corresponding.

[0030] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided, wherein the flexible sleeve is a silicone sleeve.

[0031] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided, wherein a passive mandrel is fixed on the actuator mounting base, and the hub of the passive roller is sleeved on the passive mandrel and rotatably connected to the passive mandrel through a bearing.

[0032] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided with a wedge-shaped interface at one axial end of the hub of the active roller, and the output end of the roller driver is matched with the wedge-shaped interface, and the output end of the roller driver is inserted and connected to the wedge-shaped interface.

[0033] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments has a bearing connected to the outer wall of the hub of the active roller and rotatably connected to the actuator mounting base through the bearing.

[0034] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided, wherein the execution end further includes an execution end mounting base, and the conveying channel, the common outlet, and the conveying mechanism are all disposed on the execution end mounting base;

[0035] The drive end includes a drive end mounting base and a roller driver. The roller driver is mounted on the drive end mounting base, and the output end of the roller driver is connected to the conveying mechanism for driving the conveying mechanism to operate.

[0036] The actuator mounting base and the drive mounting base are detachably connected.

[0037] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments has an actuator mounting base and a drive mounting base, one of which is a fixing member and the other is a mounting member.

[0038] The fixing member and the mounting member are detachably connected by a locking structure. The locking structure includes a locking body, which is connected to the fixing member, passes through the mounting member, and extends out.

[0039] The latch body is provided with a receiving groove, and a spring piece is movably connected to the latch body. A latch elastic element is provided between the spring piece and the latch body. Under the action of the elastic force of the latch elastic element, the spring piece extends at least partially out of the receiving groove and connects to the connecting part on the mounting part. Under the action of external force, the spring piece overcomes the elastic force of the latch elastic element, retracts into the receiving groove, and disconnects from the connecting part.

[0040] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided, wherein the portion of the locking body extending out of the mounting member is rotatably connected to one end of the spring piece within the receiving groove, and the other end of the spring piece rotates out of the receiving groove under the elastic force of the locking elastic member and abuts against the connecting portion, thereby pressing the mounting member onto the fixing member.

[0041] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided. The mounting member is provided with a locking hole for the locking body to pass through. The mounting member has a first surface and a second surface facing each other. The first surface is the surface of the mounting member facing the fixing member. The second surface is provided with a transition surface between the second surface and the inner wall surface of the locking hole.

[0042] The connecting portion is the second surface or the transition surface.

[0043] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided, wherein the connecting part is a transition surface, the transition surface is an arc surface with the rotation axis of the spring and the locking body as the center; the surface on the spring that abuts against the arc surface is an abutting surface, the abutting surface is a curved surface that matches the arc surface.

[0044] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided, wherein the locking elastic element is a torsion spring;

[0045] The mounting component and / or the receiving groove are provided with a limiting part, which is in contact with the spring piece to limit the rotation angle of the spring piece, so as to prevent the spring piece from rotating away from the abutting surface under the action of the torsion spring.

[0046] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided, wherein the locking structure further includes a locking button, a locking sleeve, and a locking spring;

[0047] The locking button is fitted onto the portion of the locking body that extends out of the mounting piece, and the locking sleeve is fitted onto the locking button. The locking sleeve is fixedly connected to the mounting piece.

[0048] The locking sleeve has a limiting surface facing the mounting component, and a locking block protrudes from the outer wall of the locking button. A locking spring is provided between the locking sleeve and the locking button, and the locking spring is used to abut the locking block against the limiting surface. Under the action of external force, the locking button overcomes the resistance of the locking spring and moves towards the mounting component. During the movement, the lower end of the locking button abuts against the side of the spring and presses the spring back into the receiving groove.

[0049] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided, wherein a sterile plate is provided between the drive end mounting base and the execution end mounting base, and the output end of the roller driver passes through the sterile plate and is connected to the conveying mechanism.

[0050] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided, wherein a sensor is provided at the common outlet to detect whether a flexible wire harness instrument passes through the common outlet.

[0051] In one embodiment, a conveying device for automatic replacement of various flexible wire harness instruments is provided, wherein the sensor is a capacitive proximity sensor.

[0052] A bronchoscopic surgical robot is provided for remote operation and control of the bronchoscope, biopsy and treatment instruments during bronchoscopic surgery. The bronchoscopic surgical robot includes a delivery device for automatic replacement of various flexible wire harness instruments as described in any of the above claims.

[0053] Because the present invention adopts the above technical solution, it has the following advantages and positive effects compared with the prior art:

[0054] Before surgery, different flexible wire harness instruments can be fed into different delivery channels. When a particular flexible wire harness instrument is needed during surgery, the corresponding delivery mechanism drives the instrument forward, into the common exit, and out. When the instrument is no longer needed and needs to be replaced with the next one, the corresponding delivery mechanism drives it backward, out of the common exit, and then the delivery mechanism for the next instrument drives it forward, into the common exit, and out. Therefore, the delivery device and bronchoscopic surgical robot for automatic replacement of multiple flexible wire harness instruments provided by this invention realize the automatic replacement of flexible wire harness instruments during bronchoscopic surgery, solving the problem in the prior art where bronchoscopic surgical robots require physician assistance to replace flexible wire harness instruments. Attached Figure Description

[0055] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention.

[0056] Figure 1 This is a schematic diagram of a conveying device for automatic replacement of various flexible wire harness instruments according to the present invention.

[0057] Figure 2 This is a cross-sectional schematic diagram of an execution end according to the present invention;

[0058] Figure 3 This is a schematic diagram of the structure of a conveying mechanism according to the present invention;

[0059] Figure 4 This is a schematic diagram of a locking structure according to the present invention;

[0060] Figure 5 This is a schematic diagram illustrating the usage process of a locking structure according to the present invention;

[0061] Figure 6 This is a schematic diagram of the appearance of an execution end according to the present invention;

[0062] Figure 7 This is a split schematic diagram of a conveying device for automatic replacement of various flexible wire harness instruments according to the present invention;

[0063] Figure 8 This is a schematic diagram of the structure of a driving end according to the present invention.

[0064] Explanation of reference numerals in the attached figures:

[0065] 1: Actuating end; 2: Driving end; 3: Insulating plate; 4: Flexible wire harness instrument; 5: Elastic pre-tightening conveying mechanism; 6: Opening and closing conveying mechanism; 7: Input section; 8: Output section; 9: Capacitive proximity sensor; 10: Active roller; 11: Passive roller; 12: Hub; 13: Flexible sleeve; 14: Passive spindle; 15: Roller elastic element; 16: Annular groove; 17: Wedge-shaped interface; 18: Locking body; 19: Spring; 20: Torsion spring; 21: Locking spring; 22: Locking sleeve; 23: Locking button; 24: Drive motor; 25: Drive shaft; 26: Paddle; 27: Pin; 28: Locking structure. Detailed Implementation

[0066] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0067] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of components with the same structure or function is shown schematically, or only one is labeled. In this document, "one" can mean not only "only one" but also "more than one".

[0068] Example 1

[0069] See Figures 1 to 8 This embodiment provides a conveying device for automatic replacement of various flexible wire harness devices, including an execution end 1 and a drive end 2. The execution end 1 includes multiple conveying channels and a common outlet. The conveying channels are used to accommodate and guide the flexible wire harness devices 4, and a conveying mechanism is provided on the conveying channels to drive the flexible wire harness devices 4 in the conveying channels to move forward or backward. The output ends of the multiple conveying channels are all connected to the common outlet, and the flexible wire harness devices 4 in use enter the common outlet and extend out. The drive end 2 is connected to the conveying mechanism and is used to drive the operation of the conveying mechanism.

[0070] The actuator 1 also includes an actuator mounting base. The conveying channels, common outlet, and conveying mechanism are all mounted on the actuator mounting base, and the multiple conveying channels are arranged on the same plane. However, in other embodiments, the conveying channels may not be arranged on the same plane. For example, the conveying channels may be arranged on an arc surface, and there is no limitation here.

[0071] The conveying channel includes an input section 7 and an output section 8. A conveying mechanism is provided between the input section 7 and the output section 8. The output end of the output section 8 is connected to a common outlet. The flexible wire harness device 4 passes through the input section 7, the conveying mechanism and the output section 8 in sequence.

[0072] The inner diameter of the delivery channel needs to be slightly larger than the diameter of the sheath clamp channel. In this embodiment, the inner diameter of each delivery channel is 3 mm. In other embodiments, the inner diameter of the delivery channel can be selected from 2.5 to 3.5 mm, or other values ​​outside this range. The specific value can be selected according to the flexible wire harness device 4 being installed.

[0073] See Figure 2To facilitate the feeding of the flexible wire harness instrument 4 into the input section 7 and the output section 8, tapered guides can be set at the input end of the input section 7 and the input end of the output section 8 respectively, that is, the input end of the input section 7 and the input end of the output section 8 are both set as tapered openings.

[0074] The flexible wire harness device 4 moves within the transport channel, which guides its direction of travel. The entire transport channel follows a smooth curve, and all transport channels converge at a common outlet in a smooth curve pattern.

[0075] The common exit only allows one flexible wire harness device 4 to pass through at a time. When it is necessary to replace a different flexible wire harness device 4, the current flexible wire harness device 4 needs to be controlled to exit, and then the new flexible wire harness device 4 needs to be controlled to enter. Therefore, a sensor is set at the common exit to detect whether a flexible wire harness device 4 has passed through the common exit. The sensor can be a capacitive proximity sensor 9, which is mounted on the actuator mounting base. The output ends of each conveying channel converge and are connected to the common exit. The detection end of the capacitive proximity sensor 9 can be located at this connection point. When an object is detected approaching, it indicates that a flexible wire harness device 4 has passed through the common exit. When replacing the flexible wire harness device 4, the detection end of the capacitive proximity sensor 9 needs not detect an object. Of course, in other embodiments, other types of sensors can be used, or no sensor can be set at all, and the timing of replacing the flexible wire harness device 4 can be calculated based on the motion data of the conveying mechanism.

[0076] The conveying mechanism includes an active roller 10 and a passive roller 11, which cooperate to clamp the flexible wire harness device 4 and drive the flexible wire harness device 4 forward or backward through friction during rotation. The drive end 2 includes a drive end mounting base and a roller driver. The roller driver is mounted on the drive end mounting base, and its output end is connected to the active roller 10 to drive the active roller 10 to rotate in conjunction with the passive roller 11 to drive the clamped flexible wire harness device 4 forward or backward.

[0077] Because commonly used sampling instruments, such as biopsy forceps, often use a rigid spring tube as their main body, sampling requires pushing the handle and sometimes even rotating it to reach the lesion area. Therefore, the delivery mechanism design must consider anti-slip and automatic release to allow for instrument rotation. Another type of sampling instrument, the puncture needle, often uses a soft, transparent plastic sheath. The delivery mechanism design must consider pre-tensioning force to prevent damage to the instrument surface and sufficient propulsion force to ensure smooth operation within the endoscopic forceps canal. Additionally, for instruments with extremely soft surfaces, such as ultrasound detectors, the delivery mechanism must also consider pre-tensioning force to prevent damage and proper pushing. Therefore, to meet the automatic delivery and replacement requirements of various flexible wire harness instruments 4, this embodiment features a specially designed delivery mechanism.

[0078] Specifically, in this embodiment, the execution end 1 includes six transport channels and six corresponding transport mechanisms. The six transport mechanisms are divided into four elastic pre-tightening transport mechanisms 5 and two automatic opening and closing transport mechanisms 6. Of course, in other embodiments, different numbers and types of transport channels and transport mechanisms can be selected to adapt to the actual surgical functions required, and no limitation is made here.

[0079] Main reference Figure 3 In the elastic pre-tensioned conveying mechanism 5, the passive roller 11 is sleeved and rotatably connected to the passive spindle 14, which is slidably connected to the actuator mounting base. The rotation axis of the driving roller 10 is parallel to that of the passive roller 11, and the sliding direction of the passive spindle 14 is perpendicular to that of the passive roller 11. A roller elastic element 15 is provided between the passive spindle 14 and the actuator mounting base. The roller elastic element 15 generates an elastic force that drives the passive spindle 14 to move towards the driving roller 10. Thus, when the flexible wire harness device 4 passes between the driving roller 10 and the passive roller 11, the roller elastic element 15 presses the flexible wire harness device 4 together, thereby driving the flexible wire harness device 4 by friction. The roller elastic element 15 allows the conveying mechanism to use flexible wire harness devices 4 of different thicknesses. Optionally, different elastic forces can be set for different conveying channels to achieve the effect of providing sufficient conveying torque for a specific flexible wire harness device 4 without damaging the flexible wire harness device 4 itself.

[0080] The roller elastic element 15 can be a compression spring, which is located on the side of the passive spindle 14 away from the active roller 10. In other embodiments, the roller elastic element 15 can be an elastic ball, an elastic column, etc., and there is no limitation here.

[0081] The automatic opening and closing conveyor mechanism 6 adds the function of electrically controlled moving passive spindle 14 to the elastic pre-tensioned conveyor mechanism 5. The drive end 2 also includes an opening and closing driver, which is mounted on the drive end mounting base. The output end of the opening and closing driver is connected to the passive spindle 14 and is used to drive the passive spindle 14 to overcome the resistance of the roller elastic element 15.

[0082] Specifically, the opening and closing actuator is a linear actuator, and its output end is connected to a lever 26. One side of the lever 26 abuts against the outer wall of the passive spindle 14. When the output end of the linear actuator extends, it pushes the passive spindle 14 through the lever 26 to overcome the resistance of the roller elastic element 15 and move it away from the driving roller 10 (e.g., Figure 3 (In the direction indicated by the arrow at the passive roller 11 section) to release the flexible wire harness instrument 4, thereby making it suitable for use with flexible wire harness instruments 4 that require a spin function, such as biopsy forceps.

[0083] The linear actuator can be a cylinder, a push rod motor, etc., and there are no specific limitations. The roller actuator can be a drive motor 24, and the drive shaft 25 of the drive motor 24, i.e., the output end, is directly connected to the active roller 10, thereby driving the active roller 10 to rotate; the conveying speed of the flexible wire harness device 4 is adjusted by adjusting the speed of the drive motor 24. In other embodiments, the roller actuator can also have other options, such as using a synchronous belt structure, with the synchronous belt driven by an external force to drive the active roller 10 to rotate, etc., and there are no limitations here.

[0084] In addition to the elastic pre-tightening conveyor mechanism 5 and the automatic opening and closing conveyor mechanism 6 mentioned above, other structural styles are also possible for the conveying mechanism. For example, instead of setting the roller elastic element 15, the opening and closing driver is directly connected to the passive spindle 14 to adjust the distance between the active roller 10 and the passive roller 11, so that the same conveying mechanism can be adapted to different flexible wire harness devices 4. Therefore, the specific structure of the conveying mechanism is not limited.

[0085] To further prevent damage to the flexible wire harness device 4, both the active roller 10 and the passive roller 11 include a hub 12 and a flexible sleeve 13. The hub 12 is rotatably connected to the actuator mounting seat, and the flexible sleeve 13 is fitted onto the hub 12, using friction to prevent relative rotation between the flexible sleeve 13 and the hub 12. The use of the flexible sleeve 13 in the active roller 10 and the passive roller 11 to clamp the flexible wire harness device 4 effectively reduces damage to the device body caused by the delivery mechanism when driving it. In this embodiment, the flexible sleeve 13 is a silicone sleeve, but in other embodiments, the flexible sleeve 13 can be made of biocompatible silicone material. Furthermore, in other embodiments, the active roller 10 and the passive roller 11 may not be a hub 12 and a flexible sleeve 13 structure; for example, they may be solid rubber-coated rollers. The specific features of the active roller 10 and the passive roller 11 are not limited.

[0086] An annular mounting groove is provided on the outer side wall of the hub 12, and the flexible sleeve 13 is installed in the annular mounting groove to prevent the flexible sleeve 13 from moving along the axial direction of the hub 12.

[0087] Furthermore, an annular groove 16 is provided around the hub 12 on the bottom surface of the annular mounting groove, and the positions of the annular grooves 16 on the driving roller 10 and the driven roller 11 in the same conveying mechanism correspond to each other; the flexible sleeve 13 covers the annular groove 16. When the flexible wire harness device 4 passes the driven roller 11 and the rotating roller, the flexible wire harness device 4 will compress the flexible sleeve 13, such as... Figure 3As shown by the dashed line, this creates a larger contact area and a better covering effect on the flexible wire harness device 4. This increases the conveying torque without damaging the surface of the flexible wire harness device 4, resulting in better conveying performance. Of course, in other embodiments, only one of the active roller 10 and passive roller 11 in the same conveying mechanism may have an annular groove 16, or the positions of the annular grooves 16 on the active roller 10 and passive roller 11 may be staggered; this is not a limitation.

[0088] The hub 12 of the passive roller 11 is fitted onto the passive spindle 14 and is rotatably connected to the passive spindle 14 via a bearing. The outer wall of the hub 12 of the driving roller 10 is connected to a bearing and is rotatably connected to the actuator mounting base via the bearing.

[0089] A wedge-shaped interface 17 is provided at one axial end of the hub 12 of the drive roller 10. The output end of the roller driver matches the wedge-shaped interface 17, and the output end of the roller driver is inserted into and connected to the wedge-shaped interface 17. In other embodiments, the hub 12 of the drive roller 10 and the roller driver can be connected in other ways, such as through gear meshing.

[0090] The actuator mounting base and the drive mounting base are detachably connected. In this embodiment, the two are detachably connected by a locking structure 28. However, in other embodiments, the detachable connection between the actuator mounting base and the drive mounting base can be achieved by other connection methods such as magnetic attraction or electric control switch. No limitation is made here.

[0091] Specifically, the locking structure 28 includes a locking body 18, which can be connected to either the actuator mounting base or the drive mounting base. The actuator mounting base or the drive mounting base connected to the locking body 18 is called a fixing component, and the other is called a mounting component. (See attached image) Figures 4 to 8 In this embodiment, the drive end mounting component is a fixed component, which is fixedly connected to the locking body 18.

[0092] One end of the locking body 18 is fixedly connected to the drive end mounting base, and the other end passes through the actuator end mounting base and extends out. The locking body 18 is provided with a receiving groove, and a spring piece 19 is movably connected to the locking body 18. A locking elastic element is provided between the spring piece 19 and the locking body 18. Under the action of the elastic force of the locking elastic element, the spring piece 19 extends at least partially out of the receiving groove and connects with the connecting part on the actuator end mounting base; at the same time, under the action of external force, the spring piece 19 will overcome the elastic force of the locking elastic element and retract into the receiving groove, and disconnect from the connecting part.

[0093] In this embodiment, the portion of the locking body 18 extending out of the actuator mounting seat is rotatably connected to one end of the spring piece 19 within the receiving groove. The other end of the spring piece 19 rotates out of the receiving groove and abuts against the connecting portion under the elastic force of the locking elastic element, pressing the actuator mounting seat against the drive mounting seat. In other embodiments, the connection method of the spring piece 19, the locking body 18, and the connecting portion can be other options. For example, the spring piece 19 can be slidably connected to the locking body 18, or the portion of the spring piece 19 can extend out of the receiving groove and insert into the connecting portion under the elastic force of the locking elastic element, engaging with the connecting portion. Therefore, no limitation is made here.

[0094] A locking hole is provided on the actuator mounting base for the locking body 18 to pass through. The actuator mounting base has a first surface and a second surface facing each other. The first surface is the surface of the actuator mounting base facing the drive mounting base, and a transition surface is provided between the second surface and the inner wall of the locking hole. The connecting part is either the second surface or the transition surface; in this embodiment, the transition surface is a preferred option.

[0095] Furthermore, the transition surface is an arc surface centered on the rotation axis of the spring piece 19 and the locking body 18. The surface of the spring piece 19 that abuts against the arc surface is the contact surface, which is a curved surface that matches the arc surface. In this way, the contact area can be increased while ensuring smooth unlocking.

[0096] The locking elastic element is a torsion spring 20, which has a limiting part in the receiving groove. The limiting part contacts the spring piece 19 and is used to limit the rotation angle of the spring piece 19, preventing the spring piece 19 from rotating away from the contact surface under the action of the torsion spring 20. In other embodiments, the limiting part can also be provided on the actuator mounting base, such as by providing a protrusion on the transition surface to prevent the spring piece 19 from continuing to rotate; the position of the limiting part is not limited.

[0097] The locking structure 28 described above can lock the actuator mounting base and the drive mounting base together, and release them under external force. Specifically, when the actuator mounting base and the drive mounting base need to be installed together, the spring piece 19 is pressed back into the receiving groove, the locking body 18 passes through the actuator mounting base, and then the spring piece 19 is released. The spring piece 19 rotates under the elastic force of the locking elastic element and then abuts against the contact surface on the actuator mounting base, pressing the actuator mounting base and the drive mounting base together to achieve a locked connection. When disassembly is required, the spring piece 19 is pressed back into the receiving groove, allowing the actuator mounting base to be removed from the locking body 18 and separated from the drive mounting base.

[0098] However, to facilitate the installation and removal of the actuator mounting base, the locking structure 28 also includes a locking button 23, a locking sleeve 22, and a locking spring 21. The locking button 23 is fitted onto the portion of the locking body 18 extending beyond the actuator mounting base. The locking button 23 is fitted with a locking sleeve 22, which is fixedly connected to the mounting component. The locking sleeve 22 has a limiting surface facing the actuator mounting base. A latching block protrudes from the outer wall of the locking button 23. A locking spring 21 is located between the locking sleeve 22 and the locking button 23, and the locking spring 21 is used to press the latching block against the limiting surface.

[0099] Thus, when installing the actuator 1, the latch body 18 extends into the latch hole and the hole in the latch button 23, as shown. Figure 5 As shown in (a); after installation, as Figure 5 As shown in (b), the spring 19 ejects from the receiving groove under the action of the torsion spring 20, abutting against the transition surface on the actuator mounting base to achieve locking; when the actuator 1 needs to be detached from the drive end 2, the locking button 23 is pressed, as shown in (b). Figure 5 As shown in (c), the locking button 23 moves downward, its lower end abutting against the side of the spring piece 19. During the downward movement of the locking button 23, the spring piece 19 is pressed back into the receiving groove, and then the actuator end 1 and the drive end 2 can be separated, as shown in (c). Figure 5 As shown in (d).

[0100] Due to the sterility requirements of surgery, a sterile partition plate 3 is provided between the drive end mounting base and the execution end mounting base. The output end of the roller drive, the paddle 26, etc., pass through the sterile partition plate 3 and are connected to the conveying mechanism. Specifically, the sterile partition plate 3 can be made of plastic. Note that... Figure 5 In the example of the locking structure usage method shown, no insulating plate 3 is set between the execution end 1 and the driving end 2.

[0101] The conveying device for automatic replacement of various flexible wire harness instruments provided in this embodiment can be divided into three parts, such as... Figure 7 As shown, the actuator end 1, the sterile plate 3, and the drive end 2 are respectively. The drive end 2 is mounted on the slide of the bronchoscope arm of the bronchoscopic surgical robot (not shown in the attached figures). During surgery, it moves forward and backward simultaneously with the bronchoscope. Sterilization treatment is required before surgery. The sterile plate 3 is part of the sterile isolation hood (not shown in the attached figures). Before surgery, the sterile plate 3 is placed on the surface of the drive end 2 and positioned by the pin 27 set on the drive end mounting seat. The actuator end 1 is used for the delivery and replacement of the flexible wire harness instrument 4. It is in direct contact with the disposable flexible wire harness instrument 4, so it is used as a disposable consumable or can be sterilized several times and reused. It is manually installed by the doctor on the drive end 2 before surgery.

[0102] Figure 8The distribution of the various parts of the drive end 2 is shown. Two locking bodies 18 are connected to the left and right sides of the drive end mounting base (corresponding to two sets of locking structures 28 in this embodiment). Two pins 27 are also provided, which pass through the insulating plate 3 and are inserted into the pin holes on the actuator mounting base to ensure the stability of the connection between the drive end 2 and the actuator end 1. The main bodies of the roller driver and the opening / closing driver are both located on the side of the drive end mounting base away from the actuator end 1. The output end of the roller driver, i.e., the drive shaft 25 of the drive motor 24, and the paddle 26 extend through the drive end mounting base to the side of the drive end mounting base facing the actuator end 1. After the drive end 2 and the actuator end 1 are connected, the paddle 26 presses against the corresponding passive spindle 14, adjusting the distance between the corresponding passive roller 11 and the active roller 10 under the interaction of the compression spring.

[0103] Figure 6 The appearance of actuator 1 is shown. The actuator mounting base has two locking buttons 23 on the left and right sides for quick docking and disassembly with drive end 2. The actuator mounting base has a similar arc-shaped design, which facilitates the compact arrangement of multiple conveying channels and corresponding conveying mechanisms, such as... Figure 2 As shown. Furthermore, the mounting base has a similar arc-shaped design, making it lightweight and aesthetically pleasing.

[0104] Example 2

[0105] This embodiment provides a bronchoscopic surgery robot for remote operation and control of the bronchoscope, biopsy and treatment instruments during bronchoscopic surgery. The bronchoscopic surgery robot includes the delivery device for automatic replacement of various flexible wire harness instruments as described in Embodiment 1.

[0106] Bronchoscopy robots can assist doctors in remotely controlling the bronchoscope, biopsy instruments, and treatment devices during bronchoscopy, thereby reducing doctors' exposure to X-ray radiation, achieving precise localization of lesions such as pulmonary nodules, and improving the positive rate of lung cancer biopsies. The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various modifications are made to the present invention, if these modifications fall within the scope of the claims of the present invention and their equivalents, they shall still fall within the protection scope of the present invention.

Claims

1. A conveying device for automatic replacement of various flexible wire harness instruments, characterized in that, It includes an execution end and a driving end; the execution end includes: Multiple conveying channels are provided for accommodating and guiding flexible wire harness instruments. Each conveying channel is equipped with a conveying mechanism for driving the flexible wire harness instruments within the conveying channel to move forward or backward. A common outlet is provided, and the output ends of the multiple conveying channels are all connected to the common outlet. A flexible wire harness device in use enters the common outlet and extends outward. The drive end is connected to the conveying mechanism and is used to drive the conveying mechanism to operate; The conveying channel includes an input section and an output section, and the conveying mechanism is provided between the input section and the output section. The output end of the output section is connected to the common outlet, and the flexible wire harness device passes through the input section, the conveying mechanism and the output section in sequence. The conveying mechanism includes an active roller and a passive roller, which are used to clamp the flexible wire harness device; The driving end includes a roller driver, the output end of which is connected to the active roller and is used to drive the active roller to rotate in coordination with the passive roller to drive the clamped flexible wire harness device to move forward or backward. The execution end also includes an execution end mounting base, and the conveying channel, the common outlet and the conveying mechanism are all disposed on the execution end mounting base; The drive end includes a drive end mounting base and a roller driver. The roller driver is mounted on the drive end mounting base, and the output end of the roller driver is connected to the conveying mechanism for driving the conveying mechanism to operate. The actuator mounting base and the drive mounting base are detachably connected; In the actuator mounting base and the drive mounting base, one is a fixing component and the other is a mounting component; The fixing member and the mounting member are detachably connected by a locking structure. The locking structure includes a locking body, which is connected to the fixing member, passes through the mounting member, and extends out. The latch body is provided with a receiving groove, and a spring piece is movably connected to the latch body. A latch elastic element is provided between the spring piece and the latch body. Under the action of the elastic force of the latch elastic element, the spring piece extends at least partially out of the receiving groove and connects to the connecting part on the mounting part. Under the action of external force, the spring piece overcomes the elastic force of the latch elastic element, retracts into the receiving groove, and disconnects from the connecting part.

2. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 1, characterized in that, The input end of the input segment and / or the input end of the output segment are tapered openings.

3. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 1, characterized in that, The execution end also includes an execution end mounting base, the conveying channel and the common outlet are both located on the execution end mounting base, and the drive roller is rotatably connected to the execution end mounting base; The passive roller is sleeved and rotatably connected to the passive spindle, the passive spindle is slidably connected to the actuator mounting base, and a roller elastic element is provided between the passive spindle and the actuator mounting base. The roller elastic element is used to generate an elastic force to drive the passive spindle to move in the direction of the active roller.

4. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 3, characterized in that, The roller elastic element is a compression spring, which is located on the side of the passive spindle away from the active roller.

5. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 3, characterized in that, The drive end also includes an opening and closing driver, the output end of which is connected to the passive spindle and is used to drive the passive spindle to slide against the resistance of the roller elastic element.

6. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 5, characterized in that, The opening and closing driver is a linear driver, and its output end is connected to a lever. One side of the lever abuts against the outer wall of the passive mandrel. When the output end of the linear driver extends, the lever pushes the passive mandrel to overcome the resistance of the roller elastic element and move it away from the active roller, so as to release the flexible wire harness device.

7. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 5 or 6, characterized in that, The drive end includes a plurality of roller drivers and at least one opening and closing driver. Each roller driver corresponds to one of the active rollers. The output end of each roller driver is connected to one of the active rollers, and the output end of each opening and closing driver is connected to one of the passive spindles.

8. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 1, characterized in that, The execution end also includes an execution end mounting base, and the conveying channel, the common outlet and the conveying mechanism are all disposed on the execution end mounting base; The passive roller is sleeved and rotatably connected to the passive spindle, and the passive spindle is slidably connected to the actuator mounting base; The driving end also includes an opening and closing driver, the output end of which is connected to the passive mandrel and is used to drive the passive mandrel to slide.

9. The conveying device for automatic replacement of various flexible wire harness instruments according to any one of claims 3, 4, 5, 6, and 8, characterized in that, The rotation axis of the active roller is parallel to the rotation axis of the passive roller, and the sliding direction of the passive spindle is perpendicular to the rotation axis of the passive roller.

10. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 1, characterized in that, The execution end also includes an execution end mounting base, and the conveying channel and the common outlet are both located on the execution end mounting base; Both the active roller and the passive roller include a hub and a flexible sleeve. The hub is rotatably connected to the actuator mounting base, and the flexible sleeve is sleeved on the hub and prevents relative rotation between the flexible sleeve and the hub through friction. The flexible sleeves in the active roller and the passive roller cooperate with each other to clamp the flexible wire harness device.

11. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 10, characterized in that, The outer wall of the hub is provided with an annular mounting groove, and the flexible sleeve is installed in the annular mounting groove.

12. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 11, characterized in that, In the same conveying mechanism, at least one of the hubs of the active roller and the passive roller has an annular groove on the bottom surface of the annular mounting groove around the hub, and the flexible sleeve covers the annular groove.

13. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 12, characterized in that, Both the hub of the active roller and the hub of the passive roller are provided with the annular groove, and the positions of the annular grooves of the two are corresponding.

14. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 10, characterized in that, The flexible sleeve is a silicone sleeve.

15. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 10, characterized in that, A passive spindle is fixed on the actuator mounting base, and the hub of the passive roller is sleeved on the passive spindle and rotatably connected to the passive spindle through a bearing.

16. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 10, characterized in that, The hub of the active roller is provided with a wedge-shaped interface at one axial end. The output end of the roller driver is matched with the wedge-shaped interface and is inserted into the wedge-shaped interface.

17. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 10, characterized in that, A bearing is connected to the outer wall of the hub in the active roller, and is rotatably connected to the actuator mounting base through the bearing.

18. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 1, characterized in that, The portion of the latch body extending out of the mounting member is rotatably connected to one end of the spring piece within the receiving groove. The other end of the spring piece rotates out of the receiving groove under the elastic force of the latch elastic member and abuts against the connecting part, pressing the mounting member tightly onto the fixing member.

19. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 18, characterized in that, The mounting component is provided with a locking hole for the locking body to pass through; the mounting component has a first surface and a second surface facing each other, the first surface is the surface of the mounting component facing the fixing component, and the second surface is provided with a transition surface between the second surface and the inner wall surface of the locking hole; The connecting portion is the second surface or the transition surface.

20. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 19, characterized in that, The connecting part is a transition surface, which is an arc surface centered on the rotation axis of the spring and the locking body; the surface on the spring that abuts against the arc surface is an abutting surface, which is a curved surface that matches the arc surface.

21. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 19, characterized in that, The locking spring is a torsion spring. The mounting component and / or the receiving groove are provided with a limiting part, which is in contact with the spring piece to limit the rotation angle of the spring piece, so as to prevent the spring piece from rotating away from the transition surface under the action of the torsion spring.

22. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 18, characterized in that, The locking structure also includes a locking button, a locking sleeve, and a locking spring; The locking button is fitted onto the portion of the locking body that extends out of the mounting piece, and the locking sleeve is fitted onto the locking button. The locking sleeve is fixedly connected to the mounting piece. The locking sleeve has a limiting surface facing the mounting component, and a locking block protrudes from the outer wall of the locking button. A locking spring is provided between the locking sleeve and the locking button, and the locking spring is used to abut the locking block against the limiting surface. Under the action of external force, the locking button overcomes the resistance of the locking spring and moves towards the mounting component. During the movement, the lower end of the locking button abuts against the side of the spring and presses the spring back into the receiving groove.

23. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 1, characterized in that, A baffle plate is provided between the drive end mounting base and the execution end mounting base, and the output end of the roller driver passes through the baffle plate and is connected to the conveying mechanism.

24. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 1, characterized in that, A sensor is installed at the common exit to detect whether a flexible wire harness device passes through the common exit.

25. The conveying device for automatic replacement of various flexible wire harness instruments according to claim 24, characterized in that, The sensor is a capacitive proximity sensor.

26. A bronchoscopic surgical robot, characterized in that, The bronchoscopic surgical robot is used to realize remote operation and control of the bronchoscope, biopsy and treatment instruments during bronchoscopic surgery, and includes a delivery device for automatic replacement of various flexible wire harness instruments as described in any one of claims 1 to 25.

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