A multi-degree-of-freedom flexible endoscope robot for otolaryngology based on concentric tube continuum

Abstract

The present invention relates to a multi-degree-of-freedom flexible endoscope robot for otolaryngology based on a concentric tube continuum, comprising a concentric tube continuum, wherein the concentric tube continuum comprises an outer tube, an intermediate tube, an inner tube, and a camera that are nested in sequence from the outside to the inside; and further comprising a rotation control module for driving the concentric tube continuum to rotate and a linear control module for driving the concentric tube continuum to move linearly. The linear control module of the present invention transmits power to the concentric tube continuum through a screw-nut device to complete the linear motion of the concentric tube continuum; the rotation control module of the present invention transmits power to the concentric tube continuum through a synchronous pulley structure to complete the rotational motion of the concentric tube continuum. The concentric tube continuum of the present invention can realize six-degree-of-freedom motion and can complete the task of observing the internal space of the ear, nose, and throat, and has the advantages of simple and compact structure, light weight, miniaturization, high precision and accuracy.

Description

Technical Field

[0001] The present invention relates to the field of endoscope robots, and in particular to a multi-degree-of-freedom flexible endoscope robot specially used for otolaryngology based on a concentric tube continuum. Background Art

[0002] Minimally invasive surgery can achieve the same results as traditional surgery with minimal incision. However, entering the body through small entry points and navigating tortuous paths around obstacles to reach the surgical site requires surgical tools with high dexterity.

[0003] Endoscopic robots are part of the medical robotics field. With the continuous advancement of medicine, the requirements for medical devices are also increasing. Currently, medical devices are continuously developing towards miniaturization and intelligence, especially for minimally invasive surgeries such as those on the ear, nose, and throat, which require traversing the narrow and complex spaces of the ear, nose, and throat and adjacent tissues and organs. To minimize damage to the human body, high requirements are placed on the size, structure, and flexibility of the endoscope. Traditional endoscopes are rigid structures, consisting of a rigid straight rod connecting the lens. They are large, have a simple structure, and a single angle, making them unable to achieve bending adjustments at specific angles. Furthermore, traditional rigid endoscopes have a high overall rigidity, making them susceptible to external factors such as vibration during prolonged surgeries. Their rigid motion characteristics can easily cause damage to micro-wounds on the human body surface and internal tissues and organs.

[0004] The flexible endoscopic robot for otolaryngology is a type of surgical robot. It is essentially an operating table operated by a doctor who uses a robotic arm to perform surgery. Currently, endoscopic robots suffer from insufficient degrees of freedom and high control difficulty. This insufficient number of degrees of freedom prevents the concentric tube structure carrying the endoscope from flexibly and accurately moving to the designated position within the narrow and complex ENT space and adjusting its posture to complete the imaging task. The high control difficulty makes it easy for the robot to cause secondary damage to fragile tissues in the human body, so it is necessary to design a new type of multi-degree-of-freedom flexible endoscopic robot for otolaryngology. Summary of the Invention

[0005] The purpose of the present invention is to provide a multi-degree-of-freedom flexible endoscopic robot for otolaryngology based on a concentric tube continuum. The concentric tube continuum of the robot has six degrees of freedom of posture change, which can reduce the difficulty of inspection, increase safety and other functions. At the same time, it has the characteristics of compact structure, precision and flexibility, and high intelligence.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: comprising a concentric tube continuum, the concentric tube continuum comprising an outer tube, an intermediate tube, an inner tube, and a camera nested in sequence from the outside to the inside, the outer tube, the intermediate tube, and the inner tube being concentrically arranged with a gap between adjacent tubes; the outer tube, the intermediate tube, and the inner tube each comprising a straight tube section and a curved tube section arranged in sequence;

[0007] The cam is a gear train that is adapted to rotate the gear train and to provide a means for rotating the gear train to actuate the cam, wherein the cam is adapted to rotate the gear train to actuate the cam and to provide a means for rotating the gear train.

[0008] The cam is secured to a position 400 meters tall and has a camming element for securing the camming element to a predetermined position and a control element for controlling the movement of the camming element.

[0009] The concentric tube continuum and the aforementioned rotation control modules and linear control modules are all arranged in a shell, and a hole for the concentric tube continuum to pass through is provided on the top cover of the shell.

[0010] The outer tube, the middle tube and the inner tube are all nickel-titanium alloy tubes, and the bending stiffness of the outer tube, the middle tube and the inner tube decreases in sequence.

[0011] The end of the first drive motor is connected to a first encoder, the output end of the first drive motor is connected to a first planetary gearbox, the output shaft of the first planetary gearbox is coaxially connected to the driving pulley, and the intermediate pulley is connected to the driving pulley through a synchronous belt.

[0012] The end of the second drive motor is connected to a second encoder, the output end of the second drive motor is connected to a second planetary gearbox, and the output shaft of the second planetary gearbox is coaxially connected to the lead screw through an elastic coupling.

[0013] The first traction plate, the second traction plate and the third traction plate are respectively provided with a grating head, which is fixed to the edge of the corresponding traction plate through a grating bracket, and the grating ruler matched with the grating head is fixed inside the shell. The grating head and the grating ruler are matched to detect the linear displacement of the outer tube, the middle tube or the inner tube.

[0014] The first traction plate, the second traction plate and the third traction plate are also respectively provided with a magnetic grid head, which is fixed to the side of the intermediate pulley through a magnetic grid bracket, and the bushing is pasted with a magnetic grid scale that matches the magnetic grid head along its circumference. The magnetic grid head and the magnetic grid scale are used to detect the rotational displacement of the outer tube, the intermediate tube or the inner tube.

[0015] The shell includes a front end cover, a first shell, a second shell and a rear end cover which are arranged and connected in sequence. The front end cover is provided with a hole for the concentric tube continuum to pass through. The first traction plate, the second traction plate and the third traction plate are located in the first shell, and a guide light rod connecting the three is provided between the first traction plate, the second traction plate and the third traction plate. The guide light rods are evenly distributed in three groups along the circumference of the traction plate. The first linear control module, the second linear control module and the third linear control module are located in the second shell, and the guide rail seat is fixed on the inner wall of the second shell. The fixing surface of the guide rail seat is an arc surface that matches the inner wall of the second shell. A fixing bracket is also provided on the first shell.

[0016] As can be seen from the above technical solution, the first drive motor of the present invention transmits power to the concentric tube continuum via a pulley transmission, and the second drive motor transmits power to each traction plate via a lead screw and nut transmission. The present invention uses three sets of second drive motors to control three sets of linear control modules, which transmit power to the lead screws, which transmit power to each concentric tube via the traction plates and guide rails, completing the linear motion of the concentric tubes. Simultaneously, three sets of first drive motors control three sets of rotational control modules, which transmit power to each traction plate via a synchronous pulley structure, driving each concentric tube to complete rotational motion. The concentric tube continuum of the present invention can achieve six degrees of freedom motion, capable of completing the task of observing the internal space of the ear, nose and throat, and has the advantages of simple and compact structure, lightweight, miniaturization, high precision and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention.

[0018] Figure 2 It is a schematic diagram of the internal structure of the present invention after removing the shell.

[0019] Figure 3 It is a schematic structural diagram of the present invention after removing the front end cover.

[0020] Figure 4 It is a structural schematic diagram of the shell of the present invention.

[0021] Figure 5 It is a structural diagram of the linear control module of the present invention.

[0022] Figure 6 It is a structural diagram of the rotation control module of the present invention.

[0023] Figure 7 It is a structural schematic diagram of the concentric tube continuum of the present invention.

[0024] Figure 8 It is a schematic diagram of the exploded structure of the concentric tube continuum of the present invention.

[0025] Figure 9 It is a structural diagram of the first linear control module of the present invention.

[0026] Figure 10 It is a structural diagram of the first rotation control module of the present invention.

[0027] Figure 11 It is a schematic diagram of the exploded structure of the first rotation control module of the present invention.

[0028] The symbols in the above drawings are: concentric tube continuum 1, outer tube 11, intermediate tube 12, inner tube 13, camera 14, first rotation control module 2, intermediate pulley 21, first drive motor 22, bushing 23, first encoder 24, first planetary gearbox 25, active pulley 26, synchronous belt 27, second rotation control module 3, third rotation control module 4, first linear control module 5, screw 51, second drive motor 52, second encoder 521, nut seat 53, rear screw seat 54, front screw seat 55 , fixed block 551, slider 56, guide rail 57, guide rail seat 58, second planetary gear box 59, elastic coupling 591, second linear control module 6, third linear control module 7, housing 8, first traction plate 81, second traction plate 82, third traction plate 83, front end cover 84, hole 841, first housing 85, second housing 86, rear end cover 87, guide light rod 88, fixed bracket 89, grating head 91, grating scale 92, grating bracket 93, magnetic grating head 94, magnetic grating scale 95, magnetic grating bracket 96. DETAILED DESCRIPTION

[0029] The present invention will be further described below with reference to the accompanying drawings:

[0030] like Figure 1 、 Figure 2 The multi-degree-of-freedom flexible endoscope robot for ENT based on a concentric tube continuum is shown, comprising a concentric tube continuum 1, which comprises an outer tube 11, an intermediate tube 12, an inner tube 13 and a camera 14 nested in sequence from the outside to the inside. The outer tube 11, the intermediate tube 12 and the inner tube 13 are concentrically arranged with a gap between adjacent tubes, as shown in FIG. Figure 7 、 Figure 8 As shown. In this embodiment, the outer tube 11, the intermediate tube 12, and the inner tube 13 are all nickel-titanium alloy tubes, and the bending stiffness of the outer tube 11, the intermediate tube 12, and the inner tube 13 decreases in sequence. Furthermore, in this embodiment, the outer tube 11, the intermediate tube 12, and the inner tube 13 each include a straight tube section and a curved tube section arranged in sequence, and the curved tube section has a certain initial angle. More specifically, the length of the outer tube 11 is less than the length of the intermediate tube 12, which is less than the length of the inner tube 13. That is, the ends of the intermediate tube 12 are exposed outside the outer tube 11, and the ends of the inner tube 13 are exposed outside the intermediate tube 12. The straight tube sections and curved tube sections of the outer tube 11, the intermediate tube 12, and the inner tube 13 each partially overlap. The outer tube 11, the intermediate tube 12, and the inner tube 13 each have two degrees of freedom: a linear degree of freedom for movement along the axis and a rotational degree of freedom for movement around the axis. By changing the relative position of two of the component tubes, the bending motion of the entire concentric tube continuum can be controlled to achieve a desired spatial posture.

[0031] The robot also includes a first rotation control module 2 for driving the outer tube 11 to rotate, a second rotation control module 3 for driving the intermediate tube 12 to rotate, a third rotation control module 4 for driving the inner tube 13 to rotate, a first linear control module 5 for driving the outer tube 11 to move linearly, a second linear control module 6 for driving the intermediate tube 12 to move linearly, and a third linear control module 7 for driving the inner tube 13 to move linearly. The concentric tube continuum 1 and the above-mentioned rotation control modules and linear control modules are all arranged in a shell 8.

[0032] Further, such as Figure 4 As shown, the shell 8 includes a front end cover 84, a first shell 85, a second shell 86 and a rear end cover 87 which are arranged and connected in sequence. The front end cover 84 is provided with a hole 841 for the concentric tube continuum 1 to pass through. The first traction plate 81, the second traction plate 82 and the third traction plate 83 are located in the first shell 85, and a guide light rod 88 connecting the first traction plate 81, the second traction plate 82 and the third traction plate 83 is provided between the three traction plates. The guide light rods 88 are evenly distributed in three groups along the circumference of the traction plate; the first linear control module 5, the second linear control module 6 and the third linear control module 7 are located in the second shell 86, and the guide rail seat 58 is fixed on the inner wall of the second shell 86. The fixing surface of the guide rail seat 58 is an arc surface that matches the inner wall of the second shell 86. A fixing bracket 89 is also provided on the first shell 85, and the fixing bracket 89 can be connected to the 7-degree-of-freedom Franka robot arm by screws.

[0033] Further, such as Figure 3 、 Figure 6 、 Figure 10 、 Figure 11 As shown, the first rotation control module 2, the second rotation control module 3, and the third rotation control module 4 have the same structure, and each includes an intermediate pulley 21, a first drive motor 22 for driving the intermediate pulley 21 to rotate, and a bushing 23 fixed on the intermediate pulley 21. The end of the first drive motor 22 is connected to a first encoder 24, and the output end of the first drive motor 22 is connected to a first planetary gearbox 25. The output shaft of the first planetary gearbox 25 is coaxially connected to the driving pulley 26, and the intermediate pulley 21 is connected to the driving pulley 26 through a synchronous belt 27. Among them: the intermediate pulley 21 in the first rotation control module 2 is fixed at the center of the first traction plate 81, and the bushing 23 in the first rotation control module 2 is connected to the straight pipe section of the outer tube 11; the intermediate pulley 21 in the second rotation control module 3 is fixed at the center of the second traction plate 82, and the bushing 23 in the second rotation control module 3 is connected to the straight pipe section of the intermediate tube 12; the intermediate pulley 21 in the third rotation control module 4 is fixed at the center of the third traction plate 83, and the bushing 23 in the third rotation control module 4 is connected to the straight pipe section of the inner tube 13; the first traction plate 81, the second traction plate 82 and the third traction plate 83 are arranged in parallel and concentrically in sequence.

[0034] Furthermore, a magnetic grating head 94 is respectively provided on the first traction plate 81, the second traction plate 82 and the third traction plate 83. The magnetic grating head 94 is fixed to the side of the intermediate pulley 21 through a magnetic grating bracket 96, and the bushing 23 is pasted with a magnetic grating scale 95 that cooperates with the magnetic grating head 94 along its circumference. The magnetic grating head 94 cooperates with the magnetic grating scale 95 to detect the rotational displacement of the outer tube 11, the intermediate tube 12 or the inner tube 13.

[0035] The structure and principle of the first rotation control module 2 are described below as follows:

[0036] like Figure 10 、 Figure 11 As shown, a central axis is provided at the center of the first traction plate 81, and an intermediate pulley 21 is assembled concentrically with the central axis. The intermediate pulley 21 is connected to the driving pulley 26 via a synchronous belt 27. The bushing 23 is fixed in the mounting hole of the intermediate pulley 21. Specifically, the lower end of the bushing 23 is slotted and inserted into the mounting hole of the intermediate pulley 21 and fastened by screws. The outer tube 11 is inserted into the inner hole of the bushing 23, and the inner hole diameter matches the outer diameter of the outer tube 11. At the same time, a through hole matching the outer diameter of the outer tube 11 is also provided at the center of the first traction plate 81. This through hole serves as a movement space for the outer tube 11 during linear displacement. At the same time, the intermediate tube 12 also passes through this through hole to form a nested connection with the outer tube 11. Preferably, in this embodiment, the driving pulley 26 and the intermediate pulley 21 are of the same model and size.

[0037] During operation, the first motor 22, coupled to the associated first planetary gearbox 25, drives the driving pulley 26, which in turn rotates the center pulley 21. This causes the outer tube 11, connected to the bushing 23 on the center pulley 21, to rotate synchronously. Because the outer tube 11 has the highest bending stiffness, the curved sections of the intermediate tube 12 and inner tube 13 that overlap with the outer tube 11 passively change their bending angles as the outer tube 11 rotates. Similarly, when the inner tube 13 rotates, because its bending stiffness is the lowest, the curved sections of the inner tube 13 that overlap with the outer tube 11 and intermediate tube 12 passively change their bending angles in accordance with the current bending shapes of the outer tube 11 and intermediate tube 12. When the intermediate tube 12 rotates, the curved sections of the intermediate tube 12 that overlap with the outer tube 11 passively change their bending angles in accordance with the current bending angle of the outer tube 11, and the curved sections of the inner tube 13 that overlap with the intermediate tube 12 also passively change their bending angles.

[0038] Further, such as Figure 5 、 Figure 9As shown, the first linear control module 5, the second linear control module 6, and the third linear control module 7 have the same structure, and each includes a screw 51, a second drive motor 52 for driving the screw 51 to rotate, and a nut seat 53 that cooperates with the screw 51. The end of the second drive motor 52 is connected to a second encoder 521, and the output end of the second drive motor 52 is connected to the second planetary gear box 59. The output shaft of the second planetary gear box 59 is coaxially connected to the screw 51 through an elastic coupling 591. The two ends of the screw 51 are respectively provided with a rear screw seat 54 and a front screw seat 55. The front screw seat 55 is connected to the fixed block 551, and the fixed block 551 is connected to the guide rail 57 through a slider 56. The guide rail 57 is fixed to the inside of the housing 8 through a guide rail seat 58. The screw 51 and the guide rail 57 are both arranged along the axial direction of the concentric tube continuum 1. Among them: the nut seat in the first linear control module 5 is fixed to the first traction plate 81, and the rear screw seat in the first linear control module 5 is fixed to the end of the first shell; the nut seat in the second linear control module 6 is fixed to the second traction plate 82, and the rear screw seat in the second linear control module 6 is fixed to the first traction plate 81; the nut seat in the third linear control module 7 is fixed to the third traction plate 83, and the rear screw seat in the third linear control module 7 is fixed to the second traction plate 82.

[0039] Furthermore, a grating head 91 is respectively provided on the first traction plate 81, the second traction plate 82 and the third traction plate 83. The grating head 91 is fixed to the edge of the corresponding traction plate through a grating bracket 93. A grating scale 92 that cooperates with the grating head 91 is fixed inside the housing 8. The grating head 91 and the grating scale 92 cooperate to detect the linear displacement of the outer tube 11, the intermediate tube 12 or the inner tube 13.

[0040] The structure and principle of the first linear control module 5 are described below as follows:

[0041] The second drive motor 52 is coupled to a matching second planetary gearbox 59. The output shaft of the second planetary gearbox 59 is connected to the lead screw 51 via an elastic coupling 591. The lead screw 51 passes through the front lead screw seat 55, which in turn passes through the fixed block 551. The lead screw 51, the front lead screw seat 55, and the fixed block 551 are coaxially assembled. The second drive motor 52 and the elastic coupling 591 are all fixed to the fixed block 551. The fixed block 551 slides linearly on the guide rail 57 via a slider 56. In this embodiment, the front lead screw seat 55 refers to the end closest to the second drive motor 52, and the rear lead screw seat 54 refers to the end farther from the second drive motor 52.

[0042] During operation, the second drive motor 52 drives the screw 51 to rotate, thereby driving the first traction plate 81 to move along the axial direction of the guide light rod 88 through the nut seat 53 that cooperates with the screw 51 to form a screw nut. At this time, the outer tube 11 fixed on the first traction plate 81 is synchronously displaced linearly. Since the rear screw seat in the second linear control module 6 is fixed to the first traction plate 81, when the first traction plate 81 is linearly displaced, the rear screw seat 54 in the second linear control module 6 will drive the slider 56 to move along the direction defined by the guide rail 57, thereby causing the second traction plate 82 to move synchronously, driving the intermediate tube 12 on the second traction plate 82 to move linearly synchronously. Because the rear screw seat in the third linear control module 7 is connected to the second traction plate 82, when the second traction plate 82 moves, the third traction plate 83 will also slide along the guide rail, driving the inner tube 13 on the third traction plate 83 to move linearly synchronously. That is, when the outer tube 11 undergoes linear displacement, the intermediate tube 12 and the inner tube 13 will also move linearly synchronously. Similarly, when the leadscrew of the second rotary control module 3 rotates, it drives the second traction plate 82, via the nut seat, to move axially along the guide light rod 88. The rear leadscrew seat of the third linear control module 7, which is fixed to the second traction plate 82, slides along the guide rail, causing the third traction plate 83 to synchronously move, driving the inner tube 13 on the third traction plate 83 to synchronously move linearly. This means that when the intermediate tube 12 linearly moves, the inner tube 13 also moves linearly. Similarly, when the leadscrew of the third rotary control module 4 rotates, it only drives the third traction plate 83 to synchronously move, meaning that only the inner tube 13 linearly moves.

[0043] The beneficial effects of the present invention are:

[0044] (1) The outer tube, the middle tube, and the inner tube in the concentric tube continuum of the present invention each have two degrees of freedom: one is the linear freedom of movement along the axis, and the other is the rotational freedom of movement around the axis. The bending motion of the concentric tube continuum as a whole can be controlled by changing the relative positions of the two constituent tubes to achieve the desired spatial posture.

[0045] (2) The present invention uses six motors to drive the endoscope robot to solve the problem of difficulty in direct intervention due to the narrow cavity and curved path of the human ear, nose and throat organs, and can complete the important tasks of observing the lesion site and taking pathological samples.

[0046] (3) The flexible endoscope robot of the present invention has 6 degrees of freedom and is based on a concentric tube continuum configuration, and is flexible in movement while achieving a small size, high reliability and accuracy.

[0047] (4) The present invention realizes the linear nesting motion of concentric tubes through the slider guide structure and the screw structure. When the outer tube moves linearly, it can drive the inner tube to move linearly synchronously. The inner tube can move linearly independently, which greatly improves the mileage range and flexibility of the linear motion.

[0048] (5) The present invention can carry an actuator such as an endoscope or surgical forceps at the end of the concentric tube to achieve observation or sampling tasks.

[0049] (6) The present invention can be installed on a Franka or other robotic arm with 7 degrees of freedom through a bracket to increase the robot's degree of freedom. The entire robot can be placed on a cart to achieve adjustment of the robot's overall spatial posture and position.

[0050] The embodiments described above are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A multi-degree-of-freedom flexible endoscope robot for otolaryngology based on a concentric tube continuum, characterized by: The invention comprises a concentric tube continuum (1), wherein the concentric tube continuum (1) comprises an outer tube (11), an intermediate tube (12), an inner tube (13) and a camera (14) which are nested in sequence from the outside to the inside, wherein the outer tube (11), the intermediate tube (12) and the inner tube (13) are concentrically arranged with a gap between adjacent tubes; and the outer tube (11), the intermediate tube (12) and the inner tube (13) each comprise a straight tube section and a curved tube section which are arranged in sequence; The invention also includes a first rotation control module (2) for driving the outer tube (11) to rotate, a second rotation control module (3) for driving the intermediate tube (12) to rotate, and a third rotation control module (4) for driving the inner tube (13) to rotate. The first rotation control module (2), the second rotation control module (3), and the third rotation control module (4) have the same structure and each includes an intermediate pulley (21), a first drive motor (22) for driving the intermediate pulley (21) to rotate, and a bushing (23) fixed on the intermediate pulley (21). The intermediate pulley (21) in the first rotation control module (2) is fixed at the center of the first traction plate (81). The bushing (23) in the first rotation control module (2) is connected to the straight pipe section of the outer tube (11); the intermediate pulley (21) in the second rotation control module (3) is fixed at the center of the second traction plate (82), and the bushing (23) in the second rotation control module (3) is connected to the straight pipe section of the intermediate tube (12); the intermediate pulley (21) in the third rotation control module (4) is fixed at the center of the third traction plate (83), and the bushing (23) in the third rotation control module (4) is connected to the straight pipe section of the inner tube (13); the first traction plate (81), the second traction plate (82) and the third traction plate (83) are sequentially arranged in parallel and concentrically; The invention also includes a first linear control module (5) for driving the outer tube (11) to move linearly, a second linear control module (6) for driving the intermediate tube (12) to move linearly, and a third linear control module (7) for driving the inner tube (13) to move linearly. The first linear control module (5), the second linear control module (6), and the third linear control module (7) have the same structure and each includes a lead screw (51), a second drive motor (52) for driving the lead screw (51) to rotate, and a nut seat (53) matched with the lead screw (51). The two ends of the lead screw (51) are respectively provided with a rear lead screw seat (54) and a front lead screw seat (55). The front lead screw seat (55) is connected to a fixed block (551). The fixed block (551) is connected to the guide rail (51) through a slider (56). 57), the guide rail (57) is fixed inside the housing (8) through the guide rail seat (58), and the screw (51) and the guide rail (57) are arranged along the axial direction of the concentric tube continuum (1), wherein: the nut seat in the first linear control module (5) is fixed to the first traction plate (81), and the rear screw seat in the first linear control module (5) is fixed to the end of the first housing; the nut seat in the second linear control module (6) is fixed to the second traction plate (82), and the rear screw seat in the second linear control module (6) is fixed to the first traction plate (81); the nut seat in the third linear control module (7) is fixed to the third traction plate (83), and the rear screw seat in the third linear control module (7) is fixed to the second traction plate (82); The concentric tube continuum (1) and the aforementioned rotation control modules and linear control modules are all arranged in a housing (8), and a hole for the concentric tube continuum (1) to pass through is provided on the front end cover of the housing (8).

2. The multi-degree-of-freedom flexible endoscope robot for ENT based on a concentric tube continuum according to claim 1, characterized in that: The outer tube (11), the middle tube (12), and the inner tube (13) are all nickel-titanium alloy tubes, and the bending stiffness of the outer tube (11), the middle tube (12), and the inner tube (13) decreases in sequence.

3. The multi-degree-of-freedom flexible endoscope robot for ENT based on a concentric tube continuum according to claim 1, characterized in that: The end of the first drive motor (22) is connected to a first encoder (24), the output end of the first drive motor (22) is connected to a first planetary gearbox (25), the output shaft of the first planetary gearbox (25) is coaxially connected to the driving pulley (26), and the intermediate pulley (21) is connected to the driving pulley (26) via a synchronous belt (27).

4. The multi-degree-of-freedom flexible endoscope robot for ENT based on a concentric tube continuum according to claim 1, characterized in that: The end of the second drive motor (52) is connected to a second encoder (521), the output end of the second drive motor (52) is connected to a second planetary gearbox (59), and the output shaft of the second planetary gearbox (59) is coaxially connected to the lead screw (51) via an elastic coupling (591).

5. The multi-degree-of-freedom flexible endoscope robot for ENT based on a concentric tube continuum according to claim 1, characterized in that: The first traction plate (81), the second traction plate (82) and the third traction plate (83) are respectively provided with a grating head (91), the grating head (91) is fixed to the edge of the corresponding traction plate through a grating bracket (93), and a grating ruler (92) matched with the grating head (91) is fixed inside the housing (8). The grating head (91) and the grating ruler (92) are matched to detect the linear displacement of the outer tube (11), the intermediate tube (12) or the inner tube (13).

6. The multi-degree-of-freedom flexible endoscope robot for ENT based on a concentric tube continuum according to claim 1, characterized in that: The first traction plate (81), the second traction plate (82) and the third traction plate (83) are respectively provided with a magnetic grid head (94). The magnetic grid head (94) is fixed to the side of the intermediate pulley (21) through a magnetic grid bracket (96), and the bushing (23) is adhered with a magnetic grid scale (95) that matches the magnetic grid head (94) along its circumference. The magnetic grid head (94) and the magnetic grid scale (95) are matched to detect the rotational displacement of the outer tube (11), the intermediate tube (12) or the inner tube (13).

7. The multi-degree-of-freedom flexible endoscope robot for ENT based on a concentric tube continuum according to claim 1, characterized in that: The housing (8) comprises a front end cover (84), a first housing (85), a second housing (86) and a rear end cover (87) which are sequentially arranged and connected. The front end cover (84) is provided with a hole (841) for the concentric tube continuum (1) to pass through. The first traction plate (81), the second traction plate (82) and the third traction plate (83) are located in the first housing (85), and a guide light rod (88) connecting the first traction plate (81), the second traction plate (82) and the third traction plate (83) is provided between the first traction plate (81), the second traction plate (82) and the third traction plate (83). The guide light rod (88) is evenly distributed in three groups along the circumference of the traction plate. The first linear control module (5), the second linear control module (6) and the third linear control module (7) are located in the second housing (86), and the guide rail seat (58) is fixed on the inner wall of the second housing (86). The fixing surface of the guide rail seat (58) is an arc surface that matches the inner wall of the second housing (86). The first housing (85) is also provided with a fixing bracket (89).

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