A flexible torso

Abstract

The present application relates to a kind of flexible trunk, it solves the technical problem that flexible arm exists in the natural cavity operation robot of prior art, motion process is unstable, unreliable, poor flexibility, cannot accurately adjust the position, attitude of endoscope, it includes first steel wire, second steel wire, third steel wire, fourth steel wire, several bowl-shaped links and several cylindrical links with spherical end, bowl-shaped link is equipped with bottom circular opening and side gap, bowl-shaped link is equipped with three silk holes along the circumferential direction distribution;Cylindrical link with spherical end is equipped with cylindrical body, positioning protruding portion, the cylindrical body is equipped with center silk hole, the front end of cylindrical body is spherical end, the rear end of cylindrical body is equipped with spherical recess;Several bowl-shaped links are stacked together in sequence.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of natural orifice surgery robots, in particular to a flexible trunk. BACKGROUND

[0002] With the increasing popularity of natural orifice surgery, the requirements for medical devices related to such surgery are also increasing. Natural orifice surgery robot system uses the natural and externally connected pipeline of human body, such as stomach, vagina, urethra, colorectum, esophagus, etc., to place surgical instruments, and enters the human body by artificially transporting an endoscope, which can not only solve the damage to the inner wall of the natural orifice when the endoscope enters the human body, but also use the precision and stability of the mechanical system to improve the quality of surgery.

[0003] Referring to the published patents CN 111568552 A, CN 114668432 A and CN 114714370 A, the flexible arm in the prior art natural orifice surgery robot has the problems of unstable movement process, unreliability, poor flexibility and inability to accurately adjust the position and posture of the endoscope. SUMMARY

[0004] The present application is to solve the technical problems of the prior art natural orifice surgery robot, which has the problems of unstable movement process, unreliability, poor flexibility and inability to accurately adjust the position and posture of the endoscope, and provides a flexible trunk.

[0005] The present application adopts a special side-by-side progressive structure, one group is composed of several bowl-shaped links, and three steel wires are used to control the travel route and spatial position, mainly used to adjust the lens posture of the endoscope; the other group is composed of several cylindrical links with spherical end parts, and one steel wire is used to control the spatial position, mainly used to fix the path of the snake bone.

[0006] The application provides a flexible trunk, which comprises a first steel wire, a second steel wire, a third steel wire, a fourth steel wire, a plurality of bowl-shaped links and a plurality of cylindrical links with spherical end portions, the bowl-shaped link is provided with a bottom circular opening and a side notch, the side notch is communicated with the bottom circular opening, and the bowl-shaped link is provided with three wire holes which are uniformly distributed in the circumferential direction; the cylindrical link with the spherical end portion is provided with a cylindrical body and a positioning protruding portion, the cylindrical body is provided with a central wire hole, the front end of the cylindrical body is a spherical end portion, and the rear end of the cylindrical body is provided with a spherical recess; the plurality of bowl-shaped links are sequentially stacked together, the first steel wire, the second steel wire and the third steel wire pass through the three wire holes of each bowl-shaped link respectively, the side notches of two adjacent bowl-shaped links are aligned, one cylindrical link with the spherical end portion is arranged in each bowl-shaped link, the positioning protruding portion of the cylindrical link with the spherical end portion is located in the side notch of the bowl-shaped link, the fourth steel wire sequentially passes through the central wire holes of the plurality of cylindrical links with the spherical end portion, the plurality of cylindrical links with the spherical end portion are connected in series, and the spherical end portion of the rear cylindrical link with the spherical end portion is embedded in the spherical recess of the front cylindrical link with the spherical end portion; the front end of the fourth steel wire is fixedly connected with a fourth wire knot, and the fourth wire knot is located at the central wire hole of the frontmost cylindrical link with the spherical end portion in the flexible trunk.

[0007] The front ends of the first steel wire, the second steel wire and the third steel wire pass through the three wire holes of the frontmost bowl-shaped link in the flexible trunk, and the front ends of the first steel wire, the second steel wire and the third steel wire are fixedly connected with a first wire knot, a second wire knot and a third wire knot respectively, and the first wire knot, the second wire knot and the third wire knot are located at the three wire holes of the frontmost bowl-shaped link in the flexible trunk.

[0008] Preferably, the angle α of the side notch of the bowl-shaped link is 20°<α<50°.

[0009] Preferably, the angle α is 30°.

[0010] Preferably, the rear side of the side notch of the bowl-shaped link is provided with two rear inclined surfaces, and the front side of the side notch is provided with two front inclined surfaces.

[0011] The application has the beneficial effects that, based on a clinical operation scene, a channel cooperative multi-surgical instrument composite operation mode is realized, complex operation requirements can be coped with, complex and various surgical actions can be implemented, and clinical demands can be met.

[0012] The flexible trunk of the application is stable, reliable, high in precision, good in compliance and strong in flexibility, and can accurately adjust the position and posture of an endoscope.

[0013] The fixing of the completed path of the plurality of bowl-shaped chain links is realized by a plurality of cylindrical chain links with spherical end portions, finally making the flexible torso taut, not sagging, and stable. The rigidity of the flexible torso is controlled to a certain extent by controlling the plurality of cylindrical chain links with spherical end portions.

[0014] The power device has good stability and high reliability.

[0015] In the use process of the present application, doctors can operate the endoscope in the operation cabin to enter the human body through the colon, esophagus, urethra, stomach, vagina and the like, so as to get rid of fatigue caused by surgery on the body and errors caused by human factors. If fatigue is caused after overload surgery, the pause function of the present application can be used for short-term rest (i.e. the motor in the power box is locked to realize pause), and the scratch caused by rapid displacement of the instrument in the human body due to hand shaking or accidental touch of others during operation can also be avoided.

[0016] Further features of the present application will be clearly described in the following detailed description of the embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is an isometric view of the side-by-side natural orifice surgical robot;

[0018] Figure 2 is Figure 1 is an isometric view of the side-by-side natural orifice surgical robot from the bottom view;

[0019] Figure 3 is Figure 1 is a front view of the side-by-side natural orifice surgical robot;

[0020] Figure 4 is a structural schematic view of the power device in the side-by-side natural orifice surgical robot;

[0021] Figure 5 is Figure 4 is a local enlarged view of the structure shown;

[0022] Figure 6 is Figure 4 is a layout view of the guide frame and the four winch assemblies in the structure shown;

[0023] Figure 7 is Figure 4 is a layout view of the four winch assemblies and the four rotating columns in the structure shown;

[0024] Figure 8 is a structural schematic view of the winch assembly;

[0025] Figure 9 is a structural schematic view of the winch;

[0026] Figure 10 is a schematic view of the shape of the wire wound on the capstan;

[0027] Figure 11 is an isometric view of the passive axle;

[0028] Figure 12 is an isometric view of the passive axle;

[0029] Figure 13 is a front view of the passive axle;

[0030] Figure 14 is an isometric view of the input shaft;

[0031] Figure 15 is a front view of the input shaft;

[0032] Figure 16 is an isometric view of the input shaft;

[0033] Figure 17 is a schematic view of the structure of two bowl links stacked together, two cylindrical links with spherical ends inserted into the two bowl links;

[0034] Figure 18 is a right view of the structure shown in Figure 17

[0035] is a left view of the structure shown in Figure 19 Figure 17 is an isometric view of the structure shown in

[0036] Figure 20 Figure 17 is a cross-sectional view of the structure shown in

[0037] Figure 21 is a cross-sectional view of the structure shown in Figure 17

[0038] is a cross-sectional view of the structure shown in Figure 22 Figure 17 is an isometric view of the bowl link;

[0039] Figure 23 is an isometric view of the bowl link;

[0040] Figure 24 is a right view of the bowl link;

[0041] Figure 25 is a front view of the bowl link;

[0042] Figure 26 is a left view of the bowl link;

[0043] Figure 27

[0044] ​​​​Figure 28 is an axonometric view of a bowl-shaped link;

[0045] Figure 29 is an axonometric view of a bowl-shaped link;

[0046] Figure 30 is an axonometric view of a cylindrical link with spherical end;

[0047] Figure 31 is an axonometric view of a cylindrical link with spherical end;

[0048] Figure 32 is a sectional view of a cylindrical link with spherical end;

[0049] Figure 33 is a schematic view of the structure shown in Figure 22

[0050] Figure 34 is a schematic view of the structure of a ball screw drive;

[0051] Figure 35 is a schematic view of the structure of a ball screw drive;

[0052] Figure 36 is a sectional view of the structure shown in Figure 35

[0053] Figure 37 is a layout view of the bowl-shaped link push block, the intermediate link push block;

[0054] Figure 38 Figure 37 is a front view of the structure shown in

[0055] Figure 39 is a sectional view of the structure shown in Figure 37

[0056] Figure 40 is an axonometric view of a bowl-shaped link push block;

[0057] Figure 41 is a front view of the structure shown in Figure 40

[0058] Figure 42 is a right view of the structure shown in Figure 40

[0059] Figure 43 is an axonometric view of a bowl-shaped link push block;

[0060] Figure 44 is an axonometric view of an intermediate link push block;

[0061] Figure 45 is a top view of an intermediate link push block;​​​​​

[0062] Figure 46 is an axonometric view of the intermediate link push block;

[0063] Figure 47 is a perspective view of the structure shown in Figure 46

[0064] Figure 48 is an axonometric view of the intermediate link push block;

[0065] Figure 49 is a schematic view of the structure of the connection of the endoscope mounting tube to the front end of the flexible trunk;

[0066] Figure 50 is a perspective view of the structure shown in Figure 49

[0067] Figure 51 is a schematic view of the structure of the endoscope mounting tube, where figure (a) is an axonometric view of the endoscope mounting tube, figure (b) is an axonometric view of the endoscope mounting tube from another perspective, figure (c) is an axonometric view of the endoscope mounting tube from another perspective;

[0068] Figure 52 is a schematic view of the structure of the endoscope mounting tube, where figure (a) is an axonometric view of the endoscope mounting tube, figure (b) is an axonometric view of the endoscope mounting tube from another perspective, figure (c) is a longitudinal section view of the endoscope mounting tube, figure (d) is a section view in the direction of A-A in figure (c);

[0069] Figure 53 is a schematic view of the structure of the endoscope;

[0070] Figure 54 is a schematic view of the structure of the endoscope mounting tube with the endoscope hinge pressboard in the open position;

[0071] Figure 55 is a schematic view of the structure of the passive rotation shaft in the winch assembly being connected to the lower plate through a bearing;

[0072] Figure 56 is a schematic view of the structure of the connection of the endoscope mounting tube to the frontmost bowl-shaped link in the flexible trunk.

[0073] Explanation of symbols in the figures

[0074] ​​1. Base, 2. Flexible trunk, 205. Endoscope, 206. Instrument channel, 207. Endoscope mounting cylinder, 207-1. Window, 207-2. Pin connection seat, 207-3. Spherical groove, 207-4. Wire hole, 208. Endoscope hinge pressing plate, 209. Pin, 210. Tail pressing plate, 211. Front section pressing plate, 212. Bowl-shaped link, 212-1. Bottom circular opening, 212-2. Wire hole, 212-3. Side notch, 212-3-1. Rear inclined surface, 212-3-2. Front inclined surface, 213. Cylinder-shaped link with spherical end, 213-1. Cylinder body, 213-1-1. Center wire hole, 213-1-2. Spherical end, 213-1-3. Spherical groove, 213-2. Positioning protrusion; 3. Power device, 3-1. Upper plate, 3-2. Lower plate, 3-3. Fixed column, 3-4. Cylinder shell; 4. Winch assembly, 402. Guide frame, 403. Guide hole, 404. Rotary column sleeve, 405. Winch, 406. Wire head mounting groove, 407. Wire groove, 408. Wire knot, 409. Bearing, 410. Coupling, 411. Screw, 412. Passive rotating shaft, 413. Input shaft, 414. Spring, 415. ○-shaped rubber ring; 5. Screw rod transmission device, 501-1. First screw rod, 501-2. Second screw rod, 502-1. First guide rail, 502-2. Second guide rail, 503-1. Fixed block base one, 503-2. Fixed block base two, 504. Driven gear two, 505. Driving gear two, 506. Transmission mechanism connection seat, 507. Bearing, 508. Front bearing seat, 509. Rear bearing seat, 510. Bearing; 511. Bowl-shaped link pushing block, 511-1. Connection plate, 511-1-1. Connection hole, 511-2. Pushing plate, 511-2-1. Steel wire through hole, 511-2-2. Pushing cylinder accommodating notch; 512. Intermediate link pushing block, 512-1. Connection plate, 512-1-1. Connection hole, 512-2. Pushing plate, 512-3. Pushing cylinder, 512-3-1. Center steel wire hole; a1. First steel wire, a2. Second steel wire, a3. Third steel wire, a4. Fourth steel wire, 515. Metal wire knot, 516. Metal wire knot, 6. Trunk support frame. DETAILED DESCRIPTION

[0075] The application will be further described in detail below with specific examples with reference to the accompanying drawings.

[0076] As Figures 1-3The side-by-side progressive structure natural orifice surgery robot shown includes a base 1, a flexible trunk 2, a power device 3, a winch assembly 4, a lead screw transmission device 5, and a trunk support frame 6. Four sets of winch assemblies 4 correspond to four sets of power inputs in the external power box. The lead screw transmission device 5 corresponds to two sets of power inputs in the external power box. When the lead screw transmission device 5 is working, the endoscope can be controlled to move forward. The power device 3 can control the position of the endoscope in space.

[0077] As shown in Figure 1 , 3 , the power device 3 is mainly composed of four winch assemblies 4.

[0078] As shown in Figure 3 and 4 , the power device 3 includes an upper plate 3-1 and a lower plate 3-2. Four fixed columns 3-3 are fixedly connected with the base 1. The lower plate 3-2 is fixedly connected with the middle part of the four fixed columns 3-3. The upper plate 3-1 is fixedly connected with the top of the four fixed columns 3-3. A guide frame 402 is fixedly installed on the lower plate 3-2. The upper end of a rotating column 404 is rotationally connected with the upper plate 3-1, and the lower end of the rotating column 404 is rotationally connected with the lower plate 3-2. The rotating column 404 can rotate.

[0079] The guide frame 402 is provided with four guide holes. A first steel wire a1, a second steel wire a2, a third steel wire a3, and a fourth steel wire a4 pass through the four guide holes on the guide frame 402 respectively. Then, the first steel wire a1, the second steel wire a2, the third steel wire a3, and the fourth steel wire a4 are wound on the four winch assemblies 4 respectively after passing around the four rotating columns 404.

[0080] The steel wire changes direction through the rotating column 404, thereby facilitating winding on the winch assembly 4.

[0081] As shown in Figure 8As shown, the winch assembly 4 mainly consists of a winch 405, a bearing 409, a shaft coupling 410, a passive shaft 412, an input shaft 413, a spring 414, and an O-shaped rubber ring 415. The middle part of the winch 405 is provided with a wire slot 407, and the end face of the middle part of the winch 405 is provided with a wire head mounting slot 406. The passive shaft 412 is provided with a plug-in part 412-1, a bearing mounting part 412-2, a sleeve part 412-3, and a circular boss 412-4. The input shaft 413 is provided with a plug-in part 413-1, a disc part 413-2, and a sleeve part 413-3. The winch 405 and the passive shaft 412 are connected together through the shaft coupling, specifically, the plug-in part 412-1 of the passive shaft 412 is inserted into the lower end of the shaft coupling 410 (the D-shaped slot at the lower end of the shaft coupling 410 cooperates with the plug-in part 412-1 of the passive shaft 412), the lower end of the winch 405 is inserted into the upper end of the shaft coupling 410, and the screw 411 provided with the shaft coupling 410 is tightened to fix and connect the lower end of the winch 405 and the upper end (i.e. the plug-in part 412-1) of the passive shaft 412. The upper part of the spring 414 is sleeved on the sleeve part 412-3 of the passive shaft 412, the lower part of the spring 414 is sleeved on the plug-in part 413-1 of the input shaft 413, the plug-in part 413-1 of the input shaft 413 is inserted into the sleeve part 412-3 of the passive shaft 412 to be fixedly connected (the D-shaped slot in the sleeve part 412-3 cooperates with the plug-in part 413-1), the upper end of the spring 414 abuts against the circular boss 412-4 of the passive shaft 412, and the lower end of the spring 414 abuts against the disc part 413-2 of the input shaft 413. The upper part of the winch 405 is connected with a bearing 409, and the bearing mounting part 412-2 of the passive shaft 412 is connected with a bearing 409. The O-shaped rubber ring 415 is sleeved in the annular slot of the disc part 413-2 of the input shaft 413. The winch 405 is connected with the assembly consisting of the passive shaft 412 and the input shaft 413 through the shaft coupling, which can prevent the winch 405 from moving up and down. The D-shaped slot cooperation structure can limit the relative rotation of the shafts.

[0082] The outer ring of one of the bearings 409 is connected with the upper plate 3-1, and the outer ring of the other bearing 409 is connected with the lower plate 3-2, that is, the upper part of the winch 405 is rotatably connected with the upper plate 3-1 through the bearing 409, and the passive shaft 412 is rotatably connected with the lower plate 3-2 through the bearing 409.

[0083] There are totally four winch assemblies 4, one winch assembly 4 corresponds to one rotary column 404, and there are totally four rotary columns 404. Figure 55As shown, four cylindrical shells 3-4 are fixedly installed between the base 1 and the lower plate 3-2, the four cylindrical shells 3-4 are located below the lower plate 3-2, the sleeving part 413-3 of the input shaft 413 extends downward from the base 1, the sleeving part 413-3 of the input shaft 413 and the disc part 413-2 are located in the cylindrical shell 3-4, the sleeving part 412-3 of the passive rotating shaft 412 and the circular boss 412-4 are located in the cylindrical shell 3-4, the spring 414 is located in the cylindrical shell 3-4, and the O-shaped rubber ring 415 is squeezed between the disc part 413-2 and the inner wall of the cylindrical shell 3-4. The O-shaped rubber ring 415 can increase the rotating resistance and prevent the winch assembly 4 from rotating during transportation or handling of the robot, causing the steel wire to loosen.

[0084] When using the side-by-side progressive structure natural orifice surgery robot, the power device 3 is connected and matched with the external power box, the power box is provided with four driving motors, the rotating shaft of the driving motor is a spline shaft, the spline shaft is inserted into the sleeving part 413-3, and the spline shaft is connected with the spline groove of the sleeving part 413-3 of the input shaft 413. When the driving motor is started, the winch 405 can be rotated, and the winch 405 can be rotated to wind or unwind the steel wire. When the spline shaft of the driving motor in the power box is inserted into the sleeving part 413-3, the input shaft 413 is raised by a distance, the disc part 413-2 is separated from the O-shaped rubber ring 415, the resistance of the O-shaped rubber ring 415 disappears, and when the input shaft 413 rotates, there is a gap between the disc part 413-2 and the inner wall of the cylindrical shell 3-4.

[0085] Reference Figure 9 and 10 The first steel wire a1 is wound on the wire groove 407 of the winch 405, and a wire knot 408 is press-fitted and fixed at the rear end of the first steel wire a1. The wire knot 408 is fixed in the wire head mounting groove 406 of the winch 405.

[0086] Reference Figure 7 The four winch assemblies 4 are arranged in a rectangular layout, the four rotating columns 404 are arranged in a V-shaped layout, the V-shaped opening is close to the guide frame 402, the V-shaped tip is close to the winch, and the four rotating columns 404 are located between the four winch assemblies 4, so that the crossing of the steel wire during winding can be avoided. Combined with the layout of the four guide holes of the guide frame 402, such arrangement can further avoid the crossing of the steel wire during movement.

[0087] As shown in Figures 23-29 The bowl-shaped link 212 is provided with a bottom circular opening 212-1 and a side notch 212-3, the side notch 212-3 communicates with the bottom circular opening 212-1, and the bowl-shaped link 212 is provided with three wire holes 212-2 uniformly distributed in the circumferential direction.

[0088] As shown in Figures 30-33As shown, the cylindrical link 213 with a spherical end has a cylindrical body 213-1 and a positioning protrusion 213-2. The positioning protrusion 213-2 is connected to the side of the cylindrical body 213-1. The cylindrical body 213-1 has a central thread hole 213-1-1. The front end of the cylindrical body 213-1 is a spherical end 213-1-2. The rear end of the cylindrical body 213-1 has a spherical groove 213-1-3.

[0089] like Figures 17-22 As shown, several cup-shaped links 212 are stacked together in sequence (the front ones nested behind the back). A first steel wire, a second steel wire, and a third steel wire are passed through the three wire holes 212-2 on each cup-shaped link 212, that is, several cup-shaped links 212 are connected together by three steel wires. The side notches 212-3 of two adjacent cup-shaped links 212 are aligned. Each bowl-shaped link 212 contains a cylindrical link 213 with a spherical end. The positioning protrusion 213-2 of the cylindrical link 213 is located in the side notch 212-3 of the bowl-shaped link 212, and the cylindrical link 213 is limited and will not rotate. A fourth steel wire is passed through the central wire hole 213-1-1 of several cylindrical links 213 with spherical ends in sequence. That is, several cylindrical links 213 with spherical ends are connected in series. The spherical end 213-1-2 of the subsequent cylindrical link 213 with spherical end is embedded in the spherical groove 213-1-3 of the preceding cylindrical link 213 with spherical end.

[0090] refer to Figure 33 A metal wire knot 516 is crimped and fixed at the front end of the fourth steel wire a4. The metal wire knot 516 is located at the central wire hole 213-1-1 of the cylindrical link 213 with a spherical end at the foremost part of the flexible body, thereby positioning the front end of the fourth steel wire a4.

[0091] like Figures 40-43 As shown, the bowl-shaped link pusher block 511 is provided with a connecting plate 511-1 and a pusher plate 511-2. The connecting plate 511-1 is provided with two connecting holes 511-1-1. The middle part of the pusher plate 511-2 is provided with a pusher cylinder receiving notch 511-2-2 and three wire through holes 511-2-1. The three wire through holes 511-2-1 are located around the pusher cylinder receiving notch 511-2-2.

[0092] like Figures 44-48 As shown, the intermediate link pusher block 512 is provided with a connecting plate 512-1, a pusher plate 512-2, and a pusher cylinder 512-3. The connecting plate 512-1 is provided with two connecting holes 512-1-1. The pusher cylinder 512-3 is provided with a central wire hole 512-3-1.

[0093] The first steel wire a1, the second steel wire a2, and the third steel wire a3 pass through three steel wire through holes 511-2-1 in the bowl-shaped chain link pushing block 511 respectively, and the fourth steel wire a4 passes through a center steel wire hole 512-3-1 in the middle chain link pushing block 512.

[0094] As Figure 34As shown, the lead screw transmission device 5 includes a first lead screw 501-1, a second lead screw 501-2, a first guide rail 502-1, a second guide rail 502-2, a fixed block base one 503-1, a fixed block base two 503-2, a driven gear two 504, a driving gear two 505, a transmission mechanism connecting seat 506, a bearing 507, a bearing 510, a front bearing seat 508, a rear bearing seat 509, the front bearing seat 508 and the rear bearing seat 509 are fixedly installed on the base 1, the first guide rail 502-1 and the second guide rail 502-2 are fixedly installed on the base 1, the first guide rail 502-1 and the second guide rail 502-2 are arranged side by side, the front end of the first lead screw 501-1 is connected with the bearing in the front bearing seat 508, the rear end of the first lead screw 501-1 is connected with the bearing in the rear bearing seat 509, the front end of the second lead screw 501-2 is connected with the bearing in the front bearing seat 508, the rear end of the second lead screw 501-2 is connected with the bearing in the rear bearing seat 509; the first lead screw 501-1 can rotate under the support of the front bearing seat 508 and the rear bearing seat 509, the second lead screw 501-2 can rotate under the support of the front bearing seat 508 and the rear bearing seat 509; the fixed block base one 503-1 is provided with a first internal threaded hole, the fixed block base two 503-2 is provided with a second internal threaded hole, the fixed block base one 503-1 is sleeved on the first lead screw 501-1, the fixed block base two 503-2 is sleeved on the second lead screw 501-2, the first internal threaded hole of the fixed block base one 503-1 is connected and matched with the external thread of the first lead screw 501-1, the second internal threaded hole of the fixed block base two 503-2 is connected and matched with the external thread of the second lead screw 501-2, the fixed block base one 503-1 can translate when the first lead screw 501-1 rotates, the fixed block base two 503-2 can translate when the second lead screw 501-2 rotates. The fixed block base one 503-1 is slidably connected on the first guide rail 502-1, the fixed block base two 503-2 is slidably connected on the second guide rail 502-2. The transmission shaft one is connected with the rear end of the first lead screw 501-1, the transmission shaft two is connected with the rear end of the second lead screw 501-2, the driven gear two 504 is fixedly connected with the transmission shaft two, the driven gear one is fixedly connected with the transmission shaft one; the two ends of the driving shaft one are rotatably connected with the transmission mechanism connecting seat 506 through two bearings 507 (the bearings 507 shown in the figure are located above, the two bearings 507 are arranged above and below), the two ends of the driving shaft two are rotatably connected with the transmission mechanism connecting seat 506 through two bearings 510 (the bearings 510 shown in the figure are located above, the two bearings 510 are arranged above and below); the driving gear two 505 is fixedly connected with the driving shaft two, the driving gear one is fixedly connected with the driving shaft one; the driving gear one is engaged with the driven gear one, the driving gear two 505 is engaged with the driven gear two 504.The clockwise or counterclockwise rotation of the driving gear two 505 installed on the transmission mechanism connecting seat 506 drives the clockwise or counterclockwise rotation of the driven gear two 504, and the driven gear two 504 and the first lead screw 501-1 synchronously move through rigid connection, and the rotation of the first lead screw 501-1 can drive the fixed block base one 503-1 to advance or retreat under the guidance of the first guide rail 502-1. Similarly, the rotation of the second lead screw 501-2 can drive the fixed block base two 503-2 to advance or retreat along the second guide rail 502-2. When the robot is used, the external power box is connected to the lead screw transmission device 5, the rotating shafts of the two reduction motors in the external power box pass through the base 1, and the rotating shafts of the two reduction motors are connected with the driving shaft one and the driving shaft two respectively, and starting the two reduction motors drives the driving shaft one and the driving shaft two to rotate.

[0095] Reference Figure 36 The upper part of the fixed block base two 503-2 is provided with two connecting holes, and the upper part of the fixed block base one 503-1 is provided with two connecting holes 503-1-1. Two screws pass through the two connecting holes in the upper part of the fixed block base two 503-2 and are connected with the two connecting holes 511-1-1 in the connecting plate 511-1 of the bowl-shaped chain link pushing block 511, so that the connecting plate 511-1 of the bowl-shaped chain link pushing block 511 is fixedly connected with the upper part of the fixed block base two 503-2, and the bowl-shaped chain link pushing block 511 and the fixed block base two 503-2 are fixedly connected together. Similarly, two screws pass through the two connecting holes 503-1-1 in the upper part of the fixed block base one 503-1 and are connected with the two connecting holes 512-1-1 in the connecting plate 512-1 of the middle chain link pushing block 512, so that the connecting plate 512-1 of the middle chain link pushing block 512 is fixedly installed on the upper part of the fixed block base one 503-1, and the middle chain link pushing block 512 and the fixed block base one 503-1 are fixedly connected together.

[0096] The pushing plate 511-2 is located above the pushing plate 512-2, and the pushing cylinder 512-3 is located in the pushing cylinder containing notch 511-2-2 in the middle of the pushing plate 511-2.

[0097] As shown in Figure 51 , 52 , the side of the endoscope mounting cylinder 207 is provided with a window 207-1, the inner wall of the endoscope mounting cylinder 207 is connected with a pin connecting seat 207-2 near the window 207-1, and the rear end of the endoscope mounting cylinder 207 is provided with a spherical groove 207-3 and three wire holes 207-4 uniformly distributed in the circumferential direction.

[0098] As shown in Figures 50-54, the endoscope 205 is detachably installed in the endoscope mounting cylinder 207, specifically, the endoscope hinge pressing plate 208 is hinged with the pin connection seat 207-2 of the endoscope mounting cylinder 207 through the pin 209, the endoscope hinge pressing plate 208 is located at the window 207-1 of the endoscope mounting cylinder 207, the front segment pressing plate 211 is fixedly connected with the endoscope hinge pressing plate 208, the tail pressing plate 210 is fixedly connected with the endoscope hinge pressing plate 208, when the endoscope 205 is installed, first, the endoscope hinge pressing plate 208 is opened outward (as shown in the state of Figure 54 ), then the endoscope 205 is put into the inner cavity of the endoscope mounting cylinder 207, and then the endoscope 205 is pushed inward, the end face of the rear end of the endoscope 205 abuts against the tail pressing plate 210, the tail pressing plate 210 is forced to drive the endoscope hinge pressing plate 208 to close (as shown in the state of Figure 50 ), and the front segment pressing plate 211 is just clamped in the clamping groove 205-1 on the side of the endoscope 205, so that the endoscope 205 is fixed in the inner cavity of the endoscope mounting cylinder 207.

[0099] As shown in Figure 56 , the most front bowl-shaped link 212 in the flexible trunk is embedded in the spherical groove 207-3 at the rear end of the endoscope mounting cylinder 207, the first steel wire a1 passes through the wire hole 212-2 of the bowl-shaped link and then passes through the wire hole 207-4, a metal wire knot 515 is crimped and fixed at the front end of the first steel wire a1, and the metal wire knot 515 is located at the wire hole 207-4, so that the front end of the first steel wire a1 is positioned; similarly, the second steel wire and the third steel wire pass through two wire holes 212-2 of the bowl-shaped link respectively and then pass through other two wire holes 207-4, and metal wire knots are crimped at the front ends of the second steel wire and the third steel wire, and the metal wire knots are located at the corresponding wire holes 207-4 to realize the positioning of the front ends of the second steel wire and the third steel wire.

[0100] When the row type natural cavity operation robot is used, the power device 3 is connected and matched with the external power box. The first steel wire, the second steel wire and the third steel wire are unwound or wound by rotating the winch assembly 4, and the winding or unwinding actions of the first steel wire, the second steel wire and the third steel wire are matched to realize the omnidirectional bending of the flexible trunk (for example, the second steel wire is wound, and the first steel wire and the third steel wire are unwound, so that the flexible trunk bends to the direction of the second steel wire), so that the position adjustment of the endoscope 205 in space can be realized by the three steel wires. When the flexible trunk is bent to the desired state under the control of the three steel wires, the driving middle link pushing block 512 moves forward, and the fourth steel wire is operated to be unwound, so as to realize the fixation of the completed paths of a plurality of bowl-shaped links 212, and finally make the flexible trunk taut, not sagging, and stable.

[0101] The trunk support frame 6 is fixedly installed at the most front end of the base, and the middle part of the flexible trunk passes through the circular through hole of the trunk support frame 6, and the circular through hole supports the flexible trunk.

[0102] When it is needed to move the endoscope 205 forward, the driving bowl-shaped link pushing block 511 is driven to move forward, the pushing plate 511-2 of the bowl-shaped link pushing block 511 pushes the last bowl-shaped link 212 in the flexible trunk forward, the last bowl-shaped link 212 pushes the immediately adjacent bowl-shaped link forward, and so on, the bowl-shaped links push the bowl-shaped links in front of them to transmit force, so that the first bowl-shaped link 212 in the front of the flexible trunk pushes the endoscope mounting cylinder 207 forward, at the same time, the first steel wire, the second steel wire and the third steel wire are unwound, finally the flexible trunk as a whole moves forward, the endoscope 205 in the endoscope mounting cylinder 207 moves forward, and the endoscope 205 reaches the designated position, at this time, the middle link pushing block 512 is driven to move forward (at the same time, the fourth steel wire is unwound), the pushing plate 512-2 of the middle link pushing block 512 pushes the last cylindrical link with a spherical end in the flexible trunk forward, the last cylindrical link with a spherical end pushes the immediately adjacent cylindrical link with a spherical end forward, and so on, the cylindrical links with a spherical end push the cylindrical links with a spherical end in front of them to transmit force, so that the first cylindrical link with a spherical end in the front of the flexible trunk presses the first bowl-shaped link, at this time, the flexible trunk is stable, taut and does not sag. Next, when it is needed to make the flexible trunk as a whole retreat, the bowl-shaped link pushing block 511 and the middle link pushing block 512 are driven to move backward at the same time, and the first steel wire, the second steel wire, the third steel wire and the fourth steel wire are wound, so that the flexible trunk with the endoscope moves backward. It should be noted that another way to make the flexible trunk as a whole retreat is to first drive the middle link pushing block 512 to move backward at the same time, and then drive the bowl-shaped link pushing block 511 to move backward at the same time.

[0103] Reference Figure 27 The angle α of the side notch 212-3 of the bowl-shaped link 212 can generally be in the range of 20°<α<50°, and the optimal angle α is 30°, in which case the guiding effect of the cylindrical link with a spherical end 213 is best, and the cylindrical link with a spherical end 213 moves smoothly.

[0104] Three instrument channels 206 are installed at the front end of the endoscope mounting cylinder 207, during the operation, the surgical instrument can pass through the instrument channel 206, and the instrument channel 206 supports the surgical instrument.

[0105] It should be noted that, in order to ensure that the cylindrical link with a spherical end 213 moves more smoothly in the bowl-shaped link 212 and does not jam, the bowl-shaped link 212 can be designed as follows: Figure 24 ,25 As shown in Figs. 27 and 29, two rear inclined surfaces 212-3-1 are arranged at the rear side of the side notch 212-3 of the bowl-shaped link, and two front inclined surfaces 212-3-2 are arranged at the front side of the side notch 212-3. When the cylindrical link 213 with the spherical end portion moves forward in the channel formed by the side notches 212-3, the positioning protrusion 213-2 may occasionally deviate from the side notch 212-3 in the radial direction, in which case the positioning protrusion 213-2 can slide into the side notch 212-3 along the rear inclined surface 212-3-1, that is, the positioning protrusion 213-2 slides into the channel. Similarly, when the cylindrical link 213 with the spherical end portion moves backward in the channel formed by the side notches 212-3, the positioning protrusion 213-2 may occasionally deviate from the side notch 212-3 in the radial direction, in which case the positioning protrusion 213-2 can slide into the side notch 212-3 along the front inclined surface 212-3-2, that is, the positioning protrusion 213-2 slides into the channel. It can be seen that the arrangement of the inclined surfaces improves the reliability of the product.

[0106] The endoscope, flexible trunk, reaches the lesion through the natural cavity of the human body. During the operation, the image signal collected by the endoscope 205 is sent to the computer through wireless transmission technology. The endoscope 205 is a capsule endoscope in the prior art, which is provided with a wireless transmission module.

[0107] It should be noted that, regarding the fixing mode of the front ends of the first steel wire, the second steel wire and the third steel wire, the structure of the crimped wire knot shown in Fig. 5, that is, the front ends of the first steel wire, the second steel wire and the third steel wire pass through the wire hole 207-4 of the endoscope mounting cylinder 207 and then are crimped to form the three wire knots, can not be used. Figure 56 That is, the front ends of the first steel wire, the second steel wire and the third steel wire do not pass through the wire hole 207-4 of the endoscope mounting cylinder 207. Correspondingly, the rear end of the endoscope mounting cylinder 207 is connected to the frontmost bowl-shaped link 212 of the flexible trunk by means of glue bonding, riveting, clamping, welding, screw connection and the like.

[0108] The above description of the application and its embodiments is illustrative and not restrictive, and the embodiments shown in the drawings are only one of the embodiments of the application, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired thereby, without departing from the purpose of the application, other forms of part configuration, driving device and connection mode are not creative design and similar structure and embodiments of the technical solution, which should belong to the protection scope of the application.

Claims

1. A flexible torso, characterized in that, The application relates to a flexible trunk, which comprises a first steel wire, a second steel wire, a third steel wire, a fourth steel wire, a plurality of bowl-shaped chain links and a plurality of cylindrical chain links with spherical end portions, wherein the bowl-shaped chain links are provided with a bottom circular opening and a side notch, the side notch is communicated with the bottom circular opening, and the bowl-shaped chain links are provided with three wire holes which are uniformly distributed in the circumferential direction; the cylindrical chain links with spherical end portions are provided with a cylindrical body and a positioning protruding part, the cylindrical body is provided with a central wire hole, the front end of the cylindrical body is a spherical end portion, and the rear end of the cylindrical body is provided with a spherical recess; the plurality of bowl-shaped chain links are sequentially stacked together, the first steel wire, the second steel wire and the third steel wire respectively pass through the three wire holes of each bowl-shaped chain link, the side notches of two adjacent bowl-shaped chain links are aligned, one cylindrical chain link with a spherical end portion is arranged in each bowl-shaped chain link, the positioning protruding part of the cylindrical chain link with a spherical end portion is located in the side notch of the bowl-shaped chain link, the fourth steel wire sequentially passes through the central wire holes of the plurality of cylindrical chain links with spherical end portions, the plurality of cylindrical chain links with spherical end portions are connected in series, and the spherical end portion of the rear cylindrical chain link with a spherical end portion is embedded into the spherical recess of the front cylindrical chain link with a spherical end portion; the front end of the fourth steel wire is fixedly connected with a fourth wire knot, and the fourth wire knot is located at the central wire hole of the frontmost bowl-shaped chain link in the flexible trunk. The front ends of the first steel wire, the second steel wire and the third steel wire pass through the three wire holes of the frontmost bowl-shaped chain link in the flexible trunk, and the front ends of the first steel wire, the second steel wire and the third steel wire are respectively fixedly connected with a first wire knot, a second wire knot and a third wire knot, wherein the first wire knot, the second wire knot and the third wire knot are located at the three wire holes of the frontmost bowl-shaped chain link in the flexible trunk.

2. The flexible torso of claim 1, wherein, The angle alpha of the side notch of the bowl-shaped chain link is 30 degrees. 20°＜α＜50°。 3. The flexible torso of claim 2, wherein, The angle alpha is 30 degrees.

4. The flexible torso of claim 1, wherein, The rear side of the side notch of the bowl-shaped chain link is provided with two rear inclined surfaces, and the front side of the side notch is provided with two front inclined surfaces.

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