Detachable continuum robot for lung intervention

Abstract

This application relates to a detachable continuum robot for pulmonary intervention, comprising an overall pushing assembly, a wire driving assembly slidably connected above the overall pushing assembly, a detachable continuum module connected to the wire driving assembly via a detachable structure, and an end-effector manipulator connected to the end of the detachable continuum module. The detachable continuum module is equipped with multiple guidewires that bend the tail end of the end-effector manipulator. One end of each guidewire is connected to the detachable continuum module, and the other end is connected to the tail end of the end-effector manipulator. This application improves the accuracy of the continuum and solves the problem of insufficient degrees of freedom in traditional bronchoscopes.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to a detachable continuum robot for pulmonary intervention. Background Technology

[0002] Lung cancer is currently the leading cause of cancer death, seriously impacting the lives and health of the public. Wire-driven continuum robots have wide applications in the examination of human natural cavities.

[0003] Regarding the aforementioned technologies, the inventors believe that traditional continuum robots have poor degrees of freedom, making it difficult to perform targeted and precise control of the bronchi. Summary of the Invention

[0004] To improve the accuracy of the continuum and address the issue of insufficient degrees of freedom in traditional bronchoscopy, this application provides a detachable continuum robot for pulmonary intervention.

[0005] The detachable continuum robot for lung intervention provided in this application adopts the following technical solution:

[0006] A detachable continuous robot for lung intervention includes an overall pushing assembly, a wire driving assembly slidably connected above the overall pushing assembly, a detachable continuous module connected to the wire driving assembly via a detachable structure, an end-effector manipulator connected to the end of the detachable continuous module, and multiple guide wires on the detachable continuous module that drive the tail end of the end-effector manipulator to bend. One end of each guide wire is connected to the detachable continuous module, and the other end of each guide wire is connected to the tail end of the end-effector manipulator.

[0007] By adopting the above technical solution, the overall pushing component drives the wire driving component to move along the length direction, and the wire driving component can drive the guidewire to move, so that multiple guidewires can move asynchronously according to different needs, causing the tail end of the end continuum manipulator to bend, which facilitates navigation and delivery operations. It moves in the bronchus, and after reaching the position, the biopsy instrument is inserted. Furthermore, the set detachable continuum module makes it easy to disinfect and replace the flexible segment that enters the human body, improves the accuracy of the continuum, and solves the problem of insufficient freedom of traditional bronchoscopes.

[0008] Optionally, the overall pushing assembly includes a pushing base, with a driving wheel and a driven wheel rotatably connected to the ends of the pushing base, the driving wheel and the driven wheel being connected relative to each other by a timing belt, a first driving member that drives the driving wheel to rotate on the pushing base, a pushing slide plate that is slidably connected inside the pushing base, the timing belt driving the pushing slide plate to move relative to each other, and the pushing slide plate being fixed relative to the wire driving assembly.

[0009] By adopting the above technical solution, the first driving component drives the active wheel to rotate, and the active wheel drives the synchronous belt to rotate. The passive wheel rotates under the drive of the synchronous belt, and then the synchronous belt drives the push slide plate on the push base to move along the length direction.

[0010] Optionally, a clamping block is connected to the push slide plate, and a clamping wall is vertically arranged on the push slide plate relative to the clamping block. One side of the synchronous belt is located between the clamping block and the clamping wall. When the clamping block is inserted and fixed on the push slide plate, the clamping block clamps and fixes the synchronous belt and the clamping wall relative to each other, and the synchronous belt drives the clamping block and the clamping wall to move synchronously.

[0011] Optionally, a front bracket is fixedly connected to the rear end of the push base, and the front bracket is opposite to the push slide.

[0012] By adopting the above technical solution, the front bracket is used to limit the movement of the push plate, thereby reducing the possibility of the push plate moving too far.

[0013] Optionally, the lead screw drive assembly includes a motor frame, inside which a lead screw is arranged along the length direction, and multiple lead screws are arranged along the width direction. A second drive component for driving the lead screw to rotate is provided on one side of the motor frame. A slider bracket is threadedly connected to the lead screw, and a feedback component connected to the drive structure is provided on the slider bracket.

[0014] By adopting the above technical solution, the second driving component drives the lead screw to rotate, and the lead screw drives the slider bracket to move along the axis of the lead screw, thereby enabling the slider bracket to drive the feedback component to move.

[0015] Optionally, the feedback component includes a force sensor fixedly connected to the slider bracket, and the detachable continuum module is provided with a guide rod relative to the position of the force sensor.

[0016] By adopting the above technical solution, the force sensor drives the guide rod to move, and the guide rod and guide wire generate feedback to the force sensor, which can measure the tension of the guide wire.

[0017] Optionally, the detachable continuum module includes a rear end support, the guide rod is located inside the rear end support and slides relative to it, the guide wire is fixed on the guide rod, and the tail end of the guide wire is connected to the end continuum manipulator. The end continuum manipulator is bent by the different displacements of multiple guide wires.

[0018] By adopting the above technical solution, the guide rod is moved by the lead screw, and the guide rod moves the guide wire. According to the different moving speeds of multiple different guide wires, the position of the end continuum manipulator connected to the guide wire is bent.

[0019] Optionally, the disassembly structure includes a cover fixed on the motor frame, a limit post horizontally fixed on the rear support relative to the position of the cover, a limit hole opened on the cover relative to the position of the limit post, the limit post being able to extend into the interior of the limit hole, and a locking component rotatably connected to one end of the guide seat opposite to the limit post, the locking component being able to lock the rear support and the cover.

[0020] By adopting the above technical solution, the limiting post located on the rear support is horizontally inserted into the limiting hole, so that the limiting post can restrict the movement of the rear support in the vertical direction, and the locking structure opposite to the end of the limiting post restricts the movement of the rear support in the horizontal direction, thereby locking the rear support and the cover.

[0021] Optionally, a guide seat is fixedly connected inside the rear support. The guide seat has a horizontally opened guide groove relative to the position of the guide rod. The guide rod is located inside the guide groove and slides relative to it. Multiple light columns for adjusting the movement direction of the guide wire are vertically arranged inside the rear support. The light columns abut against and slide with the guide wire.

[0022] Optionally, the locking assembly includes a vertically arranged limiting pin, a limiting groove is formed on the rear support relative to the limiting pin, the limiting pin slides relative to the limiting groove, an elastic element is sleeved on the limiting pin, one end of the elastic element abuts against the rear support, the other end of the elastic element is fixed to the limiting pin, and a locking groove is vertically formed on the cover relative to the limiting groove, the bottom end of the limiting pin can extend into the locking groove.

[0023] Optionally, the guide seat is horizontally provided with a guide bushing inside the guide groove, and the guide rod is located inside the guide bushing and is slidably connected to it.

[0024] By adopting the above technical solution, the guide bushing can facilitate the positioning of the guide rod's movement and reduce the friction experienced by the guide rod during movement.

[0025] Optionally, the guide rod has a horizontally recessed hole, and a recessed pin is threaded into the recessed hole, which is fixedly connected to the guide wire.

[0026] Optionally, a guide tube support is horizontally arranged on the detachable continuum module, a central spine is sleeved on the outside of the sleeve support, the end continuum manipulator is located at the tail end of the central spine, an outer sleeve is sleeved on the outside of the central spine, the guide wire passes through the central spine and the outer sleeve and is connected to the end continuum manipulator, a coiling guide frame is sleeved on the outside of the outer sleeve, and a coiling spring shaft for collecting the coiling guide frame is rotatably connected to the wire drive assembly.

[0027] Optionally, the end-continuous manipulator includes a segmental disc sleeve fitted outside the central spine, with multiple segmental disc sleeves arranged along the length of the central spine. A front end cap is fixedly connected to the tail end of the central spine, and the guide wire is fixedly connected to the front end cap. A rear end disc is fixedly connected to the head end of the central spine relative to the segmental disc sleeve.

[0028] Optionally, a working channel is coaxially provided on the conduit support, and a sensing component is fixedly connected to the tail end of the conduit support.

[0029] Optionally, the sensor includes an endoscope fixed to the end of the catheter support, an electromagnetic positioning sensor, and an optical fiber.

[0030] By adopting the above technical solution, the endoscope, electromagnetic positioning sensor and optical fiber are integrated into the tail end of the end continuum manipulator, which facilitates navigation and allows for repeated operation after use.

[0031] In summary, this application includes at least one of the following beneficial technical effects:

[0032] 1. The overall pushing component drives the wire driving component to move along the length direction, and the wire driving component can drive the guidewire to move, so that multiple guidewires can move asynchronously according to different needs. This causes the end of the end continuum manipulator to bend, which facilitates navigation and delivery operations. It moves in the bronchus and, after reaching the position, inserts the biopsy instrument. The detachable continuum module makes it easy to disinfect and replace the flexible segment that enters the body, improving the accuracy of the continuum and solving the problem of insufficient freedom of traditional bronchoscopes.

[0033] 2. The guide rod is moved by the lead screw, and the guide rod moves the guide wire. The different moving speeds of the multiple guide wires cause the position of the end continuum manipulator connected to the guide wire to bend.

[0034] 3. Integrating the endoscope, electromagnetic positioning sensor, and optical fiber into the tail end of the end continuum manipulator facilitates navigation and allows for repeated operation after use. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall structure of the detachable continuous robot for lung intervention in the embodiments of this application.

[0036] Figure 2 This is a schematic diagram of the overall pushing assembly of the detachable continuous robot for lung intervention in this application embodiment.

[0037] Figure 3 This is a schematic diagram of the pusher slide of the detachable continuous robot for lung intervention in the embodiments of this application.

[0038] Figure 4 This is a schematic diagram of the wire drive assembly of the detachable continuous robot for lung intervention in this application embodiment.

[0039] Figure 5 This is a schematic diagram of the internal structure of the wire-driven assembly of the detachable continuous robot for lung intervention in this application embodiment.

[0040] Figure 6 This is a schematic diagram of the connection structure between the wire drive assembly and the detachable continuum module of the lung intervention detachable continuum robot in the embodiments of this application.

[0041] Figure 7 This is a schematic diagram of the guide seat of the detachable continuous robot for lung intervention in the embodiments of this application.

[0042] Figure 8 This is a schematic diagram of the internal structure of the detachable continuum module of the detachable continuum robot for lung intervention in the embodiments of this application.

[0043] Figure 9 This is a schematic diagram of the disassembly structure of the detachable continuous robot for lung intervention in the embodiments of this application.

[0044] Figure 10 This is a cross-sectional view of the disassembly structure of the detachable continuous robot for lung intervention in the embodiments of this application.

[0045] Figure 11 This is a cross-sectional view at the central spine position of the detachable continuous robot for lung intervention in the embodiments of this application.

[0046] Figure 12 This is a schematic diagram of the catheter support structure of the detachable continuous robot for lung intervention in this application embodiment.

[0047] Figure 13 This is a schematic diagram of the end effector of the detachable continuous robot for lung intervention in this application embodiment.

[0048] Explanation of reference numerals in the attached drawings: 1. Overall pushing assembly; 11. Pushing base; 12. Top cover; 13. First guide rail; 14. First slider; 15. Pushing slide plate; 151. Bottom wall; 152. Pressing wall; 153. Connecting wall; 16. Driving wheel; 17. Driven wheel; 18. Synchronous belt; 19. First rotating motor; 110. Pressing block; 1101. Front bracket; 2. Wire drive assembly; 21. Motor frame; 211. Cover; 2111, Locking groove; 212, Vertical plate; 213, Limiting hole; 214, Second guide rail; 215, Ball sleeve; 22, Bearing mounting seat; 23, Coupling; 231, Second rotating motor; 24, Lead screw; 241, Slider bracket; 242, Second slider; 243, Force sensor; 3, Demountable continuous module; 31, Rear end bracket; 311, Side cover; 312, Limiting groove; 3121, First groove; 3 122. Second groove; 313. Groove; 314. Inlet; 32. Guide seat; 321. Guide groove; 322. Guide bushing; 33. Guide rod; 331. First guide part; 3311. Recessed hole; 3312. Recessed pin; 332. Second guide part; 34. Light column; 341. First column; 342. Second column; 343. Third column; 4. Disassembly structure; 41. Limiting post; 42. Limiting pin; 421. First pin; 422. Second pin; 43. Spring; 44. Knob; 441. Protrusion; 5. End-effector manipulator; 51. Central spine; 52. Catheter support; 521. Working channel; 522. Endoscope; 523. Electromagnetic sensor; 524. Optical fiber; 53. Outer tube; 54. Coil guide frame; 55. Coil spring shaft; 56. Front end cover; 57. Section disc sleeve; 58. Rear end disc; 6. Guide wire. Detailed Implementation

[0049] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0050] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0051] The following is in conjunction with the appendix Figure 1-13 This application will be described in further detail.

[0052] This application discloses a detachable continuum robot for lung intervention. (See also...) Figure 1 , Figure 2The detachable continuum robot for lung intervention includes a horizontally positioned integral pushing component 1. A wire drive component 2 is slidably connected above the integral pushing component 1, enabling the integral pushing component 1 to move the wire drive component 2 along its length. A detachable continuum module 3 is connected above the wire drive component 2 via a detachable structure 4. An end-effector manipulator 5 is horizontally positioned on the upper part of the detachable continuum module 3. Three guide wires 6 are arranged opposite each other inside the detachable continuum module 3, with the ends of the guide wires 6 connected to the end-effector manipulator 5 respectively. The tail end of the end-effector manipulator 5 can be bent and adjusted by adjusting the length of different guide wires 6.

[0053] The overall push assembly 1 includes a horizontally arranged push base 11, which is a rectangular hollow structure. The top wall of the push base 11 is fixedly connected to a top cover 12, and the vertical side wall of the push base 11 has an opening horizontally relative to the position of the top cover 12, which connects the interior of the push base 11 with the outside.

[0054] The inner bottom wall 151 of the push base 11 is horizontally provided with a first guide rail 13. The first guide rail 13 is arranged along the length direction, and two first sliders 14 are slidably connected on the first guide rail 13. A push slide plate 15 is fixedly connected on the two first sliders 14.

[0055] Reference Figure 2 , Figure 3 The pusher slide 15 includes a bottom wall 151 that is fixedly connected to the slider. Pressing walls 152 are vertically fixedly connected to both sides of the bottom wall 151. A connecting wall 153 is fixedly connected to the top of the pressing wall 152. The connecting wall 153 extends out from the opening of the pusher base 11 to the outside of the pusher base 11 and is slidably connected to the pusher base 11.

[0056] The two ends of the push base 11 are rotatably connected to a drive wheel 16 and a driven wheel 17, respectively. A timing belt 18 is sleeved on the outside of the drive wheel 16 and the driven wheel 17. A first rotating motor 19 is fixedly connected to the push base 11 relative to the drive wheel 16. The first rotating motor 19 can drive the drive wheel 16 to rotate, and the drive wheel 16 drives the timing belt 18 to rotate, so that the timing belt 18 drives the driven wheel 17 to rotate relative to each other.

[0057] A clamping block 110 is inserted and fixedly connected to the bottom wall 151 on the push slide plate 15. One side of the timing belt 18 is located between the clamping block 110 and the clamping wall 152. The side of the clamping block 110 closest to the timing belt 18 used for clamping is set with a toothed structure. The timing belt 18 is pressed against the clamping wall 152 by the clamping block 110, so that the timing belt 18 can drive the clamping block 110 and the push slide plate 15 to move together along the length direction inside the push base 11.

[0058] The rear end of the push base 11 is vertically fixedly connected to a front bracket 1101, which is used to limit the movement of the push slide plate 15.

[0059] Reference Figure 4 , Figure 5 The wire drive assembly 2 includes a motor frame 21 located above the push base 11. The motor frame 21 is slidably connected to the upper plate and fixedly connected to the connecting wall 153 on the push slide plate 15. When the connecting wall 153 moves inside the push base 11, it can synchronously drive the motor frame 21 to move.

[0060] The motor frame 21 is a hollow rectangular structure, and a cover 211 is fixedly connected to the top of the motor frame 21 horizontally. A bearing mounting seat 22 is fixedly connected to the motor frame 21, and a coupling 23 is rotatably connected to the bearing mounting seat 22. Three couplings 23 are equidistantly arranged along the width direction. A second rotating motor 231 is fixedly connected inside the motor frame 21 relative to the position of the coupling 23. The second rotating motor 231 can drive the coupling 23 to rotate.

[0061] Inside the motor frame 21, a lead screw 24 is fixedly connected relative to the coupling 23. The lead screw 24 is rotatably connected inside the motor frame 21, and its axis is set along the length direction. A slider bracket 241 is threadedly connected to the lead screw 24. A second slider 242 is fixedly connected to the bottom end of the slider bracket 241. Inside the motor frame 21, a second guide rail 214 is horizontally set relative to the second slider 242. The second guide rail 214 is fixedly connected to the motor frame 21 and is set along the length direction. The second slider 242 is located on the second guide rail 214 and is slidably connected to it.

[0062] A force sensor 243 is also fixedly connected to the slider bracket 241. An opening is provided on the surface of the cover 211 relative to the position of the force sensor 243. The opening is arranged along the length direction and the force sensor 243 extends out from the opening.

[0063] Reference Figure 6 , Figure 7 The detachable continuous module 3 includes a rear support 31, which is located above the cover 211. A guide seat 32 is fixedly connected inside the rear support 31. The guide seat 32 has a horizontally formed guide groove 321 relative to the position of the force sensor 243. The guide groove 321 completely penetrates the guide seat 32, and a guide bushing 322 is fixedly connected inside the guide groove 321. The bottom end of the guide bushing 322 is open.

[0064] Reference Figure 7 , Figure 8A guide rod 33 is slidably connected inside the guide bushing 322. The guide rod 33 includes a first guide portion 331 located inside the guide bushing 322 and a second guide portion 332 located below the first guide portion 331. The first guide portion 331 and the second guide portion 332 are fixedly connected. The second guide portion 332 extends out from inside the guide bushing 322 and abuts against the force sensor 243.

[0065] The first guide section 331 has a horizontally recessed hole 3311 inside, and a recessed pin 3312 is threaded inside the recessed hole 3311. A guide wire 6 is fixedly connected to the center of the recessed pin 3312. The slider bracket 241 moves the power sensor 243, which in turn drives the guide rod 33 to move. The data from the force sensor 243 and the model control the second rotary motor 231 to work.

[0066] The three guide wires 6 include a central guide wire 6 located at the center and side guide wires located on both sides of the central guide wire. Inside the rear support 31, light columns 34 are respectively arranged opposite to the sides of the central guide wire to guide the direction of the side guide wires. Each light column 34 includes a first column 341 vertically arranged opposite to the side guide wires, a second column 342 located on both sides of the central guide wire and vertically arranged opposite to the end-continuous body operating hand 5, and a third column 343 horizontally arranged above the central and side guide wires. The first column 341 and the second column 342 are respectively inserted and fixed to the rear support 31, and a side cover 311 is provided on the rear support 31 at a position relative to the third column 343. The third column 343 is inserted and fixed to the side cover 311.

[0067] Reference Figure 9 , Figure 10 The disassembly structure 4 includes a horizontally arranged limiting post 41, which is fixedly connected to the rear bracket 31. A vertical plate 212 is vertically fixedly connected to the cover 211 relative to the position of the limiting post 41, and the vertical plate 212 is horizontally provided with a limiting hole 213 relative to the position of the limiting post 41, so that the limiting post 41 can extend into the interior of the limiting hole 213.

[0068] The rear support 31 has a vertically formed limiting groove 312 on the side away from the limiting post 41. The limiting groove 312 includes a first groove 3121 located above, and a second groove 3122 coaxially arranged below the first groove 3121. The first groove 3121 and the second groove 3122 are relatively connected, and the diameter of the first groove 3121 is smaller than the diameter of the second groove 3122. The intersection of the first groove 3121 and the second groove 3122 forms a locking platform for securing.

[0069] A limiting pin 42 is vertically installed inside the limiting groove 312. The limiting pin 42 includes a first pin 421 located above and a second pin 422 located below the first pin 421 and coaxially fixedly connected. The diameter of the first pin 421 is the same as the inner diameter of the first groove 3121, and the diameter of the second pin 422 is the same as the inner diameter of the second groove 3122. The first pin 421 is slidably connected to the rear support 31, and the second pin 422 is slidably connected to the rear support 31.

[0070] A spring 43 is sleeved on the outside of the first pin 421. The top end of the spring 43 abuts against the locking platform, and the bottom end of the spring 43 abuts against the second pin 422. A groove 313 is formed on the upper surface of the rear support 31 relative to the position of the limiting pin 42. A knob 44 is fixedly connected to the limiting pin 42. A protrusion 441 is fixedly connected to the knob 44 relative to the position of the limiting pin 42. The protrusion 441 can be locked inside the groove 313.

[0071] The upper surface of the cover 211 is provided with a locking groove 2111 relative to the position of the second pin 422. When the protrusion 441 is located inside the groove 313, the second pin 422 can penetrate into the locking groove 2111. When the protrusion 441 disengages from the inside of the groove 313, the second pin 422 disengages from the locking groove 2111.

[0072] When the knob 44 is turned, the protrusion 441 is displaced from the groove 313. The protrusion 441 moves from the inside of the groove 313 to the surface of the rear support 31, compressing the spring 43, moving the limit pin 42 upward, and moving the second pin 422 out of the locking groove 2111.

[0073] An inlet 314 is fixedly connected to the upper surface of the rear support 31. The inlet 314 is inclined and the top of the inlet 314 is a bucket-shaped structure.

[0074] Reference Figure 9 , Figure 11 The end continuum manipulator 5 includes a central spine 51 fixedly connected to the inlet 314. The central spine 51 passes between two opposing second columns 342 and passes through and slides relative to the position of the front support 1101.

[0075] Reference Figure 11 , Figure 12A catheter support 52 is horizontally installed inside the central spine 51, and a working channel 521 is opened inside the catheter support 52. Biopsy instruments enter through the working channel 521. The tail end of the catheter support 52 is also fixedly connected to sensing components such as an endoscope 522, an electromagnetic sensor 523, and an optical fiber 524 to transmit corresponding information. Among them, the optical fiber 524 can be integrated with advanced detection methods such as OCT and confocal microscopy, and can be recycled and reused.

[0076] Reference Figure 9 , Figure 11 An outer sleeve 53 is coaxially fitted around the outer side of the central spine 51, and a coiled guide frame 54 is fitted around the outer side of the outer sleeve 53. The tail end of the coiled guide frame 54 is fixedly connected to the front support 1101. A coil spring shaft 55 is rotatably connected to the tail end of the cover 211. A coil spring is connected to the coil spring shaft 55 and is fixedly connected to the coiled guide frame 54. The length of the coiled guide frame 54 outside the outer sleeve 53 is adjusted by the coil spring shaft 55. A ball bearing sleeve 215 is also vertically fixedly connected to the cover 211. The ball bearing sleeve 215 is used to adjust the moving angle of the coiled guide frame 54.

[0077] Reference Figure 12 , Figure 13 A front end cover 56 is fixedly connected to the tail end of the central spine 51, and multiple segmental disc sleeves 57 (preferably 25) are coaxially sleeved on the side of the central spine 51 near the front support 1101 on the front end cover 56. The segmental disc sleeves 57 have a disc-shaped structure, and two adjacent segmental disc sleeves 57 abut against each other. A rear end disc 58 is provided on the side of the segmental disc sleeve 57 furthest from the front end cover 56 near the front support 1101 of the central spine 51, and the rear end disc 58 is fixedly connected to the central spine 51.

[0078] The guide wire 6 passes between the rear end disc 58 and multiple segmented disc sleeves 57 and is fixed relative to the front end cover 56. The three guide wires 6 are fixed at three points circumferentially divided on the front end cover 56. The lead screw 24 drives the slider bracket 241 to move, which in turn drives the power sensor 243 to move. The force sensor 243 drives the guide rod 33 to move, and the guide rod 33 drives the guide wires 6 fixed relative to it to move. The movement of the guide wires 6 is adjusted according to the rotation speed of the lead screw 24, thereby causing the tail end of the central spine 51 to bend.

[0079] The implementation principle of the detachable continuous robot for lung intervention in this application embodiment is as follows: the first rotating motor 19 in the overall pushing module drives the active wheel 16 to rotate, and the active wheel 16 drives the passive wheel 17 to rotate through the synchronous belt 18, thereby the synchronous belt 18 drives the pushing slide plate 15 to move, and the pushing slide plate 15 drives the wire drive assembly 2 to move.

[0080] The second rotating motor 231 in the wire drive assembly 2 drives the coupling 23 to rotate, and the coupling 23 drives the lead screw 24 to rotate. The lead screw 24 drives the slider bracket 241 to move linearly. The slider bracket 241 moves the power sensor 243. The force sensor 243 drives the guide rod 33 to move along the length direction, and the force sensor 243 provides feedback adjustment of the force on the guide rod 33 and the guide wire 6.

[0081] The guide wire 6 in the detachable continuous module 3 is adjusted under the drive of the guide rod 33, and is adjusted by different guide wires 6, thereby driving the tail end of the continuous operator to bend through the guide wire 6.

[0082] When it is necessary to open and disassemble the rear support 31 of the detachable continuous module 3, turn the knob 44 to move the limit pin 42 upward and out of the locking groove 2111, thereby disassembling the rear support 31 for easy maintenance and replacement by the operator.

[0083] In this invention, the term "multiple" refers to at least two or more, unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0084] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A detachable continuum robot for lung intervention, characterized in that: The assembly includes an overall pushing component (1), with a wire driving component (2) slidably connected above the overall pushing component (1). A detachable continuous module (3) is connected to the wire driving component (2) via a detachable structure (4). An end continuous manipulator (5) is connected to the end of the detachable continuous module (3). The detachable continuous module (3) is provided with multiple guide wires (6) that drive the end continuous manipulator (5) to bend. Each guide wire (6) includes a central guide wire and side guide wires. One end of each guide wire (6) is connected to the end continuous module (3). The detachable continuous module (3) is connected to the other end of the guide wire (6) and the tail end of the end continuous operating hand (5). The wire drive assembly (2) includes a motor frame (21). The detachable continuous module (3) includes a rear end support (31). The detachable structure (4) includes a cover (211) fixed on the motor frame (21). The end of the rear end support (31) opposite to the limiting post (41) is rotatably connected to a locking assembly that locks the rear end support (31) and the cover (211). The detachable continuum module (3) is horizontally provided with a conduit support (52), and a central spine (51) is sleeved on the outside of the conduit support (52). The end continuum manipulator (5) is located at the tail end of the central spine (51). An outer sleeve (53) is sleeved on the outside of the central spine (51). The guide wire (6) passes between the central spine (51) and the outer sleeve (53). The outer sleeve (53) is fitted with a curling guide frame (54), and a coil spring shaft (55) for collecting the curling guide frame (54) is rotatably connected to the filament drive assembly (2). The catheter support (52) has a working channel (521) coaxially opened on it, and a sensing component is fixedly connected to its tail end. The sensing component includes an endoscope (522), an electromagnetic positioning sensor (523), and an optical fiber (524).

2. The detachable continuous robot for lung intervention according to claim 1, characterized in that: The overall pushing assembly (1) includes a pushing base (11), with a driving wheel (16) and a driven wheel (17) rotatably connected to the ends of the pushing base (11). The driving wheel (16) and the driven wheel (17) are connected relative to each other by a timing belt (18). A first driving member is provided on the pushing base (11) to drive the driving wheel (16) to rotate. A pushing slide plate (15) is slidably connected inside the pushing base (11). The timing belt (18) drives the pushing slide plate (15) to move relative to each other. The pushing slide plate (15) is fixed relative to the wire driving assembly (2).

3. The detachable continuous robot for lung intervention according to claim 2, characterized in that: A clamping block (110) is connected to the push slide (15). A clamping wall (152) is vertically arranged on the push slide (15) relative to the clamping block (110). One side of the synchronous belt (18) is located between the clamping block (110) and the clamping wall (152). When the clamping block (110) is inserted and fixed on the push slide (15), the clamping block (110) clamps and fixes the synchronous belt (18) and the clamping wall (152) relative to each other. The synchronous belt (18) drives the clamping block (110) and the clamping wall (152) to move synchronously.

4. The detachable continuous robot for lung intervention according to claim 2, characterized in that: The front bracket (1101) is fixedly connected to the tail end of the push base (11), and the front bracket (1101) is opposite to the push slide (15).

5. The detachable continuous robot for lung intervention according to claim 1, characterized in that: Inside the motor frame (21), a lead screw (24) is arranged along the length direction. Multiple lead screws (24) are arranged along the width direction. A second driving member is arranged on one side of the motor frame (21) to drive the lead screw (24) to rotate. A slider bracket (241) is threadedly connected to the lead screw (24). A feedback component connected to the driving structure is arranged on the slider bracket (241).

6. The detachable continuous robot for lung intervention according to claim 5, characterized in that: The feedback component includes a force sensor (243) fixedly connected to the slider bracket (241), and the detachable continuum module (3) is provided with a guide rod (33) relative to the force sensor (243).

7. The detachable continuous robot for lung intervention according to claim 6, characterized in that: The guide rod (33) is located inside the rear support (31) and slides relative to it. The guide wire (6) is fixed on the guide rod (33). The tail end of the guide wire (6) is connected to the end continuum manipulator (5). The end continuum manipulator (5) is bent by the different moving displacements of the multiple guide wires (6).

8. The detachable continuous robot for lung intervention according to claim 6, characterized in that: A limiting post (41) is horizontally fixed on the rear support (31) relative to the position of the cover (211). A limiting hole (213) is opened on the cover (211) relative to the position of the limiting post (41). The limiting post (41) can extend into the interior of the limiting hole (213).

9. The detachable continuous robot for lung intervention according to claim 7, characterized in that: The rear support (31) is fixedly connected to a guide seat (32). The guide seat (32) is horizontally provided with a guide groove (321) relative to the guide rod (33). The guide rod (33) is located inside the guide groove (321) and slides relative to it. The rear support (31) is vertically provided with multiple light columns (34) for adjusting the moving direction of the guide wire (6). The light columns (34) abut against and slide with the guide wire (6).

10. The detachable continuous robot for lung intervention according to claim 8, characterized in that: The locking assembly includes a vertically arranged limiting pin (42). The rear support (31) has a limiting groove (312) relative to the limiting pin (42). The limiting pin (42) slides relative to the limiting groove (312). An elastic element is sleeved on the limiting pin (42). One end of the elastic element abuts against the rear support (31), and the other end of the elastic element is fixed to the limiting pin (42). The cover (211) has a vertically arranged locking groove (2111) relative to the limiting groove (312). The bottom end of the limiting pin (42) can extend into the locking groove (2111).

11. The detachable continuous robot for lung intervention according to claim 9, characterized in that: The guide seat (32) is horizontally provided with a guide bushing (322) inside the guide groove (321), and the guide rod (33) is located inside the guide bushing (322) and is slidably connected to it.

12. The detachable continuous robot for lung intervention according to claim 9, characterized in that: The guide rod (33) has a horizontally protruding hole (3311), and a protruding pin (3312) is threaded inside the protruding hole (3311). The protruding pin (3312) is fixedly connected to the guide wire (6).

13. The detachable continuous robot for lung intervention according to claim 1, characterized in that: The end-continuous manipulator (5) includes a segmental disc sleeve (57) sleeved on the outside of the central spine (51). Multiple segmentsal disc sleeves (57) are arranged along the length of the central spine (51). A front end cap (56) is fixedly connected to the tail end of the central spine (51). The guide wire (6) is fixedly connected to the front end cap (56). A rear end disc (58) is fixedly connected to the head end of the central spine (51) relative to the head end of the segmental disc sleeve (57).

Images