Side-by-side progressive structure natural orifice surgical robot

Abstract

The application relates to a side-by-side type progressive structure natural cavity operation robot, which solves the technical problems that the flexible arm in the prior art natural cavity operation robot is unstable, unreliable, poor in flexibility and incapable of accurately adjusting the posture of an endoscope, and comprises a base, a flexible trunk, a power device, a screw transmission device, a chain link pushing device, a trunk support frame, an endoscope mounting cylinder and an endoscope. The flexible trunk 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.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a side-by-side progressive structure natural cavity surgical robot. Background Technology

[0002] With the increasing popularity of natural orifice surgery, the requirements for medical devices related to these surgeries are also becoming more stringent. Natural orifice surgery robotic systems utilize naturally occurring passages in the human body that connect to the outside, such as the stomach, vagina, urethra, colon, rectum, and esophagus. Surgical instruments are inserted, and endoscopes are manually guided into the body. This approach not only avoids damage to the inner walls of natural orifices caused by endoscopes entering the body but also improves surgical quality through the precision and stability of the mechanical system.

[0003] Referring to the invention patents published in CN 111568552 A, CN 114668432 A and CN 114714370 A, the flexible arm in the existing natural cavity surgical robot has unstable and unreliable movement, poor flexibility, and cannot accurately adjust the posture of the endoscope. Summary of the Invention

[0004] The present invention aims to solve the technical problems of unstable and unreliable movement of flexible arms in existing natural cavity surgical robots, poor flexibility, and inability to accurately adjust the posture of the endoscope, and provides a side-by-side progressive structure natural cavity surgical robot.

[0005] This invention employs a special side-by-side progressive structure. One group consists of several bowl-shaped links, with three steel wires controlling its path and spatial position, mainly used to adjust the lens posture of the endoscope; the other group consists of several cylindrical links with spherical ends, with one steel wire controlling its spatial position, mainly used to fix the path traversed by the snake bone.

[0006] This invention provides a side-by-side progressive structure natural cavity surgical robot, including a base, a flexible torso, a power unit, a screw drive, a chain link pushing device, a torso support frame, an endoscope mounting tube, and an endoscope;

[0007] The flexible torso includes a first steel wire, a second steel wire, a third steel wire, a fourth steel wire, several bowl-shaped links, and several cylindrical links with spherical ends. The bowl-shaped links have a circular opening at the bottom and a side notch, with the side notch communicating with the circular opening at the bottom. Each bowl-shaped link has three wire holes evenly distributed along its circumference. Each cylindrical link with a spherical end has a cylindrical body and a positioning protrusion. The cylindrical body has a central wire hole, a spherical end at the front end, and a spherical groove at the rear end. Several bowl-shaped links are stacked sequentially. The first, second, and third steel wires pass through the three wire holes on each bowl-shaped link. Adjacent links... The side notches of each bowl-shaped link are aligned, and a cylindrical link with a spherical end is placed in each bowl-shaped link. The positioning protrusion of the cylindrical link is located in the side notch of the bowl-shaped link. The fourth steel wire passes through the central wire hole of several cylindrical links with spherical ends in sequence. Several cylindrical links with spherical ends are connected in series. The spherical end of the subsequent cylindrical link with spherical end is embedded in the spherical groove of the preceding cylindrical link with spherical end. The front end of the fourth steel wire is fixedly connected to the fourth metal wire knot, which is located at the central wire hole of the foremost cylindrical link with spherical end in the flexible body.

[0008] The power unit is connected to the base, and the first, second, third, and fourth steel wires of the flexible body are respectively connected to the power unit;

[0009] The screw drive device includes a first screw, a second screw, a first guide rail, a second guide rail, a fixed block base one, a fixed block base two, a driven gear one, a driven gear two, a driving gear two, a transmission mechanism connecting seat, a transmission shaft one, a transmission shaft two, a drive shaft one, a drive shaft two, a front bearing seat, and a rear bearing seat. The front bearing seat and the rear bearing seat are respectively fixedly connected to the base. The first guide rail and the second guide rail are respectively fixedly connected to the base and arranged side by side. The front end of the first screw is connected to the front bearing seat, and the rear end of the first screw is connected to the rear bearing seat. The front end of the second screw is connected to the front bearing seat, and the rear end of the second screw is connected to the rear bearing seat. A fixed block base is fitted onto the first screw, and a fixed block base two is fitted onto the second screw. The first internal thread hole of the fixed block base one is engaged with the external thread of the first screw. The second internal threaded hole of base two is connected to the external thread of the second lead screw; the fixed block base one is slidably connected on the first guide rail, and the fixed block base two is slidably connected on the second guide rail; the first drive shaft is connected to the rear end of the first lead screw, the second drive shaft is connected to the rear end of the second lead screw, the second driven gear is fixedly connected to the second drive shaft, and the first driven gear is fixedly connected to the first drive shaft; the two ends of the first drive shaft are rotatably connected to the transmission mechanism connecting seat through bearings, and the two ends of the second drive shaft are rotatably connected to the transmission mechanism connecting seat through bearings; the second drive gear is fixedly connected to the second drive shaft, and the first drive gear is fixedly connected to the first drive shaft; the first drive gear meshes with the first driven gear, and the second drive gear meshes with the second driven gear; the upper part of the fixed block base two has two connecting holes, and the upper part of the fixed block base one has two connecting holes;

[0010] The chain link pushing device includes a cup-shaped chain link pushing block and an intermediate chain link pushing block. The cup-shaped chain link pushing block has a connecting plate and a pushing plate. The connecting plate has two connecting holes, and the pushing plate has a notch for receiving a pushing cylinder and three wire through holes in the middle. The three wire through holes are located around the notch for receiving the pushing cylinder. The intermediate chain link pushing block has a connecting plate, a pushing plate, and a pushing cylinder. The connecting plate of the intermediate chain link pushing block has two connecting holes, and the pushing cylinder has a central wire hole. The pushing plate of the cup-shaped chain link pushing block is located above the pushing plate of the intermediate chain link pushing block, and the pushing cylinder is located in the notch for receiving the pushing cylinder of the cup-shaped chain link pushing block.

[0011] In the screw drive device, the two connecting holes on the upper part of the fixed block base 2 are connected to the two connecting holes in the connecting plate of the cup-shaped chain link push block by two screws; the two connecting holes on the upper part of the fixed block base 1 are connected to the two connecting holes in the connecting plate of the intermediate chain link push block by two screws.

[0012] The first, second, and third steel wires pass through the three wire holes in the cup-shaped link pusher block, and the fourth wire passes through the central wire hole in the middle link pusher block.

[0013] The endoscope mounting tube has a spherical groove and three wire holes evenly distributed along the circumference at its rear end, and the endoscope is connected to the endoscope mounting tube.

[0014] The foremost bowl-shaped link in the flexible body is embedded in the spherical groove at the rear end of the endoscope mounting tube. The front ends of the first, second, and third steel wires first pass through the three wire holes of the foremost bowl-shaped link in the flexible body and then through the three wire holes at the rear end of the endoscope mounting tube. The front ends of the first, second, and third steel wires are respectively fixedly connected with metal wire knots.

[0015] The torso support frame is fixedly connected to the base. The torso support frame has a circular through hole, through which the middle part of the flexible torso passes.

[0016] Preferably, the endoscope is detachably connected to the endoscope mounting tube. The endoscope mounting tube has a window on its side. A pin connector is connected to the inner wall of the endoscope mounting tube near the window. An endoscope hinge plate is connected to the pin connector of the endoscope mounting tube by a pin. The endoscope hinge plate is located at the window of the endoscope mounting tube and is connected to a front plate and a rear plate.

[0017] Preferably, the power unit includes an upper plate, a lower plate, a guide frame, four fixed columns, four rotating columns, and four winch assemblies. The lower plate is fixedly connected to the middle of the four fixed columns, the upper plate is fixedly connected to the top of the four fixed columns, the guide frame is fixedly connected to the lower plate, the upper end of the rotating column is rotatably connected to the upper plate, and the lower end of the rotating column is rotatably connected to the lower plate. The guide frame has four guide holes. The winch assembly has a winch, the upper part of which is rotatably connected to the upper plate via a bearing, and the lower part of which is rotatably connected to the lower plate via a bearing. The lower end of the winch assembly extends downward from the base. The four fixed columns are fixedly connected to the base.

[0018] The first, second, third, and fourth steel wires pass through the four guide holes on the guide frame, and after passing around the four rotating columns, they are wound around the winches of the four winch assemblies. The four winch assemblies are arranged in a rectangular layout, and the four rotating columns are arranged in a V-shape, with the four rotating columns located between the four winch assemblies.

[0019] Preferably, the winch assembly includes a winch, a coupling, a driven shaft, an input shaft, a spring, and an O-ring. The winch has a thread groove in its center. The driven shaft has an insertion part, a bearing mounting part, a sleeve part, and a circular boss. The input shaft has an insertion part, a disc part, and a sleeve part. The insertion part of the driven shaft is inserted into the lower end of the coupling, and the lower end of the winch is inserted into the upper end of the coupling. The winch is connected to the driven shaft via the coupling. The upper part of the spring is fitted onto the sleeve part of the driven shaft, and the lower part of the spring is fitted onto the insertion part of the input shaft. The insertion part of the input shaft is inserted into the sleeve part of the driven shaft for a fixed connection. The upper end of the spring abuts against the circular boss of the driven shaft, and the lower end of the spring abuts against the disc part of the input shaft. The O-ring... The ring is fitted in the annular groove of the disc portion of the input shaft; the upper part of the winch is connected to the upper plate via a bearing, and the bearing mounting part of the driven shaft is connected to the lower plate via a bearing; four cylindrical shells are connected between the base and the lower plate, the sleeve portion of the input shaft extends downward from the base, the sleeve portion and disc portion of the input shaft are located in the cylindrical shell, the sleeve portion and circular boss of the driven shaft are located in the cylindrical shell, the spring is located in the cylindrical shell, and the O-ring is squeezed between the disc portion and the inner wall of the cylindrical shell; when the splined shaft of the drive motor in the external power box is inserted into the sleeve portion, the disc portion of the input shaft disengages from the O-ring, the resistance of the O-ring disappears, and when the input shaft rotates, there is a gap between the disc portion and the inner wall of the cylindrical shell.

[0020] Preferably, the angle α of the side notch of the bowl-shaped link is:

[0021] 20° < α < 50°.

[0022] Preferably, the angle value of α is 30°.

[0023] Preferably, the side notch of the bowl-shaped link has two rear slopes on the rear side and two front slopes on the front side.

[0024] Preferably, the endoscope mounting tube is connected to an instrument channel.

[0025] The beneficial effects of this invention are that, based on clinical surgical scenarios, it realizes a multi-surgical instrument composite operation mode with channel coordination, which can cope with complex operation requirements, perform complex and diverse surgical actions, and meet clinical needs.

[0026] The flexible torso movement process of this invention is stable, reliable, and highly precise, with good compliance and flexibility, enabling precise adjustment of the endoscope's posture.

[0027] Several cylindrical links with spherical ends are used to fix the completed paths of several bowl-shaped links, ultimately making the flexible trunk taut, stable, and prevent it from collapsing. By controlling several cylindrical links with spherical ends, the stiffness of the flexible trunk can be controlled to a certain extent.

[0028] The flexible torso is movable, and the position of the endoscope is adjustable.

[0029] The power unit has good stability and high reliability.

[0030] During the use of this invention, doctors can operate the endoscope in the operating chamber to enter the human body through the colon, rectum, esophagus, urethra, stomach, vagina, etc., which can eliminate fatigue caused by the body during surgery and errors caused by human factors. If fatigue occurs due to overload surgery, the pause function of this invention can be used for a short rest (that is, the motor in the power box is locked to achieve pause). It can also avoid scratches caused by rapid displacement of instruments in the human body due to hand tremors or accidental touch by others during operation.

[0031] Further features of the present invention will be clearly described in the following detailed description of the embodiments. Attached Figure Description

[0032] Figure 1 This is an isometric view of a side-by-side natural cavity surgical robot;

[0033] Figure 2 yes Figure 1 Axonometric view of a side-by-side natural cavity surgical robot from an upward perspective.

[0034] Figure 3 yes Figure 1 Front view of a side-by-side natural cavity surgical robot shown;

[0035] Figure 4 This is a schematic diagram of the power unit in a side-by-side natural cavity surgical robot.

[0036] Figure 5 yes Figure 4 A magnified view of a portion of the structure shown;

[0037] Figure 6 yes Figure 4 The layout diagram of the guide frame and four winch assemblies in the structure shown;

[0038] Figure 7 yes Figure 4 The layout diagram of the four winch assemblies and four rotary columns in the structure shown;

[0039] Figure 8 This is a structural diagram of the winch assembly;

[0040] Figure 9 This is a schematic diagram of the winch structure;

[0041] Figure 10 This is a schematic diagram showing the shape of the steel wire wound on the winch;

[0042] Figure 11 It is an isometric drawing of a passive rotating shaft;

[0043] Figure 12 It is an isometric drawing of a passive rotating shaft;

[0044] Figure 13 This is the main view of the passive rotating shaft;

[0045] Figure 14 It is an isometric view of the input axis;

[0046] Figure 15 This is the main view of the input axis;

[0047] Figure 16 It is an isometric view of the input axis;

[0048] Figure 17 It is a schematic diagram of a structure in which two bowl-shaped links are stacked together, and two cylindrical links with spherical ends are placed inside the two bowl-shaped links;

[0049] Figure 18 yes Figure 17 Right view of the structure shown;

[0050] Figure 19 yes Figure 17 Left view of the structure shown;

[0051] Figure 20 yes Figure 17 Axonometric view of the structure shown;

[0052] Figure 21 yes Figure 17 A cross-sectional view of the structure shown;

[0053] Figure 22 yes Figure 17 A cross-sectional view of the structure shown;

[0054] Figure 23 It is an isometric view of the bowl-shaped link;

[0055] Figure 24 It is an isometric view of the bowl-shaped link;

[0056] Figure 25 This is the right view of the bowl-shaped link;

[0057] Figure 26 This is the front view of the bowl-shaped chain link;

[0058] Figure 27 This is the left view of the bowl-shaped link;

[0059] Figure 28 It is an isometric view of the bowl-shaped link;

[0060] Figure 29 It is an isometric view of the bowl-shaped link;

[0061] Figure 30 It is an axonometric drawing of a cylindrical link with spherical ends;

[0062] Figure 31 It is an axonometric drawing of a cylindrical link with spherical ends;

[0063] Figure 32 It is a cross-sectional view of a cylindrical chain link with spherical ends;

[0064] Figure 33 Two steel wires pass through Figure 22 A schematic diagram of the structure shown;

[0065] Figure 34 This is a schematic diagram of the screw drive device;

[0066] Figure 35 This is a schematic diagram of the screw drive device;

[0067] Figure 36 yes Figure 35 A magnified view of a portion of the structure shown;

[0068] Figure 37 It is a block layout diagram of the bowl-shaped link drive block and the intermediate link drive block;

[0069] Figure 38 Figure 37 Front view of the structure shown;

[0070] Figure 39 yes Figure 37 A cross-sectional view of the structure shown;

[0071] Figure 40 It is an isometric view of the bowl-shaped chain link actuator;

[0072] Figure 41 yes Figure 40 Front view of the structure shown;

[0073] Figure 42 yes Figure 40 Right view of the structure shown;

[0074] Figure 43 It is an isometric view of the bowl-shaped chain link actuator;

[0075] Figure 44 It is an isometric view of the intermediate link drive block;

[0076] Figure 45 This is a top view of the intermediate link push block;

[0077] Figure 46 It is an isometric view of the intermediate link drive block;

[0078] Figure 47 yes Figure 46 Top view of the structure shown;

[0079] Figure 48 It is an isometric view of the intermediate link drive block;

[0080] Figure 49 This is a schematic diagram of the connection between the endoscope mounting tube and the front end of the flexible torso;

[0081] Figure 50 yes Figure 49 A magnified view of a portion of the image;

[0082] Figure 51 Figure 1 is a schematic diagram of the endoscope mounting tube. Figure 2 is an axonometric view of the endoscope mounting tube, Figure 3 is an axonometric view of the endoscope mounting tube from another perspective, and Figure 4 is an axonometric view of the endoscope mounting tube from another perspective.

[0083] Figure 52 Figure 1 is a schematic diagram of the endoscope mounting tube. Figure 2 is an axonometric view of the endoscope mounting tube, Figure 3 is an axonometric view of the endoscope mounting tube from another perspective, Figure 4 is a longitudinal sectional view of the endoscope mounting tube, and Figure 5 is a sectional view along the AA direction in Figure 6.

[0084] Figure 53 This is a schematic diagram of the structure of an endoscope;

[0085] Figure 54 This is a schematic diagram of the endoscope hinge pressure plate on the endoscope mounting tube being pried open.

[0086] Figure 55 This is a schematic diagram of the structure in the winch assembly where the passive shaft is rotatably connected to the lower plate via a bearing.

[0087] Figure 56 This is a schematic diagram of the structure connecting the endoscope mounting tube to the foremost bowl-shaped link in the flexible torso.

[0088] Explanation of symbols in the diagram

[0089] 1. Base, 2. Flexible torso, 205. Endoscope, 206. Instrument channel, 207. Endoscope mounting tube, 207-1. Window, 207-2. Pin connector, 207-3. Spherical groove, 207-4. Wire hole, 208. Endoscope hinge pressure plate, 209. Pin, 210. Tail pressure plate, 211. Front pressure plate, 212. Bowl-shaped link, 212-1. Bottom circular opening, 212-2. Wire hole, 212-3. Side notch, 212-3-1. Rear bevel, 212-3-2. Front bevel, 213. Possesses 213-1. Cylindrical link with spherical end; 213-1-1. Central threaded hole; 213-1-2. Spherical end; 213-1-3. Spherical groove; 213-2. Positioning protrusion; 3. Power unit; 3-1. Upper plate; 3-2. Lower plate; 3-3. Fixed column; 3-4. Cylindrical shell; 4. Winch assembly; 402. Guide frame; 403. Guide hole; 404. Rotary column sleeve; 405. Winch; 406. Threaded mounting groove; 407. Threaded groove; 408. Threaded knot; 409. Bearing; 410. Coupling; 411. Screw. 412. Passive rotating shaft; 413. Input shaft; 414. Spring; 415. O-ring; 5. Screw drive device; 501-1. First screw; 501-2. Second screw; 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 connecting seat; 507. Bearing; 508. Front bearing seat; 509. Rear bearing seat; 510. Bearing; 511. Cup-shaped chain link push block. 511-1. Connecting plate; 511-1-1. Connecting hole; 511-2. Pushing plate; 511-2-1. Wire through hole; 511-2-2. Pushing cylinder receiving notch; 512. Intermediate link push block; 512-1. Connecting plate; 512-1-1. Connecting hole; 512-2. Pushing plate; 512-3. Pushing cylinder; 512-3-1. Central wire hole; a1. First wire; a2. Second wire; a3. Third wire; a4. Fourth wire; 515. Metal wire knot; 516. Metal wire knot; 6. Torso support frame. Detailed Implementation

[0090] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0091] like Figure 1-3As shown, the side-by-side progressive structure natural cavity surgical robot includes a base 1, a flexible torso 2, a power unit 3, winch assemblies 4, lead screw drives 5, and a torso support frame 6. The four winch assemblies 4 correspond to the four power inputs in the external power box. The lead screw drives 5 correspond to two power inputs in the external power box; when the lead screw drives 5 are working, they control the forward movement of the endoscope. The power unit 3 controls the spatial position of the endoscope.

[0092] like Figure 1 , 3 As shown in Figure 4, the power unit 3 is mainly composed of 4 sets of winch assemblies 4.

[0093] like Figure 3 and 4 As shown, the power unit 3 includes an upper plate 3-1, a lower plate 3-2, four fixed columns 3-3 fixedly connected to the base 1, the lower plate 3-2 fixedly connected to the middle of the four fixed columns 3-3, and the upper plate 3-1 fixedly connected to the top of the four fixed columns 3-3. A guide frame 402 is fixedly mounted on the lower plate 3-2. The upper end of the rotating column 404 is rotatably connected to the upper plate 3-1, and the lower end of the rotating column 404 is rotatably connected to the lower plate 3-2. The rotating column 404 is capable of rotation.

[0094] The guide frame 402 has four guide holes, through which the first steel wire a1, the second steel wire a2, the third steel wire a3, and the fourth steel wire a4 pass. Then, the first steel wire a1, the second steel wire a2, the third steel wire a3, and the fourth steel wire a4 pass around the four rotating columns 404 and are wound around the four winch assemblies 4.

[0095] The steel wire changes direction after passing through the rotating column 404, making it easier to wind onto the winch assembly 4.

[0096] like Figure 8As shown, the winch assembly 4 mainly consists of a winch 405, a bearing 409, a coupling 410, a driven shaft 412, an input shaft 413, a spring 414, and an O-ring 415. The winch 405 has a wire groove 407 in its middle section, and a wire end mounting groove 406 on its end face. The driven shaft 412 has 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 has a plug-in part 413-1, a disc part 413-2, and a sleeve part 413-3. The winch 405 is connected to the driven shaft 412 by a coupling. Specifically, the insertion part 412-1 of the driven shaft 412 is inserted into the lower end of the coupling 410 (the D-groove at the lower end of the coupling 410 mates with the insertion part 412-1 of the driven shaft 412), the lower end of the winch 405 is inserted into the upper end of the coupling 410, and the screws 411 on the coupling 410 are tightened to secure it, thereby achieving a fixed connection between the lower end of the winch 405 and the upper end (i.e., the insertion part 412-1) of the driven shaft 412. The upper part of spring 414 is fitted onto the sleeve portion 412-3 of the driven shaft 412, and the lower part of spring 414 is fitted onto the insertion portion 413-1 of the input shaft 413. The insertion portion 413-1 of the input shaft 413 is inserted into the sleeve portion 412-3 of the driven shaft 412 for fixed connection (the D-groove in the sleeve portion 412-3 mates with the insertion portion 413-1). The upper end of spring 414 abuts against the circular boss 412-4 of the driven shaft 412, and the lower end of spring 414 abuts against the disc portion 413-2 of the input shaft 413. A bearing 409 is connected to the upper part of the winch 405, and a bearing 409 is connected to the bearing mounting portion 412-2 of the driven shaft 412. An O-ring 415 is fitted into the annular groove of the disc portion 413-2 of the input shaft 413. The winch 405 is connected to the assembly consisting of the driven shaft 412 and the input shaft 413 via a coupling, which prevents the winch 405 from moving up and down. The D-slot fit structure can limit the relative rotation of the shafts.

[0097] One of the bearings 409 has its outer ring connected to the upper plate 3-1, and the other bearing 409 has its outer ring connected to the lower plate 3-2. That is to say, the upper part of the winch 405 is rotatably connected to the upper plate 3-1 through the bearing 409, and the passive shaft 412 is rotatably connected to the lower plate 3-2 through the bearing 409.

[0098] There are a total of four winch assemblies 4, and one winch assembly 4 corresponds to one rotary column 404, for a total of four rotary columns 404. For example... 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 sleeve portion 413-3 of the input shaft 413 extends downward from the base 1. The sleeve portion 413-3 and the disc portion 413-2 of the input shaft 413 are located in the cylindrical shells 3-4. The sleeve portion 412-3 and the circular boss 412-4 of the passive rotating shaft 412 are located in the cylindrical shells 3-4. The spring 414 is located in the cylindrical shells 3-4. An O-ring 415 is pressed between the disc portion 413-2 and the inner wall of the cylindrical shells 3-4. The O-ring 415 can increase the rotational resistance and prevent the winch assembly 4 from rotating during the transportation or handling of the robot, which would cause the steel wire to loosen.

[0099] When using a parallel progressive structure natural cavity surgical robot, the power unit 3 is connected and coordinated with an external power box. The power box is equipped with four drive motors, each with a splined shaft. This splined shaft is inserted into the sleeve 413-3, which connects to the spline groove of the sleeve 413-3 of the input shaft 413. When the drive motor is started, the winch 405 rotates, causing the wire to be wound up or unwound. When the splined shaft of the drive motor in the power box is inserted into the sleeve 413-3, the input shaft 413 rises slightly, the disc 413-2 disengages from the O-ring 415, the resistance of the O-ring 415 disappears, and when the input shaft 413 rotates, there is a gap between the disc 413-2 and the inner wall of the cylindrical shell 3-4.

[0100] refer to Figure 9 and 10 The first steel wire a1 is wound around the wire groove 407 of the winch 405, and a wire knot 408 is crimped 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.

[0101] refer to Figure 7 The four winch assemblies 4 are arranged in a rectangular layout, while the four rotating columns 404 are arranged in a V-shape, with the V-shaped opening near the guide frame 402 and the V-shaped tip near the winch. The four rotating columns 404 are located between the four winch assemblies 4, which avoids crossing during wire winding. Combined with the four guide holes of the guide frame 402, this arrangement further prevents the steel wire from crossing during movement.

[0102] like Figure 23-29 As shown, the bowl-shaped link 212 has a bottom circular opening 212-1 and a side notch 212-3. The side notch 212-3 is connected to the bottom circular opening 212-1. The bowl-shaped link 212 has three wire holes 212-2 evenly distributed along the circumference.

[0103] like 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.

[0104] like Figure 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] The first wire a1, the second wire a2, and the third wire a3 pass through the three wire holes 511-2-1 in the cup-shaped link push block 511, and the fourth wire a4 passes through the central wire hole 512-3-1 in the intermediate link push block 512.

[0109] like Figure 34As shown, the lead screw drive 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 first fixed block base 503-1, a second fixed block base 503-2, a driven gear 504, a driving gear 505, a transmission mechanism connecting seat 506, a bearing 507, a bearing 510, a front bearing seat 508, and a rear bearing seat 509. The front bearing seat 508 and the rear bearing seat 509 are respectively fixedly mounted. Mounted on base 1, the first guide rail 502-1 and the second guide rail 502-2 are fixedly mounted on base 1, arranged side by side. The front end of the first lead screw 501-1 is connected to the bearing in the front bearing housing 508, and the rear end of the first lead screw 501-1 is connected to the bearing in the rear bearing housing 509. The front end of the second lead screw 501-2 is connected to the bearing in the front bearing housing 508. The rear end is connected to the bearing in the rear bearing housing 509; the first lead screw 501-1 can rotate under the support of the front bearing housing 508 and the rear bearing housing 509, and the second lead screw 501-2 can rotate under the support of the front bearing housing 508 and the rear bearing housing 509; the first fixed block base 503-1 is provided with a first internal thread hole, and the second fixed block base 503-2 is provided with a second internal thread hole. The first fixed block base 503-1 is fitted on the first lead screw 501-1, and the second fixed block base 503-2 is fitted on the second lead screw 501-2. The first internal thread hole of the first fixed block base 503-1 is connected and engaged with the external thread of the first lead screw 501-1, and the second internal thread hole of the second fixed block base 503-2 is connected and engaged with the external thread of the second lead screw 501-2. When the first lead screw 501-1 rotates, the first fixed block base 503-1 can be translated, and when the second lead screw 501-2 rotates, the second fixed block base 503-2 can be translated. Fixed block base 1 503-1 is slidably connected to the first guide rail 502-1, and fixed block base 2 503-2 is slidably connected to the second guide rail 502-2. Drive shaft 1 is connected to the rear end of the first lead screw 501-1, and drive shaft 2 is connected to the rear end of the second lead screw 501-2. Driven gear 2 504 is fixedly connected to drive shaft 2, and driven gear 1 is fixedly connected to drive shaft 1. Both ends of drive shaft 1 are rotatably connected to the transmission mechanism connecting seat 506 via two bearings 507 (bearing 507 is shown at the top in the figure, with the two bearings 507 arranged vertically). Both ends of drive shaft 2 are rotatably connected to the transmission mechanism connecting seat 506 via two bearings 510 (bearing 510 is shown at the top in the figure, with the two bearings 510 arranged vertically). Drive gear 2 505 is fixedly connected to drive shaft 2, and drive gear 1 is fixedly connected to drive shaft 1. Drive gear 1 meshes with driven gear 1, and drive gear 2 505 meshes with driven gear 2 504.The clockwise or counterclockwise rotation of the driving gear 505, mounted on the transmission mechanism connecting seat 506, drives the driven gear 504 to rotate clockwise or counterclockwise. The driven gear 504 and the first lead screw 501-1 move synchronously after being rigidly connected. The rotation of the first lead screw 501-1 drives the fixed block base 503-1 forward or backward under the guidance of the first guide rail 502-1. Similarly, the rotation of the second lead screw 501-2 drives the fixed block base 503-2 forward or backward along the second guide rail 502-2. When the robot is in use, the external power box is connected to the lead screw transmission device 5. The shafts of the two geared motors in the external power box pass through the base 1, and the shafts of the two geared motors are respectively connected to drive shaft one and drive shaft two. Starting the two geared motors drives drive shaft one and drive shaft two to rotate.

[0110] refer to Figure 36 The upper part of the second fixing block base 503-2 has two connecting holes, and the upper part of the first fixing block base 503-1 has two connecting holes 503-1-1. Two screws are passed through the two connecting holes on the upper part of the second fixing block base 503-2 and connected to the two connecting holes 511-1-1 of the connecting plate 511-1 in the cup-shaped chain link push block 511, thereby fixing the connecting plate 511-1 of the cup-shaped chain link push block 511 to the upper part of the second fixing block base 503-2, thus realizing the fixed connection between the cup-shaped chain link push block 511 and the second fixing block base 503-2. Similarly, by passing two screws through the two connecting holes 503-1-1 on the upper part of the fixed block base 503-1, and connecting them to the two connecting holes 512-1-1 on the connecting plate 512-1 in the intermediate link push block 512, the connecting plate 512-1 of the intermediate link push block 512 is fixedly installed on the upper part of the fixed block base 503-1, thus realizing the fixed connection between the intermediate link push block 512 and the fixed block base 503-1.

[0111] The push plate 511-2 is located above the push plate 512-2, and the push cylinder 512-3 is located in the push cylinder receiving notch 511-2-2 in the middle of the push plate 511-2.

[0112] like Figure 51 , 52 As shown, the endoscope mounting tube 207 has a window 207-1 on its side, and a pin connector 207-2 is connected to the inner wall of the endoscope mounting tube 207 near the window 207-1. The endoscope mounting tube 207 has a spherical groove 207-3 and three wire holes 207-4 evenly distributed in the circumferential direction at its rear end.

[0113] like Figures 50-54The endoscope 205 is detachably installed in the endoscope mounting tube 207. Specifically, the endoscope hinge plate 208 is hinged to the pin connector 207-2 of the endoscope mounting tube 207 via a pin 209. The endoscope hinge plate 208 is located at the window 207-1 of the endoscope mounting tube 207. The front plate 211 is fixedly connected to the endoscope hinge plate 208, and the rear plate 210 is fixedly connected to the endoscope hinge plate 208. When installing the endoscope 205, first open the endoscope hinge plate 208 outward (e.g., Figure 54 (As shown in the diagram), then insert the endoscope 205 into the inner cavity of the endoscope mounting tube 207, and then push the endoscope 205 inward. The end face of the rear end of the endoscope 205 abuts against the tail pressure plate 210, and the tail pressure plate 210 is forced to close the endoscope hinge pressure plate 20 (as shown in the diagram). Figure 50 As shown in the diagram, the front pressure plate 211 is precisely inserted into the slot 205-1 on the side of the endoscope 205, thus fixing the endoscope 205 in the inner cavity of the endoscope mounting tube 207.

[0114] like Figure 56 As shown, the foremost cup-shaped link 212 of the flexible torso is embedded in the spherical groove 207-3 at the rear end of the endoscope mounting tube 207. The first steel wire a1 passes through the wire hole 212-2 of the cup-shaped link and then 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. The metal wire knot 515 is located at the wire hole 207-4, thereby positioning the front end of the first steel wire a1. Similarly, the second steel wire and the third steel wire pass through two wire holes 212-2 of the cup-shaped link and then through the other two wire holes 207-4. Metal wire knots are also crimped at the front ends of the second steel wire and the third steel wire. The metal wire knots are located at the corresponding wire holes 207-4 to position the front ends of the second steel wire and the third steel wire.

[0115] When using the natural cavity surgical robot of this invention, the power unit 3 is connected and coordinated with an external power box. The winch assembly 4 rotates to release or reel in the first, second, and third steel wires. The release or reeling actions of the first, second, and third steel wires coordinate to achieve omnidirectional bending of the flexible torso 2 (for example, reeling in the second steel wire while releasing the first and third steel wires causes the flexible torso to bend towards the second steel wire). Therefore, the spatial position adjustment of the endoscope 205 can be achieved using only three steel wires. When the flexible torso bends to the desired state under the control of the three steel wires, the intermediate link push block 512 moves forward, while simultaneously releasing the fourth steel wire, thus fixing the completed paths of several bowl-shaped links 212, ultimately making the flexible torso taut, stable, and prevents it from collapsing.

[0116] The torso support frame 6 is fixedly installed at the front end of the base, and the middle part of the flexible torso passes through the circular through hole of the torso support frame 6, which provides support for the flexible torso.

[0117] When the endoscope 205 needs to move forward, the drive block 511 moves forward. The push plate 511-2 of the drive block 511 pushes the rearmost bowl-shaped link 212 in the flexible body forward. The rearmost bowl-shaped link 212 then pushes the adjacent bowl-shaped link forward, and so on. The rear bowl-shaped links push the front bowl-shaped links to transmit force, thus the frontmost bowl-shaped link 212 in the flexible body pushes the endoscope mounting cylinder 207 forward. At the same time, the first, second, and third steel wires are released, ultimately causing the entire flexible body to move forward, enabling the endoscope 205 in the endoscope mounting cylinder 207 to move forward and reach the designated location. Positioning is determined, and at this time, the drive link block 512 moves forward (while simultaneously releasing the fourth steel wire). The push plate 512-2 of the drive link block 512 pushes forward the rearmost cylindrical link 213 with a spherical end in the flexible body. The rearmost cylindrical link 213 with a spherical end pushes forward the adjacent cylindrical link with a spherical end, and so on. The rear cylindrical links with spherical ends push the front cylindrical links with spherical ends to transmit force, so that the frontmost cylindrical link with a spherical end in the flexible body presses against the frontmost bowl-shaped link. At this time, the flexible body is stabilized, taut, and does not sag. Next, when it is necessary to move the flexible torso backward as a whole, the cup-shaped link pusher block 511 and the intermediate link pusher block 512 are driven to move backward simultaneously, while the first, second, third, and fourth steel wires are retracted. This achieves the backward movement of the flexible torso carrying the endoscope. It should be noted that another way to move the flexible torso backward as a whole is to first drive the intermediate link pusher block 512 backward while retracting the fourth steel wire, and then drive the cup-shaped link pusher block 511 backward while retracting the first, second, and third steel wires.

[0118] refer to Figure 27 The angle α of the side notch 212-3 of the bowl-shaped link 212 can usually be in the range of 20° < α < 50°, with the optimal angle value of α being 30°. At 30°, the cylindrical link 213 with the spherical end has the best guiding effect, and the cylindrical link 213 with the spherical end moves smoothly.

[0119] Three instrument channels 206 are installed at the front end of the endoscope mounting tube 207. During the operation, surgical instruments can be passed through the instrument channels 206, which support the surgical instruments.

[0120] It should be noted that, in order to ensure that the cylindrical link 213 with the spherical end moves more smoothly in the bowl-shaped link 212 and does not get stuck, such as Figure 24 ,25 As shown in Figures 27 and 29, two rear ramps 212-3-1 are provided on the rear side of the side notch 212-3 of the bowl-shaped link, and two front ramps 212-3-2 are provided on the front side of the side notch 212-3. When the cylindrical link 213 with a spherical end moves forward in the channel formed by several side notches 212-3, the positioning protrusion 213-2 may occasionally not be aligned with the side notch 212-3 (causing a deviation in the radial direction). At this time, the positioning protrusion 213-2 can slide into the side notch 212-3 along the rear ramp 212-3-1, that is, the positioning protrusion 213-2 slides into the channel. Similarly, when the cylindrical link 213 with a spherical end moves backward in the channel formed by several side notches 212-3, the positioning protrusion 213-2 may occasionally not be aligned with the side notches 212-3 (causing a deviation in the radial direction). In this case, the positioning protrusion 213-2 can slide into the side notches 212-3 along the front slope 212-3-2, that is, the positioning protrusion 213-2 slides into the channel. It can be seen that setting the slope improves the reliability of the product.

[0121] An endoscope and flexible torso reach the lesion through the body's natural cavities. During the procedure, the image signals acquired by the endoscope 205 are transmitted to a computer wirelessly. The endoscope 205 is a capsule endoscope in the current technology, and it has its own wireless transmission module.

[0122] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and, without departing from the spirit of the present invention, adopt other forms of part configurations, driving devices, and connection methods to create structures and embodiments similar to this technical solution without creative design, all such structures and embodiments should fall within the protection scope of the present invention.

Claims

1. A side-by-side, progressive structured natural orifice surgery robot, characterized by, The utility model provides a flexible endoscope, including base, flexible trunk, power device, screw rod transmission device, chain link pushing device, trunk support frame, endoscope installation cylinder and endoscope, the flexible trunk includes first steel wire, second steel wire, third steel wire, fourth steel wire, a plurality of bowl -shaped links, a plurality of cylindrical links with spherical end, the bowl -shaped link is equipped with bottom round opening and side gap, the side gap is communicated with bottom round opening, the bowl -shaped link is equipped with three wire holes along the circumferential direction balanced, the cylindrical link with spherical end is equipped with cylindrical body, positioning convex part, the cylindrical body is equipped with center wire hole, the front end of cylindrical body is spherical end, and the rear end of cylindrical body is equipped with spherical recess, a plurality of bowl -shaped links are stacked together in sequence, first steel wire, second steel wire, third steel wire respectively pass through three wire holes on each bowl -shaped link, and the side gap of adjacent two bowl -shaped links is aligned, and one cylindrical link with spherical end is placed in each bowl -shaped link, and the positioning convex part of cylindrical link with spherical end is located in the side gap of bowl -shaped link, fourth steel wire passes through the center wire hole of a plurality of cylindrical links with spherical end in sequence, and a plurality of cylindrical links with spherical end are connected in series, and the spherical end of the cylindrical link with spherical end behind is embedded in the spherical recess of the cylindrical link with spherical end before, the front end of fourth steel wire is fixedly connected fourth wire knot, and fourth wire knot is located at the center wire hole of the most front cylindrical link with spherical end in flexible trunk, the power device is connected with base, and the first steel wire, second steel wire, third steel wire, fourth steel wire of flexible trunk are connected with power device respectively, the screw rod transmission device includes first screw rod, second screw rod, first guide rail, second guide rail, fixed block base one, fixed block base two, driven gear one, driven gear two, driving gear one, driving gear two, transmission mechanism connecting seat, transmission shaft one, transmission shaft two, drive shaft one, drive shaft two, front bearing seat, rear bearing seat, the front bearing seat, rear bearing seat are fixedly connected on base respectively, the first guide rail, second guide rail are fixedly connected on base respectively, the first guide rail, second guide rail are arranged side by side, the front end of first screw rod is connected with front bearing seat, and the rear end of first screw rod is connected with rear bearing seat, the front end of second screw rod is connected with front bearing seat, and the rear end of second screw rod is connected with rear bearing seat, the fixed block base one is sleeved on first screw rod, the fixed block base two is sleeved on second screw rod, and the first internal thread hole of fixed block base one is connected with the outer thread of first screw rod, and the second internal thread hole of fixed block base two is connected with the outer thread of second screw rod, the fixed block base one is sleeved on first guide rail and is connected in sliding, the fixed block base two is sleeved on second guide rail and is connected in sliding, the transmission shaft one is connected with the rear end of first screw rod, the transmission shaft two is connected with the rear end of second screw rod, the driven gear two is fixedly connected with transmission shaft two, the driven gear one is fixedly connected with transmission shaft one,Both ends of the driving shaft one are rotatably connected with the transmission mechanism connecting seat through bearings respectively, both ends of the driving shaft two are rotatably connected with the transmission mechanism connecting seat through bearings respectively, the driving gear two 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 is engaged with the driven gear two, the upper portion of the fixed block base two is provided with two connecting holes, the upper portion of the fixed block base one is provided with two connecting holes, the link pushing device comprises a bowl-shaped link pushing block and an intermediate link pushing block, the bowl-shaped link pushing block is provided with a connecting plate and a pushing plate, the connecting plate is provided with two connecting holes, the middle portion of the pushing plate is provided with a pushing cylindrical body accommodating notch and three steel wire through holes, the three steel wire through holes are located around the pushing cylindrical body accommodating notch, the intermediate link pushing block is provided with a connecting plate, a pushing plate and a pushing cylindrical body, the connecting plate of the intermediate link pushing block is provided with two connecting holes, the pushing cylindrical body is provided with a central steel wire hole, the pushing plate of the bowl-shaped link pushing block is located above the pushing plate of the intermediate link pushing block, the pushing cylindrical body is located in the pushing cylindrical body accommodating notch of the bowl-shaped link pushing block, the two connecting holes in the upper portion of the fixed block base two of the screw rod transmission device are connected with the two connecting holes in the connecting plate of the bowl-shaped link pushing block through two screws, the two connecting holes in the upper portion of the fixed block base one are connected with the two connecting holes in the connecting plate of the intermediate link pushing block through two screws, the first steel wire, the second steel wire and the third steel wire pass through the three steel wire through holes in the bowl-shaped link pushing block respectively, the fourth steel wire passes through the central steel wire hole in the intermediate link pushing block, the rear end of the endoscope mounting cylinder is provided with a spherical recess and three wire holes which are uniformly distributed in the circumferential direction, the endoscope is connected with the endoscope mounting cylinder, the frontmost bowl-shaped link in the flexible trunk is embedded in the spherical recess at the rear end of the endoscope mounting cylinder, 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 then pass through the three wire holes at the rear end of the endoscope mounting cylinder, the front ends of the first steel wire, the second steel wire and the third steel wire are fixedly connected with wire knots respectively, the trunk support frame is fixedly connected with the base, the trunk support frame is provided with a circular through hole, the middle portion of the flexible trunk passes through the circular through hole of the trunk support frame.

2. The side-by-side, progression structure, natural orifice surgical robotic system of claim 1, wherein, The endoscope is detachably connected with the endoscope mounting cylinder, the side of the endoscope mounting cylinder is provided with a window, the inner wall of the endoscope mounting cylinder is connected with a pin connecting seat near the window, the pin connecting seat of the endoscope mounting cylinder is connected with an endoscope hinge pressing plate through a pin, the endoscope hinge pressing plate is located at the window of the endoscope mounting cylinder, and the endoscope hinge pressing plate is connected with a front segment pressing plate and a tail pressing plate.

3. The side-by-side, progression structure, natural orifice surgical robotic system of claim 1, wherein, The power device comprises an upper plate, a lower plate, a guide frame, four fixed columns, four rotating columns and four winch assemblies, the lower plate is fixedly connected with the middle portions of the four fixed columns, the upper plate is fixedly connected with the top portions of the four fixed columns, the guide frame is fixedly connected with the lower plate, the upper ends of the rotating columns are rotationally connected with the upper plate, and the lower ends of the rotating columns are rotationally connected with the lower plate; the guide frame is provided with four guide holes; the winch assembly is provided with a winch, the upper portion of the winch is rotationally connected with the upper plate through a bearing, the lower portion of the winch is rotationally connected with the lower plate through a bearing, and the lower end of the winch assembly extends downward from the base; the four fixed columns are fixedly connected with the base; the first steel wire, the second steel wire, the third steel wire and the fourth steel wire pass through the four guide holes on the guide frame respectively, the first steel wire, the second steel wire, the third steel wire and the fourth steel wire are wound on the winches of the four winch assemblies after passing around the four rotating columns respectively, the four winch assemblies are arranged in a rectangular manner, the four rotating columns are arranged in a V-shaped manner, and the four rotating columns are located between the four winch assemblies.

4. The side-by-side, progression structure, natural orifice surgical robotic system of claim 3, wherein, The winch assembly comprises a winch, a shaft coupling, a passive rotating shaft, an input shaft, a spring and an O-shaped rubber ring, the middle portion of the winch is provided with a wire slot, the passive rotating shaft is provided with an insertion part, a bearing mounting part, a sleeve part and a circular boss, the input shaft is provided with an insertion part, a disc part and a sleeve part, the insertion part of the passive rotating shaft is inserted into the lower end of the shaft coupling, the lower end of the winch is inserted into the upper end of the shaft coupling, the winch is connected with the passive rotating shaft through the shaft coupling, the upper portion of the spring is sleeved on the sleeve part of the passive rotating shaft, the lower portion of the spring is sleeved on the insertion part of the input shaft, the insertion part of the input shaft is inserted into the sleeve part of the passive rotating shaft for fixed connection, the upper end of the spring abuts against the circular boss of the passive rotating shaft, and the lower end of the spring abuts against the disc part of the input shaft, and the O-shaped rubber ring is sleeved in the annular groove of the disc part of the input shaft; the upper portion of the winch is connected with the upper plate through a bearing, and the bearing mounting part of the passive rotating shaft is connected with the lower plate through a bearing; four cylindrical housings are connected between the base and the lower plate, the sleeve part of the input shaft extends downward from the base, the sleeve part and the disc part of the input shaft are located in the cylindrical housing, the sleeve part and the circular boss of the passive rotating shaft are located in the cylindrical housing, the spring is located in the cylindrical housing, and the O-shaped rubber ring is squeezed between the disc part and the inner wall of the cylindrical housing; when the spline shaft of the driving motor in the external power box is inserted into the sleeve part, the disc part of the input shaft is separated from the O-shaped rubber ring, the resistance of the O-shaped rubber ring disappears, and when the input shaft rotates, there is a gap between the disc part and the inner wall of the cylindrical housing.

5. The side-by-side, progression structure, natural orifice surgical robotic system of claim 1, wherein, The angle α of the side notch of the bowl-shaped link is 20°<α<50°.

6. The side-by-side, progression structure, natural orifice surgical robotic system of claim 5, wherein, The angle value of the alpha is 30°.

7. The side-by-side, progression structure, natural orifice surgical robotic system of claim 1, wherein, 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.

8. The side-by-side, progression structure, natural orifice surgical robotic system of claim 1, wherein, The endoscope mounting cylinder is connected with an instrument channel.

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