An instrument cassette for a soft mirror robot and a soft mirror robot

Abstract

The application discloses a kind of instrument box for soft mirror robot and soft mirror robot, wherein the instrument box includes box body, clamping pivot, adjusting pivot and steel wire pivot, and the box body is provided with butt joint hole position;The clamping pivot is arranged in the box body, and it is opposite to the butt joint hole position, for butt joint intervention catheter of soft mirror robot;The adjusting pivot is arranged in the box body, and it is transmission connection with the clamping pivot, for driving the clamping pivot to rotate;The steel wire pivot is arranged in the box body, and it is located at the side of the clamping pivot away from the butt joint hole position, and the steel wire pivot is used to connect the traction steel wire from the clamping pivot to the intervention catheter.This application only needs to rotate clamping pivot and steel wire pivot, can flexibly control the rotation and bending state of intervention catheter, to accurately control the movement and work of soft mirror robot, instrument box can be assembled and transported separately, it is convenient to disassemble and assemble, and it is convenient to use.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an instrument box for a flexible endoscope robot and the flexible endoscope robot itself. Background Technology

[0002] Currently, endoscopic examinations and treatments using medical robots are common clinical methods and represent a significant trend in minimally invasive diagnosis and treatment. For example, flexible nephroureteroscopes are frequently used for the examination and treatment of kidney and ureteral diseases in urology; bronchoscopes are commonly used for the examination and treatment of bronchial and lung diseases in respiratory medicine; and gastroscopy and colonoscopy are frequently used for the examination and treatment of digestive tract diseases. These endoscopic devices access the body through natural urinary, respiratory, or digestive tract cavities to examine and treat internal lesions without any incisions. They offer advantages such as minimal damage, less pain, and faster recovery, and have become widely used in surgical diagnosis and treatment, serving as a primary clinical diagnostic tool.

[0003] However, traditional flexible endoscope robots often have complex drive structures designed to control the movement and operation of the bronchoscope, and they are firmly connected to the bronchoscope. As a result, there are many disassembly and assembly steps before and after use, making operation difficult. In working environments where repeated disassembly and assembly are required, they are inconvenient to use.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an instrument box for a flexible endoscope robot and a flexible endoscope robot, which aims to solve the problems of the existing flexible endoscope robot's instrument box and other structural designs being complex, the connection being firm, the disassembly and assembly being difficult, and the use being inconvenient.

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

[0007] An instrument box for a flexible endoscopy robot includes a box body, a clamping shaft, an adjusting shaft, and a wire shaft. The box body has a docking hole. The clamping shaft is disposed in the box body, facing the docking hole, and is used to dock the interventional catheter of the flexible endoscopy robot. The adjusting shaft is disposed in the box body and is throttle-connected to the clamping shaft, and is used to drive the clamping shaft to rotate. The wire shaft is disposed in the box body, located on the side of the clamping shaft opposite to the docking hole, and is used to connect a traction wire extending from the clamping shaft to the interventional catheter.

[0008] The instrument box for the flexible mirror robot includes a clamping shaft comprising a first shaft arranged along the length of the box body and a worm gear sleeved on the first shaft; the adjusting shaft comprises a second shaft arranged along the height of the box body and a worm gear sleeved on the second shaft, wherein the worm gear meshes with the worm gear.

[0009] The instrument box for the flexible endoscope robot includes a central hole formed on the first shaft for assembling the interventional catheter; the clamping shaft further includes a clamping nozzle located at one end of the first shaft into which the interventional catheter is inserted, for nesting and fixing the interventional catheter.

[0010] The instrument box for the flexible endoscopy robot includes a three-way connector and a suction valve. The three-way connector is disposed on the box body and has a main channel and a secondary channel. The main channel is aligned with the docking hole and coaxially arranged with the clamping shaft for docking with the instrument channel of the interventional catheter extending from the clamping shaft. The suction valve is disposed in the box body and connected to the secondary channel for connecting an external peristaltic pump to suction out sputum from the interventional catheter.

[0011] The instrument box for the flexible endoscope robot is provided with a seal at the port opposite to the clamping shaft on the three-way connector.

[0012] The instrument box for the flexible endoscopy robot includes a suction valve comprising a rotating valve core disposed on the inner wall of the box body and a valve cover sleeved on the rotating valve core. The rotating valve core is hollow and forms a transition channel, and an inlet and an outlet communicating with the transition channel are provided on the side wall of the rotating valve core. The valve cover includes a main body, a first connector, and a second connector. The main body covers the rotating valve core, and both the first connector and the second connector protrude from the side wall of the main body. The first connector is used to mate with the tee connector, and the second connector is used to connect to an external peristaltic pump. When the suction valve is in the open state, the inlet on the rotating valve core is aligned with the first connector, and the outlet is aligned with the second connector, connecting the first connector, the second connector, and the transition channel.

[0013] The instrument box for the flexible endoscope robot is wherein the inlet is at a different height on the rotating valve core and the outlet is at a different height on the rotating valve core.

[0014] The instrument box for the flexible endoscope robot includes a valve cover comprising a fixing block protruding from the outer side wall of the main body; a support platform protruding from the inner wall of the box opposite the fixing block, the support platform being detachably connected to the fixing block for limiting the valve cover.

[0015] The instrument box for the flexible endoscope robot includes a branching structure located within the box body, on the side of the clamping shaft opposite to the docking hole, and coaxially arranged with the clamping shaft. A passageway is formed on the branching structure opposite the centerline of the clamping shaft for receiving the instrument channel of the interventional catheter. At least two wire passages are symmetrically arranged on the branching structure with the passageway as the central axis, and these at least two wire passages are used to arrange the traction wires of the interventional catheter. At least two wire shafts are provided, symmetrically arranged on both sides of the branching structure.

[0016] This application also discloses a flexible endoscope robot, which includes a robotic arm, a drive device, an auxiliary device, and an instrument box for the flexible endoscope robot as described above. The drive device is located at the free end of the robotic arm. The instrument box is detachably mounted on the drive device, which is used to drive the adjustment shaft and the wire shaft to rotate. The auxiliary device is detachably connected to the instrument box and is used to guide the interventional catheter in a directional manner.

[0017] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0018] The instrument box disclosed in this invention is used in flexible endoscopy robots. The instrument box can be transported and manufactured separately. The box contains a clamping shaft, an adjusting shaft, and a wire shaft. During assembly, the interventional catheter is inserted into the docking hole and extends into the box to connect with the clamping shaft. The rotation angle of the clamping shaft can be flexibly controlled by adjusting the transmission between the adjusting shaft and the clamping shaft, thereby controlling the radial rotation angle of the interventional catheter. Furthermore, the interventional catheter extends from the rear end of the clamping shaft, and the traction wire of the interventional catheter is connected to the wire shaft. The angle at which the interventional catheter bends to one side can be flexibly controlled by rotating the wire shaft.

[0019] As can be seen, the device box disclosed in this invention has a simple structure for connecting the interventional catheter, and the connection is stable. During use, it is only necessary to assemble the device box onto the drive component of the flexible endoscopy robot, and connect and drive the adjusting shaft and the wire shaft to precisely control the movement and operation of the interventional catheter, making it easy to operate. Furthermore, during the assembly and disassembly of the device box, only the alignment of the adjusting shaft and the wire shaft with the drive component needs to be performed, making it convenient to assemble and disassemble and easy to use. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the soft mirror robot in this invention;

[0022] Figure 2 This is a structural schematic diagram of the instrument box for the flexible endoscopy robot in this invention, showing the state of the interventional catheter assembled in the instrument box.

[0023] Figure 3 This is a schematic diagram of the structure of the instrument box used for flexible endoscopy robot in this invention and the structure of the interventional catheter assembly;

[0024] Figure 4 This is an exploded view of the suction valve in this invention;

[0025] Figure 5 This is a schematic diagram of part of the structure of the soft mirror robot in this invention.

[0026] Among them, 100, instrument box; 110, box body; 111, docking hole; 112, support platform; 120, clamping shaft; 121, first shaft; 122, worm gear; 123, clamping nozzle; 130, adjusting shaft; 131, second shaft; 132, worm gear; 140, wire shaft; 150, tee connector; 151, main channel; 152, secondary channel; 160, suction valve; 161, rotating valve core; 1611, transition channel; 1612, inlet; 1613, outlet; 162, valve cover; 1621 1622. Main body; 1623. First connector; 1624. Second connector; 1625. Fixing block; 170. Branching structure; 171. Passageway; 172. Passing hole; 200. Interventional catheter; 210. Traction wire; 220. Instrument channel; 300. Robotic arm; 400. Drive device; 500. Auxiliary device; 510. First end; 520. Folding telescopic bracket; 521. Folding unit; 5211. First folding plate; 5212. Second folding plate; 5213. Through hole pivot; 530. Second end. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] In existing technologies, interventional devices typically involve inserting an interventional catheter into a natural cavity and moving it to the lesion. Components such as image sensors, ultrasound transducers, optical lenses, and light sources at the tip of the catheter are used to directly examine the lesion or perform surgical procedures. Therefore, existing interventional devices can improve the accuracy of diagnosis and surgery and reduce the workload for doctors. However, the use of interventional devices in practice often presents many technical challenges. For example, to facilitate the movement of the interventional catheter within the cavity, it is generally made of soft materials. However, during interventional procedures, the soft catheter is difficult to maintain its shape before entering the cavity and is prone to bending, thus affecting the interventional angle and increasing the difficulty of the procedure.

[0029] Building upon this, to ensure the smooth insertion of the interventional catheter into the body's cavities, auxiliary components, such as cannulas, can be added to the interventional device to limit its movement. However, interventional devices are inherently complex, requiring drive mechanisms to move the catheter, instruments to stabilize it, and flexible movement to align it with natural cavities. The overall structure is complex, and numerous connection and assembly structures are needed.

[0030] On the other hand, since interventional catheters are used inside cavities of the human body, they are designed for single use only to ensure safety and hygiene. After each use, the catheter needs to be removed and replaced before the interventional device can be used again. However, interventional devices themselves have complex structures and numerous connections, making the installation and removal of catheters inconvenient, thus presenting a problem of inconvenience in use.

[0031] See Figure 1 and Figure 2In one embodiment of this invention application, an instrument box 100 for a flexible endoscopy robot is disclosed, comprising a box body 110, a clamping shaft 120, an adjusting shaft 130, and a wire shaft 140. The box body 110 has a docking hole 111. The clamping shaft 120 is disposed inside the box body 110, facing the docking hole 111, and is used to dock the interventional catheter 200 of the flexible endoscopy robot. The adjusting shaft 130 is disposed inside the box body 110 and is connected to the clamping shaft 120 for driving the clamping shaft 120 to rotate. The wire shaft 140 is disposed inside the box body 110, located on the side of the clamping shaft 120 away from the docking hole 111, and is used to connect a traction wire 210 extending from the clamping shaft 120 to the interventional catheter 200.

[0032] The instrument box 100 disclosed in this embodiment is used on a flexible endoscopy robot. The instrument box 100 can be transported and manufactured separately. A clamping shaft 120, an adjusting shaft 130, and a wire shaft 140 are provided inside the box body 110. During assembly, the interventional catheter 200 is inserted into the docking hole 111 and extends into the box body 110 to connect with the clamping shaft 120. The rotation angle of the clamping shaft 120 can be flexibly controlled by adjusting the transmission between the adjusting shaft 130 and the clamping shaft 120, thereby controlling the radial rotation angle of the interventional catheter 200. Furthermore, the interventional catheter 200 extends from the rear end of the clamping shaft 120, so that the traction wire 210 of the interventional catheter 200 can be connected to the wire shaft 140. The angle at which the interventional catheter 200 bends to one side can be flexibly controlled by the rotation of the wire shaft 140.

[0033] As can be seen, the structure of the interventional catheter 200 connected in the instrument box 100 disclosed in this embodiment is simple and stable, with high transmission efficiency. Moreover, the rotation angle and bending angle of the interventional catheter 200 can be controlled separately, which improves the control capability of the instrument box 100 and helps to increase the flexibility of the interventional catheter 200 in use.

[0034] On the other hand, the instrument box 100 disclosed in this embodiment is provided with multiple rotating shafts. The operation of the rotating shafts is simple. It is only necessary to insert the shaft of the rotating shaft to drive the rotating shaft. The insertion is a connection method that is easy to disassemble. Therefore, when assembling the instrument box 100, it is only necessary to align the driving component with the adjusting rotating shaft 130 or the clamping rotating shaft 120 and insert it. The assembly process is simple. When disassembling, it is only necessary to pull the driving component out of the adjusting rotating shaft 130 or the clamping rotating shaft 120. The disassembly process is simple.

[0035] In other words, the instrument box 100 disclosed in this embodiment can be manufactured independently, has a stable structure, and is easy to assemble and disassemble with the drive component of the interventional device. When applied to medical interventional devices, the instrument box 100 can be quickly removed from the drive component after the interventional procedure is completed and discarded along with the interventional catheter 200 for disposal, and a new instrument box 100 and interventional catheter 200 can be replaced. This further facilitates the replacement of the interventional catheter 200, adapting to the single-use environment of the interventional catheter 200.

[0036] like Figure 2 and Figure 3 As shown, in one embodiment of this invention, the clamping shaft 120 includes a first shaft 121 arranged along the length direction of the housing 110 and a worm gear 122 sleeved on the first shaft 121; the adjusting shaft 130 includes a second shaft 131 arranged along the height direction of the housing 110 and a worm gear 132 sleeved on the second shaft 131, wherein the worm gear 122 meshes with the worm gear 132.

[0037] In actual production, the instrument box 100 connects to the interventional catheter 200 through the docking hole 111. In order to avoid the docking hole 111, the bottom or top surface of the box body 110 is generally used as the surface that contacts the driving component, while the side surface of the box body 110 is used as the surface for setting the docking hole 111. Thus, the driving component is assembled below the instrument box 100, and the interventional catheter 200 is assembled on the side of the instrument box 100.

[0038] In this embodiment, the mating hole 111 can be set on the side wall of the box body 110. The clamping shaft 120 is opposite to the mating hole 111 and therefore extends along the length direction of the box body 110. The adjusting shaft 130 is set along the height direction of the box body 110 so that the end of the second shaft 131 extends to the bottom or top surface of the box body 110 and is aligned with the driving component. Therefore, a worm gear 132 is sleeved on the second shaft 131, and a worm wheel 122 is set on the first shaft 121. The helical teeth on the side of the worm gear 132 mesh with the axial grooves of the worm wheel 122, so that the mutually perpendicular second shaft 131 and first shaft 121 can achieve the effect of transmission connection.

[0039] Secondly, in this embodiment, the wire shaft 140 can also be arranged along the height direction of the box body 110, so that the end of the wire shaft 140 can also extend to the bottom or top surface of the box body 110 to facilitate alignment with the drive component. Preferably, several through holes are opened on the bottom surface of the box body 110, and the ends of the adjusting shaft 130 and the wire shaft 140 are respectively aligned with the corresponding through holes to connect with the drive component inserted through the through holes, thereby achieving the purpose of transmission connection. In this way, only the drive component needs to be arranged below the instrument box 100, which is convenient for stacking and assembly.

[0040] For example Figure 2 As shown, in this embodiment, a support structure (not shown in the attached figure) can be provided inside the housing 110 to stably clamp the rotating shaft 120. For example, a fixing seat can be provided at the position opposite the docking hole 111, and a limiting hole can be provided on the fixing seat. The clamping rotating shaft 120 is inserted into the limiting hole so that the clamping rotating shaft 120 can rotate around its own radial circumference. In addition, a protective structure can be provided inside the housing 110 to cover the worm gear 132, with only a notch on the side to facilitate contact between the worm gear 132 and the worm wheel 122. This can prevent the worm gear 132 from falling off the first rotating shaft during movement or use, and maintain a high-precision fit between the worm gear 132 and the worm wheel 122.

[0041] In addition, to prevent the clamping shaft 120 from twisting the interventional catheter 200 due to excessive rotation, a limiting block can be set on the support structure to constrain the rotation angle of the clamping shaft 120 between 0-180°, ensuring the safety of the instrument box 100 during use.

[0042] Specifically, in another embodiment of this example, a pressure cap (not shown in the drawings) can be provided inside the box 110 to cover the steel wire shaft 140, and a ring of ribs can be provided around the pressure cap to prevent the traction steel wire 210 from coming off the steel wire shaft 140 when it loosens.

[0043] Optionally, in another embodiment of the present invention, the second shaft 131 and the worm gear 132 can be integrally formed, and / or the first shaft 121 and the worm wheel 122 can be integrally formed. The integrally formed structure is stable, eliminates assembly steps, facilitates production and assembly, and maintains better transmission accuracy.

[0044] For example Figure 2 As shown, in another embodiment of this invention, a central hole is formed on the first shaft 121 for assembling the interventional catheter 200. The interventional catheter 200 is inserted into the central hole through the docking hole 111 and then connected to the wire shaft 140 behind the first shaft 121. The clamping shaft 120 further includes a clamping nozzle 123, which is located on the first shaft 121 at the end into which the interventional catheter 200 is inserted, for nesting and fixing the interventional catheter 200.

[0045] In this embodiment, the clamping nozzle 123 can be made of rubber tube, latex tube or other components. The first shaft 121 of the clamping shaft 120 extends a connector at one end toward the docking hole 111 to fit the clamping nozzle 123. The interventional catheter 200 passes through the clamping nozzle 123 and then enters the central hole of the first shaft 121. The friction between the clamping nozzle 123 and the outer wall of the interventional catheter 200 makes the interventional catheter 200 stable after insertion and will not easily fall off the first shaft 121.

[0046] On the other hand, this method of fixing the interventional catheter 200 is stable. Under normal use, the interventional catheter 200 can be kept stable. During disassembly and assembly, since the interventional catheter 200 and the clamping nozzle 123 are not completely welded together, the interventional catheter 200 and the clamping nozzle 123 can still be separated with a certain pulling force. Therefore, the disassembly and assembly of the interventional catheter 200 are very convenient, making it easy to replace the interventional catheter 200 in one go.

[0047] For example Figure 2 As shown, in another embodiment of this invention, the instrument box 100 includes a three-way connector 150 and a suction valve 160. The three-way connector 150 is disposed on the box body 110, and a main channel 151 and a secondary channel 152 are formed on the three-way connector 150. The main channel 151 is directly opposite to the docking hole 111 and is coaxially disposed with the clamping shaft 120, and is used to dock with the instrument channel 220 of the interventional catheter 200 extending from the clamping shaft 120. The suction valve 160 is disposed inside the box body 110 and connected to the secondary channel 152, and is used to connect an external peristaltic pump to suction out sputum from the interventional catheter 200.

[0048] In this embodiment, a three-way connector 150 is provided to connect to the instrument channel 220 of the interventional catheter 200. This is so that the working instruments of the interventional device (such as biopsy forceps) can be inserted into the interventional catheter 200 through the three-way connector 150 for examination or surgical procedures. Before inserting the working instruments, the instrument channel 220 can be cleaned by the suction valve 160, and the sputum in the instrument channel 220 can be suctioned out under negative pressure to facilitate the subsequent insertion of the working instruments. It should be noted that the suction valve 160 disclosed in this embodiment is connected to a peristaltic pump to generate negative pressure, but the scope of protection of this invention is not limited to this. Other types of pumps, such as vacuum pumps, as long as they can achieve the technical effects disclosed in this application, can be considered as equivalent substitutions for the inventive concept and should also be within the scope of protection of this application.

[0049] Specifically, in this embodiment, the tee connector 150 can be set at one end of the housing 110 away from the docking hole 111, and the main channel 151 of the tee connector 150 is directly opposite the docking hole 111, which makes it convenient for the instrument channel 220 to extend and be arranged in a straight line, so that the working instrument can be inserted in a straight line, which is convenient for operation.

[0050] In this embodiment, the suction valve 160 is pre-installed inside the housing 110 and is connected to the three-way connector 150. When the suction valve 160 is opened, it connects to an external peristaltic pump, thereby generating negative pressure, which can draw out the fluid in the instrument channel 220 for cleaning. After the cleaning is completed, the suction valve 160 is closed, and the instrument channel 220 maintains normal air pressure, allowing for the insertion of working instruments.

[0051] As can be seen, in this embodiment, by setting the suction valve 160 and the three-way connector 150, the instrument box 100 can further control the interventional catheter 200. During the operation of the interventional catheter 200, sputum can be suctioned and the necessary working instruments can be inserted. This increases the functions that can be realized in interventional operations without removing the interventional catheter 200, which is conducive to more convenient examination or surgical work.

[0052] Specifically, as another embodiment of this invention, a sealing element is provided at the port of the three-way connector 150 opposite to the clamping shaft 120. In this embodiment, the sealing element is provided to close the rear port of the three-way connector 150. When the suction valve 160 is working, only the port connected to the instrument channel 220 and the port connected to the suction valve 160 are open, forming a complete fluid channel to facilitate the suction of sputum from the instrument channel 220 by generating negative pressure. In other words, the sealing element is provided to seal the port of the three-way connector 150, preventing air leakage during suctioning and thus ensuring effective suctioning.

[0053] Specifically, after the suction valve 160 completes the suctioning work, the operator can puncture the seal to open the port of the tee connector 150 and insert the working instrument.

[0054] Specifically, the sealing elements disclosed in this embodiment include, but are not limited to, polyethylene, polypropylene, and polyurethane plastic films. It should be noted that this embodiment only exemplifies different types of sealing elements, but the scope of protection of this invention is not limited to these. Other types of sealing elements, as long as they can achieve the technical effects disclosed in this application, can be considered equivalent substitutions for the inventive concept and should also be within the scope of protection of this application. Additionally, soft plugs such as rubber plugs can also be used as sealing elements in this embodiment.

[0055] like Figure 4As shown, in another embodiment of this invention, the suction valve 160 includes a rotating valve core 161 disposed on the inner wall of the housing 110 and a valve cover 162 sleeved on the rotating valve core 161. The rotating valve core 161 is hollow and has a transition channel 1611. The side wall of the rotating valve core 161 is provided with an inlet 1612 and an outlet 1613 communicating with the transition channel 1611.

[0056] The valve cover 162 includes a main body 1621, a first connector 1622, and a second connector 1623. The main body 1621 covers the rotating valve core 161. The first connector 1622 and the second connector 1623 both protrude from the side wall of the main body 1621. The first connector 1622 is used to connect to the tee connector 150, and the second connector 1623 is used to connect to an external peristaltic pump. When the suction valve 160 is in the open state, the inlet 1612 on the rotating valve core 161 is aligned with the first connector 1622, and the outlet 1613 is aligned with the second connector 1623, connecting the first connector 1622, the second connector 1623, and the transition channel 1611.

[0057] In this embodiment, when the first connector 1622 and the second connector 1623 on the valve cover 162 are aligned with the inlet 1612 and the outlet 1613 respectively, the peristaltic pump is connected to the transition channel 1611 and the instrument channel 220. The peristaltic pump draws fluid from the transition channel 1611 and the instrument channel 220 to achieve negative pressure suction. When the first connector 1622 and the second connector 1623 are misaligned with the inlet 1612 and the outlet 1613, suction will not continue. The suction valve 160 has a simple structure; opening and closing can be achieved simply by controlling the rotation of the valve core 161, making it easy to operate.

[0058] Specifically, as another embodiment of this invention, the heights of the inlet 1612 and the outlet 1613 on the rotary valve core 161 are different. In this embodiment, when the rotary valve core 161 rotates, the positions of the inlet 1612 and the outlet 1613 change simultaneously. That is, the first connector 1622 and the second connector 1623 simultaneously reach a state of connecting to the transition channel 1611 or simultaneously reach a state of being separated from the transition channel 1611. Therefore, the valve's opening and closing control is accurate and efficient. Setting the inlet 1612 and the outlet 1613 at different heights is to avoid misalignment. That is, to prevent the first connector 1622 from aligning with the outlet 1613, or the second connector 1623 from aligning with the inlet 1612, to prevent accidental suctioning and ensure the safety of the suction valve 160.

[0059] like Figure 2 and Figure 4 As shown, in another embodiment of this invention, the valve cover 162 includes a fixing block 1624 protruding from the outer side wall of the main body 1621; a support platform 112 protrudes from the inner wall of the box body 110 opposite to the fixing block 1624, and the support platform 112 is detachably connected to the fixing block 1624 to limit the valve cover 162.

[0060] In this embodiment, a support platform 112 and a fixing block 1624 are provided on the inner wall of the housing 110 to constrain the valve cover 162. For example, the support platform 112 and the fixing block 1624 can be connected by screws to keep the valve cover 162 stably connected to the housing 110 and prevent it from moving. At the same time, the housing 110 in this embodiment can have another through hole on its bottom surface. The end of the rotating valve core 161 is aligned with this through hole, and an external driving component drives the rotating valve core 161 to rotate, thereby achieving the effect of accurately controlling the opening and closing of the suction valve 160.

[0061] For example Figure 2 As shown, in another embodiment of this invention, the instrument box 100 includes a branching structure 170, which is disposed within the box body 110, located on the side of the clamping shaft 120 opposite to the docking hole 111, and coaxially arranged with the clamping shaft 120; a passageway 171 is formed on the branching structure 170 opposite to the center line of the clamping shaft 120 for receiving the instrument channel 220 of the interventional catheter 200; at least two wire passages 172 are symmetrically arranged on the branching structure 170 with the passageway 171 as the central axis, and the at least two wire passages 172 are used to arrange the traction wires 210 of the interventional catheter 200; at least two wire shafts 140 are provided, and the at least two wire shafts 140 are symmetrically arranged on both sides of the branching structure 170.

[0062] In actual use, depending on the number of traction wires 210 pre-set on the interventional catheter 200, a different number of wire shafts 140 are set in the instrument box 100 to achieve the purpose of controlling the interventional catheter 200 to turn accurately.

[0063] To prevent the traction wires 210 from tangling, a branching structure 170 is provided inside the housing 110. First, a passageway 171 is set in the middle of the branching structure 170 to hold the instrument channel 220, separating the instrument channel 220 from the traction wires 210. Then, each traction wire 210 of the interventional catheter 200 is fitted with a spring tube, but the length of the spring tube is slightly shorter than the length of the traction wire 210, meaning that a section of bare traction wire 210 is left at the tail end of each interventional catheter 200. A corresponding number of wire passages 172 are symmetrically arranged on both sides of the instrument channel 220 according to the number of traction wires 210. The traction wires 210 can pass through the wire passages 172, while the spring tubes cannot pass through and are stuck at the entrance of the wire passages 172. The advantage of this setup is that the length of the traction wire 210 is fixed in the part enclosed by the spring tube. Therefore, pulling the tail of the traction wire 210 can control the length of the serpentine part of the wire at the front end of the interventional catheter 200, thereby achieving the purpose of bending. The bending effect will not be affected by any twisting or coiling of the part enclosed by the spring tube, similar to the working principle of the wire control mechanism of a bicycle derailleur.

[0064] Each traction wire 210 is wound around its corresponding wire shaft 140 for independent control. This symmetrical arrangement of the wire shafts 140 and the symmetrical separation of the traction wires 210 ensures that the multiple ropes within the instrument box 100 are arranged in an orderly manner, reducing the risk of entanglement and facilitating accurate and effective control of the interventional catheter 200.

[0065] like Figure 1 and Figure 5 As shown, as another embodiment of this application, a flexible endoscope robot is disclosed, which includes a robotic arm 300, a drive device 400, an auxiliary device 500, and an instrument box 100 for the flexible endoscope robot as described above. The drive device 400 is disposed at the free end of the robotic arm 300. The instrument box 100 is detachably mounted on the drive device 400, and the drive device 400 is used to drive the adjustment shaft 130 and the wire shaft 140 to rotate. The auxiliary device 500 is detachably connected to the instrument box 100 and is used to guide the interventional catheter 200 in a directional manner.

[0066] For example, a software robot for lung intervention uses a robotic arm 300 to propel an interventional catheter 200. A drive unit 400 and an instrument cartridge 100 drive the catheter 200 to perform interventional procedures, including movement and bending, to acquire lung imaging information, output image signals, and obtain tissue samples using surgical instruments. An auxiliary device 500 maintains the rigidity of the catheter 200 during advancement, preventing bending and facilitating smooth entry into the lung cavity.

[0067] In this embodiment, a drive device 400 is fixed to the front end of the robotic arm 300, and an instrument box 100 and an auxiliary device 500 are assembled thereon. The position of the interventional catheter 200 is adjusted via the robotic arm 300, moving the catheter to a suitable position for interventional procedures. To increase control flexibility, the robotic arm 300 can be configured as a multi-degree-of-freedom robotic arm 300.

[0068] In this embodiment, the drive device 400 is provided to integrate the drive components together. For example, multiple drive servos are installed in a nacelle and powered by an external power source. The output end of each servo extends out of the top surface of the nacelle to connect with the instrument box 100 above the drive device 400.

[0069] Specifically, in this embodiment, a perforation can be made on the bottom surface of the housing 110. By inserting the output ends of multiple drive servos through the perforation into the housing 110, they can be connected to the wire shaft 140 and the adjusting shaft 130 respectively, thereby achieving the effect of driving the wire shaft 140 and the adjusting shaft 130 to rotate.

[0070] Specifically, to facilitate the assembly of the instrument box 100 and the drive component, the bottom surfaces of the adjusting shaft 130 and the wire shaft 140 can be provided with conical connecting grooves, and a bevel gear can be provided on the output end of the drive component. When the instrument box 100 is assembled, the bevel gear meshes with the conical connecting grooves, which can not only guide but also achieve the effect of transmission and engagement while aligning. This makes the assembly process of the instrument box 100 simple and efficient, allowing for quick assembly and disassembly, while maintaining the high-precision control of the interventional catheter 200 by the drive component.

[0071] Specifically, the auxiliary device 500 disclosed in this embodiment can be an X-shaped folding bracket. One end of the X-shaped folding bracket is inserted into the docking hole 111 via a quick-release structure, facilitating rapid assembly and disassembly. The other end of the X-shaped folding bracket extends linearly forward from the docking hole 111, maintaining rigidity. The portion of the interventional catheter 200 extending out of the docking hole 111 is inserted into the X-shaped folding bracket, which can keep the interventional catheter 200 moving in a straight line, thereby improving the rigidity of the interventional catheter 200 and allowing it to be inserted more smoothly into the cavity inside the human body.

[0072] For example Figure 1 and Figure 5As shown, another embodiment of this invention discloses an auxiliary device 500 comprising a first end 510, a folding telescopic bracket 520, and a second end 530 sequentially connected along a straight direction. The folding telescopic bracket 520 includes a plurality of folding units 521 sequentially connected along the direction from the first end 510 to the second end 530. Each folding unit 521 includes a first folding plate 5211 and a second folding plate 5212 arranged in a cross configuration, and a through-hole pivot 5213. The middle portion of the first folding plate 5211 is provided with... The pivot is hinged to the middle of the second folding plate 5212, and the middle of the first folding plate 5211 has an assembly hole for assembling the through-hole pivot 5213; the middle of the second folding plate 5212 has a clearance hole at the position opposite to the assembly hole; a first channel is formed on the first end 510, a second channel is formed on the through-hole pivot 5213, and a third channel is formed on the second end 530. The first channel, the second channel, and the third channel are coaxially arranged and are all used for inserting the interventional catheter 200.

[0073] In this embodiment, the folding telescopic support 520 includes multiple folding units 521 connected sequentially along the direction from the first end 510 to the second end 530. These multiple folding units 521 provide several support points for the exposed portion of the bronchoscope, making it less prone to bending. Specifically, in each folding unit 521, the middle of the first folding plate 5211 is hinged to the middle of the second folding plate 5212 via a pivot. During folding, the pivot remains stationary as the center of rotation; only the angle between the first folding plate 5211 and the second folding plate 5212 changes. Therefore, the through-hole pivot 5213 mounted in the middle of the first folding plate 5211 also remains stationary. In other words, the telescopic state of the folding telescopic support 520 does not change the position of the through-hole pivot 5213. When the interventional catheter 200 is inserted into the first, second, and third channels, it can remain aligned in a straight line, facilitating interventional operations and ensuring accurate advancement of the interventional catheter 200 in the designated direction.

[0074] In summary, this application discloses an instrument box 100 for a flexible endoscopy robot, comprising a box body 110, a clamping shaft 120, an adjusting shaft 130, and a wire shaft 140. The box body 110 has a docking hole 111. The clamping shaft 120 is disposed within the box body 110, directly opposite the docking hole 111, and is used to dock the interventional catheter 200 of the flexible endoscopy robot. The adjusting shaft 130 is disposed within the box body 110 and is connected to the clamping shaft 120 for driving the clamping shaft 120 to rotate. The wire shaft 140 is disposed within the box body 110, located on the side of the clamping shaft 120 opposite to the docking hole 111, and is used to connect a traction wire 210 extending from the clamping shaft 120 to the interventional catheter 200. The instrument box 100 disclosed in this embodiment, which connects the interventional catheter 200, has a simple structure and stable connection. During use, the instrument box 100 only needs to be assembled onto the drive component of the flexible endoscopy robot, and the movement and operation of the interventional catheter 200 can be precisely controlled by connecting and driving the adjusting shaft 130 and the wire shaft 140. This makes operation convenient. Furthermore, during the assembly and disassembly of the instrument box 100, only the alignment of the adjusting shaft 130 and the wire shaft 140 with the drive component needs to be adjusted, making assembly and disassembly convenient and easy to use.

[0075] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0076] It should be noted that this invention uses an instrument box for flexible mirror robots as an example to introduce the specific structure and working principle of the invention, but the application of the invention is not limited to instrument boxes for flexible mirror robots, and can also be applied to the production and use of other similar workpieces.

[0077] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An instrument case for a flexible endoscope robot, characterized in that, include: The box body has mating holes. A clamping shaft is disposed inside the housing, directly opposite the docking hole, for docking the interventional catheter of the flexible endoscope robot, the interventional catheter extending from the rear end of the clamping shaft; An adjusting shaft, disposed within the housing and connected in a transmission manner to the clamping shaft, is used to drive the clamping shaft to rotate; and A steel wire shaft is disposed inside the box and located on the side of the clamping shaft opposite to the docking hole. The steel wire shaft is used to connect the traction steel wire of the interventional catheter. The clamping shaft includes a first shaft arranged along the length direction of the box body and a worm gear sleeved on the first shaft; the adjusting shaft includes a second shaft arranged along the height direction of the box body and a worm gear sleeved on the second shaft, wherein the worm gear meshes with the worm gear. The first shaft has a central hole for assembling the interventional catheter; the clamping shaft also includes a clamping nozzle, which is located on the first shaft at the end into which the interventional catheter is inserted, for nesting and fixing the interventional catheter.

2. The instrument box for a flexible endoscope robot according to claim 1, characterized in that, The instrument box includes a three-way connector and a suction valve. The three-way connector is disposed on the box body and has a main channel and a secondary channel that are connected. The main channel is directly opposite the docking hole and is coaxially arranged with the clamping shaft for docking with the instrument channel of the interventional catheter extending from the clamping shaft. The suction valve is disposed in the box body and connected to the secondary channel for connecting an external peristaltic pump to suction out sputum from the interventional catheter.

3. The instrument box for a flexible endoscope robot according to claim 2, characterized in that, A seal is provided at the end of the tee connector that is opposite to the clamping shaft.

4. The instrument box for a flexible endoscope robot according to claim 2, characterized in that, The suction valve includes a rotating valve core disposed on the inner wall of the box and a valve cover sleeved on the rotating valve core. The rotating valve core is hollow and forms a transition channel, and the side wall of the rotating valve core is provided with an inlet and an outlet communicating with the transition channel. The valve cover includes a main body, a first connector and a second connector. The main body covers the rotating valve core. The first connector and the second connector both protrude from the side wall of the main body. The first connector is used to connect to the three-way connector, and the second connector is used to connect to an external peristaltic pump. When the suction valve is in the open state, the inlet on the rotating valve core is aligned with the first connector and the outlet is aligned with the second connector, connecting the first connector, the second connector and the transition channel.

5. The instrument box for a flexible endoscope robot according to claim 4, characterized in that, The inlet is at a different height on the rotary valve core than the outlet is at a different height on the rotary valve core.

6. The instrument box for a flexible endoscope robot according to claim 4, characterized in that, The valve cover includes a fixing block protruding from the outer side wall of the main body; a support platform is protruding from the inner wall of the box opposite the fixing block, and the support platform is detachably connected to the fixing block to limit the valve cover.

7. The instrument box for a flexible endoscope robot according to claim 1, characterized in that, The instrument box includes a wiring structure located inside the box, on the side of the clamping shaft opposite to the docking hole, and coaxially arranged with the clamping shaft. A passageway is formed on the wiring structure directly opposite the centerline of the clamping shaft for receiving the instrument channel of the interventional catheter. At least two wire passages are symmetrically arranged on the wiring structure with the passageway as the central axis, and these at least two wire passages are used to arrange the traction wires of the interventional catheter. At least two wire shafts are provided, and the at least two wire shafts are symmetrically arranged on both sides of the branching structure.

8. A flexible mirror robot, characterized in that, The device includes a robotic arm, a drive unit, an auxiliary device, and an instrument box for a flexible endoscope robot as described in any one of claims 1 to 7. The drive unit is located at the free end of the robotic arm. The instrument box is detachably mounted on the drive unit, which drives the adjustment shaft and the wire shaft to rotate. The auxiliary device is detachably connected to the instrument box and is used to guide the interventional catheter in a directional manner.

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