Endoscopic robot

Abstract

This invention relates to the field of medical device technology, and provides an endoscopic robot. The endoscopic robot includes: an endoscope control device, an instrument control equipment, a control platform, a first feedback sensor, and a second feedback sensor. This invention allows medical personnel to operate the control platform to control the coordinated movement of each device, thereby replacing medical personnel in performing routine endoscopic surgeries. It is fully functional and reliable, eliminates the risk of X-ray damage to medical personnel, significantly reduces their physical burden, and achieves closed-loop control between the devices, thus achieving precise, efficient, and safe surgery. In particular, it fills a gap in the field of ERCP surgical robot technology and has broad application prospects.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an endoscopic robot. Background Technology

[0002] Endoscopic surgery plays a vital role in modern medical practice; however, in some cases, traditional endoscopic procedures can be affected by factors such as operator skill limitations, surgical errors, and hand tremors, potentially impacting surgical precision and outcome. Furthermore, some endoscopic procedures require X-ray guidance, and the operator's radiation exposure presents a challenge.

[0003] Compared to traditional endoscopic equipment that relies entirely on manual operation, endoscopic robots are gradually being optimized into semi-automatic and fully automatic endoscopic robots. However, existing endoscopic robots have shortcomings in terms of the completeness of their functions, especially in certain surgical procedures, such as ERCP, where it is difficult to fully realize their functions.

[0004] This invention proposes a novel endoscopic robot, which aims to replace traditional endoscopic surgery with robotic technology. Through multi-module control, it achieves goals such as remote operation, functional implementation, automated operation, precise navigation, and radiation protection. Summary of the Invention

[0005] This invention provides an endoscopic robot to solve the problems in related technologies, such as the manual operation of endoscopes and the double burden on medical staff in terms of physical strength and health. It realizes closed-loop control between various devices, thereby achieving the goal of precise, efficient and safe surgery and completing the full functionality of the treatment procedure.

[0006] This invention provides an endoscopic robot, comprising:

[0007] The control platform is used to generate first and second control commands based on the operator's actions.

[0008] An endoscope control device is communicatively connected to the control platform and is used to receive the first control command and control the movement of the endoscope according to the first control command.

[0009] The first feedback sensor is communicatively connected to the endoscope control device and the control platform, respectively, and is used to collect the movement information of the endoscope and feed back the movement information of the endoscope to the control platform to adjust the first control command.

[0010] An instrument control device, communicatively connected to the control platform, is used to receive the second control command and execute an instrument control strategy according to the second control command. The instrument control strategy includes: switching multiple instruments mounted on the instrument control device to identify a target instrument, delivering the target instrument to the insertion part of the endoscope, and controlling the movement of the target instrument within the insertion part of the endoscope.

[0011] The second feedback sensor is communicatively connected to both the instrument control device and the control platform, and is used to collect motion information of the target instrument and feed the motion information of the target instrument back to the control platform to adjust the second control command.

[0012] The endoscopic robot provided by this invention can generate first and second control commands based on the operator's input via a control platform. The endoscope control device can receive the first control command and control the endoscope's movements accordingly. A first feedback sensor collects the endoscope's movement information and feeds it back to the control platform to adjust the first control command, thereby precisely regulating the endoscope's movements and eliminating errors. The instrument control device receives the second control command and executes the instrument control strategy accordingly, controlling the movement of the target instrument within the endoscope's insertion section. A second feedback sensor collects the target instrument's movement information and feeds it back to the control platform to adjust the second control command, thereby precisely regulating the target instrument's movements and eliminating errors. Therefore, the endoscopic robot provided by this invention allows medical personnel to operate the control platform to control the coordinated movements of various devices. The endoscopic robot provided by this invention has significant advantages in improving surgical accuracy, stability, and safety, reducing the impact of operator skill limitations and hand tremors on the surgery, and minimizing surgical errors. Furthermore, this invention is fully functional and reliable. Through remote operation, it enables complete surgical procedures, eliminates the harm of X-rays to medical staff, and significantly reduces their physical burden. It can be applied to the field of flexible endoscopy, specifically to endoscopic surgeries in different fields, such as the digestive, respiratory, urinary, and nervous systems. In particular, it fills the gap in the field of ERCP surgical robot technology and has broad application prospects. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in this invention or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1This is a schematic diagram of the structure of the endoscopic robot provided by the present invention;

[0015] Figure 2 This is a schematic diagram of the endoscope control device provided by the present invention;

[0016] Figure 3 This is a schematic diagram of the guide mechanism provided by the present invention in its deployed state;

[0017] Figure 4 This is a schematic diagram of the guide mechanism provided by the present invention in a folded state;

[0018] Figure 5 This is one of the structural schematic diagrams of the guide rod provided by the present invention;

[0019] Figure 6 This is a schematic diagram of the assembly structure of the connecting shaft and the guide rod provided by the present invention;

[0020] Figure 7 This is the second schematic diagram of the guide rod provided by the present invention;

[0021] Figure 8 This is a schematic diagram of the assembly structure of the guide rod and slide rail provided by the present invention;

[0022] Figure 9 This is a schematic diagram of the assembly structure of the guide ring provided by the present invention;

[0023] Figure 10 This is a schematic diagram of the structure of the instrument control device provided by the present invention;

[0024] Figure 11 This is one of the structural schematic diagrams of the instrument clamping and switching device provided by the present invention;

[0025] Figure 12 This is the second schematic diagram of the instrument clamping and switching device provided by the present invention;

[0026] Figure 13 This is one of the structural schematic diagrams of the first clamping assembly provided by the present invention;

[0027] Figure 14 This is a second schematic diagram of the structure of the first clamping assembly provided by the present invention;

[0028] Figure 15 This is a schematic diagram of the structure of the second clamping assembly provided by the present invention;

[0029] Figure 16 This is a schematic diagram of the wire feeding device provided by the present invention;

[0030] Figure 17 This is a schematic diagram of the instrument delivery device provided by the present invention;

[0031] Figure 18 This is a schematic diagram of the assembly structure of the endoscope and the target instrument provided by the present invention;

[0032] Figure 19 This is a schematic diagram of the structure of the fluid conveying device provided by the present invention;

[0033] Figure 20 This is a schematic diagram of the guide wire storage device provided by the present invention;

[0034] Figure 21 This is a schematic diagram of the control principle structure of the endoscopic robot provided by the present invention.

[0035] Figure label:

[0036] 100: Endoscope control device;

[0037] 101: Guide rod; 1011: First rod body; 10111: Guide groove;

[0038] 1012: Second rod; 10121: Bayonet; 1013: First connecting hole;

[0039] 102: Flexible connector; 1021: Hook; 103: Trolley; 1031: Traveling wheel; 104: Positioning arm; 105: Rotary drive arm; 1051: First telescopic arm;

[0040] 1052: Support arm; 1053: Clamping seat; 106: Guide ring; 1061: Guide hole; 107: Connecting shaft; 108: Slide rail; 109: Rack; 110: Gear;

[0041] 111: Endoscope; 1111: Operating unit; 1112: Insertion unit; 1113: Guide tube; 200: Instrument control device;

[0042] 201: Support base; 2011: Mechanical docking structure; 2012: Communication connector;

[0043] 202: Instruments and switching devices; 2021: Instrument clamping mechanisms;

[0044] 20211: Base; 20212: Fixing component; 20213: Clamping drive component;

[0045] 20214: Mounting bracket; 20215: Clamping base;

[0046] 2022: Instrument switching mechanism; 20221: Rotary seat; 20222: Detector;

[0047] 20223: First drive wheel; 20224: Drive belt; 20225: Second drive wheel; 203: Wire guide conveyor; 2031: First outer shell; 2032: First hatch;

[0048] 2033: Guide wire delivery channel; 2034: First latch;

[0049] 204: Instrument conveying device; 2041: Second outer shell; 2042: Second hatch;

[0050] 2043: Instrument transport channel; 2044: Second latch;

[0051] 205: Fluid conveying device; 2051: Fluid source; 2052: Fluid conveying pump;

[0052] 2053: Flow path switching valve; 2054: First flow path; 2055: Second flow path;

[0053] 2056: Third flow path; 2057: Fluid pressure sensor; 2058: Alarm;

[0054] 206: Guide wire storage device; 2061: Mounting base; 2062: Support component;

[0055] 2063: Roller; 2064: Limiting component;

[0056] 207: Control panel; 208: Instrument; 2081: Guide wire interface section;

[0057] 2082: Insertion tube section; 2083: Handle fixing section; 2084: Handle push rod section;

[0058] 2085: Fluid interface section; 209: Guide wire;

[0059] 300: Control platform; 400: First feedback sensor; 500: Second feedback sensor. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0061] The following is combined with Figures 1-21 The endoscopic robot of the present invention is described.

[0062] According to one embodiment of the present invention, referring to Figure 1 and Figure 21 As shown, the present invention provides an endoscope robot, which mainly includes: an endoscope control device 100, an instrument control device 200, a control platform 300, a first feedback sensor 400 and a second feedback sensor 500.

[0063] The control platform 300 is used to generate first control commands and second control commands based on the operator's operations.

[0064] The endoscope control device 100 is equipped with an endoscope 111. The endoscope control device 100 is communicatively connected to the control platform 300 and is used to receive a first control command and control the movement of the endoscope 111 according to the first control command.

[0065] The first feedback sensor 400 is communicatively connected to both the endoscope control device 100 and the control platform 300. It collects motion information from the endoscope 111 and feeds this information back to the control platform 300 to adjust the first control command. Specifically, the first feedback sensor 400 sends the real-time motion information of the endoscope 111 to the control platform 300. The control platform 300 compares this real-time motion information with preset motion information and then adjusts the first control command based on the error. The adjusted first control command then controls the motion of the endoscope 111, thereby precisely adjusting its motion and eliminating errors.

[0066] The instrument control device 200 can be installed on the endoscope control device 100, and the instrument control device 200 is communicatively connected to the control platform 300 to receive a second control command and execute an instrument control strategy according to the second control command. The instrument control strategy includes: switching multiple instruments 208 clamped on the instrument control device 200 to determine a target instrument, delivering the target instrument to the insertion part 1112 of the endoscope 111, and controlling the movement of the target instrument in the insertion part 1112 of the endoscope 111.

[0067] The second feedback sensor 500 is communicatively connected to both the instrument control device 200 and the control platform 300. It collects motion information of the target instrument and feeds this information back to the control platform 300 to adjust the second control command. Specifically, the second feedback sensor 500 sends the real-time motion information of the target instrument to the control platform 300. The control platform 300 compares this real-time motion information with the set motion information, then adjusts the second control command based on the error. The adjusted second control command then controls the movement of the target instrument, thereby precisely regulating its movement and eliminating errors.

[0068] The endoscopic robot provided in this invention can be operated by medical personnel through a control platform 300 to control the coordinated action of various devices, thereby replacing medical personnel in performing routine endoscopic surgeries. It is fully functional and reliable, eliminates the harm of X-rays to medical personnel, significantly reduces the physical burden on medical personnel, and achieves closed-loop control between various devices, thereby achieving the goal of precise, efficient and safe surgery. In particular, it fills the gap in the field of ERCP surgical robot technology and has broad application prospects.

[0069] The following is combined with Figures 2-20 The endoscopic control device 100 and instrument control equipment 200 of the endoscopic robot of the present invention will be further described.

[0070] According to one embodiment of the present invention, referring to Figures 2-9 As shown, the endoscope control device 100 provided by the present invention mainly includes a drive mechanism and a guide mechanism. The drive mechanism is connected to both the control platform 300 and the operating part 1111 of the endoscope 111, and is used to drive the endoscope 111 to move forward or backward. Correspondingly, the motion information of the endoscope 111 collected by the first feedback sensor 400 includes the amount of movement of the endoscope 111.

[0071] The guiding mechanism mainly includes multiple guide rods 101 arranged in a row. These guide rods 101 are connected to the drive mechanism via flexible connectors 102. Each guide rod 101 has a guide hole 1061 that is adapted to and connected to the insertion part 1112 of the endoscope 111. That is, the insertion part 1112 of the endoscope 111 is sequentially inserted into each guide hole 1061. When the drive mechanism drives the endoscope 111 to move forward or backward, it can move the multiple guide rods 101, unfolding or folding them, thereby achieving the insertion or withdrawal of the endoscope. The guiding mechanism can support and guide the endoscope 111, achieving precise control of its movement.

[0072] The multiple guide rods 101 of the guiding mechanism of the present invention have an unfolded state and a folded state, such as... Figure 4 As shown, when the drive mechanism drives the endoscope 111 to advance, multiple guide rods 101 are gradually compressed into a folded state, at which point the guide holes 1061 of the multiple guide rods 101 abut against each other; as Figure 3 As shown, when the drive mechanism drives the endoscope 111 to retract, the multiple guide rods 101 gradually unfold. At this time, the guide holes 1061 of the multiple guide rods 101 separate from each other. This state is the initial state.

[0073] The movement trajectory of the endoscope 111 in this invention can be, for example, an arc-shaped trajectory centered on the rotation axis of the drive mechanism. In this case, the guide holes 1061 of all guide rods 101 are distributed on the arc-shaped trajectory centered on the rotation axis of the drive mechanism, and the drive mechanism drives the endoscope 111 to move along the arc-shaped trajectory. The multiple guide rods 101 are roughly distributed in a fan shape, which can effectively reduce the overall volume of the device, thereby reducing the space occupied; and the movement trajectory plane of the guide rods 101 can be perpendicular or not perpendicular to the rotation axis of the drive mechanism, which can be designed according to actual needs.

[0074] Of course, the movement trajectory of the endoscope 111 can also be a straight line, an elliptical arc, or other trajectories.

[0075] Specifically, when the movement trajectory of the endoscope 111 is an arc-shaped trajectory centered on the rotation axis of the drive mechanism, and the drive mechanism is centered on the rotation axis of the drive mechanism, the movement trajectory of the endoscope 111 is an arc-shaped trajectory centered on the rotation axis of the drive mechanism. Figure 2 When the angle shown rotates counterclockwise, the endoscope 111 is driven to move in the corresponding direction. The end of the insertion part 1112 of the endoscope 111 advances through the guide hole 1061 of the guide rod 101 and enters the human body, i.e., insertion. Because the operating part 1111 of the endoscope 111 is thicker than the insertion part 1112, it cannot pass through the guide hole 1061. At this time, it will push the leftmost first guide rod 101 to move synchronously. Since the guide rods 101 are connected by a flexible connector 102, i.e., a soft connection, the second guide rod 101 does not move at this time. When the first guide rod 101 is pushed by the drive mechanism to contact the second guide rod 101, the first guide rod 101 and the second guide rod 101 rotate synchronously with the drive mechanism. And so on. When the last two guide rods 101 contact, the drive mechanism stops rotating, and the extension length of the insertion part 1112 of the endoscope 111 reaches its limit. At this time, the guide mechanism folds and tightens, as shown. Figure 4 As shown.

[0076] During endoscope withdrawal, the drive mechanism rotates in the reverse direction, pulling each guide rod 101 one by one through the flexible connector 102 until the endoscope 111 is completely withdrawn from the body. At this time, the guide rods 101 unfold into a roughly fan shape, as shown below. Figure 3 As shown.

[0077] Therefore, the endoscope control device 100 provided in this embodiment of the invention can drive the endoscope 111 to move forward and backward in a small space. The endoscope 111 is supported and guided by the guide rod 101 of the guide mechanism. The guide rod 101 can be evenly unfolded or folded and tightened one by one. Medical staff do not need to hold the endoscope, which can eliminate the harm of X-rays to medical staff and effectively reduce the physical burden on medical staff. In addition, the guide rod 101 of the guide mechanism occupies a small length of the endoscope insertion part, and has the characteristics of simple structure, small space occupation, precise action and high reliability.

[0078] According to one embodiment of the present invention, the first feedback sensor 400 can also collect the force conditions of the endoscope 111, target instruments, etc. in the body. The doctor can know the force conditions of the endoscope 111, target instruments, etc. in the body in real time, and accurately control the endoscope control device 100 and instrument control device 200 through the control platform 300 according to the force conditions, which greatly improves the safety of the operation.

[0079] According to one embodiment of the present invention, referring to Figure 2 As shown, the drive mechanism mainly includes: trolley 103, positioning arm 104 and rotary drive arm 105.

[0080] The positioning arm 104 is fixed on the trolley 103, and the rotary drive arm 105 is at an angle to the positioning arm 104. The first end of the rotary drive arm 105 is rotatably mounted on the trolley 103 via a rotary shaft, and the second end of the rotary drive arm 105 is connected to the operating part 1111 of the endoscope 111. Furthermore, the guide mechanism is located within the angle range between the positioning arm 104 and the rotary drive arm 105, and the two ends of the flexible connector 102 are respectively connected to the positioning arm 104 and the rotary drive arm 105.

[0081] When the rotary drive arm 105 drives the endoscope 111 to advance, the angle between the rotary drive arm 105 and the positioning arm 104 decreases, and the positioning arm 104 can block and position the last guide rod 101, thus completing the folding and tightening of the guide mechanism.

[0082] Correspondingly, when the rotary drive arm 105 drives the endoscope 111 to retract, the angle between the rotary drive arm 105 and the positioning arm 104 increases, completing the deployment of the guide mechanism.

[0083] According to one embodiment of the present invention, referring to Figure 2 As shown, the bottom of the trolley 103 is equipped with multiple wheels 1031 to facilitate the movement of the entire device. This allows the position of the entire device to be adjusted according to surgical needs, improving adaptability and thus adapting to different surgical scenarios.

[0084] Furthermore, the trolley 103 can be equipped with a drive motor, controller and other devices. The drive motor drives the rotating shaft to rotate, which in turn drives the rotating drive arm 105 to rotate, thereby driving the endoscope 111 to advance or retract. The controller can receive relevant control commands from the control platform 300 and control the operation of the entire device according to the control commands.

[0085] Understandably, the amount of movement of the endoscope 111 can be obtained by detecting the rotation angle of the rotary drive arm 105.

[0086] According to one embodiment of the present invention, the positioning arm 104 and the rotary drive arm 105 can extend and retract along the length direction to adapt to different surgical spaces.

[0087] According to one embodiment of the present invention, referring to Figure 2 As shown, the rotary drive arm 105 includes a first telescopic arm 1051 and a support arm 1052. The first end of the first telescopic arm 1051 is connected to the rotation shaft, and the second end of the first telescopic arm 1051 is connected to the support arm 1052. The end of the support arm 1052 is provided with a clamping seat 1053, and the operating part 1111 of the endoscope 111 is clamped on the clamping seat 1053.

[0088] Furthermore, the positioning arm 104 is a second telescopic arm, which is fixed on the trolley 103. A guide ring 106 can be provided at the end of the second telescopic arm, and the guide ring 106 is provided with a guide hole 1061.

[0089] In addition, such as Figure 3 As shown, hooks 1021 can be provided at both ends of the flexible connector 102. One hook 1021 can be connected to the hanging ring of the clamping seat 1053 of the rotary drive arm 105, and the other hook 1021 can be connected to the hanging ring of the positioning arm 104, thereby realizing quick assembly and disassembly.

[0090] The specific type of the flexible connector 102 of the present invention is not particularly limited. For example, the flexible connector 102 can be a soft connecting strip, rope, etc. with a certain length. The flexible connector 102 is connected to multiple guide rods 101 respectively.

[0091] Of course, flexible connectors 102 can also be provided between each pair of adjacent guide rods 101, with the first guide rod 101 connected to the hanging ring of the clamping seat 1053 of the rotary drive arm 105 via the hook 1021 of the flexible connector 102 at its beginning, and the last guide rod 101 connected to the hanging ring of the positioning arm 104 via the hook 1021 of the flexible connector 102 at its end. The flexible connector 102 can also be a hinge, shaft, connecting rod, or other structure, and can be designed according to actual needs.

[0092] According to one embodiment of the present invention, referring to Figures 2-7 As shown, the guide rod 101 includes: a first rod body 1011 and a second rod body 1012. The first rod bodies 1011 of the multiple guide rods 101 are rotatably connected to the connecting shaft 107, which is coaxially arranged with the rotation shaft of the drive mechanism. The first end of the second rod body 1012 of the guide rod 101 is connected to the first rod body 1011, and the second end of the second rod body 1012 of the guide rod 101 is provided with a guide hole 1061.

[0093] In this embodiment of the invention, the multiple guide rods 101 of the guide mechanism are radially distributed around the rotation axis of the drive mechanism, and can rotate around the connecting shaft 107, and are roughly fan-shaped when unfolded.

[0094] According to one embodiment of the present invention, referring to Figure 5 As shown, the first rod body 1011 of the guide rod 101 is provided with a first connecting hole 1013, and the first connecting hole 1013 of the first rod body 1011 of the guide rod 101 is rotatably connected to the connecting shaft 107.

[0095] It is understood that the distance between the guide holes 1061 of the multiple guide rods 101 in this embodiment and the connecting shaft 107 is fixed and cannot be adjusted.

[0096] Unlike the embodiments described above, referring to Figures 6-8 As shown, another embodiment of the present invention provides a guiding mechanism that further includes: a plurality of slide rails 108 and a driving assembly, wherein each slide rail 108 is configured in a one-to-one correspondence with each guide rod 101; the slide rail 108 is provided with a second connecting hole, the second connecting hole being rotatably connected to the connecting shaft 107, and the first rod body 1011 of the guide rod 101 is slidably and telescopically disposed within the slide rail 108; the driving assembly is communicatively connected to the control platform 300 and is used to drive the guide rod 101 to slide telescopically along the slide rail 108. Correspondingly, the action information of the endoscope 111 collected by the first feedback sensor 400 also includes the telescopic sliding amount of the guide rod 101. By feeding back the telescopic sliding amount of the guide rod 101, the telescopic action of the guide rod 101 can be precisely adjusted.

[0097] According to the embodiments of the present invention, the distance between the guide holes 1061 of the multiple guide rods 101 and the connecting shaft 107 can be adjusted according to the parameters of the endoscope, such as the length of the endoscope insertion part. This allows the endoscope control device to be adapted to the length of the endoscope insertion part. Furthermore, when the guide rods 101 of the guiding mechanism, the positioning arm 104, and the rotary drive arm 105 are synchronously extended and retracted, the space occupied by the entire device can be adjusted, effectively improving the adaptability of the device and thus adapting to different surgical scenarios.

[0098] According to one embodiment of the present invention, the drive assembly includes a plurality of racks 109 and a plurality of gears 110, the number of racks 109 and gears 110 being the same as the number of guide rods 101, and the plurality of racks 109 and gears 110 being arranged in a one-to-one correspondence with the plurality of guide rods 101.

[0099] The first rod body 1011 of the guide rod 101 is provided with a guide groove 10111 extending along the length direction. The rack 109 is arranged on the inner wall of the guide groove 10111 along the length direction of the guide groove 10111, and the connecting shaft 107 passes through the guide grooves 10111 of the first rod body 1011 in sequence.

[0100] Multiple gears 110 are fixedly connected to the connecting shaft 107 at intervals along the axial direction of the connecting shaft 107. The gears 110 are correspondingly connected to the rack 109, and the gears 110 can rotate with the connecting shaft 107.

[0101] When the motor drives the connecting shaft 107 to rotate, it can simultaneously drive all gears 110 to rotate, thereby driving all racks 109 to move simultaneously, and driving the guide rod 101 to move within the corresponding slide rail 108, thus achieving synchronous extension and retraction of the guide rod 101.

[0102] For example, before the surgery begins, the space occupied by the entire device can be adjusted according to the surgical space. The connecting shaft 107 is driven to rotate by the motor, and all guide rods 101 are driven to extend and retract radially in the corresponding slide rails 108 through the cooperation of rack 109 and gear 110. The positioning arm 104 and the rotary drive arm 105 can also be controlled to extend and retract synchronously. After the adjustment is completed, the motor is stopped, and the connecting shaft 107 is fixed. Then, the rotary drive arm 105 is controlled to drive the endoscope 107 to enter the endoscope, and drive the guide rods 101 and slide rails 108 and other components to rotate circumferentially relative to the connecting shaft 107.

[0103] Therefore, by cleverly designing the drive components, the embodiments of the present invention can ensure that the guide rod 101 and slide rail 108 rotate circumferentially, and that all guide rods 101 can be driven to extend and retract radially synchronously by only one motor. Thus, while satisfying the functions of rotation and extension, the invention simplifies the structure and reduces costs, which is beneficial to reducing the size of the entire device and thus reducing the space occupied.

[0104] According to one embodiment of the present invention, referring to Figure 7 and Figure 9 As shown, the second end of the second rod body 1012 of the guide rod 101 is provided with a bayonet 10121, and the bayonet 10121 is engaged with a guide ring 106. The guide ring 106 is provided with a guide hole 1061.

[0105] In this embodiment of the invention, by snapping the guide ring 106 into the bayonet 10121 at the end of the guide rod 101, the endoscope 111 can be quickly assembled and disassembled. Furthermore, the insertion part 1112 of the endoscope 111 only contacts the guide ring 106. The guide ring 106 can be a disposable product. Therefore, the types of parts that need to be cleaned and disinfected can be reduced, and the efficiency of cleaning and disinfection can be effectively improved.

[0106] The following is combined with Figures 10-20 The description of the instrument control device 200 provided by the present invention will continue.

[0107] According to one embodiment of the present invention, referring to Figures 10-20As shown, the instrument control device 200 provided by the present invention mainly includes: a support base 201, an instrument clamping and switching device 202, a guide wire conveying device 203, and an instrument conveying device 204. The control platform 300 is communicatively connected to the instrument clamping and switching device 202, the guide wire conveying device 203, and the instrument conveying device 204. The second feedback sensor 500 collects the motion information of the target instrument, including the switching information of the instrument 208, the conveying amount of the guide wire 209, and the conveying amount of the insertion tube 2082 of the target instrument. The switching information of the instrument 208 may include the type of instrument 208 and the rotation angle of the rotating seat 20221 in the following embodiment.

[0108] The support base 201 serves as the main load-bearing structure of the entire device, primarily supporting the instrument clamping and switching device 202, guidewire transport device 203, instrument transport device 204, and functional modules such as the fluid transport device 205, guidewire storage device 206, and control panel 207 described in the following embodiments. The instrument control device 200 of this invention integrates multiple functional modules into a single design, meeting diverse surgical needs and effectively improving the device's versatility.

[0109] The instrument clamping and switching device 202 includes an instrument clamping mechanism 2021 and an instrument switching mechanism 2022. The instrument clamping mechanism 2021 is detachably mounted on the instrument switching mechanism 2022, and can clamp various types of instruments 208. The instrument switching mechanism 2022 is mounted on the support base 201, and can switch between various instruments 208 mounted on the instrument clamping mechanism 2021 to determine the target instrument. The target instrument can be understood as the instrument 208 required for the surgery.

[0110] The guidewire delivery device 203 is mounted on the support base 201 and is mainly used to deliver the guidewire 209 so as to advance or retract the guidewire 209; and the guidewire delivery direction of the guidewire delivery device 203 is towards the guidewire interface portion 2081 of the target instrument, so as to deliver the guidewire 209 into the insertion tube portion 2082 of the target instrument for the purpose of facilitating the operation.

[0111] The instrument delivery device 204 is mounted on the support base 201 and is mainly used to deliver the insertion tube 2082 of the target instrument to the insertion part 1112 of the endoscope 111, so as to realize the forward or backward movement of the target instrument.

[0112] The instrument manipulation device 200 provided in this embodiment of the invention can clamp different types of instruments 208 and switch between them via the instrument clamping and switching device 202, thereby meeting different functional requirements of surgery. The guidewire delivery device 203 can control the advance and retreat of the guidewire 209, allowing it to be accurately and smoothly inserted into the target instrument for surgical convenience. The instrument delivery device 204 can deliver the insertion tube 2082 of the target instrument to the insertion part 1112 of the endoscope 111, enabling the target instrument to move forward or backward. Therefore, this invention can reduce radiation damage to medical personnel during surgery, reduce their workload, and has the characteristics of high versatility and high degree of automation.

[0113] According to one embodiment of the present invention, referring to Figure 11 and Figure 12 As shown, the instrument switching mechanism 2022 mainly includes a rotating base 20221 and a detector 20222. The rotating base 20221 is rotatably mounted on the support base 201 and can rotate relative to the support base 201. The rotating base 20221 is equipped with an instrument clamping mechanism 2021. The rotating base 20221's rotational movement drives the instrument clamping mechanism 2021 to rotate synchronously, thereby achieving the switching of the instrument 208. The detector 20222 is mainly used to detect the rotation angle of the rotating base 20221, thereby accurately controlling the switching of the instrument 208 and improving the control accuracy of the equipment.

[0114] For example, the instrument switching mechanism 2022 further includes a drive motor and a transmission assembly. The drive motor is mounted on the support base 201. The transmission assembly includes a first transmission wheel 20223, a transmission belt 20224, and a second transmission wheel 20225. The first transmission wheel 20223 is connected to the shaft of the drive motor. The transmission belt 20224 is connected to the first transmission wheel 20223 and the second transmission wheel 20225 respectively. The second transmission wheel 20225 is connected to the top of the rotating base 20221. The detector 20222 is connected to the second transmission wheel 20225.

[0115] When switching instruments 208, the drive motor drives the rotating seat 20221 to rotate through the first transmission wheel 20223, the transmission belt 20224, the second transmission wheel 20225 and other transmission components, which in turn drives the instrument clamping mechanism 2021 mounted on the rotating seat 20221 to rotate, thereby realizing the switching of instruments 208; and the detector 20222 can detect the rotation angle of the rotating seat 20221 to control the rotating seat 20221 to reach the appropriate angle so that the instrument 208 is switched into place.

[0116] According to one embodiment of the present invention, referring to Figures 12-14As shown, the instrument clamping mechanism 2021 includes: a plurality of first clamping components, which are disposed on various sides of the rotating base 20221. Each first clamping component includes: a base 20211, a fixing member 20212, and a clamping drive member 20213. The base 20211 is disposed on the rotating base 20221; the fixing member 20212 is disposed on the base 20211 and can fix the handle fixing part 2083 of the instrument 208; the clamping drive member 20213 is slidably disposed on the base 20211 and can clamp and drive the handle push rod part 2084 of the instrument 208 to move. Therefore, the present invention, through the cooperation of the fixing member 20212 and the clamping drive member 20213, can replace manual operation of various instruments 208.

[0117] Furthermore, referring to Figure 12 and Figure 15 As shown, the instrument clamping mechanism 2021 of the present invention further includes a second clamping assembly, which includes a mounting frame 20214 and a plurality of clamping seats 20215. One end of the mounting frame 20214 is connected to the bottom of the rotating seat 20221; the plurality of clamping seats 20215 are disposed on the other end of the mounting frame 20214, and the clamping seats 20215 are used to clamp the guide wire interface portion 2081 of the instrument 208.

[0118] Specifically, for a common type of instrument 208, such as a nipple sphincter cutter, stone retrieval basket, snare, bile duct stent, puncture needle, etc., all have a push-pull handle structure, which can be clamped by the first clamping assembly. The handle fixing part 2083 of the instrument 208 is fixed by the fixing member 20212, and the handle push rod part 2084 of the instrument 208 can move with the clamping drive member 20213, thus simulating the push-pull action of a human hand.

[0119] For another type of common instrument 208, such as stone retrieval balloon, balloon dilation catheter, and bile duct drainage tube, since the interface of this type of instrument 208 is only the guidewire interface 2081 and the fluid interface 2085, this type of instrument 208 can be clamped by the second clamping assembly. The interface of this type of instrument 208 is clamped by the clamping seat 20215, which can simulate the clamping and alignment action of a human hand.

[0120] Understandably, since different instruments 208 have different usage methods, the first clamping assembly and the second clamping assembly can be used together, or the first clamping assembly or the second clamping assembly can be used alone. The specific settings can be made according to actual needs.

[0121] In a specific example, such as Figure 13As shown, for a nipple sphincter cutter or a similar instrument 208, the fixing member 20212 can be a first protrusion on the base 20211, and the handle fixing part 2083 of the nipple sphincter cutter is a first finger ring. The first finger ring is inserted into the first protrusion for limiting and fixing. The clamping drive member 20213 includes a slide and two second protrusions. The slide is slidably disposed on the base 20211, and the two second protrusions are symmetrically disposed on the slide. The two second finger rings of the handle push rod part 2084 of the nipple sphincter cutter are correspondingly inserted into the two second protrusions for limiting. When the slide slides, it can drive the handle push rod part 2084 of the nipple sphincter cutter to move, realizing the push-pull action.

[0122] Furthermore, the guide wire interface 2081 of the nipple sphincter can be held by the clamping seat 20215, ensuring that the guide wire interface 2081 of the nipple sphincter is aligned with the conveying direction of the guide wire conveying device 203.

[0123] In a specific example, such as Figure 14 As shown, for a stone retrieval basket or a similar device 208, the fixing member 20212 can be a fixing seat with a fixing groove. The handle fixing part 2083 of the stone retrieval basket can be inserted into the fixing groove of the fixing seat for fixing. The clamping drive member 20213 can be a movable clamping frame. The handle push rod part 2084 of the stone retrieval basket is clamped on the clamping frame, and the push and pull action is realized under the movement of the clamping frame.

[0124] In a specific example, such as Figure 15 As shown, for a stone retrieval balloon, balloon dilation catheter, or similar device 208, the guidewire interface 2081 of the stone retrieval balloon can be clamped by the clamping seat 20215 to ensure that the guidewire interface 2081 of the stone retrieval balloon is aligned with the delivery direction of the guidewire delivery device 203.

[0125] According to one embodiment of the present invention, referring to Figure 10 and Figure 16As shown, the guide wire conveying device 203 mainly includes: a first housing 2031, a guide wire conveying mechanism, and a first door 2032. The first housing 2031 is provided with a guide wire conveying channel 2033 and a first snap-fit ​​structure. The guide wire conveying mechanism is disposed inside the first housing 2031 and is used to accurately convey the guide wire 209 through the guide wire conveying channel 2033 to the guide wire interface 2081 of the target instrument. The first door 2032 is rotatably disposed on the first housing 2031, and the first door 2032 is provided with a second snap-fit ​​structure that snaps into the first snap-fit ​​structure. Through the snap-fit ​​between the first snap-fit ​​structure and the second snap-fit ​​structure, the guide wire 209 is restricted within the guide wire conveying channel 2033, thereby achieving accurate conveying of the guide wire 209. The first door 2032 is used to open or close the guide wire conveying channel 2033. One of the first snap-fit ​​structure and the second snap-fit ​​structure can be a first snap-fit ​​groove, and the other can be a first buckle 2034.

[0126] Specifically, when the first door 2032 is opened, the guide wire 209 can be placed or removed, and when the first door 2032 is closed, the first latch 2034 of the first door 2032 can engage with the first locking groove of the first housing 2031 to prevent the guide wire 209 from falling off during the transport process.

[0127] The specific structure of the guide wire conveying mechanism of the present invention is not particularly limited, as long as it can realize the conveying of the guide wire. For example, the guide wire conveying mechanism may include two rollers arranged side by side, with the guide wire 209 disposed between the two rollers. By driving the two rollers to rotate forward and backward, the guide wire 209 can be conveyed forward or backward.

[0128] According to one embodiment of the present invention, referring to Figure 10 As shown, during the switching of the instrument 208, the instrument conveying device 204 and the guide wire conveying device 203 have opposite conveying directions, so that the guide wire conveying device 203 can keep the head end of the guide wire 209 stationary.

[0129] During the switching of instruments 208, the instrument delivery device 204 and the guidewire delivery device 203 can move synchronously to drive the target instrument and guidewire 209 to move in a coordinated manner. When switching to the next target instrument after the guidewire 209 has been inserted into the target instrument and is in place, the current target instrument must first be withdrawn from the insertion portion 1112 of the endoscope 111, and then the next target instrument, guided by the guidewire 209, must be inserted into the insertion portion 1112 of the endoscope 111 until it reaches the bile duct. Specifically, this includes:

[0130] When withdrawing the target instrument, it is necessary to ensure that the tip of the guidewire 209 remains stationary within the bile duct. However, due to the relatively large frictional force between the guidewire 209 and the target instrument, the guidewire 209 may withdraw along with the target instrument. To solve this problem, this invention controls the instrument delivery device 204 to withdraw the target instrument in the reverse direction while simultaneously controlling the guidewire delivery device 203 to compensate for the travel of the guidewire being carried out by the target instrument at the same linear velocity. Throughout the entire process, the tip of the guidewire 209 remains stationary within the bile duct, thereby ensuring the safety of the surgery.

[0131] After the target instrument is removed, when switching to another instrument 208 as the target instrument, the end of the external guidewire 209 is first inserted from the tip of the insertion tube 2082 of the instrument 208 until the end of the guidewire 209 extends out in the opposite direction from the insertion tube 2082 of the instrument 208 through the guidewire interface 2081. At this time, the instrument 208 is clamped onto the instrument clamping mechanism 2021, and the insertion tube 2082 of the instrument 208 is placed in the instrument delivery device 204. At the same time, the guidewire 209 is placed in the guidewire delivery device 203. Then, the instrument delivery device 204 is controlled to drive forward, delivering the insertion tube 2082 of the instrument 208 into the insertion part 1112 of the endoscope 111. At the same time, the guidewire delivery device 203 is driven in the opposite direction at the same linear speed to compensate for the stroke of the guidewire 209 being pushed forward by the instrument 208. Throughout the process, the tip of the guidewire 209 remains stationary in the bile duct, thereby ensuring the safety of the operation.

[0132] Although the example described uses the guidewire tip remaining stationary within the bile duct, the invention can also be applied to other natural cavities, including situations where the guidewire guides the target instrument to other natural cavities.

[0133] According to one embodiment of the present invention, referring to Figure 17 As shown, the instrument delivery device 204 of the present invention mainly includes: a second outer shell 2041, an instrument delivery mechanism, and a second door 2042. The second outer shell 2041 is provided with an instrument delivery channel 2043 and a third locking structure. The instrument delivery mechanism is disposed inside the second outer shell 2041 and is used to deliver the insertion tube portion 2082 of the target instrument through the instrument delivery channel 2043. The second door 2042 is rotatably disposed on the second outer shell 2041, and the second door 2042 is provided with a fourth locking structure that engages with the third locking structure. Through the engagement of the third locking structure and the fourth locking structure, the insertion tube portion 2082 of the target instrument is restricted within the instrument delivery channel 2043, thereby achieving precise delivery of the insertion tube portion 2082 of the target instrument. The second door 2042 is used to open or close the instrument delivery channel 2043. One of the third locking structure and the fourth locking structure can be a second locking groove, and the other can be a second buckle 2044.

[0134] Specifically, when the second door 2042 is opened, the insertion tube 2082 of the target instrument can be placed or removed, and when the second door 2042 is closed, the second snap-fit ​​groove of the second door 2042 can be engaged with the second snap 2044 of the second housing 2041 to prevent the insertion tube 2082 of the target instrument from falling off during transport.

[0135] The specific structure of the instrument delivery mechanism of the present invention is not particularly limited, as long as it can realize the delivery of the insertion tube 2082 of the target instrument. For example, the instrument delivery mechanism may include two rollers arranged side by side, with the insertion tube 2082 of the target instrument disposed between the two rollers. By driving the two rollers to rotate forward and backward, the forward or backward delivery of the insertion tube 2082 of the target instrument can be realized.

[0136] According to one embodiment of the present invention, referring to Figure 1 and Figure 11 As shown, the support base 201 is also provided with a mechanical docking structure 2011 and a communication connector 2012. Through the mechanical docking structure 2011 and the communication connector 2012, the entire instrument control device 200 can be connected to the rotary drive arm 105 of the endoscope control device 100, so that the instrument control device 200 can move synchronously with the rotary drive arm 105.

[0137] Furthermore, referring to Figure 18 As shown, the left end of the operating part 1111 of the endoscope 111, facing away from the insertion part 1112, is provided with a guide tube 1113. When the endoscope control device 100 is connected to the instrument control device 200, the instrument outlet end of the instrument transport channel 2043 of the instrument transport device 204 is aligned with the guide tube 1113, so that the insertion tube part 2082 of the target instrument can enter the insertion part 1112 of the endoscope 111 through the instrument transport channel 2043 and the guide tube 1113.

[0138] According to one embodiment of the present invention, referring to Figure 10 and Figure 19 As shown, the instrument control device 200 of the present invention further includes a fluid delivery device 205, which is detachably mounted on the support base 201. The fluid delivery device 205 mainly includes multiple fluid sources 2051, multiple fluid delivery pumps 2052, and a flow path switching valve 2053. The multiple fluid sources 2051 are used to provide different medical fluids, such as air, carbon dioxide, saline, contrast agents, and bile, which are required during surgery.

[0139] Multiple fluid delivery pumps 2052 are communicatively connected to the control platform 300. The first ends of each pump 2052 are connected to multiple fluid sources 2051 via a first flow path 2054. The second ends of each pump 2052 are connected to the inlet of a flow path switching valve 2053 via a second flow path 2055. The outlet of the flow path switching valve 2053 is detachably connected to the fluid interface 2085 of the target instrument via a third flow path 2056. The flow path switching valve 2053 is communicatively connected to the control platform 300. By switching the flow path switching valve 2053, the necessary medical fluid for surgery can be delivered to the target instrument and ultimately delivered to the patient's surgical site via the insertion tube 2082 of the target instrument. Correspondingly, the motion information of the target instrument collected by the second feedback sensor 500 also includes medical fluid delivery information, which may include the type of medical fluid and information such as fluid pressure.

[0140] And, as Figure 19 As shown, the fluid delivery device 205 of the present invention may further include: a fluid pressure sensor 2057 and an alarm 2058. The fluid pressure sensor 2057 is disposed in the third flow path 2056 and is used to detect the fluid pressure in the flow path. When the detected fluid pressure is higher than a set value, the alarm 2058 will sound an alarm to remind medical personnel to operate with caution. The specific type of the alarm 2058 of the present invention is not particularly limited; for example, it can be an audible and visual alarm.

[0141] According to one embodiment of the present invention, referring to Figure 10 and Figure 20 As shown, the instrument control device 200 of the present invention further includes: a guide wire storage device 206, which is disposed on the support base 201 and is used to store the guide wire.

[0142] For example, the guide wire storage device 206 mainly includes: a mounting base 2061, a support member 2062, and a roller 2063. The mounting base 2061 is connected to the support base 201; the support member 2062 is detachably mounted on the mounting base 2061 to support the guide wire 209; the roller 2063 is rotatably mounted on the mounting base 2061 and located above the support member 2062, and the outer end of the roller 2063 is provided with a limiting member 2064 to limit the guide wire 209 on the support member 2062.

[0143] In this embodiment of the invention, by aligning the delivery direction of the guidewire delivery device 203 with the guidewire interface portion 2081 of the target instrument, the guidewire 209 can be accurately inserted into or withdrawn from the target instrument under the delivery of the guidewire delivery device 203. Furthermore, the empty portion at the end of the guidewire 209 after entering or withdrawing from the target instrument can be coiled and placed in the guidewire storage device 206 for easy storage of the guidewire 209, preventing the guidewire 209 from becoming disorganized and affecting the surgery.

[0144] According to one embodiment of the present invention, referring to Figure 10 As shown, the instrument control device 200 of the present invention further includes: a control panel 207, which is disposed on the support base 201. The control panel 207 is used to generate control commands to control each device module to perform corresponding actions, thereby controlling the entire device and facilitating on-site control when necessary to deal with emergencies.

[0145] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An endoscopic robot, characterized in that, include: The control platform is used to generate first and second control commands based on the operator's actions. An endoscope control device is communicatively connected to the control platform and is used to receive the first control command and control the movement of the endoscope according to the first control command. The first feedback sensor is communicatively connected to the endoscope control device and the control platform, respectively, and is used to collect the movement information of the endoscope and feed back the movement information of the endoscope to the control platform to adjust the first control command. An instrument control device, communicatively connected to the control platform, is used to receive the second control command and execute an instrument control strategy according to the second control command. The instrument control strategy includes: switching multiple instruments mounted on the instrument control device to identify a target instrument, delivering the target instrument to the insertion part of the endoscope, and controlling the movement of the target instrument within the insertion part of the endoscope. The second feedback sensor is communicatively connected to the instrument control device and the control platform, respectively, and is used to collect the motion information of the target instrument and feed the motion information of the target instrument back to the control platform to adjust the second control command. The endoscope control device includes a drive mechanism and a guide mechanism. The drive mechanism is used to drive the endoscope to move forward or backward. The guide mechanism includes multiple guide rods arranged in a row. The multiple guide rods are connected to the drive mechanism via flexible connectors to support and guide the endoscope. When the drive mechanism drives the endoscope to move, it causes the multiple guide rods to unfold or fold.

2. The endoscopic robot according to claim 1, characterized in that, The drive mechanism is connected to the control platform and the operating part of the endoscope respectively, and is used to drive the endoscope to move. The movement information of the endoscope includes the amount of movement of the endoscope. The guide rod is provided with a guide hole that is adapted to and connected to the insertion part of the endoscope.

3. The endoscopic robot according to claim 2, characterized in that, All the guide holes are distributed on an arc-shaped trajectory centered on the rotation axis of the drive mechanism, which drives the endoscope to move along the arc-shaped trajectory.

4. The endoscopic robot according to claim 3, characterized in that, The guide rod includes: a first rod body and a second rod body, the first rod body being rotatably connected to a connecting shaft, the connecting shaft being coaxially arranged with the rotation shaft of the drive mechanism; the first end of the second rod body is connected to the first rod body, and the second end of the second rod body is provided with the guide hole.

5. The endoscopic robot according to claim 4, characterized in that, The guiding mechanism also includes: Multiple slide rails are provided, each slide rail having a second connecting hole that is rotatably connected to the connecting shaft; the first rod body is slidably disposed on the slide rail; The drive component, which is communicatively connected to the control platform, is used to drive the guide rod to slide along the slide rail. The endoscope's motion information also includes the amount of sliding of the guide rod.

6. The endoscopic robot according to claim 4, characterized in that, The second end of the second rod is provided with a bayonet, which engages with a guide ring, and the guide ring is provided with a guide hole.

7. The endoscopic robot according to any one of claims 1-6, characterized in that, The instrument control device includes: The support base is connected to the endoscope control device; An instrument clamping and switching device includes: an instrument clamping mechanism and an instrument switching mechanism, wherein the instrument clamping mechanism is disposed on the instrument switching mechanism and is used to clamp multiple instruments; the instrument switching mechanism is disposed on the support base and is used to switch multiple instruments to determine the target instrument. A guidewire delivery device is disposed on the support base, and the guidewire delivery direction of the guidewire delivery device is towards the guidewire interface of the target instrument, for delivering the guidewire into the insertion tube of the target instrument; An instrument delivery device, disposed on the support base, is used to deliver the insertion tube of the target instrument into the insertion part of the endoscope; The control platform is communicatively connected to the instrument clamping and switching device, the guidewire conveying device, and the instrument conveying device. The motion information of the target instrument includes the switching information of the instrument, the conveying amount of the guidewire, and the conveying amount of the insertion tube of the target instrument.

8. The endoscopic robot according to claim 7, characterized in that, The guide wire feeding device includes: The first outer casing is provided with a guide wire conveying channel and a first snap-fit ​​structure; A guidewire delivery mechanism, disposed within the first housing, is used to deliver the guidewire through the guidewire delivery channel to the guidewire interface of the target instrument; A first hatch is disposed on the first outer shell, and the first hatch is provided with a second snap-fit ​​structure that snaps into the first snap-fit ​​structure. The guide wire is confined within the guide wire delivery channel by the engagement of the first and second locking structures.

9. The endoscopic robot according to claim 7, characterized in that, During the switching of the instrument, the guidewire delivery device keeps the tip of the guidewire stationary.

10. The endoscopic robot according to claim 7, characterized in that, The instrument control device also includes: A control panel, located on the support base, is used to control the instrument control device.

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