A rope-driven laparoscope ensuring hand-eye consistency without RCM constraints and its operation method

Abstract

The present application relates to the technical field of rope-driven laparoscopes that ensure hand-eye consistency without RCM constraints, and discloses a rope-driven laparoscope that ensures hand-eye consistency without RCM constraints and an operating method thereof. The laparoscope comprises a laparoscope module, a transmission module, and a field of view adjustment module. The laparoscope module is arranged along the Z-axis direction and is provided with three connecting parts. The transmission module comprises a plurality of drive ropes respectively connected to the three connecting parts. The field of view adjustment module comprises a camera unit and a rotating unit rotatably arranged on a movable end, and the rotating unit is driven to rotate by the plurality of connecting segments. The present invention adjusts the field of view of the laparoscope module through the drive rope, allowing it to slide within the cannula, effectively reducing the influence of the remote center of motion. The field of view adjustment module is provided so that the camera unit can rotate relative to the laparoscope module, effectively eliminating the error of hand-eye consistency and facilitating the doctor to judge the direction through the image.

Description

Technical Field

[0001] The present application relates to the technical field of rope-driven laparoscopes that ensure hand-eye consistency without RCM constraints, and in particular to a rope-driven laparoscope that ensures hand-eye consistency without RCM constraints and an operation method thereof. Background Art

[0002] Minimally invasive surgery (MIS) is an emerging surgical procedure that utilizes small incisions to access the patient's body. Compared to traditional open surgery, MIS is highly regarded for its advantages, including smaller incisions, less postoperative pain, and faster recovery. However, current MIS procedures are typically performed collaboratively by the surgeon and an assistant operating the laparoscope. The degree of synergy between the surgeon and an assistant can directly impact the surgical field of view, and thus the quality of the procedure.

[0003] Minimally invasive surgery is currently performed using a thin laparoscope, which has a long, thin rod-like structure that allows it to penetrate deep into the body's cavities or tissue spaces. Due to the limitations of the surgical incision, surgical tools need to rotate or move around the insertion point. The RCM mechanism can provide a relatively fixed insertion point for surgical tools, thereby improving the safety and precision of the surgery.

[0004] Traditional thin rod-shaped laparoscopes are easily restricted by the Remote Center of Motion (RCM), resulting in problems such as limited field of view. Therefore, many studies have replaced the end of the laparoscope with a flexible structure to improve the flexibility and dexterity of the laparoscopic robot. However, existing laparoscopes with flexible ends usually rely on external robotic arms to adjust the field of view, and cannot minimize the influence of the remote center of motion. At the same time, since its camera unit cannot rotate relative to the laparoscope body, the hand-eye consistency error cannot be effectively eliminated, making it difficult for doctors to judge the direction through the image returned by the camera unit and make the correct surgical movements.

[0005] Therefore, the existing technology still needs to be improved and developed, and there is a lack of a laparoscope in which the camera unit can be rotated relative to the laparoscope body without relying on an external robotic arm to adjust the field of view. Summary of the Invention

[0006] In response to the shortcomings of the existing technology, the present invention adjusts the field of view of the laparoscope module through a driving rope, so that it can slide inside the sleeve, effectively reducing the influence of the remote motion center; and is provided with a field of view adjustment module, so that the camera unit can rotate relative to the laparoscope module, effectively eliminating the error of hand-eye consistency, making it easier for doctors to judge the direction through the picture.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows: a rope-driven laparoscope that ensures hand-eye consistency without RCM constraints, comprising: a laparoscope module, the laparoscope module being used to enter a patient's body, the laparoscope module being arranged along the Z-axis direction, the laparoscope module having a fixed end and a movable end opposite to each other, and the laparoscope module being provided with three connecting parts spaced apart in a direction perpendicular to the Z-axis;

[0008] a transmission module comprising a plurality of drive ropes, each of the drive ropes having a driving section and a connecting section opposed to each other, the driving sections being slidably disposed on the fixed end along the Z-axis direction, and the connecting sections being respectively connected to at least three of the connecting portions, the movable end being driven by the driving sections to move in a direction perpendicular to the Z-axis direction;

[0009] A field of view adjustment module, the field of view adjustment module comprising: a camera unit;

[0010] The camera unit is arranged on the rotating unit, the rotating unit is rotatably arranged on the movable end along the axis of the camera unit, and several connecting segments are respectively connected to the rotating unit, and the rotating unit is rotated by any of the connecting segments.

[0011] Furthermore, the rotating unit includes: a rotating shaft, which is rotatable along the axis of the camera unit and is arranged on the movable end, and the camera unit is arranged at one end of the rotating shaft away from the movable end, wherein the two connecting segments are respectively wound around the Z axis on the rotating shaft in a clockwise direction and a counterclockwise direction, and the corresponding two connecting segments are connected to each other at the ends away from the driving segment.

[0012] Furthermore, the rotating unit also includes: two limit columns, the two limit columns are arranged at intervals on the movable end, the corresponding two driving ropes respectively contact the two limit columns and form a first contact surface, the first contact surface is located between the driving section and the connecting section of the corresponding two driving ropes, and the two limit columns are used to prevent the first contact surface from moving relative to the movable end.

[0013] Furthermore, a thread groove is provided on the rotating shaft around the Z-axis direction, and the two connecting sections connected to the rotating shaft are respectively wound around the rotating shaft along the thread groove.

[0014] Furthermore, the field of view adjustment module further includes: a positioning unit, which is arranged on the rotating unit and is used to detect the position of the camera unit.

[0015] Furthermore, the laparoscope module further comprises: a plurality of movable rods, the plurality of movable rods being spaced apart along the Z-axis direction and connected end to end in sequence, two adjacent movable rods forming a swing rod and a connecting rod respectively, the connecting rod being universally connected to one end of the swing rod toward the movable end;

[0016] In which, the rocker arm is provided with several limiting parts at intervals in the direction perpendicular to the Z axis, at least three connecting parts are provided on the rocker arm at intervals in the direction perpendicular to the Z axis, several driving ropes are respectively in contact with the corresponding limiting parts and form a second contact surface, the second contact surface is located between the corresponding driving section and the connecting section of the driving rope, and several limiting parts are used to prevent the second contact surface from moving relative to the rocker arm.

[0017] Furthermore, the rope-driven laparoscope further comprises: a plurality of driving modules, wherein the plurality of driving modules are arranged in a one-to-one correspondence with the driving ropes, and the plurality of driving modules are used to drive the driving section to move along the Z-axis direction;

[0018] A Z-axis motion module is provided between the screw motor and the fixed end, and is used to drive the fixed end to move along the Z-axis direction.

[0019] Furthermore, each of the driving ropes has a transmission section, and the driving section is located between the transmission section and the connecting section;

[0020] The driving module includes: a screw motor, the screw motor is connected to the fixed end;

[0021] A slider, the slider being in transmission connection with the screw motor, the slider being driven by the screw motor to move along the Z-axis direction, and the slider being connected to an end of the corresponding transmission section away from the driving section;

[0022] The Z-axis motion module includes: a fixed plate, and a plurality of the screw motors are arranged on the fixed plate;

[0023] a movable plate, wherein the fixed end is arranged on the movable plate;

[0024] a linear actuator, the linear actuator being disposed on the fixed plate and being used to drive the movable plate to move along the Z-axis direction;

[0025] A plurality of pulley groups are respectively arranged on the fixed plate and the movable plate, and the pulley groups are used to change the direction of the transmission section.

[0026] A method for operating a rope-driven laparoscope as described above that ensures hand-eye consistency without RCM constraints includes the following steps: controlling a plurality of driving segments connected to the connecting portion to move along the Z-axis direction to change the distance between each connecting portion and the fixed end, thereby driving the movable end to move in a direction perpendicular to the Z-axis direction.

[0027] Furthermore, the rotating unit includes: a rotating shaft, the rotating shaft being rotatably arranged on the movable end along the axis of the camera unit, the camera unit being arranged at an end of the rotating shaft away from the movable end, wherein the two connecting segments are respectively wound around the Z axis in a clockwise direction and a counterclockwise direction on the rotating shaft, and the ends of the corresponding two connecting segments away from the driving segment are connected to the rotating shaft;

[0028] The operating method further includes the step of controlling the two driving segments in contact with the rotating shaft to move along the Z-axis direction to drive the rotating shaft to rotate clockwise or counterclockwise around the Z-axis, thereby driving the camera unit to rotate along its axis.

[0029] Beneficial effects: The present invention adjusts the field of view of the laparoscope module through a driving rope, so that it can slide in the sleeve, effectively reducing the influence of the remote motion center; and is provided with a field of view adjustment module, so that the camera unit can rotate relative to the laparoscope module, effectively eliminating the error of hand-eye consistency, and facilitating the doctor to judge the direction through the picture. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the structure of a rope-driven laparoscope provided by the present invention that ensures hand-eye consistency without RCM constraints;

[0031] Figure 2 A top view of the fixing plate of the rope-driven laparoscope provided by the present invention that ensures hand-eye consistency without RCM constraints;

[0032] Figure 3 A bottom view of the movable plate of the rope-driven laparoscope provided by the present invention that ensures hand-eye consistency without RCM constraints;

[0033] Figure 4 A top view of the movable plate of the rope-driven laparoscope provided by the present invention to ensure hand-eye consistency without RCM constraints;

[0034] Figure 5 A schematic diagram of the structure of the driving module of the rope-driven laparoscope provided by the present invention that ensures hand-eye consistency without RCM constraints;

[0035] Figure 6 A schematic diagram of the structure of a laparoscopic module for a rope-driven laparoscope that ensures hand-eye consistency without RCM constraints provided by the present invention;

[0036] Figure 7 For the present invention Figure 6 A schematic diagram of the local enlarged structure at point A;

[0037] Figure 8 For the present invention Figure 6 Schematic diagram of the local enlarged structure at B.

[0038] The reference numerals in the accompanying drawings are: 100, laparoscope module; 111, fixed end; 112, movable end; 120, rocker arm; 121, limiter; 130, connecting rod; 131, connecting portion; 140, universal joint; 200, transmission module; 210, drive rope; 211, drive section; 212, connecting section; 213, transmission section; 300, field of view adjustment module; 310, camera unit; 320, rotating unit; 321, rotating shaft; 3211 , thread groove; 322, limit column; 323, positioning unit; 400, drive module; 410, screw motor; 420, slider; 430, slide rail; 440, flange; 450, rope pulling plate; 460, screw fixing part; 470, motor fixing part; 500, Z-axis motion module; 510, fixed plate; 520, movable plate; 530, linear actuator; 541, linear bearing; 542, optical axis; 540, pulley assembly. DETAILED DESCRIPTION

[0039] The present invention provides a rope-driven laparoscope and its operating method that ensures hand-eye consistency without RCM constraints. To make the objectives, technical solutions, and effects of the present invention more clear and explicit, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0040] It should be noted that when a component is referred to as being “fixed to” or “disposed on” another component, it may be directly on the other component or indirectly on the other component. When a component is referred to as being “connected to” another component, it may be directly connected to the other component or indirectly connected to the other component.

[0041] It should also be noted that the same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0043] The invention will be further explained below through description of embodiments in conjunction with the accompanying drawings.

[0044] This embodiment provides a rope-driven laparoscope and its operation method that ensures hand-eye consistency without RCM constraints, such as Figures 1 to 8 As shown in , in order to solve the above technical problems, the technical solution adopted by the present invention is as follows: it includes a laparoscope module 100, a transmission module 200 and a field of view adjustment module 300.

[0045] The laparoscope module 100 has a fixed end 111 and a movable end 112 that are opposite to each other. In actual use, the fixed end 111 of the laparoscope module 100 is used to connect to the transmission module 200, and the movable end 112 of the laparoscope module 100 is used to enter the patient's body. Specifically, the traditional thin rod-shaped laparoscope has problems such as large size and limited field of view. Since the traditional thin rod-shaped laparoscope needs to rely on an external robotic arm to adjust the field of view, the external robotic arm is large in size and cannot enter the patient's body with the thin rod-shaped laparoscope. In other words, the driven part that drives the thin rod-shaped laparoscope cannot be located in the patient's body, and the range of motion of the driven part is limited. As a result, the bending angle of the part located in the patient's body is limited, and the degree of freedom in the Z-axis direction is also limited, which is easily restricted by the remote center of motion.

[0046] The laparoscope module 100 is arranged along the Z-axis direction, and three connecting parts 131 are arranged at intervals in the direction perpendicular to the Z-axis. The transmission module 200 includes a plurality of drive ropes 210, each of which has a driving section 211 and a connecting section 212 that are opposed to each other. The plurality of drive sections 211 are slidably arranged on the fixed end 111 along the Z-axis direction, and the plurality of connecting sections 212 are respectively connected to the three connecting parts 131. Preferably, the laparoscope module 100 has a waterproof and flexible housing, and the connecting parts 131 and the driving ropes 210 are respectively arranged in the housing. When the laparoscope module 100 enters the patient's body, the connecting parts 131 are also located in the patient's body, and thus the driven part is also located in the patient's body. Since the range of motion of the driven part is not limited, the laparoscope module 100 can slide in the sleeve compared to the traditional thin rod-shaped laparoscope. The laparoscope module 100 of the present application has greater freedom in the Z-axis direction. Through the above structure, the laparoscope module 100 can effectively reduce the influence of the remote motion center.

[0047] Specifically, because the connecting portions 131 are spaced apart on the laparoscope module 100 in a direction perpendicular to the Z-axis, the three connecting portions 131 define a plane perpendicular to the axis of the laparoscope module 100. Therefore, when different drive ropes 210 are driven to move in the Z-axis direction, the angle of this plane changes, thereby causing the axis of the laparoscope module 100 to change angle. Furthermore, because the laparoscope module 100 is bendable, the movable end 112 can move relative to the fixed end 111. Therefore, the movable end 112 is driven by the multiple drive segments 211 to move in a direction perpendicular to the Z-axis.

[0048] The field of view adjustment module 300 includes a camera unit 310 and a rotation unit 320. The camera unit 310 is mounted on the rotation unit 320, which is rotatably mounted on the movable end 112 along its axis. Several connecting segments 212 are connected to the rotation unit 320. The rotation unit 320 rotates when driven by any of the connecting segments 212. The camera unit 310 can rotate relative to the laparoscope module 100, effectively eliminating errors caused by hand-eye consistency and making it easier for doctors to determine direction through the image.

[0049] In one embodiment, Figure 1 、 Figure 6 、 Figure 8 As shown in , the rotating unit 320 includes: a rotating shaft 321, which is rotatably arranged on the movable end 112 along the axis of the camera unit 310, and the camera unit 310 is arranged at the end of the rotating shaft 321 away from the movable end 112, wherein the two connecting segments 212 are respectively wound around the rotating shaft 321 in a clockwise direction and a counterclockwise direction around the Z axis, and the ends of the two corresponding connecting segments 212 away from the driving segment 211 are connected to each other. In actual use, as shown in FIG. Figure 1 、 Figure 6 、 Figure 8 As shown in FIG, by moving one of the drive segments 211 upward, the corresponding connecting segment 212 moves away from the rotating shaft 321, thereby driving the rotating shaft 321 to rotate, achieving the effect of rotating the camera unit 310 relative to the laparoscope module 100. This effectively eliminates the error of hand-eye consistency and facilitates the doctor's judgment of direction through the image. At the same time, the rotation of the rotating shaft 321 drives the other connecting segment 212 to move toward the rotating shaft 321 and wrap around the rotating shaft 321, causing the corresponding drive segment 211 to move downward.

[0050] In one embodiment, Figure 6 、 Figure 8 As shown in , the rotation unit 320 further includes two limiting posts 322 spaced apart on the movable end 112. The corresponding two drive ropes 210 contact the two limiting posts 322, forming a first contact surface. The first contact surface is located between the driving segments 211 and the connecting segments 212 of the corresponding two drive ropes 210. The two limiting posts 322 are used to prevent the first contact surface from moving relative to the movable end 112. Specifically, the first contact surface is located on the surface of the corresponding limiting post 322 facing away from the driving segment 211.

[0051] In one embodiment, Figure 6 、 Figure 8 As shown in FIG, a thread groove 3211 is provided on the rotating shaft 321 along the Z-axis direction, and the two connecting sections 212 connected to the rotating shaft 321 are respectively wound around the rotating shaft 321 along the thread groove 3211. This allows the drive rope 210 to be better wound around the rotating shaft 321, preventing the drive rope 210 from slipping on the rotating shaft 321 and causing large errors.

[0052] In one embodiment, Figure 1 、 Figure 6 、 Figure 8 As shown in , the rotating unit 320 also includes a housing and a bearing. The housing is fixed to the movable end 112, and a rotating shaft 321 is rotatably mounted within the housing via the bearing. Preferably, the two drive ropes 210 connected to the rotating shaft 321 are a single rope, with the ends forming the drive sections 211 and the middle section forming the connecting section 212. During installation, the middle section of the rope is first wrapped around the rotating shaft 321 along the threaded groove 3211, and then the ends of the rope are passed out of the housing.

[0053] In one embodiment, Figure 1 、 Figure 6 、 Figure 8 As shown in , the field of view adjustment module 300 further includes a positioning unit 323 . The positioning unit 323 is disposed on the rotating unit 320 , and is used to detect the position of the camera unit 310 .

[0054] In one embodiment, Figure 1 、 Figure 6 As shown in , the laparoscope module 100 further includes: a plurality of movable rods, which are spaced apart along the Z-axis direction and connected end to end in sequence, and two adjacent movable rods form a swing rod 120 and a connecting rod 130, respectively, and the connecting rod 130 is universally connected to one end of the swing rod 120 toward the movable end 112; preferably, as Figure 1 、 Figure 6 、 Figure 7 As shown in FIG, the laparoscope module 100 includes three movable rods. The movable rod at the top is universally connected to the movable rod at the middle to form a swing rod 120 and a connecting rod 130 respectively; the movable rod at the middle is universally connected to the movable rod at the bottom to form a swing rod 120 and a connecting rod 130 respectively; the connecting rod 130 and the swing rod 120 are universally connected via a universal joint 140;

[0055] Among them, the rocker arm 120 is provided with several limiting parts 121 at intervals in the direction perpendicular to the Z axis, and three connecting parts 131 are arranged on the rocker arm 120 at intervals in the direction perpendicular to the Z axis. Several driving ropes 210 are respectively in contact with the corresponding limiting parts 121 and form a second contact surface. The second contact surface is located between the driving section 211 and the connecting section 212 of the corresponding driving rope 210. The several limiting parts 121 are used to prevent the second contact surface from moving relative to the rocker arm 120.

[0056] Specifically, during actual use, the connecting segment 212, the rocker 120, and the connecting rod 130 together form a triangular structure. When the driving segment 211 of the drive rope 210 moves upward, the length of the connecting segment 212 shortens, causing the angle between the rocker 120 and the connecting rod 130 to decrease. Conversely, when the driving segment 211 of the drive rope 210 moves downward, the length of the connecting segment 212 lengthens, causing the angle between the rocker 120 and the connecting rod 130 to increase. By driving the driving segments 211 of the drive rope 210 upward or downward, the angle between the rocker 120 and the connecting rod 130 in three dimensions can be controlled, thereby allowing the rocker 120 and the connecting rod 130 to have a degree of freedom perpendicular to the Z-axis.

[0057] In one embodiment, Figure 1 、 Figure 5 As shown in , the rope-driven laparoscope further includes: a plurality of driving modules 400, which are arranged in a one-to-one correspondence with the driving rope 210, and the plurality of driving modules 400 are used to drive the driving section 211 to move along the Z-axis direction;

[0058] The Z-axis motion module 500 is disposed between the lead screw motor 410 and the fixed end 111 and is used to drive the fixed end 111 to move along the Z-axis. Driven by the Z-axis motion module 500, the laparoscope module 100 has a degree of freedom in the Z-axis direction, allowing the laparoscope module 100 to slide within the cannula.

[0059] In one embodiment, Figures 1 to 4 As shown in , each driving rope 210 has a transmission section 213, and the driving section 211 is located between the transmission section 213 and the connecting section 212;

[0060] The driving module 400 includes: a screw motor 410, which is connected to a fixing plate 510;

[0061] The slider 420 is in transmission connection with the lead screw motor 410. The slider 420 is driven by the lead screw motor 410 to move along the Z-axis direction. The slider 420 is connected to the end of the corresponding transmission section 213 away from the driving section 211.

[0062] The Z-axis motion module 500 includes: a fixed plate 510, and a plurality of screw motors 410 are arranged on the fixed plate 510;

[0063] A movable plate 520, with the fixed end 111 being disposed on the movable plate 520;

[0064] The linear actuator 530 is disposed on the fixed plate 510 and is used to drive the movable plate 520 to move along the Z-axis direction. The linear actuator is preferably a screw motor or an electric cylinder.

[0065] Several pulley assemblies 540 are provided on the fixed plate 510 and the movable plate 520, respectively. The pulley assemblies 540 are used to change the direction of the transmission section 213. Preferably, the pulley assemblies 540 include two pulleys. The transmission section 213 contacts the two pulleys to form a Z-shape. The pulley assemblies 540 are used to ensure that the two ends of the transmission section 213 have a spacing perpendicular to the Z-axis.

[0066] Preferably, the drive module 400 further includes: a coupling, a slide rail 430, a flange 440, a rope pulling plate 450, a screw fixing member 460, and a motor fixing member 470. The screw motor 410 includes a screw and a motor. The coupling connects the screw and the motor so that they can rotate synchronously; the screw fixing member 460 and the motor fixing member 470 are used to fix the screw and the motor, respectively, to ensure that they do not move relative to the fixed plate 510; the rope pulling plate 450 is fixedly connected to the flange 440 on one side and to the slider 420 on the other side. The flange 440 and the screw are connected by a threaded connection, which can convert the rotational motion provided by the motor into linear motion, and then drive the slider 420 to move linearly along the slide rail 430 through the rope pulling plate 450.

[0067] Preferably, a schematic diagram of a two-layer continuous body partial top plate structure; the fixed plate 510 and the movable plate 520 are connected by a linear bearing 541, and the optical axis 542 passes through the linear bearing 541 to limit the overall movement direction.

[0068] A method for operating a rope-driven laparoscope as described above that ensures hand-eye consistency without RCM constraints includes the following steps: controlling a plurality of driving segments 211 connected to the connecting portion 131 to move along the Z-axis direction to change the spacing between each connecting portion 131 and the fixed end 111, thereby driving the movable end 112 to move in a direction perpendicular to the Z-axis direction.

[0069] In one embodiment, the rotating unit 320 includes: a rotating shaft 321, which is rotatably disposed on the movable end 112 along the axis of the camera unit 310. The camera unit 310 is disposed at an end of the rotating shaft 321 away from the movable end 112, wherein two connecting segments 212 are respectively wound around the rotating shaft 321 in a clockwise direction and a counterclockwise direction around the Z axis, and the ends of the corresponding two connecting segments 212 away from the driving segment 211 are connected to the rotating shaft 321;

[0070] The operating method further includes the steps of controlling the two driving segments 211 in contact with the rotating shaft 321 to move along the Z-axis direction to drive the rotating shaft 321 to rotate clockwise or counterclockwise around the Z-axis, thereby driving the camera unit 310 to rotate along its axis.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A rope-driven laparoscope that ensures hand-eye consistency without RCM constraints, characterized by: include: A laparoscope module, the laparoscope module is used to enter the patient's body, the laparoscope module is arranged along the Z-axis direction, the laparoscope module has a fixed end and a movable end opposite to each other, and the laparoscope module is provided with three connecting parts at intervals in a direction perpendicular to the Z-axis; a transmission module comprising a plurality of drive ropes, each of the drive ropes having a driving section and a connecting section opposed to each other, the driving sections being slidably disposed on the fixed end along the Z-axis direction, and the connecting sections being respectively connected to at least three of the connecting portions, the movable end being driven by the driving sections to move in a direction perpendicular to the Z-axis direction; A field of view adjustment module, the field of view adjustment module comprising: a camera unit; The camera unit is arranged on the rotating unit, the rotating unit is rotatably arranged on the movable end along the axis of the camera unit, and several connecting segments are respectively connected to the rotating unit, and the rotating unit is rotated by any of the connecting segments.

2. The rope-driven laparoscope with hand-eye consistency and no RCM constraint according to claim 1 is characterized in that: The rotating unit includes: a rotating shaft, which is rotatable along the axis of the camera unit and is arranged on the movable end, and the camera unit is arranged at one end of the rotating shaft away from the movable end, wherein the two connecting segments are respectively wound around the Z axis on the rotating shaft in a clockwise direction and a counterclockwise direction, and the ends of the corresponding two connecting segments away from the driving segment are connected to each other.

3. The rope-driven laparoscope with hand-eye consistency and no RCM constraint according to claim 2, characterized in that: The rotating unit also includes: two limit columns, which are arranged at intervals on the movable end, and the corresponding two driving ropes respectively contact the two limit columns and form a first contact surface, and the first contact surface is located between the driving section and the connecting section of the corresponding two driving ropes, and the two limit columns are used to prevent the first contact surface from moving relative to the movable end.

4. The rope-driven laparoscope with hand-eye consistency and no RCM constraint according to claim 3, characterized in that: A thread groove is provided on the rotating shaft around the Z-axis direction, and the two connecting sections connected to the rotating shaft are respectively wound around the rotating shaft along the thread groove.

5. The rope-driven laparoscope with hand-eye consistency and no RCM constraint according to claim 1, characterized in that: The field of view adjustment module further includes a positioning unit, which is disposed on the rotating unit and is used to detect the position of the camera unit.

6. The rope-driven laparoscope with hand-eye consistency and no RCM constraint according to claim 1, characterized in that: The laparoscope module further comprises: a plurality of movable rods, the plurality of movable rods being spaced apart along the Z-axis and connected end to end in sequence, wherein two adjacent movable rods respectively form a swing rod and a connecting rod, and the connecting rod is universally connected to one end of the swing rod toward the movable end; In which, the rocker arm is provided with several limiting parts at intervals in the direction perpendicular to the Z axis, at least three connecting parts are provided on the rocker arm at intervals in the direction perpendicular to the Z axis, several driving ropes are respectively in contact with the corresponding limiting parts and form a second contact surface, the second contact surface is located between the corresponding driving section and the connecting section of the driving rope, and several limiting parts are used to prevent the second contact surface from moving relative to the rocker arm.

7. The rope-driven laparoscope with hand-eye consistency and no RCM constraint according to claim 1, characterized in that: The rope-driven laparoscope further comprises: a plurality of driving modules, wherein the plurality of driving modules are arranged in a one-to-one correspondence with the driving ropes, and the plurality of driving modules are used to drive the driving section to move along the Z-axis direction; A Z-axis motion module is used to drive the fixed end to move along the Z-axis direction.

8. The rope-driven laparoscope with hand-eye consistency and no RCM constraint according to claim 7, characterized in that: Each of the drive ropes has a transmission section, wherein the drive section is located between the transmission section and the connecting section; The driving module includes: a screw motor, and the Z-axis motion module is arranged between the screw motor and the fixed end; A slider, the slider being in transmission connection with the screw motor, the slider being driven by the screw motor to move along the Z-axis direction, and the slider being connected to an end of the corresponding transmission section away from the driving section; The Z-axis motion module includes: a fixed plate, and a plurality of the screw motors are arranged on the fixed plate; a movable plate, wherein the fixed end is arranged on the movable plate; a linear actuator, the linear actuator being disposed on the fixed plate and being used to drive the movable plate to move along the Z-axis direction; A plurality of pulley groups are respectively arranged on the fixed plate and the movable plate, and the pulley groups are used to change the direction of the transmission section.

9. The rope-driven laparoscope with hand-eye consistency and no RCM constraint according to any one of claims 1 to 8, characterized in that: The method comprises the following steps: controlling a plurality of driving segments connected to the connecting portion to move along the Z-axis direction to change the distance between each connecting portion and the fixed end, thereby driving the movable end to move in a direction perpendicular to the Z-axis direction.

10. The rope-driven laparoscope with hand-eye consistency and no RCM constraint according to claim 9, characterized in that: The rotating unit comprises: a rotating shaft, the rotating shaft being rotatably disposed on the movable end along the axis of the camera unit, the camera unit being disposed at an end of the rotating shaft away from the movable end, wherein the two connecting segments are respectively wound around the Z-axis in a clockwise direction and a counterclockwise direction on the rotating shaft, and the ends of the corresponding two connecting segments away from the driving segment are connected to the rotating shaft; The two driving segments in contact with the rotating shaft are controlled to move in the Z-axis direction to drive the rotating shaft to rotate in a clockwise or counterclockwise direction around the Z-axis, thereby driving the camera unit to rotate along its axis.

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