Surgical robot system

Abstract

The invention discloses a surgical robot system. The surgical robot system comprises a flexible instrument, a flexible instrument arrangement device, a control handle and a robot body, wherein the flexible instrument comprises an execution part and a guide pipe of which the first end is connected with the execution part; the flexible instrument arrangement device comprises an instrument storage device used for storing the guide pipe and an instrument protection device used for protecting the periphery of the guide pipe stored on the instrument storage device, the instrument storage device can rotate forwards and reversely to output and store the guide pipe of the flexible instrument, and the instrument storage device can rotationally store the guide pipe wound in a vortex mode. The instrument protection device comprises a flexible protection sleeve, and the flexible protection sleeve is arranged on the periphery of the guide pipe which is wound in a vortex mode in a sleeving mode. The control handle is in transmission connection with the execution piece. The flexible instrument, the flexible instrument arrangement device and the control handle are all installed on the robot body. According to the surgical robot system provided by the invention, the use safety of the flexible instrument is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a surgical robot system. Background Art

[0002] When treating natural cavity diseases such as digestion, urination, and respiratory diseases, flexible endoscopes are usually used in conjunction with related surgical instruments for diagnosis and treatment as the mainstream treatment method.

[0003] Unlike conventional large incision surgery, transcavitary interventional surgery often leaves medical staff with a relatively narrow operating space, so most procedures rely on flexible instruments for diagnosis and treatment.

[0004] Most of the current surgical instruments are designed for manual operation, which have certain limitations under the existing operation mode. In order to meet the needs of cavity intervention, flexible instruments are designed as flexible and slender instruments. The use process requires the cooperation of medical staff and the operation is complicated. Most of the current surgical instruments are designed for manual operation, which have certain limitations under the existing operation mode. In order to meet the needs of cavity intervention, flexible instruments are designed as flexible and slender instruments. The use process requires the cooperation of medical staff and the operation is complicated. At the same time, the flexible and slender guide tubes in flexible instruments are easily contacted with foreign objects and pose a risk of contamination. Such instruments also have the risk of cross-infection during the recycling process, which reduces the safety of flexible instruments.

[0005] Therefore, how to improve the safety of flexible devices is a technical problem that needs to be solved urgently by technical personnel. Summary of the invention

[0006] In view of this, the present invention provides a surgical robot system to improve the safety of using flexible instruments.

[0007] The surgical robot system provided in this application includes: A flexible instrument, comprising a flexible instrument handle, an actuator, and a guide tube connecting the flexible instrument handle and the actuator; A flexible instrument arranging device, the flexible instrument arranging device comprising an instrument storage device for storing the guide tube and an instrument protection device for protecting the outer periphery of the guide tube stored on the instrument storage device, the instrument storage device can rotate forward and reverse to output and store the spirally wound guide tube; the instrument protection device comprises a flexible protection sleeve, the flexible protection sleeve is sleeved on the outer periphery of the spirally wound guide tube; A control handle, the control handle is transmission-connected to the actuator; The robot body, the flexible instrument, the flexible instrument arranging device and the control handle are all installed on the robot body.

[0008] Optionally, in the above-mentioned surgical robot system, the flexible protective cover includes a flexible sheath, the flexible sheath includes two flexible belts, and each of the flexible belts is provided with a magnetic part to enable the two flexible belts to be attracted together; after the two flexible belts are attracted together, a device accommodating hole for accommodating the guide tube is formed, and one end of the two flexible belts that are attracted together is fixed to the instrument storage device.

[0009] Optionally, in the above surgical robot system, the instrument protection device further comprises a separation block and a sheath separation and storage device; The separation block is used to separate the two flexible belts. Two adjacent surfaces of the separation block are provided with concave arc surfaces, and the two concave arc surfaces gradually approach the direction of the instrument storage device to separate the two flexible belts. A through hole is formed in the separation block for the flexible belt to pass through. The sheath separation and storage device is connected to one end of the flexible belt and is used for winding the flexible belt. Two sheath separation and storage devices are provided, and the two sheath separation and storage devices are connected one-to-one with one end of two separated flexible belts.

[0010] Optionally, in the above surgical robot system, the sheath separation and storage device includes a flexible belt storage tray and a storage tray driving device, the upper surface of the flexible belt storage tray is provided with a first storage position for winding the guide tube, and the storage tray driving device is used to drive the flexible belt storage tray to rotate around the central axis of the flexible belt storage tray; The storage tray driving device comprises: First motor; A first synchronous pulley, wherein the first synchronous pulley is fixedly connected to a central axis of one of the flexible belt receiving trays; A second synchronous pulley, the second synchronous pulley being fixedly connected to the central axis of another of the flexible belt receiving trays; A synchronous belt, wherein the output shaft of the first motor, the first synchronous pulley and the second synchronous pulley are connected through the synchronous belt transmission, the synchronous belt is a double-sided toothed synchronous belt, and the first synchronous pulley and the second synchronous pulley cooperate with opposite sides of the synchronous belt.

[0011] Optionally, in the above surgical robot system, a restraint tray is further included, and the instrument storage device includes: A rotating mounting plate, wherein the upper surface of the rotating mounting plate is provided with a second storage position for supporting the flexible protective sleeve buckled with the guide tube; The rotating disk driving device is used to drive the rotating mounting disk to rotate so as to realize the guide tube vortex winding around the second storage position. The separation block, the sheath tube separation storage device, the rotating mounting disk and the rotating disk driving device are all installed on the restraining disk.

[0012] Optionally, in the above-mentioned surgical robot system, the instrument storage device also includes a guide limiter, which is a plate structure arranged in a spiral line. The guide limiter is installed at the device installation position and is used for guiding and positioning the spiral position of the inner ring of the flexible protective sleeve.

[0013] Optionally, in the above surgical robot system, the rotating disk driving device includes: Second motor; A bearing assembly, through which the rotatable mounting plate can be rotatably mounted on the restraining plate; A gear set, wherein the input end of the gear set is connected to the output shaft of the second motor, the output shaft of the output end of the gear set is fixedly connected to the rotating shaft of the rotating mounting disk, the rotating shafts of the second motor and the gear set are both installed at the bottom end of the restraining disk, and the rotating mounting disk is installed at the top end of the restraining disk.

[0014] Optionally, in the above surgical robot system, a handle fixing device is further included, and the handle fixing device includes: An end inflatable airbag, wherein the end inflatable airbag is used to limit the opposite ends of the flexible instrument handle of the flexible instrument; An intermediate inflatable airbag, wherein the intermediate inflatable airbag comprises at least two intermediate inflatable airbags, which are arranged on opposite sides of a flexible instrument handle of the flexible instrument and are used to abut against and limit the flexible instrument handle; Airbag inflation and deflation device; the airbag inflation and deflation device is used for inflating and deflation of the end inflatable airbags and the middle inflatable airbags.

[0015] Optionally, in the above surgical robot system, an airbag adjustment device is also included, and the airbag adjustment device includes: An airbag support frame, the end inflatable airbags are fixedly mounted on the airbag support frame, and the middle inflatable airbags are slidably mounted on the airbag support frame through an airbag connector; A position adjustment device, the position adjustment device is connected to the airbag connector to adjust the relative position of the middle inflatable airbag and the end inflatable airbag; The end inflatable airbag and the middle inflatable airbag are connected to the air outlet of the vent pipe, the end inflatable airbag and the middle inflatable airbag are respectively connected to the vent pipe, and the airbag inflation and deflation device is connected to the air inlet of the vent pipe.

[0016] Optionally, in the above-mentioned surgical robot system, the control handle includes a button, a dial and a clamping part, the clamping part is used to clamp the flexible endoscope, and the button is used to control the output and storage of the flexible instrument.

[0017] To achieve the above object, the present invention provides the following technical solutions: In the first aspect, the present application provides a surgical robot system including a flexible instrument, a flexible instrument organizing device, a control handle and a robot body, wherein the flexible instrument includes an actuator and a guide tube whose first end is connected to the actuator. The flexible instrument organizing device includes an instrument storage device for storing the guide tube and an instrument protection device for protecting the outer periphery of the guide tube stored on the instrument storage device. The instrument storage device can rotate forward and reverse to output and store the guide tube of the flexible instrument, and the instrument storage device can rotate to store the guide tube wound in a spiral. The instrument protection device includes a flexible protective sleeve, which is sleeved on the outer periphery of the guide tube wound in a spiral. The control handle is transmission-connected to the actuator. The flexible instrument, the flexible instrument organizing device and the control handle are all installed on the robot body.

[0018] From the above content, we can see that: The flexible instrument, the flexible instrument arrangement device and the control handle are integrated and arranged through the surgical robot system. The guide tube of the flexible instrument is spirally coiled and stored through the flexible instrument arrangement device, and a flexible protective sleeve is sleeved on the outer periphery of the spirally coiled guide tube to reduce the possibility of external substances damaging the guide tube. And when in use, it can be output through the instrument storage device. Therefore, the surgical robot system provided by the present application improves the safety of the use of flexible instruments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A three-dimensional schematic diagram of a surgical robot system disclosed in an embodiment of the present invention during use; Figure 2 A three-dimensional schematic diagram of the surgical robot system disclosed in an embodiment of the present invention during use from another perspective; Figure 3 A front view of the surgical robot system disclosed in an embodiment of the present invention during use; Figure 4 A top view of the surgical robot system disclosed in an embodiment of the present invention during use; Figure 5 is a three-dimensional structural diagram of a surgical robot system disclosed in an embodiment of the present invention; Figure 6 A three-dimensional structural diagram of a flexible protective sleeve disclosed in an embodiment of the present invention; Figure 7 It is a layout diagram of the magnetic parts on the flexible protective cover disclosed in the embodiment of the present invention; Figure 8 A top view of a flexible protective sleeve disclosed in an embodiment of the present invention; Fig. 9 for Figure 8 A schematic structural diagram of the flexible protective sleeve along the AA direction; Fig.10 for Figure 8 A schematic structural diagram of the flexible protective sleeve along the BB direction; Fig.11 is a side view of a flexible protective sleeve disclosed in an embodiment of the present invention; Fig.12 A three-dimensional structural diagram of a flexible device disclosed in an embodiment of the present invention; Fig.13 A three-dimensional layout diagram of a flexible instrument and a sheath separation and storage device disclosed in an embodiment of the present invention; Fig.14 It is a bottom view of the layout of the sheath tube separation and storage device disclosed in an embodiment of the present invention; Fig.15 A three-dimensional layout diagram of the sheath tube separation and storage device disclosed in an embodiment of the present invention; Fig.16 A three-dimensional layout diagram of the instrument storage device disclosed in an embodiment of the present invention; Fig.17 It is a layout diagram of the guide limiter and the discharging guide plate disclosed in the embodiment of the present invention; Fig.18 for Fig.17 Schematic diagram of the structure along CC direction; Fig.19 It is a side view of the layout of the instrument storage device disclosed in an embodiment of the present invention; Fig. 20 A bottom view of the layout of the instrument storage device disclosed in an embodiment of the present invention; Fig.21 A three-dimensional layout diagram of the guide and limiter disclosed in an embodiment of the present invention; Fig. 22 It is a top view of the layout of the guide and limiter disclosed in the embodiment of the present invention; Fig.23 for Fig. 22 Schematic diagram of the structure along the DD direction; Fig.24 is a layout diagram of the mounting holes disclosed in an embodiment of the present invention; Fig.25 It is a side view of a rotating mounting plate disclosed in an embodiment of the present invention; Fig.26It is a schematic diagram of the cooperation between the handle fixing device and the airbag adjusting device disclosed in the embodiment of the present invention; Fig. 27 A three-dimensional layout diagram of a handle fixing device and a flexible device disclosed in an embodiment of the present invention; Fig.28 A three-dimensional layout diagram of the airbag adjustment device and the flexible device disclosed in the embodiment of the present invention; Fig.29 A three-dimensional layout diagram of a handle fixing device and a flexible device disclosed in an embodiment of the present invention; Fig.30 A three-dimensional layout diagram of the airbag adjustment device and the flexible device disclosed in the embodiment of the present invention; Fig.31 It is a front view of the vent pipe disclosed in an embodiment of the present invention; Fig.32 for Fig.31 The schematic diagram of the structure of the ventilation pipe along the EE direction is shown; Fig.33 It is a three-dimensional structural diagram of the control handle disclosed in the embodiment of the present invention.

[0021] in Figure 1-33 middle: A1-patients, A2-medical staff; 1-surgical robot system, 11-robot body; 12-control handle, 121-clamping part, 122-button, 123-dial button; 13-flexible protective cover, 131-flexible belt, 132-magnetic member, 133-device accommodating hole; 14-sheath separation and storage device, 141-flexible belt storage tray, 142-storage tray bracket, 143-first motor bracket, 144-first motor, 145-motor shaft sleeve, 146-synchronous belt, 147-second synchronous pulley, 148-first synchronous pulley, 149-tensioning wheel assembly, 1491-tensioning wheel bracket, 1492-tensioning wheel, 1493-tensioning shaft; 15-flexible instrument, 151-guide tube, 152-actuator, 153-flexible instrument handle; 16- instrument storage device, 161- rotating mounting plate, 162- bearing end cover, 163- second motor, 164- second motor bracket, 165- gear set, 166- discharge guide plate, 167- cross roller bearing, 168- guide limiter, 169- mounting hole, 1691- circular hole, 1692- waist hole; 17-handle fixing device, 171-ventilation pipe, 1711-air outlet, 1712-air inlet, 172-end inflatable airbag, 173-middle inflatable airbag; 18-airbag adjustment device, 181-third motor, 182-third motor bracket, 183-intermediate gear, 184-rack; 19-separation block, 191-through hole; 100-constraint disk; 2- Endoscopy workstation, 3- Patient beds. DETAILED DESCRIPTION

[0022] The invention discloses a surgical robot system to improve the use safety of flexible instruments.

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0025] Please refer to Figures 1 to 33 .

[0026] A surgical robot system 1 provided in the present application includes a flexible instrument 15 , a flexible instrument organizing device, a control handle 12 and a robot body 11 .

[0027] The flexible instrument 15 includes a flexible instrument handle 153, an actuator 152, and a guide tube 151 connecting the flexible instrument handle 153 and the actuator 152. The flexible instrument 15 can be specifically a flexible instrument based on conventional use through a flexible endoscope.

[0028] The control handle 12 includes a button 122 , a dial button 123 and a clamping portion 121 , and can control the robot system 1 while clamping the flexible endoscope. The output and storage of the flexible instrument 15 can be controlled by the button 122 .

[0029] The flexible instrument arrangement device includes an instrument storage device 16 for storing a guide tube 151 and an instrument protection device for protecting the outer periphery of the guide tube 151 stored on the instrument storage device 16. The instrument storage device 16 can rotate forward and reverse to output and store the guide tube 151 of the flexible instrument 15, and the instrument storage device 16 can rotate and store the spirally coiled guide tube 151. For example, when the instrument storage device 16 rotates forward, the guide tube 151 performs an output action, that is, the actuator 152 at the end of the guide tube 151 moves away from the instrument storage device 16. When the instrument storage device 16 reverses, the guide tube 151 performs a storage action, that is, the guide tube 151 gradually spirals and coils around the instrument storage device 16. The flexible instrument handle 153 is installed on the instrument storage device 16, and the instrument storage device 16 can rotate and store the spirally coiled guide tube 151.

[0030] The instrument protection device includes a flexible protective sleeve 13, which is sleeved on the outer periphery of the spirally coiled guide tube 151. The flexible instrument handle 153 is transmission-connected to the actuator 152. The flexible instrument 15, the flexible instrument arrangement device and the control handle 12 are all installed on the robot body 11.

[0031] It can be seen from the above description that the flexible instrument 15, the flexible instrument arrangement device and the control handle 12 are integrated by the robot body 11. The guide tube 151 of the flexible instrument 15 is spirally coiled and stored by the flexible instrument arrangement device, and the flexible protective cover 13 is sleeved on the outer periphery of the spirally coiled guide tube 151 to reduce the damage of the guide tube 151 by foreign substances. And when in use, it can be output through the instrument storage device 16, so the surgical robot system provided by the present application improves the safety of the use of the flexible instrument 15.

[0032] In a specific embodiment, the flexible protective sleeve 13 includes a flexible sheath tube, and the flexible sheath tube includes two flexible belts 131, and each flexible belt 131 is provided with a magnetic member 132 to enable the two flexible belts 131 to be attracted. Specifically, each flexible belt 131 is provided with a plurality of magnetic members 132, and the magnetic members 132 are arranged in sequence along the length extension direction of the flexible belt 131. Preferably, two adjacent magnetic members 132 are distributed at equal intervals. When designing, while ensuring that the magnetic members 132 on the two flexible belts 131 can be attracted, the shape of the magnetic member 132 is as small as possible to facilitate the bending of the flexible belt 131. Of course, the magnetic member 132 can extend along the width direction of the flexible belt 131, and at this time, it does not interfere with the bending of the flexible belt 131. When in use, the flexible belt 131 is horizontally coiled, and the width direction of the flexible belt 131 is the height direction.

[0033] Of course, the flexible sheath tube as a whole can be bent with a very small bending radius. In the present application, the flexible sheath tube is used to constrain the guide tube 151 to spirally coil.

[0034] The two flexible belts 131 are sucked together to form a device receiving hole 133 for accommodating the guide tube 151. Specifically, the two flexible belts 131 may have the same structure. In this case, each flexible belt 131 is provided with a concave strip groove body. After the two flexible belts 131 are buckled together, the two strip groove bodies form a device receiving hole 133 for accommodating the flexible belts 131. Alternatively, a space for accommodating the entire guide tube 151 is provided on one flexible belt 131. When the two flexible belts 131 are buckled together, the side wall of the other flexible belt 131 blocks the opening position of the space.

[0035] One end of the two flexible belts 131 that are attracted together is fixed to the instrument storage device 16 . Specifically, the inner end of the spirally wound flexible belt 131 is fixed to the instrument storage device 16 .

[0036] The instrument protection device further includes a separation block 19 and a sheath separation and storage device 14. The separation block 19 is used to separate the two flexible belts 131. Two adjacent surfaces of the separation block 19 are provided with concave arc surfaces, and the two concave arc surfaces gradually approach the instrument storage device 16 to separate the two flexible belts 131. Specifically, the edges of the two concave arc surfaces are connected.

[0037] A through hole is formed in the middle of the separation block 19 for the flexible belt 131 to pass through. Specifically, the through hole and the guide tube 151 can be clearance-matched. In order to avoid scratching the guide tube 151, preferably, the separation block 19 is an elastic structure.

[0038] The sheath separation and storage device 14 is connected to one end of the flexible belt 131 for winding the flexible belt 131. Two sheath separation and storage devices 14 are provided, and the two sheath separation and storage devices 14 are connected one-to-one with one end of the two separated flexible belts 131. Specifically, the two sheath separation and storage devices 14 are symmetrically distributed on opposite sides of the separation block 19.

[0039] In a specific embodiment, the sheath tube separation and storage device 14 includes a flexible belt storage tray 141 and a storage tray driving device, and the upper surface of the flexible belt storage tray 141 is provided with a first storage position for winding the guide tube 151. Specifically, the first storage position can be a storage groove arranged in an annular shape for winding the guide tube 151.

[0040] Preferably, the two flexible belt storage trays 141 are symmetrically distributed on opposite sides of the separation block 19 .

[0041] The storage tray driving device is used to drive the flexible belt storage tray 141 to rotate around the central axis of the first storage position. Specifically, in a specific implementation, each storage tray driving device is driven by an independently arranged motor. Specifically, when the two storage tray driving devices are working, the rotation speed of the flexible belt storage tray 141 is the same to ensure that the two flexible belts 131 are evenly wound.

[0042] In another specific embodiment, in order to realize the synchronous rotation of the two flexible belt storage trays 141, the storage tray driving device includes a first motor 144, a first synchronous pulley 148, a second synchronous pulley 147 and a synchronous belt 146, and the first synchronous pulley 148 is fixedly connected to the central axis of one flexible belt storage tray 141. The second synchronous pulley 147 is fixedly connected to the central axis of the other flexible belt storage tray 141. The output shaft of the first motor 144, the first synchronous pulley 148 and the second synchronous pulley 147 are connected through the synchronous belt 146.

[0043] Specifically, the output end of the first motor 144 is connected to the output shaft through a motor sleeve 145 .

[0044] The synchronous belt 146 is a double-sided toothed synchronous belt, and the first synchronous pulley 148 and the second synchronous pulley 147 cooperate with the opposite sides of the synchronous belt 146. The synchronous belt 146 is a double-sided toothed synchronous belt, which can realize the synchronous reverse rotation of the two storage trays. That is, when the first motor 144 is working, the first motor 144 drives the synchronous belt 146 to move, and the synchronous belt 146 drives the first synchronous pulley 148 and the second synchronous pulley 147 to rotate in the opposite direction, thereby driving the two storage trays to rotate in the opposite direction, so as to realize the synchronous winding of the two flexible belts 131.

[0045] In order to improve the performance of use, the storage tray drive device also includes a tensioning wheel assembly 149, wherein the tensioning wheel assembly 149 includes a tensioning wheel 1492, a tensioning wheel bracket 1491, and a tensioning shaft 1493. The tensioning wheel 1492 is installed on the tensioning shaft 1493, and the tensioning shaft 1493 is installed on the tensioning wheel bracket 1491. The position of the tensioning wheel bracket 1491 is adjustable, thereby driving the tensioning wheel 1492 to move relative to the first synchronous pulley 148 and the second synchronous pulley 147 to achieve tension adjustment.

[0046] The separation block 19 also includes an outer frame 194, which is fixedly connected to the outer periphery of the zipper head 191. A mounting block 192 is provided at the center of the zipper head 191. A through hole 193 is formed in the mounting block 192 for the flexible belt 131 to pass through. Specifically, the outer surface of the outer frame 194 can be a rectangular structure.

[0047] In order to improve assembly efficiency, preferably, the outer frame 194 and the zipper head 191 are integrally formed.

[0048] In order to improve assembly efficiency, preferably, the flexible instrument delivery device includes a restraining tray 100 , and the outer frame 194 and the receiving tray driving device are both mounted on the restraining tray 100 .

[0049] The instrument storage device 16 includes a rotating mounting plate 161 and a rotating plate driving device. The upper surface of the rotating mounting plate 161 is provided with a second storage position for supporting the flexible protective cover 13 with the guide tube 151 wound around the scroll. Preferably, the rotating plate driving device is installed on the restraining plate 100, thereby realizing the overall integrated installation. Specifically, the first storage position and the second storage position are both arranged in a plane, and preferably, the planes of the first storage position and the second storage position are arranged in parallel.

[0050] Specifically, the first motor 144 is mounted on the restraint plate 100 via a first motor bracket 143 .

[0051] For easy storage, preferably, the instrument storage device 16 further includes a guide stopper 168, which is a plate structure arranged in a spiral line, and is installed at the second storage position for guiding and positioning the inner spiral position of the flexible protective sleeve 13. The guide stopper 168 is a plate structure arranged in a spiral line.

[0052] The rotating disk driving device is used to drive the rotating mounting disk 161 to rotate, so as to realize the spiral winding of the guide tube 151 around the rotating mounting disk 161. In specific use, the lower edge of the flexible sheath tube is constrained to complete the initial winding along the constraint strip by the guide limiter 168 which is like an annular constraint strip.

[0053] The rotating disk driving device includes a second motor 163, a gear set 165 and a bearing assembly. The input end of the gear set 165 is connected to the output shaft of the second motor 163, and the output shaft of the output end of the gear set 165 is fixedly connected to the rotating shaft of the rotating mounting disk 161. The present application realizes the reduction of the speed of the second motor 163 transmitted to the rotating mounting disk 161 through the gear set 165. The rotating shafts of the second motor 163 and the gear set 165 are both installed on the constraint disk 100. Specifically, the second motor 163 is installed on the constraint disk 100 through the second motor bracket 164. The rotating mounting disk 161 can be rotatably installed on the constraint disk 100 through the bearing assembly. Specifically, the bearing assembly includes a bearing end cover 162 and a bearing. Specifically, the bearing can be a cross roller bearing 167. Specifically, the bearing end cover 162 is installed on the constraint disk 100, the bearing is installed on the bearing end cover 162, and the rotating mounting disk 161 is installed on the bearing. By setting the bearing assembly, it is convenient for the rotating mounting disk 161 to rotate around its own axis, and then it is convenient for the flexible protective sleeve 13 to coil.

[0054] Preferably, two arc-shaped discharge guide plates 166 are provided on the restraint disk 100, and the arc-shaped protruding positions of the two discharge guide plates 166 are directly opposite and fit one-to-one with the two separated flexible belts 131 to guide the flexible belts 131. One end of the discharge guide plate 166 is respectively facing the corresponding flexible belt storage disk 141, so that the flexible belt 131 can be smoothly moved to the position of the flexible belt storage disk 141.

[0055] In order to facilitate the movement of the rotating mounting disk 161 and the flexible belt storage disk 141 at a preset speed, preferably, the first motor 144 and the second motor 163 are controlled by a controller in terms of the movement direction and speed. Specifically, the rotating mounting disk 161 and the flexible belt storage disk 141 have the same speed. The flexible belt storage disk 141 is provided with a guide stopper 168 for constraining the innermost circle shape of the flexible belt 131. Specifically, the flexible belt 131 is wound around the outer circumference of the guide stopper 168.

[0056] In specific use, the flexible belt receiving tray 141 is rotatably mounted on the restraining tray 100 through the receiving tray bracket 142. The flexible belt receiving tray 141 is rotatably connected to the receiving tray bracket 142, and the receiving tray bracket 142 is fixedly connected to the restraining tray 100.

[0057] In a specific embodiment, the flexible instrument delivery device further includes a handle fixing device 17, which includes an end inflatable airbag 172, a middle inflatable airbag 173 and an airbag inflation and deflation device, and the end inflatable airbag 172 is used to limit the opposite ends of the flexible instrument handle 153. Specifically, the number of the end inflatable airbags 172 at the opposite ends of the flexible instrument handle 153 is determined according to needs, and this application does not make specific limitations.

[0058] The middle inflatable airbags 173 include at least two, which are arranged on opposite sides of the flexible instrument handle 153 and are used to abut against the flexible instrument handle 153 to limit the position. The airbag inflation and deflation device is used to inflate and deflate the end inflatable airbags 172 and the middle inflatable airbags 173.

[0059] In order to facilitate inflation and deflation, preferably, the handle fixing device 17 further includes a vent pipe 171, the end inflatable airbag 172 and the middle inflatable airbag 173 are connected to the air outlet 1711 of the vent pipe 171, the end inflatable airbag 172 and the middle inflatable airbag 173 are respectively connected to the vent pipe 171, and the airbag inflation and deflation device is connected to the air inlet 1712 of the vent pipe 171. The size of the end inflatable airbag 172 and the middle inflatable airbag 173 is adjusted by the air intake size of the vent pipe 171, so as to realize the flexible clamping of the flexible instrument handle 153, and can adapt to flexible instruments 15 of different sizes and models on the market.

[0060] The flexible instrument delivery device also includes an airbag adjustment device 18, which includes an airbag support frame and a position adjustment device, the end inflatable airbag 172 is fixedly mounted on the airbag support frame, and the middle inflatable airbag 173 is slidably mounted on the airbag support frame through an airbag connector. At this time, the airbag support frame serves as a guide rail for the airbag connector to slide along a preset path.

[0061] The position adjustment device is connected to the airbag connector to adjust the relative position of the middle inflatable airbag 173 and the end inflatable airbag 172. In a specific embodiment, the position adjustment device includes a telescopic rod, and the telescopic end of the telescopic rod is connected to the airbag connector to drive the airbag connector to slide.

[0062] In order to improve the accuracy of airbag position adjustment, preferably, the position adjustment device includes a third motor 181, an intermediate gear 183 and a rack 184 meshing with the intermediate gear 183, the rack 184 is connected to the airbag connector, the output shaft of the third motor 181 is connected to the intermediate gear 183, and the airbag connector is driven to move along a preset path by the third motor 181. During specific operation, the movement of the airbag connector is achieved by the forward and reverse rotation of the third motor 181. During specific assembly, the third motor 181 can be installed on the restraint disk 100 through the third motor bracket 183.

[0063] For easy installation, the restraint plate 100 is provided with a mounting hole 169 for the vent pipe 171, and the mounting hole 169 includes a plurality of waist holes 1692 and a circular hole 1691. Specifically, the waist hole is for the vent pipe 171 connected to the middle inflatable airbag 173 to pass through, so as to slide with the middle inflatable airbag 173. The vent pipe 171 connected to the end inflatable airbag 172 is connected to the circular hole position, and is fixedly connected to the restraint plate 100.

[0064] Specifically, in a specific setting, the first motor 144 , the second motor 163 and the third motor 181 are connected to the button 122 , and the button 122 is used to control the operation of the first motor 144 , the second motor 163 and the third motor 181 .

[0065] The flexible instrument delivery device provided in the present application can realize the efficient storage of the flexible instrument 15 and cooperate with the robot to complete the delivery of the flexible instrument 15. Specifically, it can realize the storage and restraint of the long and soft flexible instrument 15 for the soft endoscope, and can better cooperate with the robot to complete the delivery of the flexible instrument 15, avoiding the situation that the flexible instrument 15 is easy to be contaminated during use.

[0066] For ease of understanding, the following is a description in conjunction with a specific implementation method. When medical staff A2 performs soft endoscopy diagnosis and treatment on patient A1 located on bed 3, that is, the surgical robot system 1 cooperates with the endoscopy workstation 2 and needs to use the flexible instrument 15, the flexible instrument 15 that has been constrained by the flexible protective cover 13 and is vortex-coiled is taken out from the sterile package and installed on the rotating mounting disk 161. The head end of the flexible belt is separated and guided along the discharge guide plate 166 and coiled on the flexible belt storage disk 141. The instrument storage device 16 starts to work, and the middle inflatable airbag 173 is slid to the preset position. After the position is fixed, the flexible instrument handle 153 is constrained by the handle fixing device 17. Finally, the guide tube 151 is inserted into the entrance of the soft endoscope forceps channel tube to complete the installation of the flexible instrument 15. At this time, medical staff A2 holds the soft endoscope handle with his left hand and the control handle 12 with his right hand. The control handle 12 can be used by the medical staff A2's right hand to clamp, transport and rotate the endoscope body. At the same time, the dial knob 123 and button 122 on the control handle 12 can be used to control the surgical robot, including the transport of the flexible instrument 15, the opening and closing of the front actuator, etc., to assist the medical staff A2 to independently complete the soft endoscopic diagnosis and treatment procedure.

Claims

1. A surgical robot system, characterized in that: include: A flexible instrument (15), the flexible instrument (15) comprising a flexible instrument handle (153), an actuator (152), and a guide tube (151) connecting the flexible instrument handle (153) and the actuator (152); A flexible instrument arranging device, the flexible instrument arranging device comprising an instrument storage device (16) for storing the guide tube (151) and an instrument protection device for protecting the outer periphery of the guide tube (151) stored on the instrument storage device (16), the instrument storage device (16) being capable of forward and reverse rotation to output and store the spirally coiled guide tube (151); the instrument protection device comprising a flexible protection sleeve (13), the flexible protection sleeve (13) being sleeved on the outer periphery of the spirally coiled guide tube (151); A control handle (12), the control handle (12) being in transmission connection with the actuator; A robot body (11), the flexible instrument (15), the flexible instrument arranging device and the control handle (12) are all mounted on the robot body (11).

2. The surgical robot system according to claim 1, characterized in that: The flexible protective sleeve (13) comprises a flexible sheath tube, the flexible sheath tube comprises two flexible belts, and each of the flexible belts is provided with a magnetic member (132) so that the two flexible belts can be attracted to each other; after the two flexible belts are attracted to each other, a device receiving hole (133) for accommodating the guide tube (151) is formed, and one end of the two flexible belts that are attracted to each other is fixed to the device storage device (16).

3. The surgical robot system according to claim 2, characterized in that: The instrument protection device also includes a separation block (19) and a sheath separation and storage device (14); The separation block (19) is used to separate the two flexible belts. Two adjacent surfaces of the separation block (19) are provided with concave arc surfaces, and the two concave arc surfaces gradually approach each other in a direction close to the instrument storage device (16) to separate the two flexible belts. A through hole is formed in the separation block (19) for the flexible belt to pass through. The sheath tube separation and storage device (14) is connected to one end of the flexible belt and is used for winding the flexible belt. Two sheath tube separation and storage devices (14) are provided, and the two sheath tube separation and storage devices (14) are connected one-to-one to one end of the two separated flexible belts.

4. The surgical robot system according to claim 3, characterized in that: The sheath tube separation and storage device (14) comprises a flexible belt storage tray (141) and a storage tray driving device, wherein the upper surface of the flexible belt storage tray (141) is provided with a first storage position for winding the guide tube (151), and the storage tray driving device is used to drive the flexible belt storage tray (141) to rotate around the central axis of the flexible belt storage tray (141); The storage tray driving device comprises: A first motor (144); A first synchronous belt pulley (148), the first synchronous belt pulley (148) being fixedly connected to a central axis of one of the flexible belt storage trays (141); A second synchronous belt pulley (147), the second synchronous belt pulley (147) being fixedly connected to the central axis of another flexible belt storage tray (141); A synchronous belt (146), wherein the output shaft of the first motor (144), the first synchronous pulley (148) and the second synchronous pulley (147) are connected in transmission via the synchronous belt (146); the synchronous belt (146) is a double-sided toothed synchronous belt; the first synchronous pulley (148) and the second synchronous pulley (147) cooperate with opposite sides of the synchronous belt (146).

5. The surgical robot system according to claim 4, characterized in that: It also includes a restraining plate (100), and the instrument storage device (16) includes: A rotating mounting plate (161), wherein the upper surface of the rotating mounting plate (161) is provided with a second storage position for supporting the flexible protective sleeve (13) buckled with the guide tube (151); A rotating disk driving device, the rotating disk driving device is used to drive the rotating mounting disk (161) to rotate so as to enable the guide tube (151) to spiral around the second storage position, the separation block (19), the sheath tube separation storage device (14), the rotating mounting disk (161) and the rotating disk driving device are all installed on the restraining disk (100).

6. The surgical robot system according to claim 5, characterized in that: The instrument storage device (16) further comprises a guide stopper, the guide stopper being a plate structure arranged in a spiral line, the guide stopper being installed at the device installation position and being used for guiding and positioning the inner spiral position of the flexible protective sleeve (13).

7. The surgical robot system according to claim 5, characterized in that: The rotating disk driving device comprises: Second motor (163); A bearing assembly, through which the rotatable mounting plate (161) can be rotatably mounted on the restraining plate (100); A gear set (165), wherein an input end of the gear set (165) is connected to an output shaft of the second motor (163), an output shaft of an output end of the gear set (165) is fixedly connected to a rotating shaft of the rotating mounting disk (161), the rotating shafts of the second motor (163) and the gear set (165) are both mounted on the bottom end of the restraining disk (100), and the rotating mounting disk (161) is mounted on the top end of the restraining disk (100).

8. The surgical robot system according to claim 1, characterized in that: It also includes a handle fixing device (17), wherein the handle fixing device (17) includes: An end inflatable airbag (172), wherein the end inflatable airbag (172) is used to limit the opposite ends of a flexible instrument handle (153) of the flexible instrument (15); an intermediate inflatable airbag (173), the intermediate inflatable airbag (173) comprising at least two intermediate inflatable airbags (173), the intermediate inflatable airbags (173) being arranged on opposite sides of a flexible instrument handle (153) of the flexible instrument (15), and being used to abut against and limit the flexible instrument handle (153); An airbag inflation and deflation device; the airbag inflation and deflation device is used for inflating and deflation of the end inflatable airbag (172) and the middle inflatable airbag (173).

9. The surgical robot system according to claim 8, characterized in that: Also included is an airbag adjustment device (18), the airbag adjustment device (18) comprising: An airbag support frame, the end inflatable airbag (172) being fixedly mounted on the airbag support frame, and the middle inflatable airbag (173) being slidably mounted on the airbag support frame via an airbag connector; A position adjustment device, the position adjustment device being connected to the airbag connecting piece to adjust the relative position of the middle inflatable airbag (173) and the end inflatable airbag (172); The ventilation pipe (171) is provided with a gas-filled airbag (172) at the end and a gas-filled airbag (173) at the middle, which are connected to the gas outlet (1711) of the ventilation pipe (171). The gas-filled airbag (172) at the end and the gas-filled airbag (173) at the middle are connected to the ventilation pipe (171) respectively. The gas-filled airbag inflation and deflation device is connected to the gas inlet (1712) of the ventilation pipe (171).

10. The surgical robot system according to claim 1, characterized in that: The control handle (12) comprises a button (122), a dial button (123) and a clamping portion (121); the clamping portion (121) is used to clamp a flexible endoscope, and the button (122) is used to control the output and storage of the flexible instrument (15).

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