Flexible instrument delivery device and surgical robot system

Abstract

The present invention discloses a flexible instrument conveying device and a surgical robot system, wherein the flexible instrument conveying device is used for storing flexible instruments, and includes an instrument storage device and an instrument protection device. The instrument storage device can rotate forward and reverse to output and store the guide tube of the flexible instrument in a spiral coil. The instrument protection device includes a protective sleeve and a protective sleeve separation and storage device. The protective sleeve is installed on the turntable storage device. The protective sleeve includes a flexible belt, and the flexible belt is sleeved on the outer periphery of the spiral coiled guide tube. The top of the flexible belt is provided with a strip opening for the guide tube to enter and exit the protective sleeve. The strip opening position of the flexible belt is provided with elasticity and can be closed automatically; the protective sleeve separation and storage device moves in a direction perpendicular to the rotation axis of the turntable storage device to take out the guide tube located in the flexible belt. The flexible instrument conveying device provided in the present application improves the convenience of using flexible devices.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a flexible instrument delivery device and 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 flexible instrument delivery device and a surgical robot system to improve the safety of using flexible instruments.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] The flexible instrument delivery device provided in the present application is used for storing flexible instruments, and includes:

[0009] An instrument storage device, the instrument storage device comprising a rotating mounting plate, the rotating mounting plate being capable of forward and reverse rotation to output and store a guide tube spirally wound around a flexible instrument;

[0010] An instrument protection device, the instrument protection device includes a protective sleeve and a protective sleeve separation and storage device, the protective sleeve is installed on the rotating mounting disk, the protective sleeve includes a flexible belt, and the flexible belt is sleeved on the outer periphery of the guide tube of the flexible instrument wound by a vortex; the top of the flexible belt is provided with a strip opening for the guide tube to enter and exit the flexible belt, the strip opening position of the flexible belt is provided with elasticity and can be automatically closed; the protective sleeve separation and storage device moves in a direction perpendicular to the rotation axis of the rotating mounting disk to take out the guide tube located in the flexible belt.

[0011] Optionally, in the above-mentioned flexible instrument delivery device,

[0012] The protective sleeve separation and storage device comprises:

[0013] A linear guide block, the linear guide block comprising a guide head inserted into the strip-shaped opening position, the guide head being provided with a guide hole for the guide tube to pass through;

[0014] A guide block driving device is connected to the linear guide block to drive the linear guide block to move in a direction perpendicular to the rotation axis of the rotating mounting disk.

[0015] Optionally, in the above-mentioned flexible instrument delivery device, a restraining plate is further included, and the linear guide block further includes:

[0016] A connecting arm, wherein the guide head is mounted at one end of the connecting arm in the length direction;

[0017] A support seat, the support seat is connected to the guide block driving device;

[0018] A guide block is installed at the other end of the connecting arm in the length direction, and a strip hole is provided on the constraint disk, and the guide block is slidably connected to the strip hole; the support seat and the guide block driving device are located below the constraint disk, and the connecting arm and the guide head are located above the constraint disk.

[0019] Optionally, in the above-mentioned flexible instrument conveying device, the guide block driving device includes:

[0020] a first motor, wherein the first motor is fixedly connected to the restraining disk;

[0021] A gear, wherein the output end of the first motor is connected to the central axis of the gear;

[0022] a rack, the rack being meshed with the gear and moving in a radial direction perpendicular to the rotation direction of the rotatable mounting plate;

[0023] A slide rail, the slide rail is fixedly connected to the bottom surface of the restraint plate;

[0024] A slider, the slider being slidably connected to the slide rail;

[0025] The rack and the support seat are both fixedly connected to the slider.

[0026] Optionally, in the above-mentioned flexible instrument delivery device, the flexible belt is also provided with a device accommodating cavity for accommodating the guide tube and a transition hole connecting the strip opening and the device accommodating cavity, and the device accommodating cavity is located below the transition hole; projected from top to bottom, the device accommodating cavity is located within the projection range of the transition hole.

[0027] Optionally, in the above-mentioned flexible instrument conveying device, the instrument storage device further comprises:

[0028] A guide stopper, wherein the guide stopper is a plate structure arranged in a spiral line, and the guide stopper is installed on the rotating mounting plate and is used for guiding and positioning the spiral position of the inner ring of the protective sleeve;

[0029] A rotating disk driving device, wherein the upper surface of the rotating mounting disk is provided with a second storage position for supporting the protective sleeve with the guide tube buckled thereon, and 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.

[0030] Optionally, in the above-mentioned flexible instrument conveying device, a controller is further included, and the rotating disk driving device includes:

[0031] a second motor, wherein the controller is connected to the first motor and the second motor to control the first motor and the second motor to operate;

[0032] 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, and the rotating shafts of the second motor and the gear set are both mounted on the restraining disk;

[0033] A bearing assembly, wherein the rotatable mounting plate is rotatably mounted on the restraining plate through the bearing assembly.

[0034] Optionally, in the above-mentioned flexible instrument delivery device, a handle fixing device is further included, and the handle fixing device includes:

[0035] 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;

[0036] An intermediate inflatable airbag, wherein the intermediate inflatable airbag comprises at least two intermediate inflatable airbags, which are arranged on opposite sides of the flexible instrument handle and are used to abut against and limit the flexible instrument handle of the flexible instrument;

[0037] 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.

[0038] Optionally, in the above-mentioned flexible instrument delivery device, an airbag adjustment device is also included, and the airbag adjustment device includes:

[0039] 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;

[0040] 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;

[0041] 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.

[0042] A surgical robot system comprises a flexible instrument conveying device and a flexible instrument mounted on the flexible instrument conveying device, wherein the flexible instrument conveying device is any one of the flexible instrument conveying devices described above.

[0043] In the first aspect, the present application provides a flexible instrument conveying device for storing flexible instruments, including an instrument storage device and an instrument protection 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 of the vortex-wound flexible instrument. The instrument protection device includes a protective sleeve and a protective sleeve separation storage device. The protective sleeve is installed on the turntable storage device. The protective sleeve includes a flexible belt, and the flexible belt is sleeved on the outer periphery of the vortex-wound guide tube. The top of the flexible belt is provided with a strip opening for the guide tube to enter and exit the protective sleeve. The strip opening position of the flexible belt is provided with elasticity and can be closed automatically; the protective sleeve separation storage device moves in a direction perpendicular to the rotation axis of the turntable storage device to remove the guide tube located in the flexible belt.

[0044] From the above content, it can be seen that through the forward and reverse rotation of the turntable storage device, the guide tube in the flexible belt in the instrument protection can be output or coiled, and the flexible belt protects the guide tube in the coiled position. When in use, the output and storage of the guide tube can be achieved by controlling the rotation of the turntable storage rotation device, without the need for cooperation of multiple medical staff, thereby improving the convenience of using the flexible device.

[0045] In a second aspect, the present application provides a surgical robot system including a flexible instrument delivery device and a flexible instrument mounted on the flexible instrument delivery device, wherein the flexible instrument delivery device is any one of the flexible instrument delivery devices described above.

[0046] It can be seen from the above content that the present application provides a surgical robot system that improves the safety of using flexible instruments. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] 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.

[0048] Figure 1 A three-dimensional schematic diagram of a surgical robot system disclosed in an embodiment of the present invention during use;

[0049] 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;

[0050] Figure 3 is a three-dimensional structural diagram of a surgical robot system disclosed in an embodiment of the present invention;

[0051] Figure 4 A three-dimensional structural diagram of the protective cover and the flexible device after being assembled according to an embodiment of the present invention;

[0052] Figure 5 A three-dimensional structural diagram of a flexible device disclosed in an embodiment of the present invention;

[0053] Figure 6 is a top view of the protective sleeve disclosed in an embodiment of the present invention;

[0054] Figure 7 for Figure 6 The schematic diagram of the structure of the protective sleeve along the AA direction is shown;

[0055] Figure 8 is a cross-sectional view of a protective sleeve disclosed in an embodiment of the present invention;

[0056] Fig. 9 A three-dimensional structural diagram of an instrument protection device disclosed in an embodiment of the present invention installed on a restraint disk;

[0057] Fig.10 A three-dimensional structural diagram of the protective sleeve separation and storage device disclosed in an embodiment of the present invention located at the position of the actuator;

[0058] Fig.11 It is a schematic diagram of the matching position of the flexible device and the protective sleeve disclosed in the embodiment of the present invention;

[0059] Fig.12It is a three-dimensional structural diagram of the protective sleeve separation and storage device disclosed in an embodiment of the present invention, which is located in the middle of the flexible belt;

[0060] Fig.13 A top view of the protective sleeve separation and storage device disclosed in an embodiment of the present invention at the position of the actuator;

[0061] Fig.14 It is a schematic diagram of the three-dimensional layout of the instrument storage device and the protective sleeve separation storage device disclosed in the embodiment of the present invention;

[0062] Fig.15 It is a bottom view layout diagram of the instrument storage device disclosed in an embodiment of the present invention;

[0063] Fig.16 It is a schematic diagram of the three-dimensional layout of the instrument storage device disclosed in an embodiment of the present invention;

[0064] Fig.17 is a side view of the instrument storage device disclosed in an embodiment of the present invention;

[0065] Fig.18 It is a schematic diagram of the top view layout of the instrument storage device disclosed in an embodiment of the present invention;

[0066] Fig.19 for Fig.18 Schematic diagram of the structure along the BB direction;

[0067] Fig. 20 It is a schematic diagram of the three-dimensional layout of the rotating mounting plate and the guide limiting member disclosed in the embodiment of the present invention;

[0068] Fig.21 It is a schematic diagram of the top view layout of the rotating mounting plate and the guide limiter disclosed in the embodiment of the present invention;

[0069] Fig. 22 for Fig.21 Schematic diagram of the structure along CC direction;

[0070] Fig.23 It is a side view of the rotating mounting plate and the guide stopper disclosed in the embodiment of the present invention;

[0071] Fig.24 A bottom view of a rotating mounting plate disclosed in an embodiment of the present invention;

[0072] Fig.25 It is a schematic diagram of the structure of the ventilation pipe disclosed in the embodiment of the present invention;

[0073] Fig.26 for Fig.25 Schematic diagram of the structure along the DD direction;

[0074] Fig. 27It is a schematic diagram of a partial three-dimensional structure of the flexible instrument delivery device and the control handle disclosed in an embodiment of the present invention;

[0075] Fig.28 It is a three-dimensional structural diagram of the control handle disclosed in the embodiment of the present invention.

[0076] in Figure 1-28 middle:

[0077] A1-patients, A2-medical staff;

[0078] 1-Robot system, 11-Robot body;

[0079] 12-control handle, 121-clamping part, 122-button, 123-dial button;

[0080] 13-protective sleeve, 131-flexible belt, 132-strip opening, 133-device accommodating cavity, 134-first fastener, 135-interface, 136-transition hole, 137-strip groove;

[0081] 14-protective sleeve separation and storage device, 141-linear guide block, 1411-guide hole, 1412-guide head, 1413-connecting arm, 1414-guide block, 1415-support seat, 142-first motor, 143-gear, 144-rack, 145-slider, 146-slide rail;

[0082] 15-flexible instrument, 151-guide tube, 152-actuator, 153-flexible instrument handle;

[0083] 16-instrument storage device, 161-rotating mounting plate, 162-bearing end cover, 163-second motor, 164-second motor bracket, 165-gear set, 166-arc surface, 167-cross roller bearing, 168-guide limiter, 169-mounting hole, 1691-circular hole, 1692-waist hole;

[0084] 17-handle fixing device, 171-ventilation pipe, 1711-air outlet, 1712-air inlet, 172-end inflatable airbag, 173-middle inflatable airbag;

[0085] 18-airbag adjustment device, 181-third motor, 182-third motor bracket, 183-intermediate gear, 184-rack;

[0086] 19- Restraint plate;

[0087] 2-Endoscopy workstation, 3-patient beds. DETAILED DESCRIPTION

[0088] The invention discloses a flexible instrument conveying device and a surgical robot system to improve the use safety of the flexible instrument.

[0089] 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.

[0090] 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.

[0091] Please refer to Figures 1 to 28 .

[0092] The flexible instrument delivery device provided in the present application is used for storing a flexible instrument 15, including an instrument storage device 16 and an instrument protection device. 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 specifically be a flexible instrument 15 based on traditional flexible endoscopy.

[0093] The instrument storage device 16 includes a rotating mounting plate 161, which can rotate forward and reverse to output and store the guide tube 151, and the instrument storage device 16 can rotate and store the spirally coiled guide tube 151. When the rotating disk storage device is reversed, the guide tube 151 performs a storage action, that is, the guide tube 151 gradually spirals around the rotating mounting plate 161. The flexible instrument handle 153 is installed on the rotating mounting plate 161, and the rotating mounting plate 161 can rotate and store the spirally coiled guide tube 151.

[0094] The instrument protection device includes a protection sleeve 13 and a protection sleeve separation and storage device 14 . The protection sleeve 13 is installed on a rotating mounting plate 161 . The protection sleeve 13 includes a flexible belt 131 . The flexible belt 131 is sleeved on the outer periphery of the spirally wound guide tube 151 .

[0095] A strip opening 132 is provided at the top of the flexible belt 131 for the guide tube 151 to enter and exit the flexible belt 131. The strip opening 132 of the flexible belt 131 is elastic and can be closed automatically. Specifically, the flexible belt 131 can be made of a silicone structure, or the bottom of the flexible belt 131 is made of a hard material, and the strip opening 132 at the top is made of silicone.

[0096] In a specific embodiment, the flexible belt 131 is flexible as a whole and can be bent with a very small bending radius, so that the flexible device 15 is constrained by the flexible belt 131 to spirally coil.

[0097] The protective sleeve separation and storage device 14 moves in a direction perpendicular to the rotation axis of the turntable storage device to remove the guide tube 151 located in the flexible belt 131. Specifically, the protective sleeve separation and storage device 14 moves in a direction perpendicular to the rotation axis of the turntable storage device to remove the guide tube 151 located in the flexible belt 131 through a telescopic rod.

[0098] The end of the flexible belt 131 is tightly fitted with the flexible instrument handle 153 through the first fastener 134, and the front end of the flexible belt 131 is provided with an interface 135 that is buckled with the rotating mounting plate 161. Specifically, the flexible belt 131 can be a sheath made of flexible material.

[0099] It can be known from the above description that in the flexible instrument conveying device provided in the specific embodiment of the present application, the guide tube 151 in the flexible belt 131 in the instrument protection is output or coiled through the forward and reverse rotation of the turntable storage device, and the flexible belt 131 protects the guide tube 151 in the coiled position. When in use, the output and storage of the guide tube 151 can be achieved by controlling the rotation of the turntable storage rotating device, without the need for the cooperation of multiple medical staff, thereby improving the convenience of using the flexible device.

[0100] In a specific embodiment, the protective sleeve separation and storage device 14 includes a linear guide block 141 and a guide block driving device, the linear guide block 141 includes a guide head 1412 inserted into the position of the strip opening 132, and the guide head 1412 is provided with a guide hole 1411 for the guide tube 151 to pass through. The guide block driving device is connected to the linear guide block 141. Specifically, the guide block driving device can be a telescopic rod or a hydraulic telescopic cylinder, etc., and the linear guide block 141 is installed at the telescopic end of the guide block driving device.

[0101] In a specific embodiment, the flexible instrument delivery device further comprises a restraining disk 19 , and the rotating mounting disk 161 can be rotatably mounted on the restraining disk 19 .

[0102] The linear guide block 141 also includes a connecting arm 1413, a support seat 1415 and a guide block 1414. The guide head 1412 is installed at one end of the connecting arm 1413 in the length direction, and the support seat 1415 is connected to the guide block driving device. The guide block 1414 is installed at the other end of the connecting arm 1413 in the length direction. The constraint disk 19 is provided with a strip hole, and the guide block 1414 is slidably connected to the strip hole. In order to avoid mutual interference, the support seat 1415 and the guide block driving device are located below the constraint disk 19, and the connecting arm 1413 and the guide head 1412 are located above the constraint disk 19. Preferably, the length direction of the strip hole extends along the movement direction of the linear guide block 141, and the side wall of the strip hole can be gap-matched with the connecting arm 1413.

[0103] In a specific embodiment, the guide block driving device includes a first motor 142, a gear 143, a rack 144, a slide rail 146 and a slider 145. The first motor 142 is fixedly connected to the constraint disk 19, and the output end of the first motor 142 is connected to the central axis of the gear 143. The rack 144 is meshed with the gear 143 and moves radially perpendicular to the rotation direction of the turntable storage device. The slide rail 146 is fixedly connected to the bottom surface of the constraint disk 19, and the slider 145 is slidably connected to the slide rail 146.

[0104] The rack 144 and the support seat 1415 are both fixedly connected to the slider 145 .

[0105] Specifically, the first motor 142 and the slide rail 146 are fixed on the restraining plate 19. When in use, the guide tube 151 in the flexible belt 131 is led out through the guide hole 1411 on the linear guide block 141 by squeezing.

[0106] In order to facilitate the extrusion of the flexible belt 131, preferably, the flexible belt 131 is also provided with a transition hole 136 connecting the strip opening 132 and the device accommodating cavity 133, and the device accommodating cavity 133 is located below the transition hole 136; projected from top to bottom, the device accommodating cavity 133 is located within the projection range of the transition hole 136.

[0107] Specifically, a strip groove 137 is provided at the bottom of the device accommodating cavity 133 to facilitate deformation of the flexible belt 131 and slide the guide tube 151 into and out of the device accommodating cavity 133. Specifically, projected from top to bottom, the device accommodating cavity 133 is located within the projection range of the strip groove 137.

[0108] The instrument storage device 16 also includes a rotating disk drive device, and a second storage position for supporting the flexible protective sleeve 13 with the guide tube 151 is provided on the upper surface of the rotating mounting disk 161. Preferably, the rotating disk drive device is installed on the restraining disk 19, thereby realizing 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 parallel to each other.

[0109] Specifically, the rotating disk driving device is installed on the rotating mounting disk 161 .

[0110] For the convenience of storage, preferably, the instrument storage device 16 further includes a guide stopper 168, which is a plate structure arranged in a spiral line. The guide stopper 168 is installed at the second storage position and is used 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. The guide stopper 168 can be a nearly annular constraint strip to constrain the flexible instrument 15 to complete the spiral winding along the constraint strip under the constraint of the flexible belt 131.

[0111] 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.

[0112] 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 19. Specifically, the second motor 163 is installed on the constraint disk 19 through the second motor bracket 164. The rotating mounting disk 161 can be rotatably installed on the constraint disk 19 through the bearing assembly. Specifically, the bearing assembly includes a bearing end cover 162 and a bearing. The specific bearing can be a cross roller bearing 167. Specifically, the bearing end cover 162 is installed on the constraint disk 19, 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.

[0113] Preferably, the first motor 142 and the second motor 163 control the movement direction and speed through a controller. The rotating mounting plate 161 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. Specifically, the upper surface of the guide stopper 168 that contacts the flexible belt 131 can be an arc surface 166.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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 plate 19 through the third motor bracket 183.

[0120] For easy installation, the restraint plate 19 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 19.

[0121] 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.

[0122] The flexible instrument delivery device provided in the present application also includes a control handle 12 including an operation button 122, a dial button 123 and a clamping portion 121, which can clamp the flexible endoscope while completing the control of the robot system 1.

[0123] In a specific configuration, the first motor 142 , the second motor 163 , and the third motor 181 are connected to the operation button 122 , and the operation of the first motor 142 , the second motor 163 , and the third motor 181 are controlled by the operation button 122 .

[0124] The operation of the flexible instrument delivery device is concentrated on the operating handle 12 of the medical staff, which is convenient to operate and solves the problem of low medical staff cooperation.

[0125] The present application provides a surgical robot system including a flexible instrument delivery device and a flexible instrument 15 installed on the flexible instrument delivery device. The flexible instrument delivery device is any one of the flexible instrument delivery devices mentioned above.

[0126] In order to achieve an integrated setting, the surgical robot system further includes a robot body 11 , and the flexible instrument delivery device and the operating handle 12 are both installed with the robot body 11 .

[0127] From the above content, it can be seen that the present application provides a surgical robot system that improves the safety of the use of the flexible instrument 15. The surgical robot system that meets the requirements of miniaturization, lightness, multiple degrees of freedom, and flexible operation is used to assist medical staff in manipulating the flexible instrument 15 for soft endoscopic diagnosis and treatment.

[0128] For ease of understanding, the following is an explanation in conjunction with a specific implementation method: When medical staff A2 is performing flexible endoscopy diagnosis and treatment on patient A1 lying on bed 3, surgical robot 1 is set next to endoscopy workstation 2. When the flexible instrument 15 is needed, the flexible instrument 15 that has been restrained by the protective cover is taken out from the sterile package and installed on the rotating mounting disk 161, and the interface 135 of the flexible belt is buckled on the rotating mounting disk. At this time, the airbag adjustment device 18 starts to work, slides the middle inflatable airbag 173 to the preset position, and inflates the airbag to restrain the flexible instrument handle 153. Finally, the guide tube 151 is inserted into the entrance of the flexible endoscope forceps channel tube to complete the installation of the flexible instrument 153. 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 scope. At the same time, the dials and buttons 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 to independently complete the soft endoscopic diagnosis and treatment procedures.

Claims

1. A flexible instrument delivery device, characterized in that: Used for storing flexible instruments (15), including: An instrument storage device (16), the instrument storage device (16) comprising a rotating mounting plate (161), the rotating mounting plate (161) being capable of forward and reverse rotation to output and store a guide tube (151) spirally wound around a flexible instrument (15); An instrument protection device, the instrument protection device comprising a protection sleeve (13) and a protection sleeve separation and storage device (14), the protection sleeve (13) being mounted on the rotating mounting disk (161), the protection sleeve (13) comprising a flexible belt (131), the flexible belt (131) being sleeved on the outer circumference of a guide tube (151) of a vortex-wound flexible instrument (15); a strip opening (132) is provided at the top end of the flexible belt (131) for allowing the guide tube (151) to enter and exit the flexible belt (131), the strip opening (132) of the flexible belt (131) being provided with elasticity and capable of automatically closing; the protection sleeve separation and storage device (14) moves in a direction perpendicular to the rotation axis of the rotating mounting disk (161) to remove the guide tube (151) located in the flexible belt (131); The protective sleeve separation and storage device (14) comprises: A linear guide block (141), the linear guide block (141) comprising a guide head (1412) inserted into the position of the strip-shaped opening (132), the guide head (1412) being provided with a guide hole (1411) for the guide tube (151) to pass through; A guide block driving device, the guide block driving device is connected to the linear guide block (141) to drive the linear guide block (141) to move in a direction perpendicular to the rotation axis of the rotating mounting disk (161).

2. The flexible instrument delivery device according to claim 1, characterized in that: It also includes a restraining plate (19), and the linear guide block (141) also includes: A connecting arm (1413), wherein the guide head (1412) is mounted at one end of the connecting arm (1413) in the length direction; A support seat (1415), the support seat (1415) being connected to the guide block driving device; A guide block (1414), the guide block (1414) being mounted on the other end of the connecting arm (1413) in the length direction, the restraining disk (19) being provided with a strip hole, the guide block (1414) being slidably connected to the strip hole; the support seat (1415) and the guide block driving device being located below the restraining disk (19), and the connecting arm (1413) and the guide head (1412) being located above the restraining disk (19).

3. The flexible instrument delivery device according to claim 2, characterized in that: The guide block driving device comprises: A first motor (142), the first motor (142) being fixedly connected to the restraining plate (19); A gear (143), wherein the output end of the first motor (142) is connected to the central axis of the gear (143); a rack (144), the rack (144) meshing with the gear (143) and moving in a radial direction perpendicular to the rotation direction of the rotating mounting plate (161); A slide rail (146), the slide rail (146) being fixedly connected to the bottom surface of the restraining plate (19); A sliding block (145), the sliding block (145) being slidably connected to the sliding rail (146); The rack (144) and the support seat (1415) are both fixedly connected to the slider (145).

4. The flexible instrument delivery device according to claim 3, characterized in that: The flexible belt (131) is further provided with a device accommodating cavity (133) for accommodating the guide tube (151) and a transition hole (136) connecting the strip-shaped opening (132) and the device accommodating cavity (133); the device accommodating cavity (133) is located below the transition hole (136); projected from top to bottom, the device accommodating cavity (133) is located within the projection range of the transition hole (136).

5. The flexible instrument delivery device according to claim 3, characterized in that: The instrument storage device (16) further comprises: A guide stopper (168), the guide stopper (168) being a plate structure arranged in a spiral line, the guide stopper (168) being mounted on the rotating mounting plate (161) and being used for guiding and positioning the spiral position of the inner ring of the protective sleeve (13); A rotating disk driving device, wherein the upper surface of the rotating mounting disk (161) is provided with a second storage position for supporting the protective sleeve (13) buckled with the guide tube (151), and 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.

6. The flexible instrument delivery device according to claim 5, characterized in that: Also includes a controller, the rotating disk driving device includes: a second motor (163), wherein the controller is connected to the first motor (142) and the second motor (163) to control the operation of the first motor (142) and the second motor (163); 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), and the rotating shafts of the second motor (163) and the gear set (165) are both mounted on the restraining disk (19); A bearing assembly, wherein the rotating mounting disk (161) is rotatably mounted on the restraining disk (19) via the bearing assembly.

7. The flexible instrument delivery device according to claim 2, 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 the flexible instrument handle (153), and being used to abut against and limit the flexible instrument handle (153) of the flexible instrument (15); 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).

8. The flexible instrument delivery device according to claim 7, 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).

9. A surgical robot system, comprising a flexible instrument delivery device and a flexible instrument (15) mounted on the flexible instrument delivery device, wherein the flexible instrument delivery device is the flexible instrument delivery device according to any one of claims 1 to 8.

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