Winding control mechanism, control method thereof and bronchoscope surgical robot

Abstract

The invention discloses a winding control mechanism, a control method thereof and a bronchoscope surgical robotic.The winding control mechanism comprises an assembly base, a plurality of winding wheels, a plurality of driving parts, a catheter and a bending unit, and the winding wheels are arranged on the assembly base; a transmission shaft of the driving part is in butt joint with the reel, and the driving part is used for driving the reel to rotate; one end of the guide pipe is connected with the assembling base, and the bending unit is arranged at the other end of the guide pipe. A plurality of traction ropes arranged at intervals in the radial circumferential direction of the guide pipe are arranged in the guide pipe, one end of each traction rope is wound around the reel, and the other end of each traction rope is connected with the bending unit. The winding control mechanism is used for the surgical robot, the multiple driving parts drive the winding wheel to rotate so as to pull the traction rope, the bending action of the bending unit can be automatically completed, and the control precision can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a winding control mechanism and a control method thereof, and a bronchoscopic surgical robot. Background Art

[0002] The development of robotics has promoted the development of modern medical technology. Medical robots are increasingly used in modern medical diagnosis. From the early Aesop surgical robot to the current Da Vinci surgical robot system, the functions of medical robots are becoming more and more powerful. Medical robots can be used for medical or auxiliary medical work in hospitals and clinics, including surgical robots, endoscopic robots, interventional robots, etc.

[0003] In previous open surgeries, doctors needed to open the human torso to observe the location of the lesion. Now, in minimally invasive surgery and interventional diagnosis, doctors only need to insert a catheter along the natural cavity of the human body and use the camera at the end of the catheter to observe the lesion, which reduces the patient's pain and improves the doctor's diagnosis and treatment efficiency.

[0004] However, after the existing medical robot inserts the catheter into the human body, the imaging range of the camera at the end of the catheter is limited. When the doctor needs to observe more positions, he needs to manually move or rotate the catheter. The adjustment process is relatively rough and difficult to achieve in one step, which tests the doctor's control ability. It can be seen that the existing medical robots have problems such as inconvenient catheter operation and low control accuracy.

[0005] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, the object of the present invention is to provide a winding control mechanism and a control method thereof, and a bronchoscopic surgical robot, aiming to solve the problems of inconvenient catheter operation and low control accuracy during the use of existing medical robots.

[0007] The technical solution of the present invention is as follows:

[0008] A winding control mechanism, comprising an assembly seat, a plurality of winding wheels, a plurality of driving components, a catheter and a bending unit, wherein the winding wheel is arranged on the assembly seat; a transmission shaft of the driving component is connected to the winding wheel, and the driving component is used to drive the winding wheel to rotate; one end of the catheter is connected to the assembly seat, and the other end is provided with the bending unit; a plurality of traction ropes are arranged in the catheter and are arranged at intervals along the radial circumferential direction of the catheter, one end of the traction rope is wound around the winding wheel, and the other end is connected to the bending unit.

[0009] The winding control mechanism described herein is provided with four traction ropes, wherein two of the traction ropes are arranged side by side in the horizontal direction as a first control rope group, and the first control rope group is used to control the rotation of the bending unit in the horizontal direction; the other two traction ropes are arranged side by side in the vertical direction as a second control rope group, and the second control rope group is used to control the rotation of the bending unit in the vertical direction.

[0010] The winding control mechanism, wherein the bending unit is tubular in shape, and is provided with a plurality of cutouts at intervals, and the plurality of cutouts are arranged alternately along the axial direction of the bending unit; the bending unit is provided with a plurality of locks, and the plurality of locks are arranged along the axial direction of the bending unit; the locks are used to lock the traction rope.

[0011] The winding control mechanism, wherein the bending unit includes at least one of a superelastic nickel-titanium alloy bending unit, a spring steel bending unit, and a polyester bending unit.

[0012] The winding control mechanism, wherein a plurality of slideways are provided on the inner wall of the conduit, and the traction rope is arranged in the slideways; a plurality of limiting cableways are provided on the assembly seat, and the limiting cableways are used to arrange the traction rope; the slideways and the limiting cableways are both used to constrain the traction rope.

[0013] The winding control mechanism, wherein a spiral winding groove is provided on the outer side wall of the winding wheel, and the traction rope is arranged in the spiral winding groove.

[0014] The winding control mechanism, wherein the winding wheel is provided with a fixed structure, and the fixed structure is arranged at the end of the spiral winding groove for connecting and fixing the end of the traction rope.

[0015] The winding control mechanism is described, wherein a shaft is provided on the side of the winding wheel that contacts the driving component, and a locking wheel is sleeved on the shaft, and the locking wheel rotates synchronously with the winding wheel; and a locking protrusion is provided on the side wall of the locking wheel; a locking boss is provided on the assembly seat, and a locking groove adapted to the locking boss is provided on the locking boss; when the driving component is reset and the winding wheel is in an initial position, the locking protrusion is engaged with the locking groove.

[0016] The present application also discloses a control method for any of the above winding control mechanisms, wherein the control method comprises:

[0017] The plurality of driving components are numbered 1, 2, ..., N in sequence; wherein N is a positive integer; the winding wheel connected to the Nth driving component is numbered as the Nth winding wheel; the traction rope connected to the Nth winding wheel is numbered as the Nth traction rope;

[0018] Determine the extension and retraction amounts of the first to Nth traction ropes according to the bending direction and the bending angle required by the bending unit, which are respectively recorded as the first extension and retraction instruction, the second extension and retraction instruction, ..., the Nth extension and retraction instruction;

[0019] Determine the angle that the No. 1 winding wheel needs to rotate according to the No. 1 telescopic instruction, and generate the No. 1 driving instruction; determine the angle that the No. 2 winding wheel needs to rotate according to the No. 2 telescopic instruction, and generate the No. 2 driving instruction; ...; determine the angle that the No. N winding wheel needs to rotate according to the No. N telescopic instruction, and generate the No. N driving instruction;

[0020] At the same time, the first driving instruction is sent to the first driving component, the second driving instruction is sent to the second driving component, ..., the Nth driving instruction is sent to the Nth driving component, so as to drive all the winding wheels to rotate and complete the rotation action of the bending unit.

[0021] The present application also discloses a bronchoscopic surgical robot, which includes any of the winding control mechanisms described above.

[0022] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0023] The winding control mechanism disclosed in the present invention drives the winding wheel to rotate through a driving component, so that the traction rope wound on the winding wheel is pulled, and the other end of the traction rope is connected to the bending unit. When the traction rope is extended or retracted, the bending unit is locally stressed and bends, thereby changing the direction of the bending unit. In addition, in order to improve the control accuracy, a plurality of driving components are provided to drive a plurality of winding wheels in a one-to-one correspondence, and a plurality of traction ropes are provided to be connected to different positions of the bending unit. By adjusting the extension and retraction of the plurality of traction ropes, the flexible steering of the bending unit in the X direction or the Y direction is jointly controlled to achieve high-precision automatic control.

[0024] The winding control mechanism disclosed in the present invention is applied to a medical robot, and the observation component (such as a camera) of the medical robot can be set in the bending unit. When performing clinical work, the catheter is inserted along the human body cavity, and the lesion condition is observed through the image transmitted back by the camera in the bending unit; during the observation process, if the acquisition range of the observation component is insufficient, the driving component is used to automatically realize the high-precision bending action of the bending unit, adjust the direction of the observation component, and then obtain more information that is conducive to diagnosis. By automatically adjusting the rotation of the bending unit instead of manual operation, the stability of the control is improved, the control accuracy is increased, and the work efficiency of medical personnel is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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 recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 It is a structural schematic diagram of the winding control mechanism in the present invention;

[0027] Figure 2 In one embodiment of the present invention, Figure 1 Cross-sectional view along the AA` direction;

[0028] Figure 3 In another embodiment of the present invention, Figure 1 Cross-sectional view along the AA` direction;

[0029] Figure 4 for Figure 1 A partial enlarged view of point B in the middle;

[0030] Figure 5 It is an assembly diagram of the assembly seat and the winding wheel in the present invention;

[0031] Figure 6 It is a structural schematic diagram of the bending unit in the present invention;

[0032] Figure 7 It is an assembly diagram of the traction rope and the bending unit in the present invention;

[0033] Figure 8 It is a flow chart of the control method of the winding control mechanism in the present invention.

[0034] Among them, 100, assembly seat; 110, limiting cableway; 120, locking boss; 121, locking groove; 200, winding wheel; 210, spiral winding groove; 220, fixed structure; 230, shaft; 240, locking wheel; 241, locking convex; 300, driving component; 400, catheter; 500, bending unit; 510, incision; 520, lock; 600, traction rope. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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.

[0036] See also Figure 1 and Figure 2 In one embodiment of the present invention application, a winding control mechanism is disclosed, which includes an assembly seat 100, a plurality of winding wheels 200, a plurality of driving components 300, a catheter 400 and a bending unit 500, wherein the winding wheel 200 is arranged on the assembly seat 100; the transmission shaft of the driving component 300 is connected to the winding wheel 200, and the driving component 300 is used to drive the winding wheel 200 to rotate; one end of the catheter 400 is connected to the assembly seat 100, and the other end is provided with the bending unit 500; a plurality of traction ropes 600 arranged at intervals along the radial circumferential direction of the catheter 400 are provided in the catheter 400, one end of the traction rope 600 is wound around the winding wheel 200, and the other end is connected to the bending unit 500.

[0037] The winding control mechanism disclosed in this embodiment drives the winding wheel 200 to rotate through the driving component 300, so that the traction rope 600 wound on the winding wheel 200 is pulled, and the other end of the traction rope 600 is connected to the bending unit 500. When the traction rope 600 is stretched, the bending unit 500 is locally stressed and bent, thereby changing the direction of the bending unit 500. In addition, in order to improve the control accuracy, a plurality of driving components 300 are provided to drive a plurality of winding wheels 200 in a one-to-one correspondence, and a plurality of traction ropes 600 are provided to be connected to different positions of the bending unit 500. By adjusting the stretching amount of the plurality of traction ropes 600, the flexible steering of the bending unit 500 in the X direction or the Y direction is jointly controlled to achieve high-precision automatic control.

[0038] The winding control mechanism disclosed in this embodiment is applied to a medical robot, and the observation components (such as cameras, lighting sources, sensors, detectors, etc.) of the medical robot can be set in the bending unit 500. When performing clinical work, the catheter 400 is inserted along the human body cavity, and the lesion condition is observed through the image transmitted back by the camera in the bending unit 500; during the observation process, if the acquisition range of the observation component is insufficient, the driving component 300 is used to automatically realize the high-precision bending action of the bending unit 500, adjust the direction of the observation component, and then obtain more information that is conducive to diagnosis. By automatically adjusting the rotation of the bending unit 500 instead of manual operation, the stability of the control is improved, the control accuracy is increased, and the work efficiency of medical personnel is improved.

[0039] Specifically, the traction ropes 600 disclosed in this embodiment may be provided in three, four or more numbers. Figure 2As shown, when three traction ropes 600 are set, every two ropes are set at an interval of 120° along the radial circumferential direction of the catheter 400. The bending degree and bending direction of the bending unit 500 are controlled by extending or contracting the three ropes, which can save materials to the greatest extent and complete the work of flexibly controlling the bending unit 500.

[0040] like Figure 3 As shown, as an implementation of this embodiment, it is disclosed that the traction ropes 600 are provided with four, wherein two traction ropes 600 are arranged side by side in the horizontal direction as a first control rope group, and the first control rope group is used to control the rotation of the bending unit 500 in the horizontal direction; the other two traction ropes 600 are arranged side by side in the vertical direction as a second control rope group, and the second control rope group is used to control the rotation of the bending unit 500 in the vertical direction. When four traction ropes 600 are provided, every two traction ropes 600 control the bending angle of the bending unit 500 in one direction, which is more convenient to operate and helps to reduce the difficulty of automatic control.

[0041] Specifically, in this embodiment, the first control rope group and the second control rope group are perpendicular to each other and do not interfere with each other during the control process. The bending direction and angle of the bending unit 500 in the three-dimensional space can be converted into the coordinate change in the X direction or Y direction in the coordinate system. The first control rope group and the second control rope group can be adjusted accordingly to achieve the effect of precise control. Compared with the control method of three ropes or five ropes, the operation is simpler.

[0042] like Figure 4 As shown, as another implementation of the present embodiment, a shaft 230 is provided on the side of the winding wheel 200 that contacts the driving component 300, and a locking wheel 240 is sleeved on the shaft 230, and the locking wheel 240 rotates synchronously with the winding wheel 200; and a locking protrusion 241 is provided on the side wall of the locking wheel 240; a locking boss 120 is provided on the assembly seat 100, and a locking groove 121 adapted to the locking protrusion 241 is provided on the locking boss 120; when the driving component 300 is reset and the winding wheel 200 is in the initial position, the locking protrusion 241 is locked with the locking groove 121. In this embodiment, the locking wheel 240 is adapted to the locking boss 120. When not in operation, the locking wheel 240 is locked on the locking boss 120, so that the winding wheel 200 and the locking wheel 240 remain stationary, and the length of the traction rope 600 remains unchanged, so that the bending unit 500 will not be accidentally bent. By providing the locking protrusion 241 and the locking groove 121 as a safety structure, the driving component 300 can only be accurately aligned with the winding wheel 200 when the driving component 300 returns to zero, thereby achieving efficient transmission.

[0043] like Figure 5As shown, as another implementation of this embodiment, a spiral winding groove 210 is provided on the outer wall of the winding wheel 200, and the traction rope 600 is arranged in the spiral winding groove 210. The spiral winding groove 210 is provided in this embodiment to allow the traction rope 600 wound on the winding wheel 200 to be spaced in an orderly manner, to avoid overlapping, knotting and other problems, and to reduce the wear of the traction rope 600 during the winding process. In addition, the traction rope 600 is wound around the winding wheel 200 in an orderly manner, and the length of each circle around the winding wheel 200 is the same, so it is convenient to accurately control the contraction or extension of the traction rope 600 through the rotation angle of the winding wheel 200, and further improve the control accuracy of the winding control mechanism.

[0044] For example Figure 5 As shown, as another implementation of this embodiment, a fixed structure 220 is disclosed on the winding wheel 200, and the fixed structure 220 is arranged at the end of the spiral winding groove 210, and is used to connect and fix the end of the traction rope 600. The fixed structure 220 is a structure that locks the end of the traction rope 600, and can be connected by clamping, pulling, welding, etc. For example, a small hole is opened at the end of the spiral winding groove 210, and the traction rope 600 is passed through the small hole. Two clamps are arranged at the other end of the small hole to clamp the traction rope 600, and the width of the clamp is wider than the aperture of the small hole. In this way, when subjected to tension, the clamp is against the winding wheel 200, and the end of the traction rope 600 is fixed to the column and will not fall off from the spiral winding groove 210. Therefore, the fixed structure 220 is arranged in this embodiment to prevent the traction rope 600 from loosening, so that the traction rope 600 is kept in a taut state, so as to facilitate the bending of the bending unit 500 by the traction rope 600.

[0045] Specifically, in this embodiment, the fixed structure 220 can rotate freely, and the traction rope 600 is wound on its surface to adjust the tightness of the traction rope 600. Accordingly, a force feedback instrument can be provided to monitor the tension on the output shaft of the driving component 300, thereby monitoring the state of the traction rope 600, so as to switch the slack, tighten, and strengthen states at any time.

[0046] Specifically, the driving component 300 disclosed in this embodiment includes a driving motor, such as a motor, a stepping motor, etc. During actual manufacturing, the driving motor is assembled on the assembly seat 100, and connected to the winding wheel 200 through the output end of the driving motor. The driving motor performs work according to the received driving instruction to drive the winding wheel 200 to rotate.

[0047] For example Figure 5As shown, as another implementation of this embodiment, it is disclosed that a plurality of slideways are arranged on the inner wall of the conduit 400, and the traction rope 600 is arranged in the slideway; a plurality of limiting ropeways 110 are arranged on the assembly seat 100, and the limiting ropeway 110 is used to arrange the traction rope 600; the slideway and the limiting ropeway 110 are both used to constrain the traction rope 600. In this embodiment, the slideway and the limiting ropeway 110 are arranged so that the traction rope 600 is wrapped with a constraint structure from one end connected to the winding wheel 200 to one end connected to the bending unit 500, so that the path of the traction rope 600 remains unchanged during the extension and retraction process, and the paths of each traction rope 600 are independent of each other, so as to avoid the occurrence of problems such as loose winding, jamming, rope knotting, and rope entanglement, and keep the winding control mechanism in efficient and stable use.

[0048] Specifically, in this embodiment, since the length of the catheter 400 is generally relatively long, the provision of a slide can also enable the traction rope 600 to maintain a straight extension in the catheter 400, avoiding folding and bending problems, and keeping the length of the traction rope 600 in the catheter 400 unchanged, thereby playing a role in accurately transmitting traction force.

[0049] Specifically, one end of the position limiting cableway 110 disclosed in this embodiment is aligned with the port of the guide tube 400, and the other end is aligned with the winding wheel 200. The position limiting cableway 110 plays a certain guiding role, making the extension path of the traction rope 600 smoother, so as to facilitate smooth extension and retraction.

[0050] like Figure 6 and Figure 7 As shown, as another implementation of this embodiment, the bending unit 500 is disclosed to be tubular in shape, and generally, an observation device, such as a camera, a sensor, a light source, etc., can be set in the middle cavity of the bending unit 500. In addition, a plurality of cutouts 510 are arranged at intervals on the bending unit 500, and the plurality of cutouts 510 are arranged in a staggered manner along the axial direction of the bending unit 500; the plurality of cutouts 510 are arranged to reduce the rigidity of the bending unit 500 in the axial direction, so as to facilitate bending, and the cutouts 510 can avoid the problem of increasing the thickness of the bending unit 500 due to partial folding during the bending process, which is conducive to reducing the bending resistance. Finally, the bending unit 500 can obtain the required deflection and rigidity, and form a bending deformation body with certain supporting performance. In addition, the staggered arrangement of the cutouts 510 is to ensure that there are cutouts 510 at various positions of the bending unit 500, so as to avoid the problem of local bending resistance concentration, which is conducive to realizing the bending of the bending unit 500 in any direction.

[0051] Specifically, the bending unit 500 in this embodiment is provided with a plurality of lock buckles 520, and the plurality of lock buckles 520 are arranged along the axial direction of the bending unit 500; the lock buckles 520 are used to lock the traction rope 600. In this embodiment, the traction rope 600 is inserted into the plurality of lock buckles 520, firstly, the firmness of the connection between the traction rope 600 and the bending unit 500 can be increased, looseness can be avoided during the extension and retraction process, and the high-precision adjustment feature of the bending unit 500 can be maintained. Secondly, the traction rope 600 is extended along the surface of the bending unit 500 by the plurality of lock buckles 520 arranged along the axial direction of the bending unit 500. When the traction rope 600 is extended and retracted, the bending unit 500 is bent, and the traction rope 600 still remains in a state of being close to the bending unit 500 and will not be separated from the bending unit 500. The bending unit 500 is subjected to uniform force along its own axial direction, so the overall bending is smoother.

[0052] Specifically, as another implementation of this embodiment, it is disclosed that the bending unit 500 includes at least one of a superelastic nickel-titanium alloy bending unit, a spring steel bending unit, and a polyester bending unit. The bending unit 500 in this embodiment needs to bend and deform, so it needs to be made of a material with a certain elasticity; in addition, the winding control mechanism disclosed in this embodiment is used in the medical field, and the catheter 400 needs to intervene in the human body, so it has high hygiene requirements and needs to be made of sterile materials.

[0053] Taking all factors into consideration, superelastic nickel-titanium alloy, spring steel, polyester and other materials can meet the material requirements of this application. The use of superelastic nickel-titanium alloy bending units, spring steel bending units or polyester bending units can improve the safety of the winding control mechanism while ensuring normal use.

[0054] It should be noted that the types of bending units 500 are only exemplified in this embodiment, but the protection scope of the present invention is not limited to this. As long as other types of bending units 500 can achieve the technical effects disclosed in this application, they should also be within the scope of protection of this application as equivalent replacements for the concepts of the present invention.

[0055] like Figure 8 As shown, as another embodiment of the present application, a control method for a winding control mechanism as described above is disclosed, wherein the control method comprises:

[0056] S100, sequentially numbering a plurality of driving components 300 as 1, 2, ..., N; wherein N is a positive integer; numbering the winding wheel 200 connected to the Nth driving component 300 as the Nth winding wheel 200; and numbering the traction rope 600 connected to the Nth winding wheel 200 as the Nth traction rope 600;

[0057] S200, determining the extension and retraction amounts of the first to Nth traction ropes 600 according to the bending direction and the bending angle required by the bending unit 500, which are respectively recorded as the first extension and retraction instruction, the second extension and retraction instruction, ..., the Nth extension and retraction instruction;

[0058] S300, determining the angle that the No. 1 winding wheel 200 needs to rotate according to the No. 1 telescopic instruction, and generating a No. 1 driving instruction; determining the angle that the No. 2 winding wheel 200 needs to rotate according to the No. 2 telescopic instruction, and generating a No. 2 driving instruction; ...; determining the angle that the No. N winding wheel 200 needs to rotate according to the No. N telescopic instruction, and generating a No. N driving instruction;

[0059] S400, simultaneously sending the first driving instruction to the first driving component 300, sending the second driving instruction to the second driving component 300, ..., sending the Nth driving instruction to the Nth driving component 300, driving all the winding wheels 200 to rotate, and completing the rotation action of the bending unit 500.

[0060] The control method disclosed in this embodiment calculates the driving amount of each driving component 300 by pre-numbering, and then drives all the winding wheels 200 to rotate at the same time, so that the bending unit 500 rotates to the target position at one time, shortens the adjustment time, and improves the control efficiency of the winding control mechanism. When applied to a medical robot, the work efficiency of medical personnel can be improved and errors can be reduced by automatically controlling the winding control mechanism.

[0061] As another embodiment of the present application, a bronchoscopic surgical robot is disclosed, which includes any of the winding control mechanisms described above.

[0062] In summary, the present application discloses a winding control mechanism, which includes an assembly seat 100, a plurality of winding wheels 200, a plurality of driving components 300, a catheter 400 and a bending unit 500, wherein the winding wheel 200 is arranged on the assembly seat 100; the transmission shaft of the driving component 300 is connected to the winding wheel 200, and the driving component 300 is used to drive the winding wheel 200 to rotate; one end of the catheter 400 is connected to the assembly seat 100, and the other end is provided with the bending unit 500; a plurality of traction ropes 600 arranged at intervals along the radial circumferential direction of the catheter 400 are provided in the catheter 400, one end of the traction rope 600 is wound around the winding wheel 200, and the other end is connected to the bending unit 500. The winding control mechanism disclosed in this embodiment drives the winding wheel 200 to rotate through the driving component 300, so that the traction rope 600 wound on the winding wheel 200 is pulled, and the other end of the traction rope 600 is connected to the bending unit 500. When the traction rope 600 is stretched, the bending unit 500 is locally stressed and bent, so that the direction of the bending unit 500 can be changed. In addition, in order to improve the control accuracy, a plurality of driving components 300 are set to drive a plurality of winding wheels 200 one by one, and a plurality of traction ropes 600 are set to be connected to different positions of the bending unit 500. By adjusting the stretching amount of the plurality of traction ropes 600, the flexible steering of the bending unit 500 in the X direction or the Y direction is jointly controlled to achieve high-precision automatic control. The winding control mechanism disclosed in this embodiment is applied to a medical robot, and the observation components (such as a camera, a lighting source, a sensor, a detector, etc.) of the medical robot can be set in the bending unit 500. During clinical work, the catheter 400 is inserted along the human body cavity, and the lesion is observed through the image transmitted back by the camera in the bending unit 500; during the observation process, if the acquisition range of the observation component is insufficient, the driving component 300 is used to automatically realize the high-precision bending action of the bending unit 500, adjust the direction of the observation component, and then obtain more information that is conducive to diagnosis. By automatically adjusting the rotation of the bending unit 500 instead of manual operation, the stability of the control is improved, the control accuracy is increased, and the work efficiency of medical personnel is improved.

[0063] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0064] It should be noted that the present invention takes the winding control mechanism as an example to introduce the specific structure and working principle of the present invention, but the application of the present invention is not limited to the winding control mechanism, and can also be applied to the production and use of other similar workpieces.

[0065] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A winding control mechanism, characterized in that: include: Assembly seat; A plurality of winding wheels are arranged on the assembly seat; A plurality of driving components, wherein the transmission shaft of the driving component is connected to the winding wheel, and the driving component is used to drive the winding wheel to rotate; as well as A catheter, one end of which is connected to the assembly seat, and the other end of which is provided with a bending unit; a plurality of traction ropes arranged at intervals along the radial circumferential direction of the catheter are provided in the catheter, one end of the traction rope is wound around the winding wheel, and the other end is connected to the bending unit.

2. The winding control mechanism according to claim 1, characterized in that: There are four traction ropes, among which two traction ropes are arranged side by side in the horizontal direction to form a first control rope group, and the first control rope group is used to control the rotation of the bending unit in the horizontal direction; the other two traction ropes are arranged side by side in the vertical direction to form a second control rope group, and the second control rope group is used to control the rotation of the bending unit in the vertical direction.

3. The winding control mechanism according to claim 1, characterized in that: The bending unit is tubular in shape, and a plurality of cutouts are arranged at intervals on the bending unit, and the plurality of cutouts are arranged in a staggered manner along the axial direction of the bending unit; The bending unit is provided with a plurality of lock buckles, which are arranged along the axial direction of the bending unit; the lock buckles are used to lock the traction rope.

4. The winding control mechanism according to claim 3, characterized in that: The bending unit includes at least one of a superelastic nickel-titanium alloy bending unit, a spring steel bending unit, and a polyester bending unit.

5. The winding control mechanism according to claim 1, characterized in that: A plurality of slideways are arranged on the inner wall of the conduit, and the traction ropes are arranged in the slideways; A plurality of position-limiting ropeways are arranged on the assembly seat, and the position-limiting ropeways are used to arrange the traction ropes; Wherein, the slideway and the position-limiting ropeway are both used to constrain the traction rope.

6. The winding control mechanism according to claim 1, characterized in that: A spiral winding groove is provided on the outer side wall of the winding wheel, and the traction rope is arranged in the spiral winding groove.

7. The winding control mechanism according to claim 6, characterized in that: The winding wheel is provided with a fixed structure, which is arranged at the end of the spiral winding groove and is used to connect and fix the end of the traction rope.

8. The winding control mechanism according to claim 1, characterized in that: A shaft is provided on the side of the winding wheel in contact with the driving component, and a locking wheel is sleeved on the shaft, and the locking wheel rotates synchronously with the winding wheel; and a locking protrusion is provided on the side wall of the locking wheel; The assembly seat is provided with a locking boss, and the locking boss is provided with a locking groove adapted to the locking convex; Wherein, when the driving component is reset to zero and the winding wheel is in an initial position, the latching protrusion is latched with the latching groove.

9. A control method for a winding control mechanism according to any one of claims 1 to 8, characterized in that: The control method comprises: The plurality of driving components are numbered 1, 2, ..., N in sequence; wherein N is a positive integer; the winding wheel connected to the Nth driving component is numbered as the Nth winding wheel; the traction rope connected to the Nth winding wheel is numbered as the Nth traction rope; Determine the extension and retraction amounts of the first to Nth traction ropes according to the bending direction and the bending angle required by the bending unit, which are respectively recorded as the first extension and retraction instruction, the second extension and retraction instruction, ..., the Nth extension and retraction instruction; Determine the angle that the No. 1 winding wheel needs to rotate according to the No. 1 telescopic instruction, and generate the No. 1 driving instruction; determine the angle that the No. 2 winding wheel needs to rotate according to the No. 2 telescopic instruction, and generate the No. 2 driving instruction; ...; determine the angle that the No. N winding wheel needs to rotate according to the No. N telescopic instruction, and generate the No. N driving instruction; At the same time, the first driving instruction is sent to the first driving component, the second driving instruction is sent to the second driving component, ..., the Nth driving instruction is sent to the Nth driving component, so as to drive all the winding wheels to rotate and complete the rotation action of the bending unit.

10. A bronchoscopic surgical robot, characterized in that: It comprises a winding control mechanism as described in any one of claims 1 to 8.

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