A winding control mechanism and a control method thereof, and a bronchoscope surgery robot

Abstract

The application discloses a winding control mechanism and a control method thereof and a bronchoscope surgery robot, wherein the winding control mechanism comprises an assembling seat, a plurality of winding wheels, a plurality of driving components, a conduit and a bending unit, the winding wheels are arranged on the assembling seat, the transmission shaft of the driving component is connected with the winding wheel, the driving component is used for driving the winding wheel to rotate, one end of the conduit is connected with the assembling seat, and the other end is provided with the bending unit, a plurality of traction ropes are arranged in the conduit and are arranged along the radial circumferential direction of the conduit, one end of the traction rope is wound on the winding wheel, and the other end is connected with the bending unit. The winding control mechanism is used on the surgery robot, the winding wheel is driven to rotate by the plurality of driving components, the traction rope is pulled, the bending action of the bending unit is automatically completed, and the control precision is improved.

Description

Technical Field

[0001] This invention relates to the field of medical equipment technology, and in particular to a winding control mechanism and its control method, and a bronchoscopic surgical robot. Background Technology

[0002] The development of robotics technology has promoted the advancement of modern medical technology, and the use of medical robots in modern medical diagnostics is increasing. From the early Aesop surgical robots to the current da Vinci surgical robot system, the functions of medical robots are becoming increasingly powerful. Medical robots can be used in hospitals and clinics for medical or auxiliary medical work, including surgical robots, endoscopic robots, interventional robots, and so on.

[0003] In the past, open surgery required doctors to open the human torso to observe the location of lesions. Now, in minimally invasive surgery and interventional diagnosis, doctors only need to insert a catheter along the body's natural cavities and use a camera at the end of the catheter to observe the lesions, reducing patient pain and improving the efficiency of doctors' diagnosis and treatment.

[0004] However, with existing medical robots, the camera at the end of the catheter has a limited imaging range after insertion. When doctors need to observe more areas, they must manually move or rotate the catheter. This adjustment process is rather crude and difficult to achieve in one step, further testing the doctor's operational skills. Therefore, existing medical robots suffer from inconvenient catheter operation and low control precision.

[0005] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0006] In view of the shortcomings of the prior art, the purpose of this invention is to provide a winding control mechanism and its control method, as well as a bronchoscopic surgical robot, which aims to solve the problems of inconvenient catheter operation and low control accuracy in the use of existing medical robots.

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

[0008] A winding control mechanism includes a mounting base, a plurality of winding wheels, a plurality of driving components, a guide tube, and a bending unit. The winding wheels are mounted on the mounting base. The drive 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 guide tube is connected to the mounting base, and the other end is provided with the bending unit. A plurality of traction ropes are arranged at intervals along the radial circumferential direction of the guide tube inside the guide tube. One end of each traction rope is wound around the winding wheel, and the other end is connected to the bending unit.

[0009] The winding control mechanism includes four traction ropes. Two of the traction ropes are arranged side-by-side in the horizontal direction as a first control rope group, which controls 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, which controls the rotation of the bending unit in the vertical direction.

[0010] The winding control mechanism includes a bending unit that is tubular in shape and has multiple slits spaced apart on it, the slits being staggered along the axial direction of the bending unit; the bending unit has multiple latches that are arranged along the axial direction of the bending unit; the latches are used to lock the traction rope.

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

[0012] The winding control mechanism includes a plurality of slides on the inner wall of the conduit, in which the traction rope is arranged; a plurality of limiting cables are provided on the mounting base, which are used to arrange the traction rope; both the slides and the limiting cables are 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 includes a fixing structure on the winding wheel, which is located at the end of the spiral winding groove and is used to connect and fix the end of the traction rope.

[0015] The winding control mechanism includes a shaft on the side of the winding wheel that contacts the driving component, a locking wheel sleeved on the shaft, and the locking wheel rotating synchronously with the winding wheel; a locking protrusion is provided on the side wall of the locking wheel; a locking boss is provided on the mounting base, and a locking groove adapted to the locking protrusion is provided on the locking boss; when the driving component is returned to zero and the winding wheel is in the initial position, the locking protrusion engages with the locking groove.

[0016] This application also discloses a control method for a winding control mechanism as described in any of the above, wherein the control method includes:

[0017] Several driving components are numbered sequentially as 1, 2, ..., N; where 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] The extension and retraction of the first to Nth traction ropes are determined according to the bending direction and bending angle required by the bending unit, and are respectively denoted as extension and retraction command No. 1, extension and retraction command No. 2, ..., extension and retraction command No. N;

[0019] Based on the first extension / retraction command, determine the angle that the first winding wheel needs to rotate, and generate the first drive command; based on the second extension / retraction command, determine the angle that the second winding wheel needs to rotate, and generate the second drive command; ...; based on the Nth extension / retraction command, determine the angle that the Nth winding wheel needs to rotate, and generate the Nth drive command;

[0020] Simultaneously, a first driving command is sent to the first driving component, a second driving command is sent to the second driving component, ..., and an Nth driving command is sent to the Nth driving component, driving all the winding wheels to rotate and completing the rotation action of the bending unit.

[0021] This application also discloses a bronchoscopic surgical robot, which includes a wire-winding control mechanism as described in any of the above.

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

[0023] The winding control mechanism disclosed in this invention drives a winding wheel to rotate via a drive component, thereby pulling the traction rope wound on the wheel. The other end of the traction rope is connected to a bending unit. When the traction rope extends or retracts, the bending unit experiences localized force, causing it to bend, thus changing the orientation of the bending unit. Furthermore, to improve control precision, several drive components are configured to drive several winding wheels in a one-to-one correspondence, and multiple traction ropes are connected to different positions of the bending unit. By adjusting the extension or retraction of these multiple traction ropes, the flexible steering of the bending unit in the X or Y direction is controlled, achieving high-precision automatic control.

[0024] The winding control mechanism disclosed in this invention is applied to medical robots, allowing the observation components (such as cameras) of the medical robot to be housed within a bending unit. During clinical work, a catheter is inserted along a body cavity, and the condition of the lesion is observed through images transmitted from the camera within the bending unit. If the acquisition range of the observation component is insufficient during observation, a drive component automatically performs a high-precision bending motion of the bending unit to adjust the orientation of the observation component, thereby acquiring more information beneficial for diagnosis. By automating the adjustment of the bending unit's rotation to replace manual operation, the stability of manipulation is improved, control precision is increased, and the work efficiency of medical personnel is enhanced. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the winding control mechanism in this invention;

[0027] Figure 2 As shown in one embodiment of the present invention, along Figure 1 Cross-sectional view along the AA' direction;

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

[0029] Figure 4 for Figure 1 A magnified view of a section at point B in the middle;

[0030] Figure 5 This is an assembly diagram of the mounting base and the winding wheel in this invention;

[0031] Figure 6 This is a schematic diagram of the bending unit in this invention;

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

[0033] Figure 8 This is a flowchart of the control method for the winding control mechanism in this invention.

[0034] Among them, 100 is the mounting base; 110 is the limiting cableway; 120 is the locking boss; 121 is the locking groove; 200 is the winding wheel; 210 is the spiral winding groove; 220 is the fixed structure; 230 is the shaft; 240 is the locking wheel; 241 is the locking protrusion; 300 is the driving component; 400 is the guide tube; 500 is the bending unit; 510 is the notch; 520 is the lock; and 600 is the traction rope. Detailed Implementation

[0035] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] See Figure 1 and Figure 2 In one embodiment of this invention application, a winding control mechanism is disclosed, comprising a mounting base 100, a plurality of winding wheels 200, a plurality of driving components 300, a guide tube 400, and a bending unit 500. The winding wheels 200 are disposed on the mounting base 100; the drive 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 guide tube 400 is connected to the mounting base 100, and the other end is provided with the bending unit 500; a plurality of traction ropes 600 are disposed inside the guide tube 400, arranged at intervals along the radial circumferential direction of the guide tube 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 via the drive component 300, thereby pulling the traction rope 600 wound on the winding wheel 200. The other end of the traction rope 600 is connected to the bending unit 500. When the traction rope 600 extends or retracts, the bending unit 500 is locally stressed and bends, thus changing the orientation of the bending unit 500. Furthermore, to improve control precision, several drive components 300 are configured to drive several winding wheels 200 in a one-to-one correspondence, and multiple traction ropes 600 are connected to different positions of the bending unit 500. By adjusting the extension or retraction of the multiple traction ropes 600, the flexible turning of the bending unit 500 in the X or Y direction is controlled to achieve high-precision automatic control.

[0038] The winding control mechanism disclosed in this embodiment is applied to a medical robot, allowing the robot's observation components (such as cameras, lighting sources, sensors, detectors, etc.) to be housed within the bending unit 500. During clinical work, the catheter 400 is inserted along the body cavity, and the lesion is observed using images transmitted from the camera within the bending unit 500. If the acquisition range of the observation component is insufficient, the drive component 300 automatically performs a high-precision bending motion of the bending unit 500 to adjust the orientation of the observation component, thereby acquiring more information beneficial for diagnosis. By automating the rotation of the bending unit 500 instead of manual operation, the stability of the operation is improved, control precision is increased, and the work efficiency of medical personnel is enhanced.

[0039] Specifically, the traction rope 600 disclosed in this embodiment can be configured with three, four, or more ropes. For example... Figure 2As shown, when three traction ropes 600 are set, they are arranged at 120° intervals along the radial circumference of the guide tube 400. By controlling the bending degree and bending direction of the bending unit 500 through the extension or contraction of the three ropes, materials can be saved to the greatest extent and the work of flexibly controlling the bending unit 500 can be accomplished.

[0040] like Figure 3 As shown in this embodiment, four traction ropes 600 are disclosed. Two traction ropes 600 are arranged side-by-side in the horizontal direction as a first control rope group, which controls 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, which controls the rotation of the bending unit 500 in the vertical direction. With four traction ropes 600, each pair of traction ropes 600 controls the bending angle of the bending unit 500 in one direction, making operation more convenient and reducing the difficulty of automated 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 three-dimensional space can be converted into coordinate changes in the X or Y direction in the coordinate system. By adjusting the first control rope group and the second control rope group accordingly, the effect of precise control can be achieved. Compared with the control method of three or five ropes, the operation is simpler.

[0042] like Figure 4 As shown, in another embodiment of this invention, a shaft 230 is provided on the side of the winding wheel 200 that contacts the driving component 300. A locking wheel 240 is sleeved on the shaft 230, and the locking wheel 240 rotates synchronously with the winding wheel 200. A locking protrusion 241 is provided on the side wall of the locking wheel 240. A locking boss 120 is provided on the mounting base 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 returned to zero and the winding wheel 200 is in the initial position, the locking protrusion 241 engages 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 onto the locking boss 120, keeping both the winding wheel 200 and the locking wheel 240 stationary. Consequently, the length of the traction rope 600 remains unchanged, preventing the bending unit 500 from bending unexpectedly. By setting the locking boss 241 and the locking groove 121 as a safety structure, the driving component 300 can accurately align with the winding wheel 200 only when the driving component 300 is at zero, thereby achieving efficient transmission.

[0043] like Figure 5As shown, in another embodiment of this invention, 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. In this embodiment, the spiral winding groove 210 is provided to ensure that the traction rope 600 wound on the winding wheel 200 is spaced out in an orderly manner, avoiding problems such as overlapping and knotting, and also reducing wear on the traction rope 600 during winding. Furthermore, the traction rope 600 is orderly wound around the winding wheel 200, with each turn of the rope having the same length. Therefore, it is convenient to accurately control the contraction or extension of the traction rope 600 by adjusting the rotation angle of the winding wheel 200, further improving the control precision of the winding control mechanism.

[0044] For example Figure 5 As shown, in another embodiment of this invention, a fixing structure 220 is provided on the winding wheel 200. The fixing structure 220 is located at the end of the spiral winding groove 210 and is used to connect and fix the end of the traction rope 600. The fixing structure 220 is a structure that locks the end of the traction rope 600 in place. It can be connected by clamping, pulling, welding, etc. For example, a small hole is opened at the end of the spiral winding groove 210, the traction rope 600 is passed through the small hole, and two clamps are provided at the other end of the small hole to clamp the traction rope 600. The width of the clamps is wider than the diameter of the small hole. In this way, when subjected to tension, the clamps abut against the winding wheel 200, and the end of the traction rope 600 is fixed and will not fall out of the spiral winding groove 210. Therefore, in this embodiment, the fixing structure 220 is provided to prevent the traction rope 600 from loosening and to keep the traction rope 600 taut, thereby facilitating the adjustment of the bending unit 500 through the traction rope 600.

[0045] Specifically, in this embodiment, the fixed structure 220 can rotate freely, allowing the traction rope 600 to be wound around its surface, thereby adjusting the tension of the traction rope 600. Correspondingly, a force feedback device can be set to monitor the tension on the output shaft of the drive component 300, thereby monitoring the state of the traction rope 600 and facilitating the switching between slack, tight, and reinforced states at any time.

[0046] Specifically, the drive component 300 disclosed in this embodiment includes a drive motor, such as a motor, a stepper motor, etc. In actual manufacturing, the drive motor is assembled on the mounting base 100, and the output end of the drive motor is connected to the winding wheel 200. The drive motor performs work according to the received drive command, driving the winding wheel 200 to rotate.

[0047] For example Figure 5As shown, in another embodiment of this invention, the inner wall of the conduit 400 is provided with several slides, and the traction rope 600 is arranged in the slides; the mounting base 100 is provided with several limiting cables 110, which are used to arrange the traction rope 600; both the slides and the limiting cables 110 are used to constrain the traction rope 600. In this embodiment, the slides and limiting cables 110 ensure that the traction rope 600 is wrapped by a constraint structure from one end connected to the winding wheel 200 to one end connected to the bending unit 500, thereby keeping the path unchanged during the extension and retraction of the traction rope 600. The paths of each traction rope 600 are independent of each other, avoiding problems such as loosening, jamming, knotting, and tangling of the rope, and maintaining the efficient and stable use of the winding control mechanism.

[0048] Specifically, in this embodiment, since the length of the conduit 400 is generally quite long, the slide rail can also keep the traction rope 600 extending in a straight line within the conduit 400, avoiding folding or bending problems, and keeping the length of the traction rope 600 within the conduit 400 constant, thereby achieving the function of accurately transmitting traction force.

[0049] Specifically, in this embodiment, one end of the limiting cableway 110 is aligned with the port of the guide tube 400, and the other end is aligned with the winding reel 200. The 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, in another embodiment of this invention, the bending unit 500 is tubular in shape. Generally, observation devices, such as cameras, sensors, and light sources, can be placed within the central cavity of the bending unit 500. The bending unit 500 has multiple slits 510 spaced apart, which are staggered along the axial direction of the bending unit 500. The multiple slits 510 reduce the rigidity of the bending unit 500 in the axial direction, facilitating bending. Furthermore, the slits 510 prevent localized folding of the bending unit 500 during bending, thus reducing bending resistance. Ultimately, the bending unit 500 achieves the required deflection and stiffness, forming a bent deformable body with certain supporting properties. Additionally, the staggered arrangement of the slits 510 ensures that there are slits 510 at various locations within the bending unit 500, avoiding concentrated localized bending resistance and facilitating bending of the bending unit 500 in any direction.

[0051] Specifically, in this embodiment, the bending unit 500 is provided with multiple latches 520, which are arranged along the axial direction of the bending unit 500. The latches 520 are used to lock the traction rope 600. In this embodiment, the traction rope 600 is inserted into the multiple latches 520. First, this increases the firmness of the connection between the traction rope 600 and the bending unit 500, preventing loosening during extension and contraction, and maintaining the high precision of the bending unit 500's adjustment. Second, the multiple latches 520 arranged along the axial direction of the bending unit 500 cause the traction rope 600 to extend along the surface of the bending unit 500. When the traction rope 600 extends or contracts, the bending unit 500 bends, and the traction rope 600 remains close to the bending unit 500, without separating from it. The bending unit 500 experiences uniform force along its own axial direction, resulting in smoother overall bending.

[0052] Specifically, as another embodiment of this invention, the bending unit 500 is disclosed to include 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 requires bending deformation, therefore it needs to be made of a material with a certain degree of elasticity. Furthermore, the winding control mechanism disclosed in this embodiment is used in the medical field, and the catheter 400 needs to be inserted into the human body, therefore high hygiene requirements are necessary, necessitating the use of sterile materials.

[0053] Taking all factors into consideration, materials such as superelastic nickel-titanium alloy, spring steel, and polyester can all meet the material requirements of this application. Using 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 this embodiment is only an example of the type of bending unit 500, but the scope of protection of the present invention is not limited to this. Other types of bending units 500, as long as they can achieve the technical effects disclosed in this application, can be used as equivalent replacements for the concept of the present invention and should also be within the scope of protection of this application.

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

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

[0057] S200. Determine the extension and retraction of the No. 1 to No. N traction ropes 600 according to the bending direction and bending angle required by the bending unit 500, and record them as extension and retraction command No. 1, extension and retraction command No. 2, ..., extension and retraction command No. N respectively.

[0058] S300: Determine the required rotation angle of the first winding wheel 200 according to the first extension / retraction command, and generate the first drive command; determine the required rotation angle of the second winding wheel 200 according to the second extension / retraction command, and generate the second drive command; ...; determine the required rotation angle of the Nth winding wheel 200 according to the Nth extension / retraction command, and generate the Nth drive command;

[0059] S400: Simultaneously send the first drive command to the first drive component 300, the second drive command to the second drive component 300, ..., send the Nth drive command to the Nth drive component 300, driving all the winding wheels 200 to rotate, thus 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 it, and then simultaneously drives all winding wheels 200 to rotate, so that the bending unit 500 is rotated to the target position in one go, shortening the adjustment time and improving the control efficiency of the winding control mechanism. When applied to medical robots, the automated control of the winding control mechanism can improve the work efficiency of medical personnel and reduce errors.

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

[0062] In summary, this application discloses a winding control mechanism, comprising a mounting base 100, a plurality of winding wheels 200, a plurality of driving components 300, a guide tube 400, and a bending unit 500. The winding wheels 200 are disposed on the mounting base 100; the drive 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 guide tube 400 is connected to the mounting base 100, and the other end is provided with the bending unit 500; a plurality of traction ropes 600 are disposed inside the guide tube 400, arranged at intervals along the radial circumferential direction of the guide tube 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 via a drive component 300, pulling the traction rope 600 wound on the winding wheel 200. The other end of the traction rope 600 is connected to the bending unit 500. When the traction rope 600 extends or retracts, the bending unit 500 is locally stressed and bends, thereby changing the orientation of the bending unit 500. Furthermore, to improve control precision, several drive components 300 are configured to drive several winding wheels 200 in a one-to-one correspondence, and multiple traction ropes 600 are connected to different positions of the bending unit 500. By adjusting the extension or retraction of the multiple traction ropes 600, the flexible turning of the bending unit 500 in the X or Y direction is controlled, achieving high-precision automatic control. The winding control mechanism disclosed in this embodiment is applied to medical robots, allowing the observation components of the medical robot (such as cameras, lighting sources, sensors, detectors, etc.) to be housed within the bending unit 500. During clinical work, the catheter 400 is inserted along the body cavity, and the lesion is observed through images transmitted by the camera inside the bending unit 500. If the acquisition range of the observation component is insufficient, the drive component 300 automatically performs a high-precision bending motion of the bending unit 500 to adjust the orientation of the observation component, thereby acquiring more information beneficial for diagnosis. By automating the rotation of the bending unit 500 instead of manual operation, the stability of the operation is improved, control precision is increased, and the work efficiency of medical personnel is enhanced.

[0063] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0064] It should be noted that this invention uses a winding control mechanism as an example to introduce the specific structure and working principle of the invention, but the application of this 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 precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the 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 principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wire winding control mechanism characterized by comprising: The application relates to a winding control mechanism. The winding control mechanism comprises: an assembling seat; a plurality of winding wheels arranged on the assembling seat; a plurality of driving components, the transmission shafts of the driving components being connected with the winding wheels, and the driving components being used for driving the winding wheels to rotate; and a guide pipe, one end of which is connected with the assembling seat, and the other end of which is provided with a bending unit; a plurality of traction ropes are arranged in the guide pipe and are arranged along the radial circumferential direction of the guide pipe, one end of each of the traction ropes being wound around the winding wheel, and the other end of each of the traction ropes being connected with the bending unit; 2. The wire winding control mechanism according to claim 1, characterized by, wherein the bending unit is in the shape of a pipe, a plurality of cutouts are arranged on the bending unit and are staggered along the axial direction of the bending unit, a plurality of buckles are arranged on the bending unit and are arranged along the axial direction of the bending unit, and the traction ropes are inserted into the buckles.

3. The wire winding control mechanism according to claim 1, characterized by, The traction ropes are provided with four traction ropes, two of which are arranged in parallel along the horizontal direction to form a first control rope group, the first control rope group being used for controlling the rotation of the bending unit in the horizontal direction, and the other two of which are arranged in parallel along the vertical direction to form a second control rope group, the second control rope group being used for controlling the rotation of the bending unit in the vertical direction.

4. The wire winding control mechanism according to claim 1, characterized by, The bending unit comprises at least one of a super-elastic nickel-titanium alloy bending unit, a spring steel bending unit and a polyester bending unit. A plurality of slides are arranged on the inner wall of the guide pipe, and the traction ropes are arranged in the slides. A plurality of limiting ropes are arranged on the assembling seat, and the limiting ropes are used for arranging the traction ropes.

5. The wire winding control mechanism of claim 1, wherein, The slides and the limiting ropes are used for restricting the traction ropes.

6. The wire winding control mechanism according to claim 5, characterized by A spiral winding groove is arranged on the outer side wall of the winding wheel, and the traction ropes are arranged in the spiral winding groove.

7. The wire winding control mechanism of claim 1, wherein, A fixed structure is arranged on the winding wheel and is arranged at the end of the spiral winding groove, and is used for connecting and fixing the end of the traction rope. A shaft is arranged on the side of the winding wheel which is in contact with the driving component, a clamping wheel is sleeved on the shaft, the clamping wheel rotates synchronously with the winding wheel, and a clamping convex is arranged on the side wall of the clamping wheel. A clamping convex is arranged on the assembling seat, and a clamping groove which is matched with the clamping convex is arranged on the clamping convex.

8. A bronchoscopy surgical robot, characterized by, When the driving component is reset and the winding wheel is in the initial position, the clamping convex is clamped with the clamping groove. The application further relates to a winding control mechanism comprising any one of the winding control mechanisms in claims 1 to 7.

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