Biopsy sampling actuator of internal breast lymph node surgical robot

Abstract

The invention discloses a biopsy sampling actuator of an internal breast lymph node surgical robot, and relates to the field of medical instruments. The invention aims to solve the problem that important organs or tissues of a human body are easy to damage when endobreast lymph nodes are punctured and sampled in a needle mode at present. A flexible instrument channel module (1) is horizontally mounted on a linear guide rail module (3) in a sliding manner, the front part of the flexible instrument channel module (1) is a flexible bending part, and the rear part of the flexible instrument channel module (1) is a bending driving part; the flexible bending part is connected with the bending driving part, and the bending driving part drives the flexible bending part to realize pose change of the flexible bending part; the flexible tool arm module (2) is connected with the tail end of the rear part of the flexible instrument channel module (1), and the flexible tool arm module (2) extends into the flexible bending part and extends out of the flexible bending part to perform multi-degree-of-freedom pose operation. The internal breast lymph node sampling device is used for internal breast lymph node operation and biopsy sampling.

Description

Technical Field

[0001] The invention relates to an actuator of a surgical robot, in particular to an internal mammary lymph node surgical robot biopsy sampling actuator, belonging to the field of medical devices. Background Art

[0002] Internal mammary lymph nodes (IMLN) are an important pathway for breast cancer lymphatic metastasis. They are usually located 1.0-1.5 cm from the lateral edge of the sternum, embedded in the fat and connective tissue on the inner surface of the costal cartilage and internal intercostal muscles. They are located no more than 3.0 cm from the lateral edge of the sternum. The average number of IMLNs is 4, distributed along the internal mammary artery and vein, mostly at the level of the 1-3 intercostal spaces, but the range includes the 1-6 intercostal spaces. Due to the deep location of internal mammary lymph nodes and the rich surrounding tissues, it is relatively difficult to evaluate and sample them.

[0003] Traditional surgery requires the removal of the 2nd, 3rd, and 4th costal cartilages through the chest wall, and then the removal of the internal mammary lymph nodes located in the thorax. This surgery has gradually been abandoned due to its disadvantages such as large trauma and many complications.

[0004] However, in this case, most patients who were found to have abnormal internal mammary lymph nodes by ultrasound underwent fine needle aspiration cytology or core needle biopsy. Ultrasound was used to locate the abnormal site in the lymph node, and repeated negative pressure aspiration was performed on the abnormal site of the internal mammary lymph node with a fine needle or ejection was performed on the abnormal site of the lymph node with a coarse needle. Glass slide smears were performed on the biopsy specimens and cytology was performed. Pathological examination of the abnormal lymph nodes revealed cancer tissue or invasive cancer components.

[0005] During the puncture process, if the internal mammary lymph nodes that need to be sampled are in a special location, it may cause damage to important organs or tissues of the human body.

[0006] In summary, the existing needle-based puncture and sampling of internal mammary lymph nodes has the problem of easily causing damage to important organs or tissues of the human body. Summary of the invention

[0007] The purpose of the present invention is to solve the problem that the existing needle-based puncture and sampling of internal mammary lymph nodes may easily cause damage to important organs or tissues of the human body, and further provide an internal mammary lymph node surgical robot biopsy sampling actuator.

[0008] The technical solution of the present invention is: an internal mammary lymph node surgical robot biopsy sampling actuator includes a linear guide module, which also includes a flexible instrument channel module and a flexible tool arm module; the flexible instrument channel module is horizontally slidably installed on the linear guide module, the front part of the flexible instrument channel module is a flexible bending part, and the rear part of the flexible instrument channel module is a bending drive part; the flexible bending part is connected to the bending drive part, and the bending drive part drives the flexible bending part to achieve a posture change of the flexible bending part; the flexible tool arm module is connected to the rear end of the flexible instrument channel module, and the flexible tool arm module extends into the flexible bending part, and extends out of the flexible bending part to perform multi-degree-of-freedom posture operation;

[0009] Among them, the flexible bending part of the flexible instrument channel module includes multiple ball joints, a middle section, an inner tube and a driving wire. The multiple ball joints are sequentially assembled from left to right to form a flexible section, and the adjacent two ball joints are rotatably connected. The middle section is connected to the end of the flexible section, the inner tube is inserted in the flexible section, the flexible tool arm module is connected to the inner tube, and the driving wire passes through the flexible section and drives the flexible section to bend.

[0010] Preferably, the ball joint comprises a connecting cylinder, a hollow boss and a hollow semi-arc sphere, which are coaxially connected in sequence from left to right and formed into one body, and the diameter of the hollow boss is smaller than the diameter of the connecting cylinder.

[0011] Furthermore, the bending drive part of the flexible instrument channel module includes a base and a flexible segment drive unit, the base is slidably mounted on the linear guide module, and the flexible segment drive unit is mounted on the base.

[0012] Furthermore, the flexible segment driving unit includes a guide wheel seat, a linear guide, a cable fixing seat, a slider and a first linear motor. The cable fixing seat is installed on the base, the guide wheel seat is installed on the front end of the cable fixing seat, the linear guide is installed on the cable fixing seat, the first linear motor is installed on the cable fixing seat, and the push rod of the first linear motor is connected to the slider slidably installed on the linear guide. One end of the driving wire is connected to the slider, and the other end of the driving wire is wound around the guide wheel in the guide wheel seat and then passes through the flexible segment and is connected to the head end of the flexible segment. The bending posture of the flexible segment is adjusted by driving the slider to slide on the linear guide through the push rod on the first linear motor, and the posture adjustment of the flexible segment is achieved by tightening or releasing the driving wire.

[0013] Furthermore, the flexible segment driving unit also includes a tool arm fixing frame, the outer contour of the tool arm fixing frame is an inverted "T" shape, the middle part of the horizontal end surface of the tool arm fixing frame is fixedly installed on the base, and the tool arm fixing frame is located at the rear end of the cable fixing seat, and the horizontal segment end and the vertical segment end of the tool arm fixing frame are respectively connected to a tool arm driving component of the flexible tool arm module.

[0014] Furthermore, the flexible tool arm module includes a terminal surgical tool and a tool arm drive assembly. The terminal surgical tool is inserted into an inner tube, and each inner tube is bent and driven by a tool arm drive assembly installed on a tool arm fixing frame.

[0015] Furthermore, the end surgical tools include a clamp, an electrocoagulation knife and a camera, the number of inner tubes is 3, the clamp, the electrocoagulation knife and the camera are respectively inserted into an inner tube and can extend out of the front end of the inner tube; the angles between the axes of the clamp, the electrocoagulation knife and the camera after extending out of the inner tube and the axis of the flexible section are all 15°; wherein, the extended parts of the clamp, the electrocoagulation knife and the camera can be flexibly bent.

[0016] Furthermore, the number of the tool arm drive components is 3 and they provide flexible bending power for the clamp, the electrocoagulation knife and the camera respectively;

[0017] The tool arm drive assembly includes a passive flexible part, a flexible section joint, a tool arm guide wheel, a tool arm steel wire, a cable fixing part, a motor seat, a second linear motor and a feed system.

[0018] The passive flexible part and the flexible section joint are connected to the end of an inner tube from left to right in sequence, the feeding system is installed at the end of the tool arm fixing frame, the feeding side of the feeding system is connected to the cable fixing part, the tool arm guide wheel is located in the front of the cable fixing part, and the second linear motor is installed at the rear of the cable fixing part through the motor seat. One end of the tool arm steel wire is connected to the push rod of the second linear motor, and the other end of the tool arm steel wire is wrapped around the tool arm guide wheel, passes through the passive flexible part and the flexible section joint, and is connected to the flexible joint on the clamp or electrocoagulation knife or camera, and the degree of flexible bending is adjusted by retracting and releasing the driving tool arm steel wire.

[0019] Furthermore, the feed system includes a nut seat, a lead screw nut, a lead screw, a feed guide rail and a DC motor. The feed guide rail is installed at the end of the tool arm fixing frame. The nut seat is installed on the feed guide rail, and the other end of the nut seat is connected to the cable fixing. The lead screw nut is installed on the nut seat. The lead screw and the lead screw nut cooperate to form a nut-lead screw pair. The DC motor is installed at one end of the lead screw, and while driving the lead screw to rotate, it drives the cable fixing to move horizontally.

[0020] Furthermore, the linear guide rail module includes a sliding platform, a linear guide rail and a driving motor, the driving motor is connected to the linear guide rail, and the sliding platform is slidably mounted on the linear guide rail.

[0021] Compared with the prior art, the present invention has the following effects:

[0022] 1. When performing a surgical task, the biopsy sampling actuator of the internal mammary lymph node surgical robot of the present invention makes an incision into the pleural cavity at the 4th intercostal space 3-4 cm away from the outer edge of the sternum. The direction of the incision is approximately 120° to the sternum, and carbon dioxide gas is introduced through the incision to expand the surgical space. The continuum robot enters the pleural cavity through the incision, and bends around the ribs through the bending section in the actuator to reach the surgical position. It effectively avoids the disadvantage of the prior art that the costal cartilage of the human body needs to be removed. At the same time, by flexibly adjusting the bending degree of the flexible section in the actuator, it can effectively avoid damage to important organs or tissues of the human body, thereby ensuring the safety of the patient during the biopsy sampling process.

[0023] 2. The flexible segment of the actuator of the present invention is adjusted to a suitable posture, and then the robot drives the steel wire to tighten so that the flexible segment has a certain rigidity to keep the shape unchanged. Thus, a rigid cavity leading to the surgical position is established. Two continuum operating arms (referring to the clamp 2-1 and the electrocoagulation knife 2-2) and an endoscope (referring to the camera 2-3) extend from the internal working channel (referring to the flexible segment) of the continuum robot to perform the surgical task. The endoscope can monitor the entire surgical process. Finally, the continuum robot exits the human body with the removed specimen. The entire operation process is simple and highly controllable.

[0024] 3. At present, the research work on the biopsy sampling actuator of the internal mammary lymph node surgery robot is still in a blank stage in China. This actuator has the following main advantages: the actuator adopts a wire drive scheme, which can keep the driver (motor) with larger mass away from the end actuator, reduce the inertia of the end actuator, occupy less space, and is very suitable for the narrow space in the chest cavity. From the perspective of clinical surgery, there is only one incision during the entire operation, and the degree of damage to the human body is relatively low; the actuator can directly bypass the ribs to reach the surgical site, avoiding thoracotomy, and greatly improving the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 It is the front view of the present invention. Figure 3 It is a top view of the present invention. Figure 4 It is an isometric structural diagram of the present invention, wherein the blue portion is the flexible instrument channel module 1 and the tool arm fixing frame 1-11 is removed from the blue portion. Figure 5 It is a structural schematic diagram of the ball joint 1-1. DETAILED DESCRIPTION

[0026] Specific implementation method 1: Combination Figures 1 to 5 To illustrate this embodiment, this embodiment includes a linear guide module 3, which also includes a flexible instrument channel module 1 and a flexible tool arm module 2;

[0027] The flexible instrument channel module 1 is horizontally slidably mounted on the linear guide rail module 3, the front part of the flexible instrument channel module 1 is a flexible bending part, and the rear part of the flexible instrument channel module 1 is a bending driving part; the flexible bending part is connected to the bending driving part, and the bending driving part drives the flexible bending part to achieve the posture change of the flexible bending part; the flexible tool arm module 2 is connected to the rear end of the flexible instrument channel module 1, and the flexible tool arm module 2 extends into the flexible bending part, and extends out of the flexible bending part to perform multi-degree-of-freedom posture operation;

[0028] Among them, the flexible bending part of the flexible instrument channel module 1 includes multiple ball joints 1-1, a middle section 1-2, an inner tube 1-3 and a driving wire 1-5. The multiple ball joints 1-1 are sequentially assembled from left to right to form a flexible section, and two adjacent ball joints 1-1 are rotationally connected. The middle section 1-2 is connected to the end of the flexible section, the inner tube 1-3 is inserted in the flexible section, the flexible tool arm module 2 is connected to the inner tube 1-3, and the driving wire 1-5 passes through the flexible section and drives the flexible section to bend.

[0029] The actuator in this embodiment provides a method of extending into the incision. During the extension process, the flexible section is tightened by the driving wire to enter the body in a rigid state. When it is needed to be placed at the surgical position, the degree of bending is controlled by the tightening direction of the driving wire.

[0030] Specific implementation method 2: Combination Figure 5 To illustrate this embodiment, the ball joint 1-1 of this embodiment includes a connecting cylinder 1-1-1, a hollow boss 1-1-2 and a hollow semi-arc sphere 1-1-3. The connecting cylinder 1-1-1, the hollow boss 1-1-2 and the hollow semi-arc sphere 1-1-3 are coaxially connected in sequence from left to right and made into one body. The diameter of the hollow boss 1-1-2 is smaller than the diameter of the connecting cylinder 1-1-1.

[0031] With such arrangement, when the ball joints 1-1 form a flexible section, the number of the ball joints 1-1 is preferably 16, and the role of the hollow boss 1-1-2 is to limit the rotation angle between two adjacent ball joints 1-1, especially when the motor is out of control, it can ensure that the relative rotation angle between the two adjacent ball joints 1-1 is 14°, and the rotation angle of the entire flexible section is 200°, which is more flexible and safe to use. Other components and connection relationships are the same as those in the first embodiment.

[0032] Specific implementation method three: Combination Figures 1 to 4 To illustrate this embodiment, the bending drive portion of the flexible instrument channel module 1 of this embodiment includes a base 1-7 and a flexible segment drive unit. The base 1-7 is slidably mounted on the linear guide module 3, and the flexible segment drive unit is mounted on the base 1-7.

[0033] In this configuration, the base 1-7 mainly plays a connecting role, providing the entire actuator with a horizontal degree of freedom, wherein the flexible segment drive unit is mainly used to adjust the posture of the flexible segment. In actual use, it is preferred to use four steel wire ropes to drive the posture of the flexible segment. Other components and connection relationships are the same as those in the second specific implementation.

[0034] Specific implementation method four: Combination Figure 2 and Figure 3 To illustrate this embodiment, the flexible segment driving unit of this embodiment includes a guide wheel seat 1-6, a linear guide 1-8, a cable fixing seat 1-9, a slider 51 and a first linear motor 1-10. The cable fixing seat 1-9 is installed on the base 1-7, the guide wheel seat 1-6 is installed at the front end of the cable fixing seat 1-9, the linear guide 1-8 is installed on the cable fixing seat 1-9, the first linear motor 1-10 is installed on the cable fixing seat 1-9, and the push rod of the first linear motor 1-10 is connected to the slider 51 slidably installed on the linear guide 1-8, one end of the driving wire 1-5 is connected to the slider 51, and the other end of the driving wire 1-5 is wound around the guide wheel in the guide wheel seat 1-8 and then passes through the flexible segment and is connected to the head end of the flexible segment. The bending posture of the flexible segment is adjusted by the push rod on the first linear motor 1-10 driving the slider 51 to slide on the linear guide 1-8, and the posture adjustment of the flexible segment is achieved by tightening or releasing the driving wire 1-5.

[0035] In this configuration, the push rod 50 on the first linear motor 1-10 is connected to the slider on the guide rail slider pair 51 installed on the cable fixing seat 1-9, one end of the driving wire 1-5 is connected to the slider, and the other end of the driving wire 1-5 is connected to the flexible section. When the push rod 50 pushes the slider to slide horizontally to the left, the driving wire 1-5 on one side is released, and vice versa. Other components and connection relationships are the same as those in the third specific embodiment.

[0036] In order to ensure the flexibility and accuracy of the entire flexible segment operation, the number of flexible segment driving units is 3.

[0037] Specific implementation method five: Combination Figures 1 to 4 To illustrate the present embodiment, the flexible segment driving unit of the present embodiment also includes a tool arm fixing frame 1-11, the outer contour of the tool arm fixing frame 1-11 is an inverted "T" shape, the middle part of the horizontal end face of the tool arm fixing frame 1-11 is fixedly mounted on the base 1-7, and the tool arm fixing frame 1-11 is located at the rear end of the cable fixing seat 1-9, and the horizontal segment end and the vertical segment end of the tool arm fixing frame 1-11 are respectively connected to a tool arm driving component of the flexible tool arm module 2.

[0038] Such arrangement facilitates the simultaneous support of the clamp 2-1, the electrocoagulation knife 2-2 and the camera 2-3 of the terminal surgical tool. The other components and connection relationships are the same as any one of the specific embodiments 1 to 4.

[0039] With reference to the descriptions in Specific Embodiments 1 to 5, the working principle of the flexible instrument channel module 1 of the present invention is as follows: the driving wires 1-5 of the flexible instrument channel module 1 pass through the wire holes on the 16 spherical joints 1-1 to connect and fix the flexible sections, and a certain pre-tightening force is provided to give it a certain rigidity to maintain its shape unchanged, and the adjacent ball joints are rotated relative to each other so that the end has flexible bending freedom in two directions, thereby ensuring the flexibility of the end movement.

[0040] The flexible segment adopts a hollow design and is embedded with three flexible inner tubes 1-3. The flexible tool arm (referring to the terminal surgical tool) can pass through it and extend out to complete real-time imaging, lighting and biopsy sampling related operations during the operation. The flexible segment is connected and fixed to the tool arm drive assembly at the rear end through the middle segment 1-2.

[0041] The driving mode of the present invention adopts linear drive, and the length of three driving steel wires is changed by linear motors 1-10 to control the flexible segment module to achieve two-degree-of-freedom bending deformation, thereby changing the terminal posture. The driving system is powered by three linear motors 1-10, which pull or release the pre-tightened steel wires to drive the terminal. The push rod of each linear motor is fixed to the linear guide on the guide slider pair 51 through a cable fixing seat 1-9 to achieve horizontal linear motion.

[0042] In order to drive the horizontal stretching or contraction of the steel wire, the linear motor is equipped with a high-precision encoder, which can provide real-time position and speed information for the actuator's speed control, motion compensation, etc., and prevent the steel wire from being broken due to excessive force by feeding back the motor's real-time current, torque and other information, thereby ensuring the safety of the surgical system.

[0043] Considering that the driving wire needs to be pre-tightened to ensure structural rigidity, the three sets of guide rollers on the guide wheel seats 1-6 are used to put the wire in a suitable pre-tightened state and ensure that its movement direction is absolutely horizontal, avoiding the adverse effect of movement direction deviation on the accuracy of the terminal bending movement.

[0044] Specific implementation method six: Combination Figures 1 to 4 This embodiment is described. The flexible tool arm module 2 of this embodiment includes a terminal surgical tool and a tool arm drive assembly. The terminal surgical tool is inserted into the inner tube 1-3. Each inner tube 1-3 is driven to bend by a tool arm drive assembly installed on a tool arm fixing frame 1-11. With such a configuration, the flexible segment provides a safe and effective conveying space for the terminal surgical tool. The other components and connection relationships are the same as any one of the specific embodiments 1 to 5.

[0045] Specific implementation method seven: Combination Figures 1 to 4 To explain this embodiment, the terminal surgical tool of this embodiment includes a clamp 2-1, an electrocoagulation knife 2-2 and a camera 2-3. The number of inner tubes 1-3 is 3. The clamp 2-1, the electrocoagulation knife 2-2 and the camera 2-3 are respectively inserted into one inner tube 1-3 and can extend out of the front end of the inner tube 1-3. The angles between the axes of the clamp 2-1, the electrocoagulation knife 2-2 and the camera 2-3 after extending out of the inner tube 1-3 and the axis of the flexible section are all 15°. Among them, the extended parts of the clamp 2-1, the electrocoagulation knife 2-2 and the camera 2-3 can be flexibly bent. Such a configuration facilitates the clamping of the corresponding parts, electrocoagulation, and provides real-time lighting and video transmission for the entire operation and biopsy process. The other components and connection relationships are the same as any one of the specific embodiments one to six.

[0046] In this embodiment, the angle between the axis of the clamp 2-1, the electrocoagulation knife 2-2 and the camera 2-3 after extending the inner tube 1-3 and the axis of the flexible section is 15°. Its function is to effectively save surgical space when extended and not easily touch the corresponding tissues of the human body, thereby minimizing the corresponding damage to the human body.

[0047] In addition, the clamp 2-1, the electrocoagulation knife 2-2 and the camera 2-3 are in a bent state after extending the flexible section, and the degree of bending is determined by the surgical position. During the specific bending process, it is also achieved by rope drive, and the bending part is a ball joint rotating series, which has a simple structure, is easy to implement, and is reliable and stable.

[0048] Specific implementation method eight: Combination Figures 1 to 4 To illustrate this embodiment, the number of tool arm drive assemblies in this embodiment is 3 and they provide flexible bending power to the clamp 2-1, the electrocoagulation knife 2-2 and the camera 2-3 respectively;

[0049] The tool arm drive assembly includes a passive flexible part 2-5, a flexible section joint 2-6, a tool arm guide wheel 2-7, a tool arm steel wire 2-8, a cable fixing part 2-9, a motor seat 2-10, a second linear motor 2-11 and a feeding system.

[0050] The passive flexible part 2-5 and the flexible section joint 2-6 are connected to the end of an inner tube 1-3 from left to right in sequence, the feeding system is installed at the end of the tool arm fixing frame 1-11, the feeding side of the feeding system is connected to the cable fixing part 2-9, the tool arm guide wheel 2-7 is located in the front of the cable fixing part 2-9, the second linear motor 2-11 is installed at the rear of the cable fixing part 2-9 through the motor seat 2-10, one end of the tool arm steel wire 2-8 is connected to the push rod of the second linear motor 2-11, the other end of the tool arm steel wire 2-8 is wound around the tool arm guide wheel 2-7, passes through the passive flexible part 2-5 and the flexible section joint 2-6, and is connected to the flexible joint on the clamp 2-1 or the electrocoagulation knife 2-2 or the camera 2-3, and the degree of flexible bending is adjusted by retracting and releasing the driving tool arm steel wire 2-8.

[0051] Such arrangement facilitates selection of appropriate degrees of freedom according to surgical conditions. Other components and connection relationships are the same as any one of the specific implementation modes 1 to 7.

[0052] Specific implementation method nine: Combination Figures 1 to 4 The feeding system of this embodiment includes a nut seat 2-12, a lead screw nut 2-13, a lead screw 2-14, a feeding guide rail 2-15 and a DC motor 2-16.

[0053] The feed rail 2-15 is installed at the end of the tool arm fixing frame 1-11, the nut seat 2-12 is installed on the feed rail 2-15, and the other end of the nut seat 2-12 is connected to the cable fixing member 2-9, and the lead screw nut 2-13 is installed on the nut seat 2-12.

[0054] The lead screw 2-14 cooperates with the lead screw nut 2-13 to form a nut-lead screw pair. The DC motor 2-16 is installed at one end of the lead screw 2-14. While driving the lead screw 2-14 to rotate, it also drives the cable fixing 2-9 to move horizontally.

[0055] With such arrangement, the feeding system has a simple structure and is stable. Other components and connection relationships are the same as any one of the specific implementation modes 1 to 8.

[0056] The three flexible tool arm modules 2 of the present invention are fixed on the flexible instrument channel module 1 through the tool arm fixing frame 1-11. The tool arm steel wire 2-8 passes through the steel wire holes on the 20 (the camera tool arm has 10 small spherical joints 2-4) small spherical joints 2-4 to connect and fix the flexible section, so that the end has flexible bending freedom in two directions.

[0057] The flexible section of the flexible tool arm can be inserted into the inner tube 1-3, and the passive flexible section 2-5 can adapt to the shape of the inner tube to allow the flexible tool arm to pass through it, thereby completing real-time imaging, lighting and biopsy sampling related operations during the operation. The flexible section is connected and fixed to the rear-end drive module part through the flexible section joint 2-6.

[0058] The driving system of the electrocoagulation knife arm and the camera arm is powered by three linear motors 2-10, which pull or release the pre-tightened wire to drive the end. The clamp arm also needs to provide the degree of freedom of opening and closing the clamp, so it is driven by four linear motors. The linear motor is fixed in the motor seat 2-10, and the push rod of each linear motor is connected to the cable fixing 2-9. The tail end of the wire is connected to the cable fixing, thereby realizing the horizontal stretching or expansion of the drive wire. The drive wire is connected to the end of the tool arm through the guide wheel group and the flexible section to realize the transmission of motion.

[0059] The nut seat 2-12, the lead screw nut 2-13, the lead screw 2-14, the linear guide rail 2-15 and the DC motor 2-16 constitute the feeding system of the tool arm. The driving system is connected to the nut seat 2-12 by bolts, and the DC motor 2-16 is driven to control the linear motion of the feeding system to drive the tool arm to realize the feeding freedom of the tool arm. Therefore, each tool arm has three degrees of freedom, namely two bending degrees of freedom and one feeding degree of freedom.

[0060] The entire actuator is connected to the sliding platform 3-1 through the base 1-7 by bolts, and the linear motion module 3-2 is controlled by the driving motor 3-3 to drive the actuator body to achieve high-precision linear feed motion. Therefore, the flexible instrument channel module 1 also has three degrees of freedom, namely two bending degrees of freedom and one feeding degree of freedom.

[0061] Specific implementation method ten: Combination Figures 1 to 4 To explain this embodiment, the linear guide module 3 of this embodiment includes a sliding platform 3-1, a linear slide 3-2 and a drive motor 3-3, the drive motor 3-3 is connected to the linear slide 3-2, and the sliding platform 3-1 is slidably mounted on the linear slide 3-2. Such an arrangement facilitates the horizontal feeding of the flexible instrument channel module 1 and the flexible tool arm module 2. The other components and connection relationships are the same as any one of the specific embodiments 1 to 9.

[0062] Combination Figures 1 to 5 The working principle of the present invention is described:

[0063] The feeding freedom provided by the linear module 3 is used to enter the pleural cavity through the incision made in advance at the 4th intercostal space 3-4cm away from the outer edge of the sternum. With the help of the pre-written motion control program, the motor is controlled to move according to the pre-planned speed and acceleration, and the drive wire is stretched or shortened according to the motion plan, so that the end is bent and bypasses the ribs to reach the surgical position of the internal mammary lymph node, releasing 3 flexible surgical tool arms to complete surgical operations such as biopsy and sampling of the internal mammary lymph node.

[0064] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An internal mammary lymph node surgical robot biopsy sampling actuator, comprising a linear guide module (3), characterized in that: It also includes a flexible instrument channel module (1) and a flexible tool arm module (2); The flexible instrument channel module (1) is horizontally slidably mounted on the linear guide rail module (3); the front portion of the flexible instrument channel module (1) is a flexible bending portion, and the rear portion of the flexible instrument channel module (1) is a bending drive portion; the flexible bending portion and the bending drive portion are connected, and the bending drive portion drives the flexible bending portion to achieve a change in the posture of the flexible bending portion; The flexible tool arm module (2) is connected to the rear end of the flexible instrument channel module (1), and the flexible tool arm module (2) extends into the flexible bending portion and extends out of the flexible bending portion to perform multi-degree-of-freedom posture operations; The flexible bending portion of the flexible instrument channel module (1) comprises a plurality of ball joints (1-1), a middle section (1-2), an inner tube (1-3) and a driving wire (1-5); the plurality of ball joints (1-1) are sequentially assembled from left to right to form a flexible section, and two adjacent ball joints (1-1) are rotationally connected, the middle section (1-2) is connected to the end of the flexible section, the inner tube (1-3) is inserted into the flexible section, the flexible tool arm module (2) is connected to the inner tube (1-3), and the driving wire (1-5) passes through the flexible section and drives the flexible section to bend.

2. The biopsy sampling actuator for internal mammary lymph node surgery robot according to claim 1, characterized in that: The ball joint (1-1) comprises a connecting cylinder (1-1-1), a hollow boss (1-1-2) and a hollow semi-arc sphere (1-1-3); the connecting cylinder (1-1-1), the hollow boss (1-1-2) and the hollow semi-arc sphere (1-1-3) are coaxially connected in sequence from left to right and formed into one body; the diameter of the hollow boss (1-1-2) is smaller than the diameter of the connecting cylinder (1-1-1).

3. The biopsy sampling actuator for internal mammary lymph node surgery robot according to claim 2, characterized in that: The bending drive part of the flexible instrument channel module (1) comprises a base (1-7) and a flexible segment drive unit. The base (1-7) is slidably mounted on the linear guide module (3), and the flexible segment drive unit is mounted on the base (1-7).

4. The biopsy sampling actuator for internal mammary lymph node surgery robot according to claim 3, characterized in that: The flexible segment drive unit comprises a guide wheel seat (1-6), a linear guide rail (1-8), a cable fixing seat (1-9), a slider (51) and a first linear motor (1-10); the cable fixing seat (1-9) is mounted on a base (1-7); the guide wheel seat (1-6) is mounted at the front end of the cable fixing seat (1-9); the linear guide rail (1-8) is mounted on the cable fixing seat (1-9); the first linear motor (1-10) is mounted on the cable fixing seat (1-9); and a push rod of the first linear motor (1-10) The sliding block (51) is connected to a slide block (51) slidably mounted on a linear guide rail (1-8); one end of a driving steel wire (1-5) is connected to the sliding block (51); the other end of the driving steel wire (1-5) is wound around a guide wheel in a guide wheel seat (1-8) and then passes through a flexible section and is connected to a head end of the flexible section; the bending posture of the flexible section is adjusted by driving a push rod on a first linear motor (1-10) to drive the sliding block (51) to slide on the linear guide rail (1-8); and the posture of the flexible section is adjusted by tightening or releasing the driving steel wire (1-5).

5. The biopsy sampling actuator for internal mammary lymph node surgery robot according to claim 4, characterized in that: The flexible segment drive unit also includes a tool arm fixing frame (1-11), the outer contour of the tool arm fixing frame (1-11) is an inverted "T" shape, the middle of the horizontal end surface of the tool arm fixing frame (1-11) is fixedly mounted on the base (1-7), and the tool arm fixing frame (1-11) is located at the rear end of the cable fixing seat (1-9), and the horizontal segment end and the vertical segment end of the tool arm fixing frame (1-11) are respectively connected to a tool arm drive component of the flexible tool arm module (2).

6. The biopsy sampling actuator for internal mammary lymph node surgery robot according to claim 1 or 5, characterized in that: The flexible tool arm module (2) comprises a terminal surgical tool and a tool arm drive assembly, wherein the terminal surgical tool is inserted into an inner tube (1-3), and each inner tube (1-3) is driven to bend by a tool arm drive assembly mounted on a tool arm fixing frame (1-11).

7. The biopsy sampling actuator for internal mammary lymph node surgery robot according to claim 6, characterized in that: The terminal surgical tool comprises a clamp (2-1), an electrocoagulation knife (2-2) and a camera (2-3); the number of inner tubes (1-3) is three; the clamp (2-1), the electrocoagulation knife (2-2) and the camera (2-3) are respectively inserted into one inner tube (1-3) and can extend out of the front end of the inner tube (1-3); the angles between the axes of the clamp (2-1), the electrocoagulation knife (2-2) and the camera (2-3) after extending out of the inner tube (1-3) and the axis of the flexible section are all 15°; wherein the extended parts of the clamp (2-1), the electrocoagulation knife (2-2) and the camera (2-3) can be flexibly bent.

8. The biopsy sampling actuator for internal mammary lymph node surgery robot according to claim 7, characterized in that: The number of tool arm drive components is 3 and they respectively provide flexible bending power for the clamp (2-1), the electrocoagulation knife (2-2) and the camera (2-3); The tool arm drive assembly comprises a passive flexible part (2-5), a flexible section joint (2-6), a tool arm guide wheel (2-7), a tool arm steel wire (2-8), a cable fixing part (2-9), a motor seat (2-10), a second linear motor (2-11) and a feeding system. The passive flexible member (2-5) and the flexible section joint (2-6) are connected to the end of an inner tube (1-3) from left to right in sequence; the feeding system is installed at the end of the tool arm fixing frame (1-11); the feeding side of the feeding system is connected to the cable fixing member (2-9); the tool arm guide wheel (2-7) is located in front of the cable fixing member (2-9); the second linear motor (2-11) is installed at the rear of the cable fixing member (2-9) through the motor seat (2-10); one end of the tool arm steel wire (2-8) is connected to the push rod of the second linear motor (2-11); the other end of the tool arm steel wire (2-8) is wound around the tool arm guide wheel (2-7), passes through the passive flexible member (2-5) and the flexible section joint (2-6), and is connected to the flexible joint on the clamp (2-1) or the electrocoagulation knife (2-2) or the camera (2-3); and the degree of flexible bending is adjusted by retracting and extending the driving tool arm steel wire (2-8).

9. The biopsy sampling actuator for internal mammary lymph node surgery robot according to claim 8, characterized in that: The feeding system includes a nut seat (2-12), a lead screw nut (2-13), a lead screw (2-14), a feeding guide rail (2-15) and a DC motor (2-16). The feed guide rail (2-15) is mounted on the end of the tool arm fixing frame (1-11), the nut seat (2-12) is mounted on the feed guide rail (2-15), and the other end of the nut seat (2-12) is connected to the cable fixing member (2-9), and the lead screw nut (2-13) is mounted on the nut seat (2-12). The lead screw (2-14) cooperates with the lead screw nut (2-13) to form a nut lead screw pair. The DC motor (2-16) is installed at one end of the lead screw (2-14) to drive the lead screw (2-14) to rotate and drive the cable fixing member (2-9) to move horizontally.

10. The biopsy sampling actuator for internal mammary lymph node surgery robot according to claim 9, characterized in that: The linear guide rail module (3) comprises a sliding platform (3-1), a linear guide rail (3-2) and a driving motor (3-3); the driving motor (3-3) is connected to the linear guide rail (3-2); and the sliding platform (3-1) is slidably mounted on the linear guide rail (3-2).

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