Flexible catheter reversing device and robot for lung interventional operation

Abstract

The embodiment of the invention provides a flexible catheter reversing device and a robot for a lung interventional operation. The robot comprises a mechanical arm and the flexible catheter reversing device, wherein the tail end of the mechanical arm is provided with six degrees of freedom, and the flexible catheter reversing device is arranged at the tail end of the mechanical arm. The flexible guide pipe reversing device comprises a fixed seat arranged at the tail end of the mechanical arm, a moving mechanism slidably arranged on the fixed seat and a locking piece capable of limiting the position of the moving mechanism on the fixed seat, the flexible guide pipe assembly is arranged on the moving mechanism, and the moving mechanism can drive the flexible guide pipe to rotate; the flexible catheter assembly can move and rotate relative to the fixed seat, so that the robot for the lung interventional operation has redundant six degrees of freedom. The position of the flexible catheter assembly outside the human body is adjusted by adjusting the freedom degree of the mechanical arm, the optimal intubation position is obtained, when the flexible catheter is inserted into the trachea, the direction of the flexible catheter in the trachea can be adjusted by adjusting the position of the flexible catheter assembly on the fixing base, and the flexible catheter can conveniently reach the focus.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a flexible catheter reversing device and a robot for pulmonary interventional surgery. Background Art

[0002] The human lung trachea is complex and shaped like a tree root. When a small bronchus in the lung trachea is diseased, such as a cyst, the doctor will first insert a flexible catheter into the patient's trachea, and then insert the resection tool along the flexible catheter to the lesion after reaching the lesion along the trachea. Under the guidance of the flexible catheter, the lesion is reached and the lesion is removed. In this process, the location of the supporting tube where the lesion is generated is likely to be located at the end of the lung trachea, which means that the flexible catheter needs to make many turns after entering the trachea to reach the lesion. Traditional tracheoscopes and surgical tools need to be held by doctors and can only be completed with the cooperation of multiple people. In this process, it is difficult to reach the location of the lesion, and the doctor's freedom of operation is limited in the human body, so completing the entire process will cause the doctor to feel very tired. Summary of the invention

[0003] In view of the above problems, an embodiment of the present invention is proposed. The purpose of the embodiment of the present invention is to provide a flexible catheter reversing device that can drive the flexible catheter to freely change direction in the pulmonary trachea.

[0004] To achieve this purpose, the embodiment of the present invention adopts the following technical solutions:

[0005] A flexible conduit reversing device, comprising:

[0006] A fixed seat, arranged at the end of the robot arm, wherein the end has six degrees of freedom;

[0007] A moving mechanism, which can be slidably disposed on the fixing seat, the flexible conduit assembly can be detachably disposed on the moving mechanism, and the moving mechanism can drive the flexible conduit assembly to rotate; and

[0008] A locking member passes through the fixing seat and is connected to the moving mechanism to limit the position of the flexible conduit assembly on the fixing seat.

[0009] Optionally, the moving mechanism comprises:

[0010] A catheter control seat, on which the flexible catheter assembly is detachably arranged;

[0011] A rotating assembly, the catheter control seat is disposed on the rotating assembly, and the rotating assembly can drive the catheter control seat to rotate a first angle; and

[0012] The sliding component is arranged on the fixing seat, the rotating component is arranged on the sliding component, and the rotating component can move relative to the fixing seat.

[0013] Optionally, the rotating assembly comprises:

[0014] A limit seat is arranged on the sliding assembly, and a rotating column is arranged on the limit seat;

[0015] A mounting plate, the catheter control seat is arranged on the mounting plate, and a rotating groove that is buckled with the rotating column is provided on one side of the mounting plate facing the limiting seat;

[0016] A limiting column is provided on the groove wall of the rotating groove toward the rotating column, and a sliding groove matching the limiting column is provided on the limiting seat in the circumferential part of the rotating column, and the central angle of the sliding groove is the maximum angle of the first angle.

[0017] Optionally, the first angle is greater than or equal to 0° and less than or equal to 180°.

[0018] Optionally, a rotating platform is provided below the rotating column, and the slide groove is arranged on the rotating platform.

[0019] Optionally, the rotating assembly further comprises:

[0020] The anti-wear sleeve is located between the rotating column and the rotating groove.

[0021] Optionally, the sliding assembly comprises:

[0022] A slide rail, disposed on the fixing seat; and

[0023] The slide table is slidably arranged on the slide rail, and the rotating component is arranged on the slide table.

[0024] Optionally, the fixing seat comprises:

[0025] A base having a receiving groove opening upward; and

[0026] A connecting member, one end of which is provided with a mounting groove, the mounting groove is higher than the base and is buckled at the end of the mechanical arm, the connecting member cover is arranged at the notch of the receiving groove, the mounting groove has a communication port connected with the receiving groove, and the other end of the connecting member is provided with a wire hole connected with the receiving groove;

[0027] The moving mechanism is provided with a through hole connected with the wire through hole;

[0028] The wires electrically connected to the flexible conduit reversing device and the mechanical arm are passed through the through hole, the wire hole, the accommodating groove, and the connecting port, and are accommodated in the accommodating groove.

[0029] Optionally, the locking member passes through the fixing seat and is screwed onto a side of the moving mechanism facing the flexible conduit assembly.

[0030] The purpose of the embodiment of the present invention is to provide a robot for lung intervention surgery that can drive a flexible catheter to freely change direction in the lung trachea.

[0031] To achieve this purpose, the embodiment of the present invention adopts the following technical solutions:

[0032] A robot for pulmonary interventional surgery, comprising:

[0033] A robotic arm, the end of which has six degrees of freedom; and

[0034] The above-mentioned flexible catheter reversing device is located at the end of the mechanical arm, and the mechanical arm can drive the flexible catheter reversing device to move.

[0035] The technical solution provided by the embodiment of the present invention is to set a flexible catheter reversing device at the end of a mechanical arm with six degrees of freedom, and the flexible catheter assembly is set on the flexible catheter reversing device, so that the flexible catheter assembly can be adjusted to the optimal intubation position outside the body by adjusting the six degrees of freedom of the mechanical arm. The flexible catheter reversing device includes a fixed seat set at the end of the mechanical arm, a moving mechanism slidably set on the fixed seat, and a locking member capable of limiting the position of the moving mechanism on the fixed seat, so that when the flexible catheter is inserted into the trachea, the direction of the flexible catheter in the trachea can be adjusted by adjusting the position of the flexible catheter assembly on the fixed seat, so that the flexible catheter can reach the lesion, and then the flexible catheter assembly is locked at the current position by the locking assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A schematic diagram of the structure of a flexible catheter reversing device provided by an embodiment of the present invention that is perpendicular to the axis of the robot terminal;

[0038] Figure 2 A schematic diagram of a structure in which a flexible catheter reversing device provided by an embodiment of the present invention is parallel to the axis of the robot terminal;

[0039] Figure 3 for Figure 1A schematic diagram of the structure of the flexible conduit reversing device parallel to the terminal axis;

[0040] Figure 4 for Figure 2 A schematic diagram of the structure of the flexible conduit reversing device which is perpendicular to the terminal axis;

[0041] Figure 5 A schematic structural diagram of a flexible conduit reversing device provided in one embodiment of the present invention;

[0042] Figure 6 A schematic structural diagram of a rotating assembly provided in one embodiment of the present invention.

[0043] In the figure:

[0044] 1. Flexible catheter reversing device; 2. Mechanical arm;

[0045] 10. Moving mechanism; 11. Catheter control seat; 12. Rotating assembly; 121. Limiting seat; 1211. Rotating column; 1212. Slide groove; 1213. Rotating table; 122. Mounting plate; 1221. Rotating groove; 1222. Limiting column; 123. Anti-wear sleeve; 124. Cover plate; 13. Sliding assembly; 131. Slide rail; 132. Slide table; 14. Through hole;

[0046] 20, fixing seat; 21, base; 211, receiving groove; 22, connecting piece; 221, mounting groove; 222, L-shaped plate; 223, wire hole;

[0047] 30. Locking piece. DETAILED DESCRIPTION

[0048] Due to the precision of operation, natural cavity surgical robots have become an increasingly popular treatment method. However, since the lungs have many small bronchi, the small bronchi and the main trachea need to go through multiple bends. When the flexible catheter enters the trachea, if you want to reach the lesion of the small bronchi, you need to control the angle of the flexible catheter moving in the trachea. However, the current robots cannot flexibly control the angle of the flexible catheter in the trachea due to factors such as the single control mode of the robotic arm, the small surgical space, and the lack of flexibility in operation. For example, when the catheter is already in a bent state, the tube body needs to be rotated, which the robotic arm cannot achieve well. Therefore, usually when the robot's robotic arm cannot achieve the steering of the flexible catheter in the trachea, the medical staff will hold the end of the flexible catheter on the robotic arm and change the direction of the end of the flexible catheter in the trachea by turning the wrist to ensure that the flexible catheter can smoothly reach the lesion location, increasing the labor of medical staff.

[0049] Based on this, the inventor of the present application attempted to add a device that can drive the flexible catheter to move and rotate at the end of the robot's mechanical arm and the flexible connection to simulate the doctor's wrist, so as to control the steering of the flexible catheter when the six degrees of freedom of the mechanical arm cannot meet the flexible steering of the flexible catheter. Thus, the flexible catheter reversing device and the robot for pulmonary interventional surgery in each embodiment of the present application were developed.

[0050] Experimental verification shows that by setting a flexible catheter reversing device at the end of the robot's mechanical arm, the problem that the flexible catheter cannot be flexibly turned in the trachea due to the small surgical space caused by the inflexible operation of the 6-DOF mechanical arm can be effectively solved. The robot for lung intervention surgery provided in each embodiment of the present application can efficiently control the turning of the flexible catheter, so that the flexible catheter can easily reach the lesions of various tracheas in the lungs, which can not only improve the efficiency of the surgery and reduce the pain of the patient, but also save the physical strength of medical staff.

[0051] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0052] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0054] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0055] This application embodiment provides a robot for lung intervention surgery, please refer to Figure 1-2 As shown, the robot includes a mechanical arm 2 located on a mounting position and a flexible catheter reversing device 1 located at the end of the mechanical arm 2. The mounting position can be the side of the operating table or any position in the operating room, as long as it meets the needs of medical staff, and this embodiment does not make specific restrictions. The end of the mechanical arm 2 has 6 degrees of freedom, which can drive the flexible catheter to achieve movement and rotation along the X-axis, Y-axis, and Z-axis. The flexible catheter assembly that can control the extension length of the flexible catheter is arranged on the flexible catheter reversing device 1. The flexible catheter reversing device 1 can drive the flexible catheter assembly to move or rotate along the end of the mechanical arm 2, so that the flexible catheter assembly has more than 6 degrees of freedom, so as to realize the flexible steering and movement of the flexible catheter in the pulmonary trachea, so that it can reach the lesion faster.

[0056] In detail, the robot arm 2 can drive the flexible catheter assembly to the best intubation position outside the patient's body, and initially control the position and direction of the flexible catheter in the trachea. It can be understood that the main trachea and the initial branch trachea are relatively simple and do not have too many bends, so they are relatively easy to reach. When the six degrees of freedom of the robot arm 2 are limited in space and the end of the flexible catheter cannot be controlled to achieve the steering function, the flexible catheter reversing device 1 can be controlled to drive the flexible catheter assembly to rotate or move slightly at the end of the robot arm 2 to continue to control the steering of the end of the flexible catheter in the trachea.

[0057] In some embodiments of this application, please refer to Figure 3 to Figure 6 As shown, a possible structure of the flexible conduit reversing device 1 is to include a fixed seat 20, a moving mechanism 10 and a locking member 30. The fixed seat 20 is arranged at the end of the mechanical arm 2. The moving mechanism 10 can be slidably arranged on the fixed seat 20. The flexible conduit assembly can be detachably arranged on the moving mechanism to facilitate the replacement of the flexible conduit. The moving mechanism can drive the flexible conduit assembly to rotate. The position of the flexible conduit assembly on the fixed seat 20 can be changed by sliding the moving mechanism 10 on the fixed seat 20. The angle of the flexible conduit assembly on the fixed seat 20 can be changed by driving the flexible conduit assembly to rotate by the moving mechanism 10. Please refer to Figure 1 to Figure 4As shown, the flexible catheter assembly can be made perpendicular to the axis of the end of the mechanical arm 2, or it can be made parallel to the axis of the end of the mechanical arm 2, etc., at various required angles. Since the movement and rotation of the flexible catheter assembly driven by the mobile mechanism 10 are all carried out on the fixed seat 20, the amplitude of movement and rotation is relatively small, so that the problem of small surgical space can be overcome and the flexible turning of one end of the flexible catheter located in the trachea can be ensured. The locking assembly passes through the fixed seat 20 and is connected to the mobile mechanism 10, which can limit the position of the flexible catheter assembly on the fixed seat 20. When the six degrees of freedom of the mechanical arm 2 can meet the turning requirements of the flexible catheter in the trachea, the mobile mechanism 10 can be locked on the fixed seat 20, and the flexible catheter reversing device 1 will not move relative to the end of the mechanical arm 2. When the flexible catheter reversing device 1 is needed to assist the flexible catheter in turning, the locking member 30 can be unlocked, and the mobile mechanism 10 can achieve the movement and rotation of the flexible catheter assembly.

[0058] Further, in some embodiments of the present application, please refer to Figure 5-6 As shown, one possible structure of the mobile mechanism 10 includes a catheter control seat 11, a rotating assembly 12 and a sliding assembly 13, wherein the sliding assembly 13 is arranged on the fixed seat 20, and the rotating assembly 12 is arranged on the sliding assembly 13, so that the rotating assembly 12 can move relative to the fixed seat 20. The sliding assembly 13 can be a combination of a slide rail 131 and a slide table 132, wherein the slide rail 131 is arranged on the fixed seat 20, the slide table 132 can be slidably arranged on the slide rail 131, and the rotating assembly 12 is arranged on the slide table 132. The position movement of the rotating assembly 12 relative to the fixed seat 20 is achieved by sliding between the slide table 132 and the slide rail 131. The structure is simple and easy to implement. Optionally, there can be two combinations of slide tables 132 and slide rails 131, which are respectively arranged on both sides of the rotating assembly 12 in a one-to-one correspondence. The catheter control seat 11 is arranged on the rotating assembly 12, and the rotating assembly 12 can drive the catheter control seat 11 to rotate a first angle, so as to meet the doctor's ideal operating angle needs, please refer to Figure 1 to Figure 4 As shown, the first angle can be greater than or equal to 0° and less than or equal to 180°, so that the flexible catheter assembly can be adjusted to be perpendicular and parallel to the axis of the end in two opposite directions. This range can not only cover the needs of a narrow surgical operating space, but also avoid the problem of interference between the catheter assembly and the end of the robotic arm 2 due to excessive rotation. When the angle of the flexible catheter assembly still cannot meet the operational needs of medical staff within the above range, it can be achieved by adjusting the degree of freedom of the end of the robotic arm 2. A receiving groove that can accommodate the flexible catheter assembly is provided on the catheter control seat 11. The upper part of the receiving groove has an opening. The flexible catheter assembly can be inserted into the receiving groove from the upper part. When the flexible catheter assembly needs to be replaced, the flexible catheter assembly can be directly taken out of the opening, so that the flexible catheter assembly is convenient to disassemble.

[0059] In order to prevent the flexible catheter assembly from escaping from the accommodating groove, in some embodiments of the present application, a limit group is provided on one side of the accommodating groove located at the end of the mechanical arm 2, and the limit group includes a limit plate and a reset member. The reset member is located between the limit plate and the groove wall of the accommodating groove located at the end of the mechanical arm 2, so that the limit plate can move in the accommodating groove within the reset range of the reset member. When the flexible catheter assembly is placed in the accommodating groove, a force is first applied to the limit plate to compress the reset member, so that the limit plate moves toward the end of the mechanical arm 2 to meet the accommodating space requirements of the flexible catheter assembly. After the flexible catheter assembly is placed in the accommodating groove, the force applied to the limit plate is removed. The limit plate moves toward the flexible catheter assembly under the action of the reset force of the reset member to press against the flexible catheter assembly, thereby not only being able to limit the position of the flexible catheter assembly, but also being able to match flexible catheter assemblies of different sizes, and having a wider range of applications.

[0060] In some embodiments of this application, please refer to Figure 5-6 As shown, one possible structure of the rotating assembly 12 is, including a limit seat 121 and a mounting plate 122, wherein the limit seat 121 can be slidably set on the sliding assembly 13, a rotating column 1211 is provided on the side of the limit seat 121 away from the sliding assembly 13, the catheter control seat 11 is set on the mounting plate 122, and a rotating groove 1221 that engages with the rotating column 1211 is provided on the side of the mounting plate 122 away from the catheter control seat 11 and faces the limit seat 121, and the rotating column 1211 is inserted into the rotating groove 1221 and can rotate along the rotating groove 1221 to change the angle of the catheter control seat 11 to meet the needs of medical staff. A limiting post 1222 is provided on the groove wall of the rotating groove 1221 facing the rotating column 1211, and a slide groove 1212 matching the limiting post 1222 is provided on the limiting seat 121 of the circumferential part of the rotating shaft, and the limiting post 1222 can slide in the slide groove 1212, and the sliding range of the limiting post 1222 in the slide limits the rotation angle of the mounting plate 122 relative to the limiting seat 121. Since the limiting post 1222 rotates following the groove wall of the rotating groove 1221, the rotation trajectory of the limiting post 1222 is circular, and the shape of the slide groove 1212 is arc-shaped. The groove walls at both ends of the slide groove 1212 limit the rotation range of the limiting post 1222, so the central angle of the slide groove 1212 is the maximum angle of the first angle, and the range of the slide groove 1212 limits the first angle to between 0° and 180°.

[0061] When the rotating groove 1221 rotates relative to the rotating column 1211, the greater the friction between the groove wall of the rotating groove 1221 and the rotating column 1211, the more unfavorable it is for the mounting plate 122 to adjust the angle relative to the limiting seat 121. Therefore, in some embodiments of the present application, please refer to Figure 5As shown, the rotating assembly 12 further includes an anti-wear sleeve 123, which is located between the rotating column 1211 and the groove wall of the rotating groove 1221, which can not only reduce the friction during relative rotation, but also prevent the rotating column 1211 from being damaged by frequent rotation friction.

[0062] In some embodiments of this application, please refer to Figure 5 As shown, a rotating platform 1213 is provided below the rotating column 1211, and the slide groove 1212 is provided on the rotating platform 1213. Since the rotating groove 1221 is buckled on the rotating column 1211, the groove wall of the rotating groove 1221 faces the side of the limiting seat 121 and abuts against the rotating platform 1213. Therefore, during the rotation of the rotating groove 1221 relative to the rotating column 1211, friction will be generated between the groove wall end of the rotating groove 1221 and the rotating platform 1213, thereby preventing the mounting plate 122 from being moved relative to the limiting seat 121. 21, the surface friction of one side where the rotating table 1213 abuts against the rotating groove 1221 can be set to reduce to ensure the smoothness of the rotation between the mounting plate 122 and the limiting seat 121. It is only necessary to grind the side of the rotating table 1213 facing the rotating groove 1221 to reduce the friction, and there is no need to grind the side of the entire limiting seat 121 facing the mounting plate 122. The smaller the grinding area, the lower the processing cost of the limiting seat 121 and the better the processing efficiency.

[0063] It is understandable that the rotating assembly 12 drives the flexible catheter assembly to move relative to the fixed seat 20. The rotating assembly 12 can be pushed manually on the premise of unlocking the locking piece. In order to achieve precise control of the angle of the rotating assembly 12, electric power is required. In addition, in order to achieve the adjustment of the length of the flexible catheter driven by the flexible catheter assembly, the flexible catheter assembly also needs to be connected to a power source. The flexible catheter assembly can be coupled to the catheter control seat 11 by plugging the power supply into the interface on the catheter control seat 11. The socket of the catheter control seat 11 requires power. In this way, the rotating assembly 12 can be powered by coupling the line at the end of the mechanical arm 2. In order to avoid leakage of wires and affect the overall aesthetics and to ensure the safety of the wires. In some embodiments of the present application, please refer to Figure 5As shown, the fixing seat 20 includes a base 21 and a connecting member 22. The base 21 is provided with a receiving groove 211 which opens upward. One end of the connecting member 22 is provided with a mounting groove 221 which is higher than the base 21. The mounting groove 221 is buckled at the end of the robotic arm 2. The connecting member 22 is covered at the notch of the receiving groove 211. The mounting groove 221 has a connecting port which is connected to the receiving groove 211. The other end of the connecting member 22 is provided with a wire hole 223 which is connected to the receiving groove 211. The moving mechanism 10 is provided with a through hole 14 which is connected to the wire hole 223. The wires electrically connected between the flexible conduit reversing device 1 and the robotic arm 2 are passed through the through hole 14, the wire hole 223, the receiving groove 211 and the connecting port. If the wires are relatively long, they are accommodated in the receiving groove 211. Specifically, the base 21 is L-shaped, and the receiving groove 211 is an L-shaped groove, so it can be connected with the installation groove 221 through the connecting port. The connecting member 22 includes an L-shaped plate 222. The installation groove 221 is located at one end of the L-shaped plate 222, so the installation groove 221 can be higher than the base 21. The end of the base 21 connected to the installation groove 221 is a semicircular shape that matches the installation groove 221, thereby ensuring the reliability of the connection and achieving good isolation of the inside of the receiving groove 211 from the outside. The wire can enter the vertical side of the receiving groove 211 from the end of the manipulator through the installation groove 221 and the connecting port once, pass through the horizontal side, and then pass out of the wire hole 223, pass through the gap between the two slide rails 131 and the through hole 14 in turn, and then couple with the rotating component 12 in turn, and couple with the interface on the catheter control seat 11.

[0064] Considering that the wires coupled to the interface on the catheter control seat 11 extend from the end of the mechanical arm 2 and pass through the rotating assembly 12, please refer to Figure 5-6 As shown, the limiting seat 121 is provided with a first through hole coaxial with the axis of the rotating column 1211, and the mounting plate 122 is provided with a second through hole coaxial with the rotating groove 1221. At this time, the first through hole is coaxial with the second through hole, and the anti-wear sleeve 123 is penetrated on the second through hole from the side of the mounting plate 122 away from the limiting seat 121. The anti-wear sleeve 123 is provided with a limiting edge having a diameter greater than the second through hole, and the limiting edge limits the anti-wear sleeve 123 to the mounting plate 122. The rotating assembly 12 also includes a cover plate 124, which covers The plate 124 is covered on the side of the limiting edge away from the mounting plate 122. A third through hole coaxial with the second through hole is provided in the center of the cover plate 124. The diameter of the third through hole is smaller than that of the second through hole. A plurality of locking members are provided at intervals in the circumference of the third through hole within a range smaller than the diameter of the second through hole. The locking members pass through the cover plate 124 and are screwed on the top of the rotating column 1211, thereby locking the mounting plate 122, the anti-wear sleeve 123 and the cover plate 124 on the limiting seat 121. The locking member may be a screw.

[0065] Please refer to Figure 5As shown, when the rotating component 12 drives the flexible conduit group to move along the sliding component 13, it will pull the wires to move along with the rotating component 12. Therefore, the part of the wires that can move along with the rotating component 12 is accommodated in the accommodating groove 211, and the wire passing hole 223 is an oblong hole. The wires can move in the wire passing hole 223 to move along with the rotating component 12 without falling out of the accommodating groove 211, which not only ensures the overall aesthetics of the robot, but also protects the wires from external damage.

[0066] Please refer to Figure 3 to Figure 5 As shown, after the rotating assembly 12 drives the flexible conduit assembly to move to an ideal position relative to the mounting seat, it can be locked by at least one locking member 30 to ensure the stability of the locking. In some embodiments of the present application, the locking member 30 passes through the fixing seat 20 and is screwed on the mounting plate 122, which can not only limit the movement of the rotating assembly 12 along the sliding assembly 13 but also limit the rotation of the rotating assembly 12. The mounting seat and the rotating assembly 12 are respectively provided with a plurality of through holes 14 for the locking member 30, and the mounting plate 122 corresponding to the through holes 14 for the locking member 30 is provided with a plurality of locking threads that mesh with the ends of the locking member 30, so that the locking member 30 is locked on the mounting plate 122. In actual applications, an appropriate number of locking members 30 can be installed according to the required positions.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. 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. A flexible conduit reversing device, characterized in that: include: A fixed seat, arranged at the end of the robot arm, wherein the end has six degrees of freedom; A moving mechanism is slidably disposed on the fixing seat, and a flexible conduit assembly is detachably disposed on the moving mechanism, and the moving mechanism can drive the flexible conduit assembly to rotate; as well as A locking member passes through the fixing seat and is connected to the moving mechanism to limit the position of the flexible conduit assembly on the fixing seat.

2. The flexible conduit reversing device according to claim 1, characterized in that: The moving mechanism comprises: A catheter control seat, on which the flexible catheter assembly is detachably arranged; A rotating assembly, the catheter control seat is disposed on the rotating assembly, and the rotating assembly can drive the catheter control seat to rotate a first angle; and The sliding component is arranged on the fixing seat, the rotating component is arranged on the sliding component, and the rotating component can move relative to the fixing seat.

3. The flexible conduit reversing device according to claim 2, characterized in that: The rotating assembly comprises: A limit seat is arranged on the sliding assembly, and a rotating column is arranged on the limit seat; A mounting plate, the catheter control seat is arranged on the mounting plate, and a rotating groove that is buckled with the rotating column is provided on one side of the mounting plate facing the limiting seat; A limiting column is provided on the groove wall of the rotating groove toward the rotating column, and a sliding groove matching the limiting column is provided on the limiting seat in the circumferential part of the rotating column, and the central angle of the sliding groove is the maximum angle of the first angle.

4. The flexible conduit reversing device according to claim 3, characterized in that: The first angle is greater than or equal to 0° and less than or equal to 180°.

5. The flexible conduit reversing device according to claim 3, characterized in that: A rotating platform is provided below the rotating column, and the sliding groove is arranged on the rotating platform.

6. The flexible conduit reversing device according to claim 3, characterized in that: The rotating assembly further comprises: The anti-wear sleeve is located between the rotating column and the rotating groove.

7. The flexible conduit reversing device according to claim 2, characterized in that: The sliding assembly comprises: A slide rail, disposed on the fixing seat; and The slide table is slidably arranged on the slide rail, and the rotating component is arranged on the slide table.

8. The flexible conduit reversing device according to claim 1, characterized in that: The fixing seat comprises: A base having a receiving groove opening upward; and A connecting member, one end of which is provided with a mounting groove, the mounting groove is higher than the base and is buckled at the end of the mechanical arm, the connecting member cover is arranged at the notch of the receiving groove, the mounting groove has a communication port connected with the receiving groove, and the other end of the connecting member is provided with a wire hole connected with the receiving groove; The moving mechanism is provided with a through hole connected with the wire through hole; The wires electrically connected to the flexible conduit reversing device and the mechanical arm are passed through the through hole, the wire hole, the accommodating groove, and the connecting port, and are accommodated in the accommodating groove.

9. The flexible conduit reversing device according to claim 1, characterized in that: The locking member passes through the fixing seat and is screwed on a side of the moving mechanism facing the flexible conduit component.

10. A robot for lung intervention surgery, characterized in that: include: A robotic arm, the end of which has six degrees of freedom; and The flexible catheter reversing device described in any one of claims 1 to 9 is located at the end of the mechanical arm, and the mechanical arm can drive the flexible catheter reversing device to move.

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