Flexible endoscope robot

Abstract

The invention relates to the technical field of medical equipment, and provides a flexible endoscope robot which comprises an instrument mechanism, an isolation mechanism and a driving mechanism, the isolation mechanism is arranged between the instrument mechanism and the driving mechanism, and the instrument mechanism is detachably connected with the driving mechanism. The driving mechanism is used for driving the instrument mechanism to act, and the instrument mechanism is a disposable article. According to the flexible endoscope robot, the instrument mechanism and the driving mechanism are modularly designed, so that the flexible endoscope robot is compact in structure; an isolation mechanism is arranged between the driving mechanism and the instrument mechanism, so that the driving mechanism can be prevented from polluting the instrument mechanism; according to the flexible endoscope robot, the instrument mechanism and the driving mechanism are detachably connected, the flexible endoscope robot is convenient to disassemble and assemble, the instrument mechanism serves as a disposable article, the driving mechanism can be repeatedly used, and the use cost of the flexible endoscope robot is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a flexible endoscope robot. Background Art

[0002] In order to observe or diagnose lesions inside the human body, doctors insert an endoscope through the natural cavity, urethra or other artificial openings, observe the endoscope feedback image and perform surgical treatment on the lesion. In this process, the doctor controls the direction angle of the endoscope end and continues to insert the endoscope into the esophagus, bronchus, digestive tract or ureter until it reaches the vicinity of the lesion.

[0003] However, the existing endoscopic robots are not compact enough and have few reusable modules, which results in high cost of use and cannot meet the requirements of intelligence and further configuration of the robot system. Summary of the invention

[0004] The present invention provides a flexible endoscope robot, which is used to solve the defects of the endoscope robot in the prior art that the structure is not compact enough and the number of reusable modules is small, thereby reducing the use cost.

[0005] The present invention provides a flexible endoscope robot, comprising: an instrument mechanism, an isolation mechanism and a driving mechanism, wherein the isolation mechanism is arranged between the instrument mechanism and the driving mechanism, the instrument mechanism and the driving mechanism are detachably connected, and the driving mechanism is used to drive the instrument mechanism to move, wherein the instrument mechanism is a disposable item.

[0006] According to a flexible endoscopic robot provided by the present invention, the instrument mechanism includes: a first box body and an instrument assembly, part of the instrument assembly is located inside the first box body, and the remaining part extends outside the first box body; the first box body includes: a lower shell and an upper shell, the lower shell is clamped with the driving mechanism, and the instrument assembly is arranged in the lower shell.

[0007] According to a flexible endoscope robot provided by the present invention, the instrument assembly includes: a first tube body, a second tube body and a first transmission structure, the first tube body is sleeved in the second tube body, and the first end of the first tube body extends outside the second tube body, the first tube body and the second tube body extend outside the lower shell, and a camera is provided in the first end of the first tube body; the first transmission structure is arranged in the lower shell, the first tube body and the second tube body are connected to the first transmission structure, the first transmission structure is connected to the driving mechanism, and the driving mechanism is used to drive the first transmission structure to rotate, thereby driving the first tube body and the second tube body to rotate.

[0008] According to a flexible endoscopic robot provided by the present invention, the instrument assembly also includes: a winding wheel and a driving wire, the driving wire is wound around the winding wheel, and the winding wheel and the driving mechanism are detachably connected via the isolation mechanism; the driving wire is connected to the first end of the first tube body, and the first tube body is a flexible tube body.

[0009] According to a flexible endoscope robot provided by the present invention, the isolation mechanism includes: a partition and a negative pressure block, the negative pressure block is arranged on the partition, and the partition is clamped between the first box body and the driving mechanism; the instrument assembly also includes: a third tube body, a fourth tube body and a pressing piece, a portion of the third tube body is sleeved in the first tube body and extends to the first end of the first tube body, and the third tube body is used to deliver the operating instrument; the fourth tube body is used to inlet liquid, the fourth tube body extends to the outside of the upper shell, and the pressing piece has a cavity, and the cavity is connected to the fourth tube body and the third tube body; the negative pressure block is connected to the driving mechanism, and the driving mechanism is used to drive the negative pressure block to rotate, and the end of the negative pressure block is an eccentric structure, and the eccentric structure can cause the fourth tube body to be connected or blocked with the third tube body when in contact with the pressing piece.

[0010] According to a flexible endoscopic robot provided by the present invention, the isolation mechanism also includes: an isolation ring, a first rotating wheel and a second rotating wheel, the isolation ring is embedded in the partition, and the negative pressure block is located outside the isolation ring; the first rotating wheel and the second rotating wheel are arranged on the partition, the first end of the first rotating wheel is detachably connected to the first transmission structure, the second end of the first rotating wheel is connected to the driving mechanism, the first end of the second rotating wheel is detachably connected to the winding wheel, and the second end of the second rotating wheel is connected to the driving mechanism.

[0011] According to a flexible endoscope robot provided by the present invention, the driving mechanism includes: a second box body and a driving component, the driving component is arranged in the second box body, and the driving component is used to drive the instrument mechanism to move; the second box body includes: a lower box body and a cover body, the lower box body is covered with the cover body, the driving component is connected to the lower surface of the cover body, and the lower box body is clamped with the lower shell.

[0012] According to a flexible endoscope robot provided by the present invention, the driving component includes: a mounting plate and a pair of driving structures, the mounting plate is arranged parallel to and connected to the cover body, and the pair of driving structures are respectively connected to the first transmission structure and the winding wheel; each of the driving structures includes: a first motor, a worm gear, an elastic member and a third rotating wheel, the first motor is connected to the mounting plate, and a worm is provided at the output end of the first motor, and the worm is connected to the worm gear in a transmission manner; the worm wheel and the third rotating wheel are connected through a rotating shaft, the elastic member is sleeved on the outside of the rotating shaft, the elastic member is located between the third rotating wheel and the mounting plate, and the third rotating wheel is connected to the first transmission structure or the winding wheel.

[0013] According to a flexible endoscope robot provided by the present invention, the driving assembly further includes a second motor, and the second motor is connected to the negative pressure block.

[0014] A flexible endoscope robot provided according to the present invention also includes: a signal receiving component and a photoelectric switch, the signal receiving component includes: a female ejector pin seat and a male ejector pin seat, the female ejector pin seat is arranged on the lower shell, the male ejector pin seat is arranged on the surface of the cover body facing the partition, a through groove is provided at a position of the partition opposite to the male ejector pin seat, the male ejector pin seat passes through the through groove and is plugged into the female ejector pin seat; the photoelectric switch is arranged on the mounting plate and adjacent to the third rotating wheel, and the photoelectric switch is used to determine the initial position of the third rotating wheel.

[0015] The flexible endoscope robot provided by the present invention has a compact structure by modularizing the instrument mechanism and the driving mechanism; an isolation mechanism is provided between the two to prevent the driving mechanism from contaminating the instrument mechanism; the instrument mechanism and the driving mechanism are detachably connected to facilitate disassembly and installation of the flexible endoscope robot; the instrument mechanism is a disposable item, while the driving mechanism can be reused multiple times, thereby reducing the use cost of the flexible endoscope robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or 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.

[0017] Figure 1 It is an exploded view of the flexible endoscope robot provided by the present invention.

[0018] Figure 2 yes Figure 1 A schematic diagram of the structure of the instrument mechanism is shown in FIG.

[0019] Figure 3 yes Figure 1 A schematic structural diagram of the isolation mechanism is shown in FIG.

[0020] Figure 4 yes Figure 1 Schematic diagram of the structure of the driving mechanism shown in FIG.

[0021] Figure 5 yes Figure 4 A schematic diagram of the structure of each drive structure is shown in FIG.

[0022] Reference numerals: 1. Instrument mechanism; 2. Isolation mechanism; 3. Driving mechanism; 111, upper shell; 112, lower shell; 113, clamping piece; 121, first tube body; 122, second tube body; 123, first bevel gear; 124, second bevel gear; 125, fourth rotating wheel; 131, winding wheel; 132, driving line; 133, fifth rotating wheel; 134, bump; 141, third tube body; 142, fourth tube body; 143, pressing piece; 151, ejector pin female seat; 1411, delivery port; 211, partition; 212, first rotating wheel; 213, second rotating wheel; 214, isolation ring; 215, negative pressure block; 311, cover body; 312, lower box body; 313, buckle; 314, mounting plate; 315, connecting column; 321, first motor; 322, worm; 323, worm wheel; 324, third rotating wheel; 325, rotating shaft; 326, elastic member; 327, photoelectric switch; 331, second motor; 341, ejector pin socket; 342, terminal block. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Combine the following Figure 1-Figure 5 The flexible endoscopic robot of the present invention is described.

[0025] like Figure 1As shown, in an embodiment of the present invention, the flexible endoscope robot comprises: an instrument mechanism 1, an isolation mechanism 2 and a driving mechanism 3. The isolation mechanism 2 is arranged between the instrument mechanism 1 and the driving mechanism 3, the instrument mechanism 1 and the driving mechanism 3 are detachably connected, and the driving mechanism 3 is used to drive the instrument mechanism 1 to move.

[0026] Specifically, in the present embodiment, the instrument mechanism 1 and the drive mechanism 3 are both modularly designed, so that the flexible endoscope robot has a compact structure. An isolation mechanism 2 is provided between the instrument mechanism 1 and the drive mechanism 3 to separate the operating part and the drive part. In actual operation, the instrument mechanism 1 needs to be disinfected and is a disposable item, while the drive mechanism 3 can be reused to reduce the cost of use. The isolation mechanism 2 can be provided to prevent the drive mechanism 3 from contaminating the instrument mechanism 1. In the present embodiment, the instrument mechanism 1 and the drive mechanism 3 are connected by a buckle for easy disassembly and installation. The flexible endoscope robot provided in the embodiment of the present invention can be applied to a surgical robot to change the existing manual operation mode, so that the doctor is safer and the operation is more convenient during the operation, and the basic requirements of surgical automation and intelligence are met.

[0027] The flexible endoscope robot provided in the embodiment of the present invention has a compact structure by modularizing the instrument mechanism and the driving mechanism; an isolation mechanism is provided between the two to prevent the driving mechanism from contaminating the instrument mechanism; the instrument mechanism and the driving mechanism are detachably connected to facilitate the disassembly and installation of the flexible endoscope robot. The instrument mechanism is a disposable item, while the driving mechanism can be reused multiple times, thereby reducing the use cost of the flexible endoscope robot.

[0028] like Figure 2 As shown, in the embodiment of the present invention, the instrument mechanism 1 includes: a first box body and an instrument assembly, part of the instrument assembly is located inside the first box body, and the remaining part extends outside the first box body. The first box body includes: an upper shell 111 and a lower shell 112, the lower shell 112 is clamped with the driving mechanism 3, and the instrument assembly is arranged in the lower shell 112.

[0029] Specifically, in this embodiment, the upper shell 111 is buckled with the lower shell 112, and the two are connected by bolts. The opposite surfaces of the lower shell 112 are respectively provided with a clamping member 113, and the first end of the clamping member 113 extends upward and fits with the surface of the upper shell 111. The second end of the clamping member 113 extends downward and is clamped with the driving mechanism 3.

[0030] like Figure 2As shown, the instrument assembly includes: a first tube body 121, a second tube body 122 and a first transmission structure. The first tube body 121 is sleeved in the second tube body 122, and the first end of the first tube body 121 extends to the outside of the second tube body 122, and the first tube body 121 and the second tube body 122 extend to the outside of the lower shell 112. The first transmission structure is arranged in the lower shell 112, and the first tube body 121 and the second tube body 122 are connected to the first transmission structure, and the first transmission structure is connected to the driving mechanism 3, and the driving mechanism 3 is used to drive the first transmission structure to rotate, thereby driving the first tube body 121 and the second tube body 122 to rotate.

[0031] Specifically, the first transmission structure includes: a first bevel gear 123 and a second bevel gear 124, the first tube 121 and the second tube 122 are both connected to the second bevel gear 124, the second bevel gear 124 is meshed with the first bevel gear 123, and the first bevel gear 123 is detachably connected to the driving mechanism 3 through the fourth rotating wheel 125. When the driving mechanism 3 rotates, it can drive the fourth rotating wheel 125 to rotate, thereby driving the first bevel gear 123 to rotate, and the first bevel gear 123 drives the second bevel gear 124 to rotate, so that the first tube 121 and the second tube 122 rotate. In this embodiment, a camera and an LED light are provided at the first end of the first tube 121, the camera is used to collect images in the cavity, the LED light is used to provide a light source, and the operating instrument can be extended from the first end of the first tube 121. In this embodiment, the first end of the first tube 121 is an end of the first tube 121 away from the second bevel gear 124.

[0032] like Figure 2 As shown, in an embodiment of the present invention, the instrument assembly further includes: a winding wheel 131 and a driving wire 132. The driving wire 132 is wound around the winding wheel 131, the driving wire 132 is connected to the first end of the first tube 121, the first tube 121 is a flexible tube, and the winding wheel 131 is connected to the driving mechanism 3.

[0033] Specifically, in this embodiment, the first tube body 121 is a flexible tube body, and the driving mechanism 3 is connected to the winding wheel 131 through the isolation mechanism 2. When the driving mechanism 3 rotates, it can drive the winding wheel 131 to rotate to wind or release the driving wire 132. When the driving wire 132 is wound around the winding wheel 131, the driving wire 132 pulls the end of the first tube body 121 to bend the first end of the first tube body 121; when the winding wheel 131 releases the driving wire 132, the driving wire 132 stretches, and the curvature of the first end of the first tube body 121 becomes smaller, or even straightens.

[0034] In an embodiment of the present invention, the instrument assembly further includes a protrusion 134 , which is disposed on the lower shell 112 , and is used to support the driving wire 132 .

[0035] The flexible endoscope robot provided in an embodiment of the present invention can rotate the first tube body and the second tube body by setting a first transmission structure; and can bend the end of the first tube body by setting a winding wheel and a driving line, thereby realizing the rotation and bending movement of the first tube body, so that the first tube body can reach the target position.

[0036] like Figure 2 and Figure 3 As shown, in an embodiment of the present invention, the isolation mechanism 2 includes: a partition 211 and a negative pressure block 215, the negative pressure block 215 is arranged on the partition 211, and the partition 211 is clamped between the first box body and the driving mechanism. The instrument assembly also includes: a third tube 141, a fourth tube 142 and a pressing piece 143. The first end of the third tube 141 is sleeved in the first tube 121 and extends to the first end of the first tube 121. The second end of the third tube 141 is provided with a delivery port 1411, and the delivery port 1411 is used to deliver the operating instrument. The fourth tube 142 is used for liquid inlet, and the fourth tube 142 extends to the outside of the upper shell 111. The pressing piece 143 has a cavity, and the cavity is connected to the fourth tube 142 and the third tube 141. The negative pressure block 215 is connected to the driving mechanism 3, which is used to drive the negative pressure block 215 to rotate. The negative pressure block 215 is an eccentric structure, which can cause the fourth tube body 142 to communicate with or block the third tube body 141 when in contact with the pressing piece 143.

[0037] Specifically, in this embodiment, the length of the partition 211 is greater than the length of the first box body, and the negative pressure block 215 is located on the portion of the partition 211 that exceeds the length of the first box body. The driving mechanism 3 is connected to the negative pressure block 215, and the driving mechanism 3 can drive the negative pressure block 215 to rotate when it rotates. In this embodiment, the end of the negative pressure block 215 is an eccentric structure. During the rotation of the negative pressure block 215, when the smaller diameter portion faces the pressing member 143, the negative pressure block 215 only contacts the end face of the pressing member, but no extrusion force is generated, the pressure in the cavity of the pressing member 143 remains unchanged, and the fourth tube body 142 is blocked from the third tube body 141; when the larger diameter portion faces the pressing member 143, the negative pressure block 215 squeezes the pressing member 143, the pressure inside the cavity of the pressing member 143 increases, the fourth tube body 142 is connected to the third tube body 141, and the liquid flows from the third tube body 141 through the second tube body 122 into the first tube body 121.

[0038] like Figure 3As shown, in an embodiment of the present invention, the isolation mechanism 2 further includes: an isolation ring 214, a first rotating wheel 212, and a second rotating wheel 213. The isolation ring 214 is embedded in the partition 211, and the negative pressure block 215 is located outside the isolation ring 214. The first rotating wheel 212 and the second rotating wheel 213 are arranged on the partition 211, the first end of the first rotating wheel 212 is detachably connected to the first transmission structure, the second end of the first rotating wheel 212 is connected to the driving mechanism 3, the first end of the second rotating wheel 213 is detachably connected to the winding wheel 131, and the second end of the second rotating wheel 213 is connected to the driving mechanism 3.

[0039] Specifically, a groove is provided on the partition 211, and an isolation ring 214 is embedded in the groove. The isolation ring 214 is used for waterproofing so that the instrument mechanism 1 is sealed and connected to the partition 211. The driving mechanism 3 is connected to the fourth rotating wheel 125 through the first rotating wheel 212 to drive the first tube 121 to rotate; at the same time, the driving mechanism 3 is also connected to the fifth rotating wheel 133 through the second rotating wheel 213 to drive the winding wheel 131 to rotate.

[0040] like Figure 4 As shown, in the embodiment of the present invention, the driving mechanism 3 includes: a second box body and a driving assembly, the driving assembly is arranged in the second box body, and the driving assembly is used to drive the instrument mechanism 1 to move. The second box body includes: a cover body 311 and a lower box body 312, the cover body 311 covers the lower box body 312, and the driving assembly is connected to the lower surface of the cover body 311, that is, the driving assembly can be placed in the lower box body 312.

[0041] Specifically, buckles 313 are respectively provided on the opposite surfaces of the lower box body 312, and the clamping member 113 on the first box body is clamped with the buckles 313 to connect the first box body, the isolation mechanism 2 and the second box body into a whole.

[0042] like Figure 4 As shown, the driving assembly includes: a mounting plate 314 and a pair of driving structures. The mounting plate 314 is arranged parallel to the cover body 311, and the mounting plate 314 is connected to the cover body 311 through a connecting column 315. The pair of driving structures are respectively connected to the first transmission structure and the winding wheel 131 to drive the first transmission structure and the winding wheel 131 to rotate.

[0043] Each driving structure includes: a first motor 321, a worm 322, a worm wheel 323, a third rotating wheel 324, a rotating shaft 325 and an elastic member 326. The first motor 321 is connected to the mounting plate 314, the output end of the first motor 321 is connected to the worm 322, and the worm 322 is drivingly connected to the worm wheel 323. The worm wheel 323 is connected to the third rotating wheel 324 through the rotating shaft 325, the elastic member 326 is sleeved on the outside of the rotating shaft 325, the elastic member 326 is located between the third rotating wheel 324 and the mounting plate 314, and the third rotating wheel 324 is connected to the first transmission structure or the winding wheel 131.

[0044] Specifically, when the first motor 321 rotates, it can drive the worm 322 to rotate, and then drive the worm wheel 323 to rotate. The worm wheel 323 drives the third rotating wheel 324 to rotate. In an embodiment of the present invention, two third rotating wheels 324 of a pair of driving structures are respectively connected to the first transmission structure and the winding wheel 131 to drive the first transmission structure and the winding wheel 131 to rotate. Further, one third rotating wheel 324 is connected to the fourth rotating wheel 125 through the first rotating wheel 212 to drive the first tube body 121 to rotate; the other third rotating wheel 324 is connected to the fifth rotating wheel 133 through the second rotating wheel 213 to drive the winding wheel 131 to rotate, so as to realize the bending of the first end of the first tube body 121.

[0045] Furthermore, in this embodiment, an elastic member 326 is disposed between the mounting plate 314 and the third rotating wheel 324 to adjust the height of the third rotating wheel 324 to prevent the third rotating wheel 324 from being unable to connect to the first rotating wheel 212 or the second rotating wheel 213 .

[0046] like Figure 4 As shown, in an embodiment of the present invention, the driving assembly further includes a second motor 331 , and the second motor 331 is connected to the negative pressure block 215 .

[0047] Specifically, in this embodiment, when the second motor 331 rotates, it can drive the negative pressure block 215 to rotate. Optionally, in the embodiment of the present invention, when the second motor 331 rotates forward, the negative pressure block 215 squeezes the pressing member 143 to achieve the fourth tube 142 and the third tube 141 are connected; when the second motor 331 rotates reversely, the negative pressure block 215 does not squeeze the pressing member 143, and the fourth tube 142 and the third tube 141 are blocked.

[0048] like Figure 4 As shown, in an embodiment of the present invention, a male ejector seat 341 is provided on the upper surface of the cover body 311, a through groove is provided on the partition plate 211 at a position opposite to the male ejector seat 341, and a female ejector seat 151 is provided on the lower shell 112. The male ejector seat 341 is plugged into the female ejector seat 151 to receive the camera signal at the end of the first tube body 121.

[0049] like Figure 5 As shown, in the embodiment of the present invention, the driving assembly further includes a photoelectric switch 327 and a wiring board 342. The photoelectric switch 327 is disposed on the upper surface of the mounting plate 314 and is adjacent to the third rotating wheel 324. The photoelectric switch 327 is used to determine the initial position of the third rotating wheel 324. The wiring board 342 is disposed outside the lower box body 312 and is used to receive and send motor encoding signals and video signals.

[0050] The flexible endoscope robot provided by the embodiment of the present invention arranges the endoscope modules in an upper and lower manner and is divided into three modules: an instrument mechanism, an isolation mechanism and a drive mechanism. The structures of the modules are independent of each other and can be quickly installed and deployed manually through snap-on connections, while meeting the sterility requirements during surgery. The functions of image transmission, flushing, and instrument delivery are integrated into the box body to achieve a compact structure. By adding a reusable drive mechanism, a single low-cost use is achieved.

[0051] 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 endoscope robot, characterized in that: include: An instrument mechanism, an isolation mechanism and a driving mechanism, wherein the isolation mechanism is arranged between the instrument mechanism and the driving mechanism, the instrument mechanism and the driving mechanism are detachably connected, and the driving mechanism is used to drive the instrument mechanism to operate, wherein the instrument mechanism is a disposable item.

2. The flexible endoscope robot according to claim 1, characterized in that: The instrument mechanism comprises: a first box body and an instrument assembly, wherein a portion of the instrument assembly is located within the first box body and the remaining portion extends outside the first box body; The first box body comprises: a lower shell and an upper shell, the lower shell is clamped with the driving mechanism, and the instrument assembly is arranged in the lower shell.

3. The flexible endoscope robot according to claim 2, characterized in that: The instrument assembly comprises: a first tube body, a second tube body and a first transmission structure, the first tube body is sleeved inside the second tube body, and the first end of the first tube body extends outside the second tube body, the first tube body and the second tube body extend outside the lower shell, and a camera is arranged inside the first end of the first tube body; The first transmission structure is arranged in the lower shell, the first tube body and the second tube body are connected to the first transmission structure, the first transmission structure is connected to the driving mechanism, and the driving mechanism is used to drive the first transmission structure to rotate, thereby driving the first tube body and the second tube body to rotate.

4. The flexible endoscope robot according to claim 3, characterized in that: The instrument assembly further comprises: a winding wheel and a driving wire, wherein the driving wire is wound around the winding wheel, and the winding wheel is detachably connected to the driving mechanism via the isolation mechanism; The driving line is connected to the first end of the first tube, and the first tube is a flexible tube.

5. The flexible endoscope robot according to claim 4, characterized in that: The isolation mechanism comprises: a partition and a negative pressure block, wherein the negative pressure block is arranged on the partition, and the partition is sandwiched between the first box body and the driving mechanism; The instrument assembly further includes: a third tube, a fourth tube and a pressing member, wherein a portion of the third tube is sleeved in the first tube and extends to the first end of the first tube, and the third tube is used for delivering the operating instrument; The fourth tube body is used for liquid inlet, the fourth tube body extends to the outside of the upper shell, the pressing member has a cavity, and the cavity is connected with the fourth tube body and the third tube body; The negative pressure block is connected to the driving mechanism, and the driving mechanism is used to drive the negative pressure block to rotate. The end of the negative pressure block is an eccentric structure, and the eccentric structure can cause the fourth tube body to be connected or blocked with the third tube body when in contact with the pressing piece.

6. The flexible endoscope robot according to claim 5, characterized in that: The isolation mechanism further includes: an isolation ring, a first rotating wheel and a second rotating wheel, wherein the isolation ring is embedded in the partition plate, and the negative pressure block is located outside the isolation ring; The first rotating wheel and the second rotating wheel are arranged on the partition, the first end of the first rotating wheel is detachably connected to the first transmission structure, the second end of the first rotating wheel is connected to the driving mechanism, the first end of the second rotating wheel is detachably connected to the winding wheel, and the second end of the second rotating wheel is connected to the driving mechanism.

7. The flexible endoscope robot according to claim 5, characterized in that: The driving mechanism comprises: a second box body and a driving assembly, wherein the driving assembly is arranged in the second box body and is used to drive the device mechanism to move; The second box body comprises: a lower box body and a cover body, the lower box body covers the cover body, the driving assembly is connected to the lower surface of the cover body, and the lower box body is clamped with the lower shell.

8. The flexible endoscope robot according to claim 7, characterized in that: The driving assembly comprises: a mounting plate and a pair of driving structures, wherein the mounting plate is arranged parallel to and connected to the cover body, and the pair of driving structures are respectively connected to the first transmission structure and the winding wheel; Each of the driving structures comprises: a first motor, a worm gear, an elastic member and a third rotating wheel, wherein the first motor is connected to the mounting plate, a worm is provided at the output end of the first motor, and the worm is drivingly connected to the worm gear; The worm wheel is connected to the third rotating wheel via a rotating shaft, the elastic member is sleeved on the outside of the rotating shaft, the elastic member is located between the third rotating wheel and the mounting plate, and the third rotating wheel is connected to the first transmission structure or the winding wheel.

9. The flexible endoscope robot according to claim 7, characterized in that: The driving assembly further includes a second motor, and the second motor is connected to the negative pressure block.

10. The flexible endoscope robot according to claim 8, characterized in that: Also includes: A signal receiving component and a photoelectric switch, wherein the signal receiving component comprises: a female ejector pin seat and a male ejector pin seat, wherein the female ejector pin seat is arranged on the lower shell, and the male ejector pin seat is arranged on the surface of the cover body facing the partition, and a through groove is arranged at a position of the partition plate opposite to the male ejector pin seat, and the male ejector pin seat penetrates the through groove and is plugged into the female ejector pin seat; The photoelectric switch is arranged on the mounting plate and adjacent to the third rotating wheel. The photoelectric switch is used to determine the initial position of the third rotating wheel.

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