Digestive endoscopy robot applying mechanical arm

Abstract

The invention relates to the field of medical instruments, and discloses a digestive endoscopy robot applying mechanical arms, the digestive endoscopy robot comprises a lantern ring and two mechanical arms, a base plate is rotatably mounted at the top of the lantern ring, the two mechanical arms are both arranged on the base plate, and a first driving assembly is arranged between the lantern ring and the base plate; the first driving assembly can drive the base plate to rotate automatically based on the lantern ring, so that the two mechanical arms move in the circumferential direction of the lantern ring. Through cooperation of the lantern ring, the mechanical arm, the base plate, the first driving assembly and the like, the mechanical arm and the corresponding surgical instrument can be driven to move in the circumferential direction of the lantern ring, and on the premise that the digestive endoscope is kept static, the surgical instrument can directly correspond to different areas of a focus, so that the operation efficiency is improved. The surgical instrument can complete operation without adjusting the angle of the lantern ring, the space needed by movement of the surgical instrument can be reduced, the focus can be quickly treated conveniently, and the treatment time is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a digestive endoscopy robot using a mechanical arm. Background Art

[0002] Digestive endoscope robots are mostly used for digestive system inspection and treatment. They enter the digestive tract through the human mouth or rectum to achieve endoscopic inspection and surgical operations. Digestive endoscopes usually include a light source, an objective lens and an instrument channel. The objective lens is used for imaging, the light source is used to illuminate human tissue when the objective lens is imaging, and the instrument channel is used to guide surgical instruments (such as electric knives, etc.).

[0003] For example, Chinese patent publication number CN107041781A discloses a digestive endoscope robot and a digestive endoscope using a mechanical arm, wherein the robot includes a collar, a first mechanical arm, a second mechanical arm and a plurality of driving ropes. Driven by the corresponding driving ropes, the first mechanical arm and the second mechanical arm can bend, and the first mechanical arm and / or the second mechanical arm can move relative to the collar along the axial direction of the collar. The present invention is provided with a mechanical arm, which can move flexibly under the drive of the driving rope, thereby driving the surgical instrument to move independently relative to the digestive endoscope. Compared with the way in which the digestive endoscope drives the surgical instrument to move, the digestive endoscope in the present invention can remain stationary, and the surgical instrument can move independently under the drive of the corresponding mechanical arm, thereby ensuring the movement accuracy of the surgical instrument, reducing the space required for the movement of the surgical instrument, and expanding the scope of application of the digestive endoscope.

[0004] This application realizes the movement of the robotic arm along the axial direction of the ring through a driving rope, that is, the moving path mainly rises and falls relative to the top surface of the ring, so that the surgical instrument can only rise and fall reciprocally relative to the ring. However, when the ring moves toward the lesion, the surgical instrument cannot form a positive correspondence with the area to be treated, and the ring needs to be rotated to make the surgical instrument correspond to it, and then the lesion can be treated accordingly. There are certain limitations in use.

[0005] Therefore, it is necessary to provide a digestive endoscopy robot using a robotic arm to solve the above technical problems. Summary of the invention

[0006] The purpose of the present invention is to provide a digestive endoscopy robot using a mechanical arm to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above objectives, a digestive endoscopy robot is designed whose robotic arm can move along the circumferential direction of the ring, so that the surgical instruments can form a positive correspondence with different areas of the lesion.

[0008] Based on the above ideas, the present invention provides the following technical solutions: a digestive endoscopy robot using a robotic arm, comprising a ring and two robotic arms, wherein a pad is rotatably installed on the top of the ring and the two robotic arms are both arranged on the pad, and a first driving component is commonly arranged between the ring and the pad, and the pad can be driven by the first driving component to rotate based on the ring, so that the two robotic arms move along the circumferential direction of the ring.

[0009] As a further solution of the present invention: the first driving assembly includes a gear ring fixedly mounted on the bottom surface of the pad and a first turntable rotatably mounted in the ring, a first gear meshing with the gear ring is fixedly mounted on the end of the first turntable, and a first pull rope for driving the first turntable to rotate is sleeved on the outer surface of the first turntable; the first turntable is driven to rotate by the first pull rope, so that the first gear drives the gear ring to rotate.

[0010] As a further solution of the present invention: a groove for accommodating the gear ring is formed on the top of the collar, and the first gear extends into the groove to form a transmission connection with the gear ring.

[0011] As a further solution of the present invention: one of the robotic arms is fixedly mounted on the top surface of the pad, while the other robotic arm is arranged above the pad, a round rod for placing surgical instruments is rotatably mounted on the top of the robotic arm, a second gear is fixedly mounted on the outer surface of the round rod, and a rack transmission-connected to the second gear is slidably mounted on the inner wall of the robotic arm along the axial direction of the ring.

[0012] As a further solution of the present invention: two lifting components that are movably fitted with the gear ring are arranged inside the ring, the first lifting component is inserted into the fixedly installed mechanical arm and fixedly connected to the rack inside the mechanical arm, and the second lifting component is fixedly connected to the bottom surface of the other mechanical arm.

[0013] As a further solution of the present invention: two second drive assemblies are arranged inside the ring, and the two second drive assemblies are movably fitted with the two lifting assemblies respectively; starting the second drive assembly drives the lifting assembly to move along the axial direction of the ring, thereby driving the rack or the corresponding mechanical arm to move along the axial direction of the ring.

[0014] As a further solution of the present invention: the lifting assembly includes a circular ring mounted on the gear ring, and the upper and lower sides of the circular ring are provided with first annular grooves, and a support rod is slidably engaged inside the upper first annular groove, one of the support rods is fixedly connected to the rack, and the other support rod is fixedly connected to the bottom surface of the robotic arm, and a connecting rod movably engaged with the second driving assembly is slidably engaged inside the lower first annular groove.

[0015] As a further solution of the present invention: the connecting rod and the supporting rod are both configured to slide along the axial direction of the collar, and the first annular groove adopts a dovetail groove design.

[0016] As a further solution of the present invention: the second driving assembly includes a second turntable rotatably installed in the ring, the outer surface of the second turntable is sleeved with a second pull rope for driving the second turntable to rotate, a cam is fixedly installed on the end of the second turntable, and the outer surface of the cam is provided with a second annular groove for the connecting rod to movably engage.

[0017] As a further solution of the present invention: the cam is provided with a high point and a low point, and when the cam rotates, the connecting rod can be driven to move along the axial direction of the collar through the second annular groove.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: through the cooperation among the collar, the robotic arm, the pad and the first drive assembly, the robotic arm and the corresponding surgical instrument can be driven to move along the circumferential direction of the collar. On the premise that the digestive endoscope remains stationary, the surgical instrument can be made to form a positive correspondence with different areas of the lesion. The surgical instrument can complete the operation without adjusting the angle of the collar, which can reduce the space required for the movement of the surgical instrument, facilitate rapid treatment of the lesion, shorten the time required for treatment, and have higher overall practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention is further described below in conjunction with the accompanying drawings and embodiments:

[0020] Figure 1 It is a three-dimensional diagram of the overall structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the structure of the collar and the pad of the present invention;

[0022] Figure 3 It is a schematic diagram of the structure of the first gear and the ring gear of the present invention;

[0023] Figure 4 for Figure 2 A magnified view of the structure at center;

[0024] Figure 5 It is a schematic diagram of the gear ring, pad and support rod structure of the present invention;

[0025] Figure 6 for Figure 5 A magnified view of the structure at B in the middle;

[0026] Figure 7 It is a schematic diagram of the support rod and rack structure of the present invention;

[0027] Figure 8 It is a schematic diagram of the structure of the mechanical arm and the support rod of the present invention;

[0028] Fig. 9 It is a schematic diagram of the structure of the ring and the pad of the present invention;

[0029] Fig.10 for Fig. 9 The intention of enlarging the structure at C in the middle.

[0030] In the figure: 1, collar; 2, mechanical arm; 3, pad; 4, lifting assembly; 5, first drive assembly; 6, second drive assembly; 7, round rod; 8, second gear; 9, rack; 101, groove; 401, support rod; 402, ring; 403, first annular groove; 404, connecting rod; 501, gear ring; 502, first gear; 503, first turntable; 504, first pull rope; 601, second turntable; 602, second pull rope; 603, cam; 604, second annular groove. DETAILED DESCRIPTION

[0031] Embodiment 1:

[0032] See also Figures 1 to 3 An embodiment of the present invention provides a digestive endoscopy robot using a robotic arm, which is mainly used to realize the adjustment of two robotic arms 2 along the circumferential direction of a ring 1. It specifically includes a ring 1 and two robotic arms 2. A pad 3 is rotatably installed on the top of the ring 1 and the two robotic arms 2 are both arranged on the pad 3. A first driving component 5 is commonly arranged between the ring 1 and the pad 3. The pad 3 can be driven by the first driving component 5 to rotate based on the ring 1, thereby making the two robotic arms 2 move along the circumferential direction of the ring 1.

[0033] In the above structure, the two mechanical arms 2 are used to install surgical instruments (not shown in the figure). The surgical instruments in this embodiment include but are not limited to cutting and dissecting knives (such as electric knives, laser knives), suturing instruments, clamping instruments (such as clamping forceps, etc.), pulling instruments (such as suction cups, etc.), etc. The collar 1 is used to realize the connection between the robot and external equipment such as a digestive endoscope. The installation of the collar 1, the two mechanical arms 2 and the surgical instruments are all existing mature technologies and will not be described in detail here.

[0034] Reference Figure 2 and Figure 3 In this embodiment, preferably, the first driving assembly 5 includes a gear ring 501 fixedly mounted on the bottom surface of the backing plate 3 and a first rotating disk 503 rotatably mounted in the collar 1, a first gear 502 meshing with the gear ring 501 is fixedly mounted on the end of the first rotating disk 503, and a first pull rope 504 for driving the first rotating disk 503 to rotate is sleeved on the outer surface of the first rotating disk 503. The first pull rope 504 drives the first rotating disk 503 to rotate, and then the first gear 502 drives the gear ring 501 to rotate, and finally the backing plate 3 rotates based on the collar 1.

[0035] Reference Figure 2In this embodiment, preferably: a groove 101 is opened at the top of the ring 1 for accommodating the gear ring 501, and the first gear 502 also extends into the groove 101 to form a transmission with the gear ring 501.

[0036] When in use, the collar 1 is fixedly connected to the end of the digestive endoscope (not shown in the figure), and an objective lens and a light source are arranged on the end (the end, the objective lens and the light source are all existing mature technologies and are not described in detail here). By installing surgical instruments on the two mechanical arms 2, and pulling the first pull rope 504 to rotate the first turntable 503 and the first gear 502, the backing plate 3 and the two mechanical arms 2 are driven to rotate through the gear ring 501, thereby driving the corresponding surgical instruments to move along the circumferential direction of the collar 1. In this process, the digestive endoscope can remain stationary, and the surgical instruments are moved correspondingly through the corresponding mechanical arms 2.

[0037] In summary, through the cooperation of the pad 3, the gear ring 501, the first pull rope 504 and the first gear 502 and other structures, the robotic arm 2 and the corresponding surgical instruments can be driven to move along the circumferential direction of the ring 1. On the premise that the digestive endoscope remains stationary, the surgical instruments can be made to form a positive correspondence with different areas of the lesion. The surgical instruments can complete the operation without adjusting the angle of the ring 1, which can reduce the space required for the movement of the surgical instruments, facilitate rapid treatment of the lesions, shorten the time required for treatment, and have higher overall practicality.

[0038] Embodiment 2:

[0039] See also Figures 1 to 7 On the basis of the first embodiment, considering the adjustment requirements of the surgical instruments on the robot arm 2, the setting of the robot arm 2 based on the pad 3 is adjusted.

[0040] Correspondingly, one of the mechanical arms 2 is fixedly mounted on the top surface of the pad 3, while the other mechanical arm 2 is arranged above the pad 3 and has no direct connection with the pad 3. A round rod 7 is rotatably mounted on the top of the mechanical arm 2, a second gear 8 is fixedly mounted on the outer surface of the round rod 7, and a rack 9 connected to the second gear 8 is slidably mounted on the inner wall of the mechanical arm 2 along the axial direction of the collar 1; when the rack 9 moves along the axial direction of the collar 1, the second gear 8 and the round rod 7 can be driven to rotate accordingly.

[0041] It should be noted that the round rod 7 is used to install the surgical instrument. When the surgical instrument is assembled, it can rotate synchronously with the round rod 7. Then, when the round rod 7 rotates accordingly, the surgical instrument can also rotate accordingly.

[0042] Furthermore, two lifting assemblies 4 extending to the top of the pad 3 are arranged inside the groove 101, and the first lifting assembly 4 is inserted into the fixedly installed mechanical arm 2 and fixedly connected to the rack 9 inside the mechanical arm 2. The second lifting assembly 4 is fixedly connected to the bottom surface of another mechanical arm 2, and the mechanical arm 2 is connected to the pad 3 through the second lifting assembly 4, that is, the second lifting assembly 4 provides support for the mechanical arm 2.

[0043] Furthermore, two second drive components 6 are provided inside the ring 1, and the two second drive components 6 are movably fitted with the two lifting components 4 respectively. When the second drive components 6 are started, they can drive the lifting components 4 to move along the axial direction of the ring 1, and then drive the rack 9 or the corresponding robot arm 2 to move along the axial direction of the ring 1.

[0044] Reference Figures 4 to 7 In this embodiment, preferably, the lifting assembly 4 includes a ring 402 mounted on the gear ring 501, and the upper and lower sides of the ring 402 are provided with first annular grooves 403, and the upper first annular groove 403 is internally slidably engaged with a support rod 401, one of the support rods 401 is fixedly connected to the rack 9, and the other support rod 401 is fixedly connected to the bottom surface of the robotic arm 2, and the lower first annular groove 403 is internally slidably engaged with a connecting rod 404 that is movably engaged with the second driving assembly 6.

[0045] like Figure 3 As shown, a telescopic rod and a spring can be further installed on the pad 3, and the movable end of the telescopic rod is fixedly connected to the mechanical arm 2 that can move along the axial direction of the collar 1. The telescopic rod and the spring can assist the support rod 401 in limiting the corresponding mechanical arm 2.

[0046] The connecting rod 404 can slide in the axial direction of the collar 1. When the second driving assembly 6 is driven, the connecting rod 404 can be driven to rise and fall accordingly, and then the support rod 401 can be driven to rise and fall accordingly through the ring 402. It can be understood that the sliding engagement between the support rod 401 and the connecting rod 404 and the first annular groove 403 is achieved by means of a dovetail groove or a T-shaped groove, so the two can slide relative to each other without falling off, and can form synchronous lifting.

[0047] Reference Figures 4 to 7In this embodiment, preferably, the second driving assembly 6 includes a second rotating disk 601 rotatably mounted in the collar 1, a second pull rope 602 for driving the second rotating disk 601 to rotate is sleeved on the outer surface of the second rotating disk 601, a cam 603 is fixedly mounted on the end of the second rotating disk 601, a second annular groove 604 is provided on the outer surface of the cam 603 for the connecting rod 404 to be movably engaged, and the second annular groove 604 allows the connecting rod 404 to slide along the outer surface of the cam 603 without falling off. The cam 603 has a high point and a low point, and when the cam 603 rotates, it can drive the connecting rod 404 to rise and fall accordingly.

[0048] In the above structure, the circular rings 402 of the two lifting assemblies 4 are respectively sleeved on the outer side and the inner side of the gear ring 501, and the gear ring 501 can provide a supporting effect for the circular ring 402. The circular ring 402 and the gear ring 501 are in a movable fitting relationship, at which time the support rod 401 can move along the first annular groove 403 above the circular ring 402, and the two will not interfere with each other; the circular ring 402 can also be in a key-shaft assembly relationship with the gear ring 501, that is, the circular ring 402 can rotate synchronously with the gear ring 501, and the circular ring 402 can also slide along the axial direction of the gear ring 501, at which time the support rod 401 can rotate synchronously with the circular ring 402, and the connecting rod 404 can move along the first annular groove 403 below the circular ring 402, and the two will also not interfere with each other.

[0049] When in use, the mechanical arm 2 and the corresponding surgical instruments can be driven to move along the circumferential direction of the collar 1 through the structures such as the pad 3, the gear ring 501, the first pull rope 504 and the first gear 502. Under the premise that the digestive endoscope remains stationary, the surgical instruments can be made to form a positive correspondence with different areas of the lesion. The working process and effect of this part are the same as those in the first embodiment, and will not be repeated here. The difference is that when the second pull rope 602 is pulled, the cam 603 can be driven to rotate through the second turntable 601, and the cam 603 drives the connecting rod 404 to rise and fall accordingly through the second annular groove 604, and the connecting rod 404 drives the support rod 401 to move synchronously through the first annular groove 403 and the circular ring 402. One of the support rods 401 can drive the rack 9 to rise and fall accordingly, and then drive the round rod 7 to rotate through the second gear 8, so that the corresponding surgical instrument is deflected based on the fixed mechanical arm 2; the other support rod 401 can drive another mechanical arm 2 to move, and the moving direction is along the axial direction of the collar 1, thereby adjusting the corresponding position of the surgical instrument on the other mechanical arm 2. The above adjustment is combined with the pad 3 to drive the circumferential rotation of the robot arm 2, so that the surgical instrument can be further quickly aligned with the lesion.

[0050] When the pad 3 and the robot arm 2 are driven to move along the circumferential direction of the ring 1 by the first pull rope 504, the pad 3 drives the two support rods 401 to move along the first annular groove 403 above the ring 402. The pad 3 also drives the gear ring 501 to rotate, and the two rings 402 can remain stationary due to the rotation coordination with the gear ring 501.

[0051] Compared with the first embodiment, through the cooperation of the structures such as the ring 402, the connecting rod 404, the support rod 401 and the cam 603, on the basis that the pad 3 and the mechanical arm 2 can rotate in the circumferential direction, pulling the second pull rope 602 can also drive the support rod 401 to rise and fall correspondingly based on the pad 3, thereby driving the surgical instrument to deflect or the corresponding mechanical arm 2 to move, which can further facilitate the rapid treatment of the lesion by the surgical instrument and improve the overall work efficiency. The overall solution is combined with the setting of the gear ring 501, and the setting of the gear ring 501 also provides a basis for the placement of the two rings 402, and will not interfere with the rotation of the gear ring 501, which is conducive to further shortening the processing time and has stronger applicability.

[0052] Embodiment three:

[0053] See also Figures 1 to 10 On the basis of the second embodiment, further improvements can be made by taking into account the need for the round rod 7 on another robotic arm 2 (a robotic arm 2 that is not fixedly connected to the pad 3) to meet the deflection adjustment of the surgical instrument on the other robotic arm 2.

[0054] Therefore, the outer ring 402 and the gear ring 501 are in a flexible fit relationship, and the rotation of the gear ring 501 will not drive the outer ring 402 to rotate. The outer surface of the outer ring 402 is also fixedly mounted with a second drive assembly 6, and the second rotating disk 601, the second pull rope 602, the cam 603 and the second annular groove 604 included in the second drive assembly 6 on the outer ring 402 are also exactly the same as those in the second embodiment.

[0055] Furthermore, a lifting assembly 4 is also provided between the groove 101 and the corresponding mechanical arm 2, and the lifting assembly 4 includes a support rod 401, a circular ring 402, a first annular groove 403 and a connecting rod 404 which are also identical to those in the second embodiment. The connecting rod 404 can be slidably engaged with the cam 603 on the outer circular ring 402, and at this time, the pulling of the second pull rope 602 can still drive the support rod 401 to move through the connecting rod 404 and the circular ring 402; the difference is that the support rod 401 corresponds to the rack 9 on the other mechanical arm 2 and forms a fixed connection therewith.

[0056] It can be understood that: the cam 603 provided on the outer ring 402 cooperates with the connecting rod 404 and other structures to drive the movement of the rack 9, and the cam 603 provided on the collar 1 cooperates with the connecting rod 404 and other structures to drive the movement of the rack 9, and the working process is exactly the same, the difference is that the cam 603 on the outer ring 402 and the second turntable 601 can rise and fall correspondingly with the outer ring 402. In simple terms, three groups of second drive components 6 and three groups of lifting components 4 are provided in the collar 1, and one group of the second drive components 6 is installed on the outer ring 402.

[0057] When in use, the mechanical arm 2 and the corresponding surgical instrument can be driven to move along the circumferential direction of the collar 1 through the structures such as the pad 3, the gear ring 501 and the first gear 502, so that the surgical instrument can form a positive correspondence with different areas of the lesion; through the structures such as the circular ring 402, the connecting rod 404, the support rod 401 and the cam 603, the surgical instrument can also be driven to deflect or the corresponding mechanical arm 2 can be moved, which can further facilitate the rapid treatment of the lesion by the surgical instrument. The working process and effect of this part are the same as those in the second embodiment, and will not be repeated here. The difference is that when the second pull rope 602 is pulled, the circular ring 402 is driven to rise and fall correspondingly through the second turntable 601, the cam 603, the connecting rod 404 and the first annular groove 403. On the one hand, the circular ring 402 drives the upper first annular groove 403 to drive the support rod 401 to rise and fall accordingly, and the outer circular ring 402 also drives another group of second drive components 6 to rise synchronously, so that another group of lifting components 4 can keep synchronization with the movement of the mechanical arm 2 relative to the pad 3. When the second pull rope 602 corresponding to the second turntable 601 on the outer ring 402 is subsequently rotated, the corresponding support rod 401 can be moved along the moved robotic arm 2, and then the rack 9 in the moved robotic arm 2 can be moved, thereby achieving the deflection of the corresponding ring 402 and the surgical instrument.

[0058] It should be noted that when the outer ring 402 drives the corresponding second drive assembly 6 to rise and fall, the second pull rope 602 of the second drive assembly 6 also moves accordingly, that is, the second pull rope 602 has two movable ends, and both movable ends can be pulled by the staff.

[0059] Compared with the second embodiment, through the cooperation of the structures such as the outer ring 402, the cam 603, the support rod 401 and the connecting rod 404, after the mechanical arm 2 moves along the axial direction of the pad 3, the round rod 7 on the mechanical arm 2 and the corresponding surgical instrument can also be driven to deflect, which can further facilitate the rapid treatment of the lesion by the surgical instrument and relatively improve the work efficiency. The overall scheme is combined with the setting of the ring 402, and the number of groups of the second drive assembly 6 and the lifting assembly 4 is increased, which can realize the deflection requirements of the surgical instruments on the two mechanical arms 2, and will not affect the movement of the mechanical arm 2 along the circumferential direction of the collar 1, nor will it affect the movement of the corresponding mechanical arm 2 along the axial direction of the collar 1, which can meet more requirements in actual use.

Claims

1. A digestive endoscopy robot using a mechanical arm, comprising a collar and two mechanical arms, characterized in that: A pad is rotatably mounted on the top of the collar and the two robotic arms are both arranged on the pad. A first driving assembly is commonly arranged between the collar and the pad. The pad can be driven by the first driving assembly to rotate based on the collar, so that the two robotic arms move along the circumferential direction of the collar.

2. The digestive endoscopy robot using a mechanical arm according to claim 1, characterized in that: The first driving assembly includes a gear ring fixedly mounted on the bottom surface of the pad and a first turntable rotatably mounted in a sleeve ring, a first gear meshing with the gear ring is fixedly mounted on the end of the first turntable, and a first pull rope for driving the first turntable to rotate is sleeved on the outer surface of the first turntable; the first turntable is driven to rotate by the first pull rope, so that the first gear drives the gear ring to rotate.

3. The digestive endoscopy robot using a mechanical arm according to claim 2, characterized in that: A groove for accommodating the gear ring is formed on the top of the sleeve ring, and the first gear extends into the groove to form a transmission connection with the gear ring.

4. The digestive endoscopy robot using a mechanical arm according to claim 2, characterized in that: One of the robotic arms is fixedly mounted on the top surface of the pad, while the other robotic arm is arranged above the pad. A round rod for placing surgical instruments is rotatably mounted on the top of the robotic arm, a second gear is fixedly mounted on the outer surface of the round rod, and a rack connected to the second gear is slidably mounted on the inner wall of the robotic arm along the axial direction of the ring.

5. The digestive endoscopy robot using a mechanical arm according to claim 4, characterized in that: The inside of the collar is provided with two lifting components which are movably fitted with the gear ring. The first lifting component is inserted into the fixedly installed mechanical arm and is fixedly connected to the rack in the mechanical arm. The second lifting component is fixedly connected to the bottom surface of another mechanical arm.

6. The digestive endoscopy robot using a mechanical arm according to claim 5, characterized in that: Two second drive assemblies are arranged inside the collar, and the two second drive assemblies are movably fitted with the two lifting assemblies respectively; starting the second drive assembly drives the lifting assembly to move along the axial direction of the collar, thereby driving the rack or the corresponding mechanical arm to move along the axial direction of the collar.

7. The digestive endoscopy robot using a mechanical arm according to claim 6, characterized in that: The lifting assembly includes a circular ring mounted on a gear ring, with first circular grooves formed on both the upper and lower sides of the circular ring, a support rod slidingly engaged inside the upper first circular groove, one of the support rods being fixedly connected to the rack, and the other support rod being fixedly connected to the bottom surface of the robotic arm, and a connecting rod movably engaged with the second driving assembly slidingly engaged inside the lower first circular groove.

8. The digestive endoscopy robot using a mechanical arm according to claim 7, characterized in that: The connecting rod and the supporting rod are both configured to slide along the axial direction of the collar, and the first annular groove adopts a dovetail groove design.

9. The digestive endoscopy robot using a mechanical arm according to claim 7, characterized in that: The second driving assembly includes a second turntable rotatably installed in a ring, a second pull rope for driving the second turntable to rotate is sleeved on the outer surface of the second turntable, a cam is fixedly installed on the end of the second turntable, and a second annular groove is opened on the outer surface of the cam for the connecting rod to movably engage.

10. The digestive endoscopy robot using a mechanical arm according to claim 9, characterized in that: The cam is provided with a high point and a low point. When the cam rotates, the connecting rod can be driven to move along the axial direction of the collar through the second annular groove.

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