A robot system for ERCP and its surgical treatment

Abstract

The present invention relates to a robot system for ERCP and its surgical treatment, including a duodenoscope manipulation robot, an instrument manipulation robot, a doctor's console, an operating table, an X-ray machine, and an endoscopic workstation; the duodenoscope manipulation robot includes a duodenoscope delivery robot and a duodenoscope control robot; the duodenoscope delivery robot includes an endoscope delivery vehicle body and an endoscope delivery execution system, and the duodenoscope control robot includes an endoscope control vehicle body and a duodenoscope control execution system; the instrument manipulation robot includes an instrument manipulation vehicle body and an instrument execution system, and the instrument execution system includes a guide wire operation unit, an instrument operation unit, and an auxiliary unit, and the instrument output end of the instrument operation unit is connected to the docking port of the guide wire operation unit. This system can complete ERCP surgery more quickly and stably, reduce the participation of medical staff, release doctor resources, and avoid radiation damage to ERCP operators.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a robot system for ERCP and its surgical treatment. Background Art

[0002] The ERCP (abbreviation for Endoscopic Retrograde Cholangiopancreatography, that is, endoscopic retrograde cholangiopancreatography) surgery is one of the main means for minimally invasive treatment of biliary and pancreatic diseases. ERCP can be used for the diagnosis and treatment of diseases such as gallstones, cholangitis, biliary tract tumors, pancreatitis, pancreatic tumors, etc.

[0003] The operation method of ERCP surgery is to insert a duodenoscope into the descending part of the duodenum of the patient, find the papillary opening positions of the bile duct and pancreatic duct, insert a contrast catheter or papillotome into the bile duct or pancreatic duct through the guidance of a guide wire in the biopsy channel, then inject a contrast agent, and observe the structural morphology of the pancreaticobiliary duct or take samples from the pancreaticobiliary duct for examination under X-ray or by taking an X-ray film, make a diagnosis, and perform corresponding surgeries using corresponding instruments. Compared with traditional surgical operations, ERCP surgery has the advantages of less trauma, shorter operation time, fewer complications, higher safety, etc., reducing the pain brought to patients, rapid postoperative recovery, and high cost performance.

[0004] However, since the advent of ERCP angiography and surgical treatment, this technology needs to be manually operated by doctors and their assistants, and the surgical process requires the cooperation of multiple people for endoscopes, guide wires, and various instruments. The surgical operation is complex and difficult, which has a great impact on the operation accuracy and stability. In addition, ERCP surgery needs to be completed with the assistance of X-rays. During the operation, the operator needs to wear heavy lead protective clothing, which seriously consumes the operator's physical strength and affects the operator's joints and bones, and some parts such as the arms, head, eyes, lower limbs, etc. are difficult to protect. Long-term operators of ERCP surgery are prone to radiation and gravity injuries to multiple systems. Summary of the Invention

[0005] The purpose of the present invention is to provide a robot system for ERCP and its surgical treatment. This system can complete the surgery more quickly and stably, reduce the participation of medical staff, release doctor resources, and completely avoid radiation injuries to medical staff.

[0006] To achieve the above purpose, a robot system for ERCP and its surgical treatment provided by the present invention includes a duodenoscope manipulation robot, an instrument manipulation robot, a doctor console, an operating table, an X-ray machine, and an endoscopic workstation;

[0007] The X-ray machine is used simultaneously with the operating table. The X-ray machine is used to scan the patient on the operating table to detect the lesion location and the positions of the surgical instruments and the duodenoscope. The endoscopic workstation is connected to the endoscope;

[0008] The duodenoscope manipulation robot includes a duodenoscope delivery robot and a duodenoscope control robot; the duodenoscope delivery robot includes an endoscope delivery vehicle body and an endoscope delivery execution system, and the endoscope delivery execution system is used to drive the endoscope to move forward and backward; the duodenoscope control robot includes an endoscope control vehicle body and a duodenoscope control execution system, and the duodenoscope control execution system is used to carry the operation part of the endoscope and control the endoscope to execute actions;

[0009] The instrument manipulation robot includes an instrument manipulation vehicle body and an instrument execution system; the instrument execution system includes a guide wire operation unit, at least two groups of instrument operation units, and an auxiliary unit; the guide wire operation unit is used to store and convey the guide wire, and its guide wire output end is docked with the instrument channel of the endoscope; the instrument operation unit is arranged on the guide wire operation unit and is used to store and convey the instrument body, and its instrument output end is connected to the docking port of the guide wire operation unit; the auxiliary unit is used to switch different instrument operation units to be docked with the guide wire operation unit.

[0010] Optionally, both the endoscope delivery vehicle body and the endoscope control vehicle body include a vehicle body chassis, an electric control box, a sliding guide rail, and a robotic arm; a moving wheel is arranged at the bottom of the vehicle body chassis, and a housing is arranged on the upper part of the vehicle body chassis; a vertical sliding guide rail is arranged inside the housing, the robotic arm is arranged on the slider of the sliding guide rail, and a chute for the up-and-down lifting of the robotic arm is arranged on the front side of the housing; the electric control box is arranged at the rear side of the sliding guide rail, and it drives the robotic arm to lift through a guide rail motor.

[0011] Optionally, the endoscope delivery execution system includes a delivery motor, delivery wheels, and a support member; the delivery wheels include a driving wheel and a driven wheel, and a delivery channel is formed between the driving wheel and the driven wheel; the driving wheel is connected to the delivery motor and is integrally fixed to the support member; the driven wheel is slidably installed on the support member, and a spring is arranged at the rear end of the driven wheel.

[0012] Optionally, the endoscope delivery execution system is provided with a housing, and the housing is provided with a notch corresponding to the delivery channel formed between the driving wheel and the driven wheel, and the notch is used to directly press the endoscope into the delivery channel formed between the driving wheel and the driven wheel during use.

[0013] Optionally, a multi-dimensional force sensor is arranged at the connection between the endoscope delivery execution system and the robotic arm.

[0014] Optionally, the duodenoscope control execution system includes a housing, a support, an endoscope locking mechanism, a bending control mechanism, a water-vapor control mechanism, and a forceps elevator control mechanism; the endoscope locking mechanism is used to fix the operating part of the endoscope, the bending control mechanism includes a bending motor and a hollow bending pulley, the bending motor is arranged on the support, the bending motor is connected to the bending pulley, and is used to drive the rotation of the endoscope pulley, so as to control the bending of the front end of the endoscope; the water-vapor control mechanism includes a plurality of water-vapor electric cylinders, each of the water-vapor electric cylinders is arranged on the support through a fixing member, and controls the water-vapor switch of the endoscope through the push of the electric cylinder; the forceps elevator control mechanism includes a forceps elevator electric cylinder, which controls the movement of the endoscope forceps elevator button through the push of the forceps elevator electric cylinder.

[0015] Optionally, the endoscope locking mechanism is provided with a locking hoop for locking and fixing the endoscope operating part.

[0016] Optionally, the guide wire operation unit includes a guide wire robotic arm, a guide wire box, a surgical guide wire, and a guide wire conveying mechanism; the guide wire robotic arm is used to adjust the outlet position of the surgical guide wire, and is arranged on the instrument control vehicle body; the guide wire box and the guide wire conveying mechanism are arranged at the upper end of the guide wire robotic arm, and the guide wire conveying mechanism is located in front of the guide wire box; the surgical guide wire is arranged in the guide wire box, and a docking port for docking surgical instruments is provided at the rear end of the guide wire box; the guide wire conveying mechanism is provided with a housing, a guide wire conveying wheel, a conveying motor, and a guide wire outlet, the guide wire conveying wheel is arranged on the conveying shaft, and the conveying motor is fixed at one end of the conveying shaft.

[0017] Optionally, the guide wire conveying wheel includes an internal hub and an outer wheel sleeve, the outer wheel sleeve is an inflatable structure, an air pump is provided at the other end of the conveying shaft, and an air passage communicating the air pump and the outer wheel sleeve is provided in the conveying shaft to inflate or deflate the outer wheel sleeve.

[0018] Optionally, the guide wire operation unit further includes a guide wire guiding device; the guide wire guiding device is arranged at the front end of the guide wire conveying mechanism, the guide wire guiding device is provided with a guiding tube, one end of the guiding tube is used for threading the guide wire, and the other end is connected to the instrument channel port of the endoscope to guide the guide wire into the instrument channel of the endoscope.

[0019] Optionally, the surgical guide wire is coiled in a spiral cone shape in the guide wire box, the docking port is located at the rear side of the guide wire box near the bottom and can tangentially lead out the surgical guide wire, a conical wire outlet sleeve is provided at the guide wire outlet, and a guide sleeve for threading the guide wire is provided at one end of the guiding tube.

[0020] Optionally, the docking port is located in the lower left corner area or the lower right corner area at the rear side of the guide wire box.

[0021] Optionally, the instrument operation unit includes an instrument robotic arm and a surgical instrument; the instrument robotic arm is used to adjust the position of the surgical instrument, and is arranged on the instrument control vehicle body; the surgical instrument is arranged at the top of the robotic arm, and the surgical instrument includes an instrument box, an instrument rotary conveying mechanism and an instrument operation mechanism, and the instrument body is arranged in the instrument box; the instrument rotary conveying mechanism is arranged at the front end of the instrument body and includes a motor, a transmission gear and a rotary conveying guide tube; the rotary conveying guide tube is rotatably arranged in the instrument box through a bearing, one end of which is used to penetrate into the instrument body, and the other end is docked with the docking port of the guide wire operation unit; a threaded groove is arranged in the rotary conveying guide tube, and it can make the instrument body perform rotational and conveying movements simultaneously through the friction between the threaded groove and the instrument body.

[0022] Optionally, the transmission gear includes a large gear and a small gear. The rotary conveying guide tube is coaxially fixed with the large gear and passes through the large gear. The small gear is connected to the motor, and the small gear meshes with the large gear for transmission.

[0023] Optionally, the instrument operation mechanism includes a driving device and an execution device; the execution device is arranged at the rear end of the instrument body, and the driving device is arranged at the rear end of the execution device.

[0024] Optionally, the instrument body is a contrast catheter, the execution device is a balloon containing contrast agent inside, and the driving device is a push-pull electric cylinder for squeezing the balloon;

[0025] Alternatively, the instrument body is a cutting knife, a stone extraction basket or a biopsy forceps, the execution device is an operating handle, and the driving device is a push-pull electric cylinder for driving the operating handle to move back and forth, or the driving device is a reduction motor for driving the operating handle to rotate.

[0026] Alternatively, the instrument body is a surgical stent, the execution device is the handle of the surgical stent, and the driving device is a push-pull electric cylinder for driving the handle.

[0027] Optionally, a lubricating support is further arranged at the rear end of the instrument body so that the rear end of the instrument body always remains in a set position during rotation.

[0028] Optionally, the main body part of the instrument box is cylindrical, and its bottom is provided with a fitting part for connecting the instrument robotic arm; the instrument body is coiled in a spiral cone shape in the instrument box. The front side of the main body part of the instrument box has a first additional box body for accommodating the instrument rotary conveying mechanism, and the rear side of the main body part of the instrument box has a second additional box body for accommodating the instrument operation mechanism. The second additional box body is biased to one side relative to the main body part of the instrument box and is close to the bottom of the instrument box.

[0029] Optionally, the instrument control vehicle body includes a vehicle body chassis, an electric control box, a lifting column, a vehicle body panel and a housing; moving wheels are arranged at the lower part of the vehicle body chassis; the lifting column and the electric control box are arranged on the vehicle body chassis; the vehicle body panel is arranged at the upper end of the lifting column, and control buttons are arranged on the vehicle body panel.

[0030] Optionally, the auxiliary unit includes a multi-degree-of-freedom robotic arm and a manipulator. The manipulator is arranged at the end of the multi-degree-of-freedom robotic arm. The manipulator can set the selected instrument operation unit on the instrument robotic arm to be docked with the guide wire operation unit, and can remove the used instrument operation unit from the instrument robotic arm.

[0031] Optionally, the doctor console includes a vehicle body, a foot switch, a handle for controlling the endoscopic robotic arm, a force sensing handle, a key switch and a display device; the foot switch is arranged at the bottom of the vehicle body and is used for controlling the endoscopic image acquisition and controlling the surgical instruments; the handle for controlling the endoscopic robotic arm includes handles for controlling the delivery, rotation of the endoscope and the elevator, and is used for controlling the movement of the endoscope; the force sensing handle includes a guide wire force sensing handle and an instrument force sensing handle, which are used for controlling the guide wire and the instrument body. Pressure sensors are arranged at the front ends of the guide wire and the instrument body, and the sensing signals of the pressure sensors are amplified through a circuit and fed back to the force sensing handle.

[0032] Optionally, the display device includes an endoscopic image display device and a status display device. The image display device is used for displaying the endoscopic image, and the status display device is used for displaying the usage status of each component of the whole machine.

[0033] Optionally, the vehicle body includes a vehicle frame, a distal lifting platform and a proximal lifting platform; moving wheels are arranged at the bottom of the vehicle frame; the distal lifting platform is arranged at the distal end of the vehicle body, on which the image display device is arranged, and a first lifting column is arranged inside it, and the guide wire force sensing handle and the instrument force sensing handle are arranged on its side; the proximal lifting platform is arranged on the side close to the operator, on which the endoscopic handle and the button switch are arranged, and second lifting columns are arranged on both sides of it.

[0034] The surgical system of the present invention can complete the distal control of the endoscope, the distal control of the surgical instruments, and can complete the automatic replacement of the surgical instruments, enabling a doctor to complete the whole operation alone, reducing the risks brought by multiple people participating in the operation, reducing the operation difficulty, controlling the surgical instruments more precisely, reducing the operation time, and reducing the pain brought to the patient.

[0035] Moreover, since the duodenoscope manipulation robot, the instrument manipulation robot, the operating table, the X-ray machine, and the endoscope workstation are all set in the operating room, and the doctor's console is set outside the operating room, the doctor can complete the entire surgical operation through the console, thus isolating the doctor's console from the operating room and protecting the doctor from radiation damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 FIG. 1 is a schematic diagram of the overall structure of a robot system for ERCP and its surgical treatment provided by an embodiment of the present invention;

[0037] Figure 2 FIG. Figure 1 2 is a schematic diagram of the overall structure of the ERCP and its surgical treatment robot system shown in another perspective;

[0038] Figure 3 FIG. Figure 1 3 is a schematic diagram of the structure of the duodenoscope manipulation robot shown in FIG. 2;

[0039] Figure 4 FIG. Figure 3 4 is a schematic diagram of the structure of the duodenoscope transport robot shown in FIG. 3;

[0040] Figure 5 FIG. Figure 4 5 is a schematic diagram of the disassembled structure of the endoscope transport vehicle body shown in FIG. 4;

[0041] Figure 6 FIG. Figure 4 6 is a schematic diagram of the disassembled structure of the endoscope transport execution system shown in FIG. 5;

[0042] Figure 7 FIG. 7 is a schematic diagram of the assembled structure of the transport wheel and the six-axis force sensor of the endoscope transport execution system;

[0043] Figure 8 FIG. Figure 3 8 is a schematic diagram of the structure of the duodenoscope control robot shown in FIG. 7;

[0044] Figure 9 FIG. Figure 8 9 is a schematic diagram of the structure of the cooperation between the duodenoscope control execution system and the endoscope shown in FIG. 8;

[0045] Figure 10 FIG. 10 is a schematic diagram of the structure of the duodenoscope control execution system;

[0046] Figure 11 FIG. 11 is a schematic diagram of the partial disassembled structure of the duodenoscope control execution system;

[0047] Figure 12 FIG. Figure 1 12 is a schematic diagram of the structure of the endoscope workstation shown in FIG. 11;

[0048] Figure 13 is Figure 1 a schematic structural view of the operating table shown in

[0049] Figure 14 is Figure 1 a schematic structural view of the operating table shown in

[0050] Figure 15 a schematic structural view of the cooperation between the operating table and the X-ray machine;

[0051] Figure 16 is Figure 1 a schematic structural view of the instrument control robot shown in

[0052] Figure 17 is Figure 16 a schematic structural view of the guide wire operation unit, two groups of instrument operation units and the auxiliary unit shown in

[0053] Figure 18 a schematic disassembled structural view of the instrument control vehicle body;

[0054] Figure 19 a schematic structural view of the guide wire operation unit;

[0055] Figure 20 a schematic disassembled structural view of the guide wire operation unit;

[0056] Figure 21 a schematic structural view of the guide wire conveying mechanism of the guide wire operation unit;

[0057] Figure 22 a schematic structural view of the guide wire coiled in the guide wire box of the guide wire operation unit;

[0058] Figure 23 a schematic structural view of the guide wire box with a docking port at the rear end;

[0059] Figure 24 a schematic structural view of the instrument operation unit;

[0060] Figure 25 a schematic disassembled structural view of the instrument operation unit;

[0061] Figure 26 a sectional view of the instrument operation unit;

[0062] Figure 27 a schematic structural view of the motor, pinion, gear and the driving device and the executing device of the instrument of the instrument operation unit;

[0063] Figure 28 a schematic structural view of the doctor's console;

[0064] Figure 29 It is a schematic structural diagram of the doctor's console from another perspective.

[0065] In the figure:

[0066] 10 - Operating table; 11 - Operating table chassis; 12 - Operating table surface; 13 - Lifting mechanism; 131 - First lifting column; 14 - Sliding mechanism; 141 - Sliding electric cylinder; 142 - Slide rail; 15 - Button; 16 - First moving wheel; 20 - X-ray machine; 30 - Duodenoscope delivery robot; 31 - Endoscope delivery vehicle body; 311 - Vehicle body chassis; 312 - First electric control box; 313 - Sliding guide rail; 314 - First robotic arm; 315 - Second moving wheel; 316 - First outer shell; 317 - Guide rail motor; 318 - Chute; 32 - Endoscope delivery execution system; 321 - First delivery motor; 322 - Driving wheel; 323 - Driven wheel; 324 - First support member; 325 - Second outer shell; 3251 - Notch; 326 - U-shaped member; 327 - Spring; 328 - Six-axis force sensor; 40 - Duodenoscope control robot; 41 - Endoscope control vehicle body; 42 - Duodenoscope control execution system; 421 - Third outer shell; 422 - Second support member; 423 - Bending adjustment motor; 424 - Bending adjustment pulley; 425 - Water-vapor cylinder; 426 - Forceps lifting cylinder; 427 - Locking clamp; 50 - Instrument manipulation robot; 51 - Instrument manipulation vehicle body; 511 - Chassis; 512 - Second electric control box; 513 - Second lifting column; 514 - Vehicle body panel; 515 - Third moving wheel; 516 - Shell; 52 - Instrument execution system; 521 - Guide wire operation unit; 5211 - Guide wire robotic arm; 5212 - Guide wire box; 5213 - Docking port; 5214 - Guide wire delivery wheel; 5215 - Second delivery motor; 5216 - Air pump; 5217 - Delivery shaft; 5218 - Fourth outer shell; 5219 - Conical wire outlet sleeve; 52110 - Guide tube; 52111 - Guide sleeve; 522 - Instrument operation unit; 5221 - Second robotic arm; 5222 - Instrument box; 5223 - Motor; 5224 - Large gear; 5225 - Rotary delivery guide tube; 5226 - Small gear; 5227 - Driving device; 5228 - Execution device; 5229 - Lubrication support member; 52221 - Fitting part; 52222 - First additional box body; 52223 - Second additional box body; 523 - Auxiliary unit; 5231 - Multi-degree-of-freedom robotic arm; 5232 - Manipulator; 60 - Endoscope workstation; 61 - Flexible endoscope workstation; 62 - High-frequency electric workstation; 63 - Image display device; 70 - Doctor's console; 71 - Frame; 72 - Foot switch; 731 - Power-on button; 732 - Emergency stop button; 74 - Endoscope delivery handle; 75 - Endoscope rotation handle; 76 - Endoscope forceps lifting handle; 77 - Guide wire force perception handle; 78 - Instrument force perception handle; 79 - Endoscope image display device; 710 - Status display device; 711 - Distal lifting platform; 712 - Proximal lifting platform; 713 - Fourth moving wheel; 714 - First lifting column; 715 - Second lifting column; 100 - Endoscope; 200 - Guide wire; 300 - Instrument body. Detailed implementation manners

[0067] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0068] In this article, terms such as "upper, lower, inner, outer" are established based on the positional relationship shown in the accompanying drawings. Depending on the different accompanying drawings, the corresponding positional relationship may also change accordingly. Therefore, it cannot be understood as an absolute limitation of the protection scope; moreover, relational terms such as "first" and "second" are only used to distinguish one component with the same name from another, and do not necessarily require or imply any such actual relationship or order between these components.

[0069] Please refer to Figure 1 、 Figure 2 , Figure 1 which is a schematic diagram of the overall structure of a robot system for ERCP and its surgical treatment provided by an embodiment of the present invention; Figure 2 is Figure 1 a schematic diagram of the overall structure of the robot system for ERCP and its surgical treatment shown in another perspective.

[0070] As shown in the figure, in a specific embodiment, the robot system for ERCP and its surgical treatment provided by the present invention mainly consists of an operating table 10, an X-ray machine 20, a duodenoscope manipulation robot, an instrument manipulation robot 50, an endoscopic workstation 60, a doctor's console 70, etc. Unless otherwise specified, the "endoscope" in the following text refers to the "duodenoscope".

[0071] The duodenoscope manipulation robot is further divided into a duodenoscope delivery robot 30 and a duodenoscope control robot 40; among them, the duodenoscope delivery robot 30 consists of an endoscope delivery vehicle body 31 and an endoscope delivery execution system 32, and the endoscope delivery execution system 32 can drive the endoscope 100 to move forward and backward; the duodenoscope control robot 40 consists of an endoscope control vehicle body 41 and a duodenoscope control execution system 42, and the duodenoscope control execution system 42 is used to carry the operation part of the endoscope 100 and control the front end of the endoscope 100 to perform intraoperative actions such as bending and water-vapor on / off.

[0072] The instrument manipulation robot 50 is composed of an instrument manipulation vehicle body 51 and an instrument execution system 52. The instrument execution system 52 is provided with a guide wire operation unit 521, multiple groups of instrument operation units 522 (two groups in this embodiment), and an auxiliary unit 523. Among them, the instrument operation unit 522 is arranged at the rear end of the guide wire operation unit 521. The guide wire operation unit 521 stores a guide wire 200 for surgery, and each instrument operation unit 522 stores a different instrument body 300, which can be automatically replaced through the auxiliary unit 523.

[0073] During use, the operating table 10, the X-ray machine 20, the duodenoscope delivery robot 30, the duodenoscope control robot 40, the instrument manipulation robot 50, and the endoscopic workstation 60 are all arranged in the operating room, and the doctor's console 70 is arranged outside the operating room. The doctor's console 70 is connected to the equipment in the operating room through cables or networks, and the doctor can complete the entire surgical operation through the console.

[0074] Please refer to Figures 3 to 7 , Figure 3 for Figure 1 the structural schematic diagram of the duodenoscope manipulation robot shown in Figure 4 for Figure 3 the structural schematic diagram of the duodenoscope delivery robot shown in Figure 5 for Figure 4 the disassembled structural schematic diagram of the endoscopic delivery vehicle body shown in Figure 6 for Figure 4 the disassembled structural schematic diagram of the endoscopic delivery execution system shown in Figure 7 is the assembled structural schematic diagram of the delivery wheel and the six-axis force sensor of the endoscopic delivery execution system.

[0075] As shown in the figure, the structures of the endoscopic delivery vehicle body 31 and the endoscopic control vehicle body 41 are basically the same. Taking the endoscopic delivery vehicle body 31 as an example, it is provided with a vehicle body chassis 311, a first electric control box 312, a sliding guide rail 313, and a first robotic arm 314. A second moving wheel 315 is arranged at the bottom of the vehicle body chassis 311. A first outer shell 316 is arranged outside the vehicle body. The vertical sliding guide rail 313 is arranged at the front end of the vehicle body chassis 311 through a fixing member. The first electric control box 312 is arranged at the rear end of the vehicle body chassis 311. The first robotic arm 314 is arranged on the slider of the sliding guide rail 313, and the lifting of the first robotic arm 314 can be controlled by a guide rail motor 317. A chute 318 for the up and down lifting of the first robotic arm 314 is arranged on the front side of the first outer shell 316.

[0076] The endoscopic delivery execution system 32 is mainly composed of components such as a first delivery motor 321, delivery wheels, a first support member 324, a second housing 325, etc.; among them, the delivery wheels are divided into a driving wheel 322 and a driven wheel 323; the driving wheel 322 is connected to the first delivery motor 321 and is integrally fixed on the first support member 324; the driven wheel 323 is slidably mounted on the first support member 324 through a U-shaped member 326, and a spring 327 is provided at the rear end of the driven wheel 323, so that the entire execution system can adapt to endoscopes 100 of different diameters.

[0077] A six-axis force sensor 328 is provided at the connection between the endoscopic delivery execution system 32 and the robotic arm. Through the six-axis force sensor 328, the entire execution system can be freely dragged to any position that the robotic arm can reach, so that the execution system can be aligned with the cavity to be intervened.

[0078] The second housing 325 is provided with a notch 3251 corresponding to the delivery channel formed between the driving wheel 322 and the driven wheel 323. When the endoscopic delivery execution system 32 is in use, the endoscope 100 can be directly pressed into the delivery channel formed by the driving wheel 322 and the driven wheel 323 through the notch 3251, and then conveyed by the first delivery motor 321.

[0079] Of course, the endoscope 100 can also be inserted into the delivery channel formed by the driving wheel 322 and the driven wheel 323 along the axial direction.

[0080] Please continue to refer to Figures 8 to 11 , Figure 8 For Figure 3 the schematic structural diagram of the duodenoscope control robot shown in Figure 9 For Figure 8 the schematic structural diagram of the cooperation between the duodenoscope control execution system and the endoscope shown in Figure 10 is the schematic structural diagram of the duodenoscope control execution system; Figure 11 is the schematic diagram of the partial disassembled structure of the duodenoscope control execution system.

[0081] As shown in the figure, the duodenoscope control execution system 42 is mainly composed of a third housing 421, a second support member 422, a bending control mechanism, a water-vapor control mechanism, a forceps lifter control mechanism, an endoscope locking mechanism, etc.

[0082] The bending control mechanism is provided with a bending motor 423 and a hollow bending dial 424. The bending motor 423 is arranged on the second support member 422. The bending motor 423 is connected to the bending dial 424 and is used to drive the rotation of the dial of the endoscope 100, so as to control the bending of the front end of the endoscope 100.

[0083] The water-vapor control mechanism is provided with three water-vapor electric cylinders 425. Each water-vapor electric cylinder 425 is arranged on the second support 422 through a fixing member, and the three water-vapor switches of the endoscope 100 are controlled by the push of the electric cylinder.

[0084] The forceps elevator control mechanism is provided with a forceps elevator electric cylinder 426, and the movement of the forceps elevator button of the endoscope 100 is controlled by the push of the forceps elevator electric cylinder 426.

[0085] The endoscope locking mechanism is provided with a locking hoop 427, which can lock and fix the operation part of the endoscope 100.

[0086] The above components of the duodenoscope control and execution system 42 are arranged in the third housing 421. The moving parts of the water-vapor electric cylinder 425 and the forceps elevator electric cylinder 426 are exposed outward so as to be able to contact the operation buttons of the endoscope 100. The entire duodenoscope control and execution system 42 can be fixed on the robotic arm of the endoscope control vehicle body 41 through the second support 422.

[0087] Please then refer to Figures 12 to 15 , Figure 12 for Figure 1 the structural schematic diagram of the endoscope workstation shown in Figure 13 for Figure 1 the structural schematic diagram of the operating table shown in Figure 14 for Figure 1 the structural schematic diagram of the operating table from another perspective shown in Figure 15 for the structural schematic diagram of the cooperation between the operating table and the X-ray machine.

[0088] As shown in the figure, the endoscope workstation 60 is provided with a flexible endoscope workstation 61 and a high-frequency electric workstation 62. The flexible endoscope workstation 61 is provided with a flexible endoscope image processor, a flexible endoscope cold light source, a water pump, a CO2 gas pump, etc. The endoscope workstation is also provided with an image display device 63, which can be connected to the doctor's console end to facilitate the doctor to obtain images.

[0089] The operating table 10 mainly consists of an operating table chassis 11, an operating table surface 12, a lifting mechanism 13, a sliding mechanism 14, etc.; the lifting mechanism 13 is provided with a first lifting column 131, the first lifting column 131 is arranged on the operating table chassis 11, and a button 15 is arranged on the side of the operating table. The lifting of the operating table can be controlled through the button 15; the sliding mechanism 14 is provided with a sliding electric cylinder 141 and a slide rail 142. The sliding electric cylinder 141 is horizontally arranged at the bottom of the operating table surface 12, and the operating table surface 12 is arranged on the top end of the first lifting column 131 through the slide rail 142. The ejecting shaft of the sliding electric cylinder 141 is fixed to the top end of the first lifting column 131. Through the movement of the sliding electric cylinder 141, the sliding of the operating table surface 12 can be driven, so as to adjust the examination position; a first moving wheel 16 is also arranged under the operating table chassis 11; the button 15 is divided into a lifting mechanism button, a sliding mechanism button, an emergency stop button, etc.

[0090] The X-ray machine 20 is arranged on one side of the operating table 10. The X-ray machine 20 is used to scan the patient on the operating table 10 in order to detect the patient's disease and lesion location.

[0091] Please refer to Figure 16 、 Figure 17 、 Figure 18 , Figure 16 is Figure 1 the schematic structural diagram of the instrument control robot shown in Figure 17 is Figure 16 the schematic structural diagram of the guide wire operation unit, two groups of instrument operation units and the auxiliary unit shown in Figure 18 is the disassembled structural diagram of the instrument control vehicle body.

[0092] As shown in the figure, the instrument control robot 50 is composed of an instrument control vehicle body 51 and an instrument execution system 52; the instrument execution system 52 is further composed of a guide wire operation unit 521, at least two groups of instrument operation units 522 and an auxiliary unit 523.

[0093] The guide wire operation unit 521 is used to store and convey the guide wire 200, and its guide wire output end is docked with the instrument channel of the endoscope 100; the instrument operation unit 522 is arranged at the rear side of the guide wire operation unit 521 and is used to store and convey the instrument body 300, and its instrument output end is connected to the docking port of the guide wire operation unit 521.

[0094] The auxiliary unit 523 is mainly composed of a multi-degree-of-freedom robotic arm 5231 and a manipulator 5232. The manipulator 5232 is arranged at the end of the multi-degree-of-freedom robotic arm 5231. The auxiliary unit 523 can complete the automatic replacement of the instrument operation unit 522 through control, so as to dock different instrument operation units 522 with the guide wire operation unit 521 according to the surgical needs.

[0095] The instrument control vehicle body 51 is mainly composed of a chassis 511, a second electronic control box 512, a second lifting column 513, a vehicle body panel 514, etc.; a third moving wheel 515 is arranged under the chassis 511; the second electronic control box 512 is arranged on the chassis 511, and the second electronic control box 512 is used to control the electrical components of the whole machine; the second lifting column 513 is also arranged on the chassis 511, the vehicle body panel 514 is arranged at the upper end of the second lifting column 513, and the height of the vehicle body table can be controlled through the second lifting column 513, so as to adjust to a better surgical distance; buttons for controlling the on / off switch of the whole machine and buttons for controlling the lifting are arranged on the vehicle body panel 514, and a housing 516 is arranged outside the vehicle body.

[0096] Please refer to Figures 19 to 23 , Figure 19 which is a schematic structural diagram of the guide wire operation unit; Figure 20 which is a disassembled structural diagram of the guide wire operation unit; Figure 21 which is a schematic structural diagram of the guide wire conveying mechanism of the guide wire operation unit; Figure 22 which is a schematic structural diagram of the guide wire coiled in the guide wire box of the guide wire operation unit; Figure 23 which is a schematic structural diagram of the guide wire box having a docking port at the rear end.

[0097] As shown in the figure, the guide wire operation unit 521 is mainly composed of a guide wire manipulator 5211, a guide wire conveying mechanism, a guide wire guiding device, etc.

[0098] The guide wire manipulator 5211 is arranged on the vehicle body panel 514, the guide wire 200 and the guide wire conveying mechanism are arranged at the upper end of the guide wire manipulator 5211, and the guide wire conveying mechanism is arranged at the front end of the surgical guide wire 200. The outlet position of the surgical guide wire can be adjusted through the guide wire manipulator 5211.

[0099] The surgical guide wire 200 is arranged in the guide wire box 5212, coiled in a spiral cone shape. The rear end of the guide wire box 5212 is provided with a docking port 5213, which can be docked with the instrument body 300. The docking port 5213 is located at the rear side of the guide wire box 5212 near the bottom and can tangentially lead out the guide wire 200. In this embodiment, the docking port 5213 is located in the lower right corner area at the rear side of the guide wire box 5212. If the coiling direction of the guide wire 200 is opposite, the docking port 5213 is located in the lower left corner area at the rear side of the guide wire box 5212. A pressure sensor is also arranged at the front end of the guide wire 200, which can feedback the pressure to the control end through an electrical signal.

[0100] The guide wire conveying mechanism is arranged at the front end of the guide wire box 5212. The guide wire conveying mechanism mainly consists of a guide wire conveying wheel 5124, a second conveying motor 5215, an air pump 5216, etc. The guide wire conveying wheel 5214 is arranged on the conveying shaft 5217. The second conveying motor 5215 is fixed at one end of the conveying shaft 5217 to provide power for the guide wire conveying wheel 5214. The guide wire conveying wheel 5214 has an inner hub and an outer sleeve. The outer sleeve is an inflatable structure. The air pump 5216 is fixed at the other end of the conveying shaft 5217. Through the air duct in the conveying shaft 5217, the outer sleeve can be inflated and deflated. By inflating and deflating, the clamping force and conveying force applied to the guide wire 200 and the instrument body 300 can be adjusted.

[0101] A fourth housing 5218 and a guide wire outlet are arranged outside the guide wire conveying mechanism. A tapered wire outlet sleeve 5219 is provided at the guide wire outlet. The guide wire guiding device is arranged at the front end of the guide wire conveying mechanism. A guiding tube 52110 is arranged on the guide wire guiding device. A guiding sleeve 52111 is provided at one end of the guiding tube 52110 for threading the guide wire 200. The other end is connected to the instrument channel opening of the endoscope 100. Through the guiding device, the guide wire 200 can be guided into the instrument channel of the endoscope 100.

[0102] Please refer to Figures 24 to 27 , Figure 24 for the structural schematic diagram of the instrument operation unit; Figure 25 for the disassembled structural schematic diagram of the instrument operation unit; Figure 26 for the sectional view of the instrument operation unit; Figure 27 for the structural schematic diagram of the motor, small gear, large gear, and the driving device and execution device of the instrument of the instrument operation unit.

[0103] As shown in the figure, the instrument operation unit 522 mainly consists of a second robotic arm 5221 and a surgical instrument. The second robotic arm 5221 is arranged on the vehicle body panel 514. The surgical instrument is arranged at the top of the second robotic arm 5221. The position of the surgical instrument can be adjusted through the second robotic arm 5221.

[0104] The surgical instrument mainly consists of an instrument box 5222, an instrument rotation and conveying mechanism, an instrument operation mechanism, etc. The instrument body 300 is arranged in the instrument box 5222. The instrument body 300 can be an angiography catheter, a cutting knife, a stone extraction basket, a stent, a biopsy forceps, etc. A pressure sensor is arranged at the front end of the instrument body 300 for force feedback.

[0105] The instrument rotation and conveying mechanism is arranged at the front part of the instrument box 5222, mainly composed of a motor 5223, transmission gears, and a rotation and conveying guide tube 5225; the rotation and conveying guide tube 5225 is rotatably arranged in the instrument box 5222 through bearings, one end of which is used to penetrate into the instrument body 300, and the other end is connected to the docking port 5213 at the rear end of the guide wire box 5212; a threaded structure is arranged inside the rotation and conveying guide tube 5225, and through the friction between the threaded groove and the instrument body 300, the instrument body 300 can be rotated and conveyed simultaneously, making the advancement of the instrument body 300 smoother.

[0106] The transmission gears are divided into a large gear 5224 and a small gear 5226. The rotation and conveying guide tube 5225 is coaxially fixed with the large gear 5224 and passes through the large gear 5224. The small gear 5226 is connected to the motor 5223, and the small gear 5226 is meshed and connected to the large gear 5224. By driving the small gear 5226 and the large gear 5224 to rotate through the motor 5223, the rotation and conveying guide tube 5225 is driven to rotate, so as to achieve the purpose of rotating and conveying the instrument body 300.

[0107] The instrument operation mechanism is divided into a driving device 5227 and an execution device 5228; the execution device 5228 is arranged at the rear end of the instrument body 300, and the driving device 5227 is arranged at the rear end of the execution device 5228. The execution device 5228 and the driving device 5227 will vary according to different surgical instruments; if the front end of the instrument body 300 is a contrast catheter, the execution device 5228 is a balloon containing contrast agent inside, and the driving device 5227 is a push-pull electric cylinder that can squeeze the balloon, and the contrast agent can be released by squeezing; if the front end of the instrument body 300 is a cutting knife, a stone retrieval basket, a biopsy forceps, etc., the execution device 5228 is an operation handle, and the driving device 5227 can also be a push-pull electric cylinder. By driving the electric cylinder to move the operation handle back and forth, or the driving device is a reduction motor to drive the operation handle to rotate, and then drive the front and back movement of the driving wire, so as to realize the bending, opening and closing, etc. at the front end; if the front end of the instrument body 300 is a surgical stent, the execution device 5228 is the handle of the surgical stent, and the driving device 5227 can be a push-pull electric cylinder. By driving the handle through the push-pull electric cylinder, the stent is released.

[0108] In addition, a lubricating support member 5229 is also arranged at the rear end of the instrument body 300, which can ensure that the rear end of the instrument body 300 always remains in a certain position during the rotation process.

[0109] Specifically, the main body of the instrument box 5222 is cylindrical in shape, and its bottom is provided with a mating part 52221 for connecting the instrument manipulator arm; the instrument body 300 is coiled in a spiral cone shape within the instrument box 5222. The front side of the main body part of the instrument box has a first additional box body 52222 for accommodating the instrument rotation and conveying mechanism, and the rear side of the main body part of the instrument box has a second additional box body 52223 for accommodating the instrument operating mechanism. The second additional box body 52223 is flat in shape, and it is biased to one side relative to the main body part of the instrument box 5222 and is close to the bottom of the instrument box 5222.

[0110] Please refer to Figure 28 、 Figure 29 , Figure 28 which is a schematic structural diagram of the doctor's console; Figure 29 which is a schematic structural diagram of the doctor's console from another perspective.

[0111] As shown in the figure, the doctor's console 70 mainly consists of a vehicle frame 71, a foot switch 72, a handle for controlling the endoscope manipulator arm, a force sensing handle, a key switch, and a display device, etc.

[0112] The foot switch 72 is arranged at the bottom of the vehicle frame 71, and the foot switch 72 is mainly used for image acquisition of the endoscope and control of surgical instruments; the handle for controlling the endoscope manipulator arm includes an endoscope delivery handle 74, an endoscope rotation handle 75, and an endoscope forceps lifting handle 76, which are mainly used for controlling the movement of the endoscope 100; the force sensing handle includes a guide wire force sensing handle 77 and an instrument force sensing handle 78, which are mainly used for controlling the guide wire 200 and the instrument body 300. Force sensing is obtained through the pressure sensors at the front ends of the guide wire 200 and the instrument body 300 and is amplified through a circuit and fed back to the force sensing handle, so that the operator can determine the surgical condition through force feedback.

[0113] The display device is divided into an endoscope image display device 79 and a status display device 710. The endoscope image display device 79 is mainly responsible for displaying the endoscope image under the lens, and the status display device 710 is mainly used to display the usage status of each component of the whole machine and can be used to control functions such as the lifting column and replacing instruments; the key switch includes a power on button 731 and an emergency stop button 732. The power on button 731 is responsible for power on and off, and the emergency stop button 732 is responsible for stopping in case of an emergency.

[0114] The frame 71 is provided with a distal lifting platform 711 and a proximal lifting platform 712; a fourth moving wheel 713 is arranged at the bottom of the frame 71. The distal lifting platform 711 is arranged at the distal end of the frame away from the operator, on which an endoscopic image display device 79 is arranged, a first lifting column 714 is arranged inside it, a guide wire force sensing handle 77 and an instrument force sensing handle 78 are arranged on its side. The height of the distal lifting platform 711 can be adjusted through the status display device 710 to make it more suitable for the operator's habit; the proximal lifting platform 712 is arranged on the side close to the operator, on which an endoscopic handle and buttons are arranged, and second lifting columns 715 are arranged on both sides of it. The height of the proximal lifting platform 712 can be adjusted through the status display device 710 to enable the doctor to reach a comfortable operation state.

[0115] The surgical procedure of the above ERCP and its robotic surgical treatment system is as follows:

[0116] In the surgical preparation stage, each robot is positioned and reset. The patient lies on the operating table on their side. The doctor assembles the endoscope onto the duodenoscope manipulation robot and drags the endoscope delivery execution system to the patient's oral cavity position. Then, the guide wire operation unit and the instrument operation unit on the instrument robot are in place. The guide wire catheter is connected to the instrument channel of the endoscope. Finally, the doctor returns to the doctor's console.

[0117] In the surgical operation stage, the doctor adjusts the X-ray machine, the operating table, the proximal lifting platform, and the distal lifting platform to the appropriate operating positions through the status display device; then, through the cooperation of the endoscopic rotation handle and the endoscopic delivery handle, and observing the position and status in real time through the image display device, the front end of the endoscope reaches the opening of the duodenal papilla; then, the guide wire is delivered to the front end of the instrument channel of the endoscope through the guide wire operation force sensing handle. Subsequently, the forceps elevator handle is controlled and coordinated with the endoscopic handle to align the guide wire with the opening of the duodenal papilla and deliver the guide wire into the pancreatic duct; then, the contrast agent instrument is delivered to the opening of the pancreatic duct through the instrument force sensing handle, and the contrast agent is released through the button on the instrument force sensing handle. At the same time, the X-ray machine is turned on for observation through the status display device.

[0118] When a lesion is found and other surgical instruments need to be replaced, the contrast catheter is withdrawn through the instrument force sensing handle. The manipulator is controlled through the status display device to complete the replacement of the surgical instrument, and the instrument is continuously delivered through the instrument force sensing handle to complete the corresponding surgical operation.

[0119] When the surgery is completed, each machine can be controlled to return to zero or be turned off through the status display device.

[0120] The above has introduced in detail the ERCP and its robotic system for surgical treatment provided by the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the core idea of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. A robotic system for ERCP and surgical treatment thereof, characterized in that: Including duodenoscope control robot, instrument control robot, doctor console, operating table, X-ray machine, endoscopy workstation; The X-ray machine is used together with the operating table. The X-ray machine is used to scan the patient on the operating table to detect the location of the lesion and the location of the surgical instruments and the duodenoscope. The endoscope workstation is connected to the duodenoscope. The duodenoscope manipulation robot includes a duodenoscope conveying robot and a duodenoscope control robot; the duodenoscope conveying robot includes an endoscope conveying vehicle body and an endoscope conveying execution system, and the endoscope conveying execution system is used to drive the duodenoscope forward and backward; the duodenoscope control robot includes an endoscope control vehicle body and a duodenoscope control execution system, and the duodenoscope control execution system is used to carry the operating part of the duodenoscope and control the duodenoscope to perform actions; The instrument manipulation robot comprises an instrument manipulation vehicle body and an instrument execution system; the instrument execution system comprises a guidewire manipulation unit, at least two groups of instrument manipulation units and an auxiliary unit; the guidewire manipulation unit is used to store and transport guidewires, and its guidewire output end is connected to the instrument channel of the duodenoscope; the instrument manipulation unit is arranged on the guidewire manipulation unit, and is used to store and transport the instrument body, and its instrument output end is connected to the docking port of the guidewire manipulation unit; the auxiliary unit is used to switch different instrument manipulation units to be connected to the guidewire manipulation unit; The instrument operating unit includes an instrument mechanical arm and a surgical instrument; the instrument mechanical arm is used to adjust the position of the surgical instrument, and is arranged on the instrument control vehicle body; the surgical instrument is arranged at the top of the mechanical arm, and the surgical instrument includes an instrument box, an instrument rotating conveying mechanism and an instrument operating mechanism, and the instrument body is arranged in the instrument box; the instrument rotating conveying mechanism is arranged at the front end of the instrument body, and includes a motor, a transmission gear and a rotating conveying guide tube; the rotating conveying guide tube is rotatably arranged in the instrument box through a bearing, one end of which is used to penetrate the instrument body, and the other end is connected to the docking interface of the guide wire operating unit; a thread groove is arranged in the rotating conveying guide tube, which can make the instrument body rotate and convey at the same time through the friction between the thread groove and the instrument body.

2. The ERCP and surgical treatment robot system according to claim 1, characterized in that: The endoscope transport vehicle and the endoscope control vehicle both include a vehicle chassis, an electric control box, a sliding guide rail and a mechanical arm; a movable wheel is provided at the bottom of the vehicle chassis, and a shell is provided at the upper part of the vehicle chassis; a vertical sliding guide rail is provided inside the shell, and the mechanical arm is provided on a slider of the sliding guide rail, and a slide groove for the mechanical arm to be lifted up and down is provided on the front side of the shell; the electric control box is provided on the rear side of the sliding guide rail, and drives the mechanical arm to be lifted up and down through a guide rail motor.

3. The ERCP and surgical treatment robot system according to claim 2, characterized in that: The endoscope transport execution system includes a transport motor, a transport wheel and a support; the transport wheel includes a driving wheel and a passive wheel, and a transport channel is formed between the driving wheel and the passive wheel; the driving wheel is connected to the transport motor and is fixed to the support as a whole; the passive wheel is slidably installed on the support, and a spring is provided at the rear end of the passive wheel.

4. The ERCP and surgical treatment robot system according to claim 3, characterized in that: The endoscope transport execution system is provided with a shell, and the shell is provided with a notch corresponding to the transport channel formed between the driving wheel and the driven wheel. The notch is used to directly press the endoscope into the transport channel formed between the driving wheel and the driven wheel when in use.

5. The ERCP and surgical treatment robot system according to claim 4, characterized in that: A multi-dimensional force sensor is provided at the connection between the endoscope delivery execution system and the mechanical arm.

6. The ERCP and surgical treatment robot system according to claim 1, characterized in that: The duodenoscope control execution system includes a shell, a support, an endoscope locking mechanism, a bending control mechanism, a water vapor control mechanism, and a forceps lifter control mechanism; the endoscope locking mechanism is used to fix the operating part of the duodenoscope, the bending control mechanism includes a bending motor and a hollow bending dial wheel, the bending motor is arranged on the support, the bending motor is connected to the bending dial wheel, and is used to drive the dial wheel of the duodenoscope to rotate, thereby controlling the bending of the front end of the duodenoscope; the water vapor control mechanism includes a plurality of water vapor electric cylinders, each of which is arranged on the support through a fixing member, and controls the water vapor switch of the duodenoscope by pushing the electric cylinder; the forceps lifter control mechanism includes a forceps lifter electric cylinder, which controls the movement of the forceps lifter button of the duodenoscope by pushing the forceps lifter electric cylinder.

7. The ERCP and surgical treatment robot system according to claim 6, characterized in that: The endoscope locking mechanism is provided with a locking clamp for locking and fixing the operating part of the duodenoscope.

8. The ERCP and surgical treatment robot system according to claim 1, characterized in that: The guidewire operation unit includes a guidewire manipulator, a guidewire box, a surgical guidewire and a guidewire conveying mechanism; the guidewire manipulator is used to adjust the outlet position of the surgical guidewire, and is arranged on the instrument control vehicle body; the guidewire box and the guidewire conveying mechanism are arranged at the upper end of the guidewire manipulator, and the guidewire conveying mechanism is located at the front side of the guidewire box; the surgical guidewire is arranged in the guidewire box, and the rear end of the guidewire box is provided with a docking port for docking surgical instruments; the guidewire conveying mechanism is provided with a shell, a guidewire conveying wheel, a conveying motor and a guidewire outlet, the guidewire conveying wheel is arranged on the conveying shaft, and the conveying motor is fixed to one end of the conveying shaft.

9. The ERCP and surgical treatment robot system according to claim 8, characterized in that: The guide wire conveying wheel includes an inner wheel hub and an outer wheel sleeve, the outer wheel sleeve is an inflatable structure, an air pump is provided at the other end of the conveying shaft, and an air channel connecting the air pump and the outer wheel sleeve is provided in the conveying shaft to inflate or deflate the outer wheel sleeve.

10. The ERCP and surgical treatment robot system according to claim 8, characterized in that: The guidewire operation unit also includes a guidewire guiding device; the guidewire guiding device is arranged at the front end of the guidewire conveying mechanism, and the guidewire guiding device is provided with a guide tube, one end of the guide tube is used to insert the guidewire, and the other end is connected to the instrument channel opening of the endoscope to introduce the guidewire into the instrument channel of the duodenoscope.

11. The ERCP and surgical treatment robot system according to claim 10, characterized in that: The surgical guide wire is coiled in the guide wire box in a spiral cone shape, the docking port is located at the rear side of the guide wire box near the bottom and can lead the surgical guide wire out tangentially, the guide wire outlet is provided with a conical wire outlet sleeve, and one end of the guide tube is provided with a guide sleeve for inserting the guide wire.

12. The ERCP and surgical treatment robot system according to claim 11, characterized in that: The docking port is located at the lower left corner area or the lower right corner area of ​​the rear side of the guide wire box.

13. The ERCP and surgical treatment robot system according to claim 1, characterized in that: The transmission gear comprises a large gear and a small gear. The rotating conveying guide tube is coaxially fixed with the large gear and passes through the large gear. The small gear is connected to the motor. The small gear is meshed with the large gear for transmission.

14. The ERCP and surgical treatment robot system according to claim 1, characterized in that: The instrument operating mechanism comprises a driving device and an executing device; the executing device is arranged at the rear end of the instrument body, and the driving device is arranged at the rear end of the executing device.

15. The ERCP and surgical treatment robot system according to claim 14, characterized in that: The instrument body is a contrast catheter, the actuator is a balloon containing contrast agent, and the drive device is a push-pull electric cylinder for squeezing the balloon; Alternatively, the instrument body is a cutting knife, a stone removal basket or a biopsy forceps, the execution device is an operating handle, the driving device is a push-pull electric cylinder for driving the operating handle to move forward and backward, or the driving device is a reduction motor for driving the operating handle to rotate; Alternatively, the instrument body is a surgical stand, the execution device is a handle of the surgical stand, and the driving device is a push-pull electric cylinder for driving the handle.

16. The ERCP and surgical treatment robot system according to claim 1, characterized in that: The rear end of the instrument body is also provided with a lubricating support member so that the rear end of the instrument body is always kept at a set position during the rotation process.

17. The ERCP and surgical treatment robot system according to claim 1, characterized in that: The main body of the instrument box is cylindrical in shape, and a matching portion for connecting the instrument robot arm is provided at its bottom; the instrument body is coiled in the instrument box in a spiral cone shape, and the front side of the main body of the instrument box has a first additional box body for accommodating the instrument rotating conveying mechanism, and the rear side of the main body of the instrument box has a second additional box body for accommodating the instrument operating mechanism, and the second additional box body is biased to one side relative to the main body of the instrument box and close to the bottom of the instrument box.

18. The ERCP and surgical treatment robot system according to claim 1, characterized in that: The instrument-controlled vehicle body comprises a vehicle chassis, an electric control box, a lifting column, a vehicle panel and a shell; the lower part of the vehicle chassis is provided with moving wheels; the lifting column and the electric control box are arranged on the vehicle chassis; the vehicle panel is arranged at the upper end of the lifting column, and the vehicle panel is provided with control buttons.

19. The ERCP and surgical treatment robot system according to claim 1, characterized in that: The auxiliary unit includes a multi-degree-of-freedom robotic arm and a manipulator, wherein the manipulator is disposed at the end of the multi-degree-of-freedom robotic arm. The manipulator can place the selected instrument operating unit on the instrument robotic arm so that it is connected to the guide wire operating unit, and can remove the used instrument operating unit from the instrument robotic arm.

20. The ERCP and surgical treatment robot system according to claim 1, characterized in that: The doctor's console includes a body, a foot switch, a handle for controlling an endoscope robotic arm, a force sensing handle, a button switch and a display device; the foot switch is arranged at the bottom of the body, and is used to control the duodenoscope to collect images and control surgical instruments; the handle for controlling the endoscope robotic arm includes a handle for controlling the transportation, rotation and lifting of the duodenoscope, and is used to control the movement of the duodenoscope; the force sensing handle includes a guide wire force sensing handle and an instrument force sensing handle, and is used to control the guide wire and the instrument body. Pressure sensors are provided at the front end of the guide wire and the instrument body, and the sensing signal of the pressure sensor is amplified by a circuit and fed back to the force sensing handle.

21. The ERCP and surgical treatment robot system according to claim 20, characterized in that: The display device comprises an image display device and a status display device of the duodenoscope, wherein the image display device is used to display the image under the duodenoscope, and the status display device is used to display the use status of each component of the whole machine.

22. The ERCP and surgical treatment robot system according to claim 21, characterized in that: The vehicle body includes a frame, a distal lifting platform, and a proximal lifting platform; the bottom of the frame is provided with moving wheels; the distal lifting platform is arranged at the distal end of the vehicle body, on which the image display device is arranged, a first lifting column is arranged inside, and the guide wire force sensing handle and the instrument force sensing handle are arranged on the side thereof; the proximal lifting platform is arranged on the side close to the operator, on which the handle and button switch for controlling the endoscope mechanical arm are arranged, and second lifting columns are arranged on both sides thereof.

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