Trans-oral flexible gastroscope surgical robot system

Abstract

The invention discloses a transoral flexible gastroscope surgical robot system which comprises a first flexible tube, a second flexible tube, a plurality of drivers, a capturing device and a control device. And the second flexible pipe is arranged in the first flexible pipe. The drivers are arranged between the first flexible pipe and the second flexible pipe at intervals, connected with the first flexible pipe and connected with the control device. The capturing device is arranged at the front end of the first flexible pipe and connected with the first flexible pipe. The control device is arranged at the rear end of the first flexible pipe and connected with the drivers and the capturing device. The drivers are controlled through the control device, the drivers can control bending of the first flexible tube and the second flexible tube, guiding can be achieved in a complex three-dimensional digestive cavity in cooperation with the capturing device, the capturing device is controlled through the control device, the diagnosis-treatment integrated process can be completed, and the treatment time is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a transoral flexible gastroscopic surgical robot system. Background Art

[0002] Gastroscopy is a medical examination method, and also refers to the instrument used for this examination. It uses a thin, soft tube to extend into the stomach, so that doctors can directly observe the lesions of the esophagus, stomach and duodenum, especially the tiny lesions. Gastroscopy can directly observe the true condition of the examined area, and can also perform pathological biopsy and cytological examination on the suspected lesions to further clarify the diagnosis. It is the preferred examination method for upper gastrointestinal tract lesions.

[0003] Gastrolithiasis refers to a disease in which the body cannot digest certain plant or animal foods or take medicines in time, but is retained in the stomach and aggregated into lumps. The patient may be completely asymptomatic, or may have upper abdominal discomfort, loss of appetite, bad breath, nausea, vomiting, or varying degrees of abdominal distension and pain. The diagnosis and treatment process of gastrointestinal stones is often separated by diagnosis and treatment, resulting in a long treatment cycle, great damage to the patient's digestive tract, and unclear treatment effects. Therefore, there is an urgent need for a medical robot that integrates diagnosis and treatment, which can capture images in real time and control actuator guidance. Summary of the invention

[0004] The present invention overcomes the deficiencies of the prior art and provides a transoral flexible gastroscopic surgical robot system.

[0005] To achieve the above object, the technical solution adopted by the present invention is: a transoral flexible gastroscopic surgery robot system, comprising:

[0006] A first flexible tube having a side channel disposed in a side wall thereof, wherein the side channel is used to accommodate a wire;

[0007] a second flexible tube, disposed inside the first flexible tube;

[0008] a plurality of drivers, respectively arranged between the first flexible tube and the second flexible tube at intervals, respectively connected to the first flexible tube, and respectively connected to the control device;

[0009] a capture device, disposed at a front end of the first flexible tube and connected to the first flexible tube; and

[0010] The control device is arranged at the rear end of the first flexible tube and is respectively connected with a plurality of the drivers and the capture devices.

[0011] In a preferred embodiment of the present invention, the control device comprises:

[0012] A controller, disposed at the rear end of the first flexible tube and electrically connected to the plurality of drivers and the capture device; and

[0013] The stepper motor is arranged at the rear end of the first flexible tube, connected to the capture device, and electrically connected to the controller.

[0014] In a preferred embodiment of the present invention, the driver comprises:

[0015] Two drive rings are sleeved around the second flexible tube, and the side edges thereof are respectively fixedly connected to the inner side walls of the first flexible tube;

[0016] Three driving arms are symmetrically arranged between the two driving rings, and two ends of the three driving arms are respectively fixedly connected to the side surfaces of the two driving rings; and

[0017] The three power mechanisms are respectively arranged on the three driving arms at a side away from the second flexible tube and are electrically connected to the controller.

[0018] In a preferred embodiment of the present invention, the power mechanism comprises:

[0019] A first packaging protection layer is attached to a side of the driving arm away from the second flexible tube;

[0020] A first flexible electrode layer is attached to a side of the first packaging protection layer away from the driving arm and is electrically connected to the controller;

[0021] a dielectric elastic layer, attached to a side of the first flexible electrode layer away from the first packaging protection layer;

[0022] A second flexible electrode layer is attached to a side of the dielectric elastic layer away from the first flexible electrode layer and is electrically connected to the controller; and

[0023] The second packaging protection layer is attached to a side of the second flexible electrode layer away from the dielectric elastic layer.

[0024] In a preferred embodiment of the present invention, it includes:

[0025] Two sealing rings are respectively arranged between the front end and the rear end of the first flexible tube and the second flexible tube, and respectively fixedly connect the first flexible tube and the second flexible tube.

[0026] In a preferred embodiment of the present invention, the capture device comprises:

[0027] A protective shell, disposed at the front end of the first flexible tube, and fixedly connected to and in communication with the first flexible tube;

[0028] A bracket, disposed in the protective shell and fixedly connected to the protective shell;

[0029] Two clamping claws are symmetrically arranged on a side of the bracket away from the first flexible tube, one end of which is rotatably connected to the bracket and the other end of which extends to the outside of the protective shell;

[0030] Two driving rods are symmetrically arranged between the two clamping claws, one end of which is rotatably connected to the clamping claws respectively, and the other end is arranged close to the bracket;

[0031] A connecting rod, disposed between the two driving rods, with two ends thereof being rotatably connected to one end of the two driving rods close to the bracket;

[0032] A screw rod, arranged on a side of the connecting rod close to the first flexible tube, one end of which is rotatably connected to the middle of the connecting rod, and the other end of which is threadedly connected to the bracket; and

[0033] The flexible shaft is arranged in the second flexible tube, one end of which extends into the protective shell and is connected to the screw rod near one end of the second flexible tube, and the other end extends to the outside of the flexible tube and is connected to the stepping motor.

[0034] In a preferred embodiment of the present invention, the capture device comprises:

[0035] The camera is arranged between the two clamping claws, fixedly connected to the bracket, and electrically connected to the controller.

[0036] In a preferred embodiment of the present invention, the capture device comprises:

[0037] A plurality of lighting devices are respectively arranged around the camera head, and are respectively fixedly connected to the camera head, and are respectively electrically connected to the controller.

[0038] In a preferred embodiment of the present invention, the capture device comprises:

[0039] The leak-proof membrane is arranged in the end of the protective shell away from the second flexible tube, and is respectively fixedly and sealedly connected to the inner wall of the protective shell, the sides of the two grabbing claws, the side of the camera, and the sides of several lighting devices.

[0040] In a preferred embodiment of the present invention, the material of the leak-proof membrane is polyethylene; the first flexible tube is a stretchable elastic material; the driving arm is an arc-shaped structure and is made of an elastic material, and its concave surface is arranged away from the second flexible tube.

[0041] The present invention solves the defects existing in the background technology and has the following beneficial effects:

[0042] (1) The present invention includes a first flexible tube, a second flexible tube, a plurality of drivers, a capture device, and a control device. The control device controls the plurality of drivers, which can control the bending of the first flexible tube and the second flexible tube, and cooperate with the capture device to achieve guidance in a complex three-dimensional digestive cavity. The control device controls the capture device to complete the diagnosis-treatment integration process, thereby shortening the treatment time.

[0043] (2) The present invention controls the influence of the first flexible electrode layer and the second flexible electrode layer on the dielectric elastic layer respectively through a controller, so as to control the directional stretching and bending of the dielectric elastic layer. The driving arm drives the movement of two driving rings and controls the moving direction and distance between different moving parts to complete the directional bending of the first flexible tube and the second flexible tube. In combination with a camera and a plurality of lighting devices, precise movement and guidance can be achieved.

[0044] (3) The present invention controls the electrical appliance to start through a controller, and the stepper motor drives the lead screw to rotate through the flexible shaft, drives the connecting rod to move, and the connecting rod drives the two clamping claws to rotate. Combined with the directional bending of the first flexible tube and the second flexible tube and the image capture of the camera, the clamping claws can accurately grasp the target object. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 It is a structural schematic diagram of a preferred embodiment of the present invention;

[0047] Figure 2 is a partial cross-sectional structural schematic diagram of a preferred embodiment of the present invention;

[0048] Figure 3 is a partial cross-sectional structural schematic diagram of a preferred embodiment of the present invention;

[0049] Figure 4 It is a partial cross-sectional structural schematic diagram of a preferred embodiment of the present invention.

[0050] In the figure: 1. first flexible tube; 2. second flexible tube; 3. controller; 4. stepper motor; 5. drive ring; 6. drive arm; 7. power mechanism; 8. first packaging protection layer; 9. first flexible electrode layer; 10. dielectric elastic layer; 11. second flexible electrode layer; 12. second packaging protection layer; 13. protective shell; 14. bracket; 15. clamping claw; 16. drive rod; 17. connecting rod; 18. screw rod; 19. flexible shaft; 20. camera; 21. lighting device. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0053] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention, unless otherwise specified, "multiple" means two or more.

[0054] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0055] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the transoral flexible gastroscopic surgical robot system includes: a first flexible tube 1, a second flexible tube 2, a plurality of drivers, a capture device, and a control device. The first flexible tube 1 has a side channel arranged in the side wall, and the side channel is used to accommodate the guide wire. The second flexible tube 2 is arranged in the first flexible tube 1. A plurality of drivers are arranged between the first flexible tube 1 and the second flexible tube 2 at intervals, and are respectively connected to the first flexible tube 1 and the control device. The capture device is arranged at the front end of the first flexible tube 1 and is connected to the first flexible tube 1. And the control device is arranged at the rear end of the first flexible tube 1 and is respectively connected to the plurality of drivers and the capture device.

[0056] A plurality of drivers are controlled by a control device, and the plurality of drivers can control the bending of the first flexible tube 1 and the second flexible tube 2. The capture device can be used to achieve guidance in a complex three-dimensional digestive cavity. The capture device can be controlled by the control device to complete the diagnosis-treatment integration process and shorten the treatment time.

[0057] like Figure 1 As shown, the control device includes: a controller 3 and a stepper motor 4. The controller 3 is arranged at the rear end of the first flexible tube 1 and is electrically connected to the plurality of drivers and the capture device. The stepper motor 4 is arranged at the rear end of the first flexible tube 1 and is connected to the capture device and is electrically connected to the controller 3.

[0058] like Figure 3 As shown, the driver includes: two drive rings 5, three drive arms 6, and three power mechanisms 7. The two drive rings 5 ​​are sleeved around the second flexible tube 2, and their side edges are fixedly connected to the inner side wall of the first flexible tube 1. The three drive arms 6 are respectively arranged between the two drive rings 5, and their two ends are respectively fixedly connected to the side surfaces of the two drive rings 5. And the three power mechanisms 7 are respectively arranged on the side of the three drive arms 6 away from the second flexible tube 2, and are electrically connected to the controller 3.

[0059] like Figure 4As shown, the power mechanism 7 includes: a first packaging protective layer 8, a first flexible electrode layer 9, a dielectric elastic layer 10, a second flexible electrode layer 11, and a second packaging protective layer 12. The first packaging protective layer 8 is attached to the side of the driving arm 6 away from the second flexible tube 2. The first flexible electrode layer 9 is attached to the side of the first packaging protective layer 8 away from the driving arm 6, and is electrically connected to the controller 3. The dielectric elastic layer 10 is attached to the side of the first flexible electrode layer 9 away from the first packaging protective layer 8. The second flexible electrode layer 11 is attached to the side of the dielectric elastic layer 10 away from the first flexible electrode layer 9. And it is electrically connected to the controller 3. And the second packaging protective layer 12 is attached to the side of the second flexible electrode layer 11 away from the dielectric elastic layer 10.

[0060] The controller 3 controls the influence of the first flexible electrode layer 9 and the second flexible electrode layer 11 on the dielectric elastic layer 10 respectively, so as to control the directional stretching and bending of the dielectric elastic layer 10. The driving arm 6 drives the movement of the two driving rings 5, and the directional bending of the first flexible tube 1 and the second flexible tube 2 is completed by controlling the moving direction and distance between different moving parts. The capture device is cooperated to realize precise movement and guidance.

[0061] Two sealing rings are respectively arranged between the front end and the rear end of the first flexible tube 1 and the second flexible tube 2 , and the first flexible tube 1 and the second flexible tube 2 are respectively fixedly connected.

[0062] like Figure 2 As shown, the capture device includes: a protective shell 13, a bracket 14, two clamping claws 15, two driving rods 16, a connecting rod 17, a screw 18, and a flexible shaft 19. The protective shell 13 is arranged at the front end of the first flexible tube 1, and is fixedly connected and communicated with the first flexible tube 1. The bracket 14 is arranged in the protective shell 13, and is fixedly connected with the protective shell 13. The two clamping claws 15 are symmetrically arranged on the side of the bracket 14 away from the first flexible tube 1, one end of which is rotatably connected to the bracket 14, and the other end extends to the outside of the protective shell 13. The two driving rods 16 are symmetrically arranged between the two clamping claws 15, one end of which is respectively rotatably connected to the clamping claws 15, and the other end is arranged close to the bracket 14. The connecting rod 17 is arranged between the two driving rods 16, and both ends are respectively rotatably connected to one end of the two driving rods 16 close to the bracket 14. The screw rod 18 is arranged on the side of the connecting rod 17 close to the first flexible tube 1, one end of which is rotatably connected to the middle of the connecting rod 17, and the other end is threadedly connected to the bracket 14. And the flexible shaft 19 is arranged in the second flexible tube 2, one end of which extends into the protective shell 13 and is connected to the end of the screw rod 18 close to the second flexible tube 2, and the other end extends to the outside of the flexible tube and is connected to the stepping motor 4.

[0063] When the target object needs to be clamped, the controller 3 controls the electrical appliance to start, the stepper motor 4 drives the screw rod 18 to rotate through the flexible shaft 19, drives the connecting rod 17 to move, and the connecting rod 17 drives the two clamping claws 15 to rotate, and the clamping claws 15 can accurately grasp the target object.

[0064] like Figure 2 As shown, the capture device includes: a camera 20, a plurality of lighting devices 21, and a leak-proof membrane. The camera 20 is arranged between the two gripping claws 15, and is fixedly connected to the bracket 14, and is electrically connected to the controller 3. A plurality of lighting devices 21 are respectively arranged around the camera 20, and are respectively fixedly connected to the camera 20, and are respectively electrically connected to the controller 3. The leak-proof membrane is arranged in the end of the protective shell 13 away from the second flexible tube 2, and is respectively fixedly and sealedly connected to the inner wall of the protective shell 13, the sides of the two gripping claws, the side of the camera 20, and the sides of the plurality of lighting devices 21.

[0065] Through the cooperation of the camera 20 and a plurality of lighting devices 21, the internal image of the cavity can be clearly captured, and the first flexible tube 1 and the second flexible tube 2 can be accurately guided according to the image position, and the capture device can accurately clamp the target object.

[0066] like Figure 3 As shown, the material of the leakproof membrane is polyethylene. The first flexible tube 1 is made of a stretchable elastic material. The driving arm 6 is an arc-shaped structure and is made of an elastic material, and its concave surface is arranged away from the second flexible tube 2.

[0067] When the present invention is used, the image inside the cavity can be clearly captured through the cooperation of the camera 20 and the plurality of lighting devices 21. According to the image position, the first flexible electrode layer 9 and the second flexible electrode layer 11 are respectively controlled by the controller 3 to affect the dielectric elastic layer 10, so that the directional stretching and bending of the dielectric elastic layer 10 can be controlled. The driving arm 6 drives the movement of the two driving rings 5, and the directional bending and guiding of the first flexible tube 1 and the second flexible tube 2 are completed by controlling the moving direction and distance between different moving parts. When it is necessary to clamp the target object, the controller 3 controls the electrical appliance to start, the stepping motor 4 drives the screw rod 18 to rotate through the soft shaft 19, drives the connecting rod 17 to move, and the connecting rod 17 drives the two clamping claws 15 to rotate, and the clamping claws 15 realize the precise grasping of the target object.

[0068] The above is based on the ideal embodiment of the present invention. Through the above description, relevant personnel can make various changes and modifications without departing from the technical concept of the present invention. The technical scope of the present invention is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.

Claims

1. Transoral flexible gastroscopic surgical robot system, including: A first flexible tube (1) has a side channel disposed in a side wall thereof, the side channel being used to accommodate a wire; A second flexible tube (2) is arranged inside the first flexible tube (1); a plurality of drivers, respectively arranged between the first flexible tube (1) and the second flexible tube (2) at intervals, and respectively connected to the first flexible tube (1) and respectively connected to the control device; A capture device, arranged at the front end of the first flexible tube (1) and connected to the first flexible tube (1); as well as The control device is arranged at the rear end of the first flexible tube (1) and is respectively connected to a plurality of the drivers and the capture devices.

2. The transoral flexible gastroscopic surgical robot system according to claim 1, characterized in that: The control device comprises: A controller (3) is arranged at the rear end of the first flexible tube (1) and is electrically connected to the plurality of drivers and the capture device; and A stepper motor (4) is arranged at the rear end of the first flexible tube (1), connected to the capture device, and electrically connected to the controller (3).

3. The transoral flexible gastroscopic surgical robot system according to claim 2, characterized in that: The driver comprises: Two drive rings (5) are sleeved around the second flexible tube (2), and the side edges thereof are respectively fixedly connected to the inner side walls of the first flexible tube (1); Three driving arms (6) are symmetrically arranged between the two driving rings (5), and two ends of the three driving arms (6) are respectively fixedly connected to the side surfaces of the two driving rings (5); and Three power mechanisms (7) are respectively arranged on the three driving arms (6) at a side away from the second flexible tube (2), and are electrically connected to the controller (3).

4. The transoral flexible gastroscopic surgical robot system according to claim 3, characterized in that: The power mechanism (7) comprises: A first packaging protection layer (8) is attached to a side of the driving arm (6) away from the second flexible tube (2); A first flexible electrode layer (9) is attached to a side of the first packaging protection layer (8) away from the driving arm (6) and is electrically connected to the controller (3); a dielectric elastic layer (10) attached to a side of the first flexible electrode layer (9) away from the first packaging protection layer (8); A second flexible electrode layer (11) is attached to a side of the dielectric elastic layer (10) away from the first flexible electrode layer (9); and is electrically connected to the controller (3); and The second packaging protection layer (12) is adhered to a side of the second flexible electrode layer (11) away from the dielectric elastic layer (10).

5. The transoral flexible gastroscopic surgical robot system according to claim 1, characterized in that: include: Two sealing rings are respectively arranged between the front end and the rear end of the first flexible tube (1) and the second flexible tube (2), and respectively fixedly connect the first flexible tube (1) and the second flexible tube (2).

6. The transoral flexible gastroscopic surgical robot system according to claim 2, characterized in that: The capturing device comprises: A protective shell (13) is arranged at the front end of the first flexible tube (1) and is fixedly connected to and communicated with the first flexible tube (1); A bracket (14) is disposed in the protective shell (13) and fixedly connected to the protective shell (13); Two gripping claws (15) are symmetrically arranged on a side of the bracket (14) away from the first flexible tube (1), one end of each gripping claw is rotatably connected to the bracket (14), and the other end extends to the outside of the protective shell (13); Two driving rods (16) are symmetrically arranged between the two clamping claws (15), one end of each driving rod is rotatably connected to the clamping claws (15), and the other end is arranged close to the bracket (14); A connecting rod (17) is arranged between the two driving rods (16), and its two ends are respectively rotatably connected to one end of the two driving rods (16) close to the bracket (14); a screw rod (18), arranged on a side of the connecting rod (17) close to the first flexible tube (1), one end of which is rotatably connected to the middle of the connecting rod (17), and the other end of which is threadedly connected to the bracket (14); and A flexible shaft (19) is arranged in the second flexible tube (2), one end of which extends into the protective shell (13) and is connected to one end of the screw rod (18) close to the second flexible tube (2), and the other end of which extends to the outside of the flexible tube and is connected to the stepping motor (4).

7. The transoral flexible gastroscopic surgical robot system according to claim 6, characterized in that: The capturing device comprises: The camera (20) is arranged between the two clamping claws (15), fixedly connected to the bracket (14), and electrically connected to the controller (3).

8. The transoral flexible gastroscopic surgical robot system according to claim 7, characterized in that: The capturing device comprises: A plurality of lighting devices (21) are respectively arranged around the camera (20), and are respectively fixedly connected to the camera (20), and are respectively electrically connected to the controller (3).

9. The transoral flexible gastroscopic surgical robot system according to claim 8, characterized in that: The capturing device comprises: The leak-proof membrane is arranged in the end of the protective shell (13) away from the second flexible tube (2), and is respectively fixedly sealed and connected to the inner wall of the protective shell (13), the sides of the two grabbing claws, the side of the camera (20), and the sides of several lighting devices (21).

10. The transoral flexible gastroscopic surgical robot system according to claim 9, characterized in that: The material of the leakproof membrane is polyethylene; the first flexible tube (1) is made of a stretchable elastic material; the driving arm (6) is an arc-shaped structure and is made of an elastic material, and its concave surface is arranged away from the second flexible tube (2).

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