Transoral flexible gastroscopic surgical robot system

Abstract

The present invention discloses a transoral flexible gastroscopic surgical robot system, comprising: a first flexible tube, a second flexible tube, a plurality of drivers, a capture device, and a control device. The second flexible tube is arranged in the first flexible tube. A plurality of drivers are respectively arranged between the first flexible tube and the second flexible tube at intervals, and are respectively connected to the first flexible tube and the control device. The capture device is arranged at the front end of the first flexible tube and is connected to the first flexible tube. And the control device is arranged at the rear end of the first flexible tube and is respectively connected to the plurality of drivers and the capture device. The plurality of drivers are controlled by the control device, and the plurality of drivers can control the bending of the first flexible tube and the second flexible tube. In cooperation with the capture device, guidance can be achieved in a complex three-dimensional digestive cavity. By controlling the capture device by the control device, the diagnosis-treatment integrated process can be completed, thereby shortening the treatment time.

Description

Technical Field

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

[0002] Gastroscopy is a medical examination procedure, and also refers to the instrument used for this examination. Using a thin, flexible tube inserted into the stomach, the doctor can directly observe lesions in the esophagus, stomach, and duodenum, especially small ones. Gastroscopy allows for direct visualization of the actual condition of the examined area and allows for further diagnosis through biopsy and cytological examination of suspected lesions. It is the preferred examination method for upper gastrointestinal tract lesions.

[0003] Gastrolithiasis refers to a condition in which certain plant and animal foods, or medications, are not digested promptly, resulting in their retention and accumulation in the stomach. Patients may be completely asymptomatic, or experience upper abdominal discomfort, loss of appetite, bad breath, nausea, vomiting, or varying degrees of abdominal distension and pain. The diagnosis and treatment of gastrointestinal stones are often separated by diagnosis and treatment, resulting in long treatment cycles, significant damage to the patient's digestive tract, and unclear treatment effectiveness. Therefore, there is an urgent need for a medical robot that integrates diagnosis and treatment, can capture images in real time, and can directionally 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-mentioned purpose, the technical solution adopted by the present invention is: a transoral flexible gastroscopic surgical robot system, comprising:

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

[0007] a second flexible tube disposed within the first flexible tube;

[0008] a plurality of drivers, respectively disposed 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 connected to the plurality of the drivers and the capture devices respectively.

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

[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 stepping motor is arranged at the rear end of the first flexible tube, connected to the capturing 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 their side edges 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, with two ends thereof fixedly connected to the side surfaces of the two driving rings respectively; 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 includes:

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

[0020] a first flexible electrode layer, adhered to a side of the first packaging protection layer away from the driving arm and 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 protective layer;

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

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

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

[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 gripping claws are symmetrically arranged on a side of the bracket away from the first flexible tube, one end of each gripping claw is rotatably connected to the bracket, and the other end extends to the outside of the protective shell;

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

[0031] A connecting rod is provided between the two driving rods, and its two ends are respectively rotatably connected to one end of the two driving rods close to the bracket;

[0032] a screw rod, disposed on a side of the connecting rod close to the first flexible tube, with one end of the screw rod being rotatably connected to the middle portion of the connecting rod and the other end being 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 on the periphery of the camera, and are respectively fixedly connected to the camera, 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 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 leak-proof membrane is made of polyethylene; the first flexible tube is made of 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. The plurality of drivers cooperate with the capture device to achieve guidance in a complex three-dimensional digestive cavity. The control device controls the capture device to complete an integrated diagnosis-treatment process, thereby shortening 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, thereby controlling the directional stretching and bending of the dielectric elastic layer. The driving arm drives the movement of the two driving rings and controls the movement direction and distance between different parts to complete the directional bending of the first flexible tube and the second flexible tube. In conjunction with a camera and a number of lighting devices, precise movement and guidance are achieved.

[0044] (3) The present invention controls the start of the electrical appliance through a controller, and the stepping motor drives the 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments described in the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive efforts.

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

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

[0048] Figure 3 It 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 protective layer; 9. first flexible electrode layer; 10. dielectric elastic layer; 11. second flexible electrode layer; 12. second packaging protective 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts 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. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection 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" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying 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 the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0054] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on 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 provided in its side wall, and the side channel is used to accommodate a guide wire. The second flexible tube 2 is provided in the first flexible tube 1. A plurality of drivers are provided 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 provided at the front end of the first flexible tube 1 and is connected to the first flexible tube 1. And the control device is provided at the rear end of the first flexible tube 1 and is respectively connected to the plurality of drivers and the capture device.

[0056] The control device controls several drivers, which can control the bending of the first flexible tube 1 and the second flexible tube 2. In conjunction with the capture device, guidance can be achieved in a complex three-dimensional digestive cavity. The control device controls the capture device to complete the integrated diagnosis-treatment 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 disposed 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 disposed at the rear end of the first flexible tube 1 and is connected to the capture device and is also electrically connected to the controller 3.

[0058] like Figure 3 As shown, the driver comprises 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, with their side edges fixedly connected to the inner sidewall of the first flexible tube 1. The three drive arms 6 are respectively positioned between the two drive rings 5, with their ends fixedly connected to the side surfaces of the two drive rings 5. Furthermore, the three power mechanisms 7 are respectively positioned 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 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 extension and bending of the dielectric elastic layer 10. The driving arm 6 drives the movement of the two driving rings 5 ​​and controls the movement direction and distance between different parts to complete the directional bending of the first flexible tube 1 and the second flexible tube 2. In conjunction with the capture device, precise movement and guidance are achieved.

[0061] Two sealing rings are respectively provided 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 soft shaft 19. The 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. The bracket 14 is arranged in the protective shell 13, and is fixedly connected to 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 rotatably connected to the clamping claws 15 respectively, 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 rotatably connected to one end of the two driving rods 16 close to the bracket 14. A screw rod 18 is disposed on the side of the connecting rod 17 near the first flexible tube 1, with one end rotatably connected to the middle portion of the connecting rod 17 and the other end threadedly connected to the bracket 14. A flexible shaft 19 is disposed within the second flexible tube 2, with one end extending into the protective housing 13 and connected to the end of the screw rod 18 near the second flexible tube 2, and the other end extending outside the flexible tube and connected to the stepper motor 4.

[0063] When the target object needs to be clamped, the controller 3 is used to control the electrical appliance to start, and 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 several 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 and the capture device can accurately clamp the target object based on the image position.

[0066] like Figure 3 As shown, the material of the leak-proof 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, with its concave surface being away from the second flexible tube 2.

[0067] When the present invention is used, the camera 20 and the plurality of lighting devices 21 cooperate to clearly capture images of the interior of the cavity. According to the image position, 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 extension and bending of the dielectric elastic layer 10. The driving arm 6 drives the movement of the two driving rings 5 ​​and controls the movement direction and distance between different parts to complete the directional bending and guiding of the first flexible tube 1 and the second flexible tube 2. 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 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, so that the clamping claws 15 can accurately grasp the target object.

[0068] The above description is based on the ideal embodiment of the present invention. Based on the above description, relevant personnel can make various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the content of the specification and 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 provided in its side wall, the side channel being used to accommodate a wire; a second flexible tube (2) disposed inside the first flexible tube (1); A plurality of drivers are respectively 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 are 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 A control device is arranged at the rear end of the first flexible tube (1) and is connected to the plurality of drivers and the capture devices respectively; The control device comprises: A controller (3) is provided 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), arranged at the rear end of the first flexible tube (1), connected to the capture device, and electrically connected to the controller (3); The driver includes: Two drive rings (5) are sleeved around the circumference of the second flexible tube (2), and their side edges 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 thereof are fixedly connected to the side surfaces of the two driving rings (5); and Three power mechanisms (7) are respectively arranged on the side of the three driving arms (6) away from the second flexible tube (2) and are electrically connected to the controller (3); 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 communicates 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 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 provided 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) disposed 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 disposed in the second flexible tube (2), one end of which extends into the protective shell (13) and is connected to the screw rod (18) near one end of 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); A camera (20) is disposed between the two gripping claws (15), fixedly connected to the bracket (14), and 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 fixedly and sealedly connected to the inner wall of the protective shell (13), the sides of the two clamping claws (15), the side of the camera (20), and the sides of several lighting devices (21).

2. The transoral flexible gastroscopic surgical robot system according to claim 1, characterized in that: The power mechanism (7) comprises: A first packaging protective 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 adhered 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 protective 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 the side of the second flexible electrode layer (11) away from the dielectric elastic layer (10).

3. 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).

4. The transoral flexible gastroscopic surgical robot system according to claim 1, characterized in that: The material of the leak-proof 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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