Flexible mechanical arm driving system for minimally invasive intervention surgery

Abstract

The application discloses a flexible mechanical arm driving system for minimally invasive surgery, and the flexible mechanical arm comprises a coaxial hollow first sleeve assembly, the first sleeve assembly comprises an inner tube and an outer tube, the inner tube and the outer tube are thin-walled tubes, the inner tube is arranged in the outer tube and the inner tube is fixedly connected with the outer tube at a distal end, the inner tube and the outer tube are both provided with a straight tube segment at a proximal end and a deformation segment at a distal end, and the deformation segment can be bent and deformed by pushing / pulling the inner tube; the driving system comprises an instrument assembly and a driving module assembly; the instrument assembly is internally provided with a driving driven module, and the flexible mechanical arm is connected with the driving driven module; the driving module assembly is internally provided with a driving driving module and a PCB control board, the driving driving module is in transmission connection with the driving driven module, and the driving module assembly is used for driving the flexible mechanical arm to perform linear, rotary and bending movements. The application is used for driving the coaxial antagonistic tube type flexible mechanical arm to realize bending, rotation and linear movement, can be fully automatically controlled, and is high in control accuracy and safety.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a flexible robotic arm drive system for minimally invasive interventional surgery. Background Technology

[0002] Patients with chronic severe pulmonary thromboembolism are characterized by arterial hypertension and dyspnea. They require pulmonary thromboendothelial resection (PTE) to remove the thrombus and intima within the pulmonary artery (PA) to restore normal blood flow. During PTE, a dissector (or dissection tool) is a commonly used surgical instrument; however, most existing dissectors are rigid and lack sufficient steerability to access the finer distal branches of the pulmonary artery.

[0003] Existing flexible robotic arms mostly use rope drive, which is complex in structure and difficult to control. During operation, the elasticity and slack of the rope can affect the accuracy of the robotic arm's movements, making it difficult to meet the requirements of high flexibility and precise control of multi-degree-of-freedom motion in flexible robotic arms. Summary of the Invention

[0004] To address the shortcomings of the prior art, the present invention provides a flexible robotic arm drive system for minimally invasive interventional surgery.

[0005] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows:

[0006] A flexible robotic arm drive system for minimally invasive interventional surgery includes a coaxially configured hollow first sleeve assembly. The first sleeve assembly includes an inner tube and an outer tube, both of which are thin-walled tubes. The inner tube passes through the outer tube and the inner tube and the outer tube are fixedly connected at their distal ends. Both the inner tube and the outer tube are configured as a straight tube section at the proximal end and a deformable section at the distal end. Several open annular grooves are arranged axially on the wall of the deformable section. Pushing / pulling the inner tube allows the deformable section to bend and deform.

[0007] The drive system includes a device assembly and a drive module assembly, which are detachably connected. The device assembly contains a driven slave module, and the flexible robotic arm is connected to the driven slave module. The drive module assembly contains a driven active module and a PCB control board. The driven active module is electrically connected to the PCB control board, and the driven active module is drive-driven to the driven slave module. The drive module assembly is used to drive the flexible robotic arm to perform linear, rotary, and bending movements.

[0008] A quick-release assembly is provided between the instrument assembly and the drive module assembly.

[0009] Furthermore, the device assembly includes an upper base plate and an upper mounting plate, the upper mounting plate being slidably connected to the upper base plate. An outer tube mounting seat and a driven module mounting seat are fixed on the upper mounting plate. The driven module includes a lead screw spline shaft, a spline gear, and a lead screw gear. The lead screw spline shaft is rotatably connected to the driven module mounting seat. The lead screw spline shaft is hollow, with a spline on the outer periphery of one end and a lead screw on the outer periphery of the other end. A spline gear is nested on the outer periphery of the spline portion of the lead screw spline shaft. The lead screw portion of the lead screw spline shaft is threadedly connected to the lead screw gear. The end of the lead screw portion of the lead screw spline shaft is connected to the inner tube mounting seat. The proximal end of the flexible robotic arm passes through the outer tube mounting seat and the lead screw spline shaft in sequence. The proximal end of the outer tube is rotatably connected to the outer tube mounting seat, and the proximal end of the inner tube is fixedly connected to the inner tube mounting seat.

[0010] Furthermore, the drive module assembly includes a first lower mounting plate and a second lower mounting plate, the second lower mounting plate being slidably connected to the first lower mounting plate, and the drive active module including a rotary motor transmission module, a bending motor transmission module, and a linear motion module, the linear motion module being mounted on the first lower mounting plate, and the bending motor transmission module and the rotary motor transmission module being mounted on the second lower mounting plate;

[0011] The linear motion module includes a linear motion control motor, which is connected to a second lead screw. A slide is connected to the second lead screw, and a second lower mounting plate is fixed to the other end of the slide. A transmission assembly is provided between the second lower mounting plate and the upper mounting plate of the instrument assembly.

[0012] The bending motor transmission module includes a control bending motor, a second output shaft gear, and a second transmission gear. The output shaft of the control bending motor is connected to the second output shaft gear, the second output shaft gear meshes with the second transmission gear, and the second transmission gear drives the lead screw gear.

[0013] The rotary motor transmission module includes a control rotary motor, a first output shaft gear, and a first transmission gear. The output shaft of the control rotary motor is connected to the first output shaft gear, the first output shaft gear meshes with the first transmission gear, and the first transmission gear drives and connects to a spline gear.

[0014] As a preferred technical solution, the transmission assembly between the second lower mounting plate and the upper mounting plate of the instrument assembly includes a third mounting plate. The third mounting plate is fixed above the second lower mounting plate. The third mounting plate is provided with a clearance hole corresponding to the fixing seat area of ​​the instrument assembly. The lower side wall of the fixing seat of the instrument assembly abuts against the clearance hole.

[0015] The second transmission gear of the bending motor transmission module and the first transmission gear of the rotating motor transmission module are both spur gears. The second transmission gear meshes with a lead screw gear, and the first transmission gear meshes with a spline gear.

[0016] As a preferred technical solution, the instrument assembly further includes an upper housing, an upper base plate fixedly mounted on the top of the upper housing, a slide rail located below the upper base plate, and an upper slider mounted above the upper mounting plate, the upper slider being slidably connected to the upper slide rail. The outer tube fixing seat and the driven module fixing seat are mounted on the lower part of the upper mounting plate;

[0017] The drive module assembly includes a lower housing, a first mounting plate is fixedly installed at the bottom of the lower housing, a lower slide rail is provided on the first mounting plate, and a lower slider is installed below the second mounting plate, the lower slider being slidably connected to the lower slide rail.

[0018] The drive module assembly has a cover plate on the upper part of the lower housing. The first lower mounting plate is fixedly connected to the cover plate by connecting posts and screws. The cover plate is connected to the side wall of the lower housing by locking components.

[0019] As a preferred technical solution, the quick-release assembly includes a locking block. The instrument assembly is placed above the drive module assembly. The locking block is hinged to the lower housing side wall of the drive module assembly. The upper housing of the instrument assembly is provided with a locking groove. The locking block flips upward and engages in the locking groove.

[0020] As a preferred technical solution, the transmission assembly between the second lower mounting plate and the upper mounting plate of the instrument assembly is provided in two sets, including a transmission rod assembly. The lower end of the transmission rod assembly is rotatably connected to the second lower mounting plate through a bearing, and the upper end of the transmission rod assembly is rotatably connected to the upper mounting plate through a bearing. The second lower mounting plate moves linearly under the action of a linear motion motor, and drives the upper mounting plate to move linearly through the transmission rod assembly.

[0021] The transmission rod assembly includes an upper transmission rod and a lower transmission rod. The upper transmission rod is rotatably connected to the upper mounting plate, and an upper connecting cap is fixedly connected to the lower part of the upper transmission rod. The lower part of the lower transmission rod is rotatably connected to the second lower mounting plate. A lower connecting cap is provided at the top of the lower connecting rod, and the upper connecting cap can be sleeved on the top of the lower connecting cap. A positioning structure is provided between the upper connecting cap and the lower connecting cap.

[0022] As a preferred technical solution, the positioning structure consists of a positioning block and a positioning groove. The positioning block is located at the top of the brim of the lower connecting cap, and the positioning groove is located at the bottom of the brim of the upper connecting cap. The positioning block and the positioning groove are adapted to each other. The positioning transmission structure is provided in two sets, and the distances of the two sets of positioning transmission structures from the central axis of the transmission rod assembly are different.

[0023] As a preferred technical solution, the top of the lower transmission rod is fixedly connected to a transmission spindle, and a rotating ring is slidably engaged on the outer circumference of the transmission spindle. The outer circumference of the transmission spindle is provided with an inverted U-shaped keyway along the axial direction, and the inner circumference of the rotating ring is provided with key teeth. The key teeth are adapted to the keyway, and the transmission spindle can drive the rotating ring to rotate synchronously through the cooperation of the key teeth and the keyway. The rotating ring can slide linearly up and down along the keyway. The upper part of the rotating ring is connected to a lower connecting cap, and the cap sleeve of the lower connecting cap is located on the upper part of the transmission spindle. The transmission spindle is hollow inside, and a first spring is provided between the transmission spindle and the top wall of the cap sleeve of the lower connecting cap.

[0024] One of the transmission components has a second transmission gear fixed at the lower part of the lower transmission rod and a fourth transmission gear fixed at the upper part of the upper transmission rod. The second transmission gear and the second output shaft gear are bevel gears, and the gear shafts of the second transmission gear and the second output shaft gear intersect at an angle of 90°. The fourth transmission gear meshes with the lead screw gear, and the fourth transmission gear and the lead screw gear are helical gears. The gear shafts of the fourth transmission gear and the lead screw gear are staggered by 90°.

[0025] The lower part of the lower transmission rod of the other transmission assembly is fixed with a first transmission gear, and the upper part of the upper transmission rod is fixed with a third transmission gear. The first transmission gear and the first output shaft gear are bevel gears, and the gear shafts of the first transmission gear and the first output shaft gear intersect at an angle of 90°. The third transmission gear meshes with a spline gear, and the third transmission gear and the spline gear are helical gears. The gear shafts of the third transmission gear and the spline gear are staggered by 90°.

[0026] As a preferred technical solution, a cross roller guide is installed between the upper base plate and the upper mounting plate. There are two sets of cross roller guides, which are respectively arranged on both sides of the upper base plate. The upper mounting plate and the upper base plate achieve linear navigation through the cross roller guides. Several clearance openings are opened on the upper base plate in the transmission component area. The instrument assembly also includes an upper housing. The upper base plate is installed at the lower opening end of the upper housing. The upper base plate is connected and fixed to the side wall of the upper housing by locking components.

[0027] The drive module assembly includes a lower housing, a first mounting plate is fixedly installed at the bottom of the lower housing, a lower slide rail is provided on the first mounting plate, a lower slider is installed below the second mounting plate, and the lower slider is slidably connected to the lower slide rail; a cover plate is provided on the upper part of the lower housing of the drive module assembly, the first lower mounting plate and the cover plate are fixedly connected by a connecting post and screws, and the side wall of the lower housing is fixedly connected to the connecting post by a locking member.

[0028] As a preferred technical solution, the quick-release assembly includes a receiving groove and a quick-release buckle. The quick-release buckle is U-shaped and slides within the receiving groove. The receiving groove is connected to the lower part of the cover plate. The cover plate has an opening for the quick-release buckle to move. Two side walls of the quick-release buckle extend from the opening to the upper part of the cover plate. A push rod is provided on the outer side of one side wall of the quick-release buckle, and a hook is provided on the top of the other side wall. A second spring is provided between the side wall with the hook and the inner side wall of the receiving groove. An opening for the hook to move is provided on the upper base plate, and the hook passes through the opening of the upper base plate and hooks onto the top surface of the upper base plate.

[0029] As a preferred technical solution, the drive module assembly is further provided with a zero-point position detection component. The zero-point position detection component includes a position detection magnetic encoder and an induction magnet. The induction magnet is respectively disposed on the inner tube fixing seat and the slide. The position detection magnetic encoder is disposed on the inner tube fixing seat and the slide, which are located directly above or directly below the zero-point position.

[0030] As a preferred technical solution, the control bending motor and the control rotating motor have built-in encoders, and a single-turn absolute encoder is also installed at the end of the output shaft of the control bending motor and the control rotating motor to detect the rotation angle of the motor.

[0031] As a preferred technical solution, the bending motor transmission module and the rotating motor transmission module are further provided with a photoelectric encoder. The grating disk of the photoelectric encoder is coaxially fixed on the first transmission gear or the second transmission gear. The photoelectric detector of the photoelectric encoder is mounted on the second lower mounting plate. The grating disk rotates synchronously with the first transmission gear or the second transmission gear. The photoelectric detector detects the light changes generated by the rotation of the grating disk and outputs a corresponding signal to detect the rotation angle of the first transmission gear or the second transmission gear.

[0032] As a preferred technical solution, the flexible robotic arm further includes a coaxially configured hollow second sleeve assembly. The first sleeve assembly is inserted inside the second sleeve assembly, and the length of the first sleeve assembly is greater than that of the second sleeve assembly. The second sleeve assembly includes a second inner tube and a second outer tube. The second inner tube and the second outer tube are divided into a straight section and a deformable section. The deformable section is provided with an annular groove. The distal end of the second inner tube is fixedly connected to the distal end of the second outer tube. When the second inner tube is pushed / pulled, the deformable section of the second sleeve assembly bends and deforms.

[0033] The deformable section of the first sleeve assembly includes a distal segment and a compliant segment, and the deformable section of the second sleeve assembly is a proximal segment, with the deformable section of the first sleeve assembly extending beyond the deformable section of the second sleeve assembly.

[0034] The drive module assembly contains two sets of active drive modules, which are used to drive the first sleeve assembly and the second sleeve assembly of the flexible robotic arm to achieve linear, rotational and bending movements, respectively.

[0035] The beneficial effects of this invention are:

[0036] The flexible robotic arm drive system for minimally invasive interventional surgery of the present invention is used to drive a coaxial antagonistic tube-type flexible robotic arm. The bending of the flexible robotic arm is achieved by the relative pushing and pulling of two coaxially configured thin-walled tubes. The drive system drives the flexible robotic arm to perform bending, rotation and linear motion, which can be fully automated, with high control accuracy and safety.

[0037] The flexible robotic arm drive system for minimally invasive interventional surgery of the present invention is achieved by setting a lead screw spline shaft and connecting lead screw gear and spline gear at both ends of the shaft. Different control motors are used to realize the rotation and linear motion of the lead screw spline shaft, thereby driving the flexible robotic arm to realize rotation and bending motion. The design is ingenious and the structure is small and compact.

[0038] The flexible robotic arm drive system for minimally invasive interventional surgery of the present invention includes a driven driven module connected to the flexible robotic arm within the instrument assembly, and a driven active module within the drive module assembly, allowing for quick disassembly and reassembly of the instrument assembly. The instrument assembly contains no electronic components, facilitating sterilization and reuse. A transmission component is provided between the driven driven module and the driven active module, enabling both quick assembly and disassembly, and power transmission; the structure is ingenious.

[0039] The flexible robotic arm drive system for minimally invasive interventional surgery of the present invention can detect whether the flexible robotic arm is at the zero point position by setting a zero point position detection component. By setting a single-turn absolute encoder or photoelectric encoder, the rotation angle of the motor is detected. The dual encoder redundancy detection is achieved with the encoder built into the control bending / rotating motor. When any sensor fails, or the deviation between the built-in encoder and the magnetic encoder exceeds a predetermined value, it indicates that the gear transmission mechanism is not working properly, which may cause safety hazards, thus improving safety and stability.

[0040] The flexible robotic arm drive system for minimally invasive interventional surgery of the present invention is provided with two sets of drive modules, which can be used to drive the first sleeve assembly and the second sleeve assembly of the flexible robotic arm respectively. The combined use of the two sets of sleeve assemblies can enable the flexible robotic arm to have two active bending stages, increasing the degree of freedom and dexterity, and enabling it to enter a deeper surgical area. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1This is an overall schematic diagram of an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram of the flexible robotic arm.

[0044] Figure 3 This is a schematic diagram of the flexible robotic arm bending structure;

[0045] Figure 4 This is a magnified view of the flexible robotic arm.

[0046] Figure 5 This is a schematic diagram of the tip structure;

[0047] Figure 6 This is an overall exploded view of Embodiment 2 of the present invention;

[0048] Figure 7 This is a schematic diagram of the internal structure of the instrument assembly in Embodiment 2;

[0049] Figure 8 This is a schematic diagram illustrating the working principle of a lead screw spline shaft;

[0050] Figure 9 This is an internal schematic diagram of the drive module component in Embodiment 2;

[0051] Figure 10 This is a schematic diagram of the appearance of Embodiment 3 of the present invention;

[0052] Figure 11 This is an overall exploded view of Embodiment 3 of the present invention;

[0053] Figure 12 yes Figure 11 An enlarged view of the exploded area at point A within the dashed box;

[0054] Figure 13 yes Figure 11 An enlarged view of the exploded area at point B within the dashed box;

[0055] Figure 14 This is a schematic diagram of the transmission assembly in Example 3;

[0056] Figure 15 This is a cross-sectional schematic diagram of the quick-release assembly in Embodiment 3;

[0057] Figure 16 This is a schematic diagram of the flexible robotic arm in Example 4;

[0058] Figure 17 This is a schematic diagram of the groove in the compliant section of Example 4.

[0059] Reference numerals: 1-Flexible robotic arm, 11-Inner tube, 12-Outer tube, 13-Tip head, 131-Endoscope camera, 132-Flushing channel, 133-Suction channel, 14-Second inner tube, 15-Second outer tube, 101-Straight tube section, 102-Deformed section, 103-Groove, 104-Distal segment, 105-Compliant segment, 106-Proximal segment, Second groove 107;

[0060] 20-Machinery assembly, 201-Upper housing, 202-Upper mounting plate, 203-Outer tube mounting seat, 204-Drive driven module fixing seat, 205-Lead screw spline shaft, 206-Lead screw gear, 207-Spline gear, 208-Inner tube fixing seat, 209-Upper base plate, 210-Upper slider, 211-Locking groove, 212-Cross roller guide;

[0061] 30-Drive module assembly, 300-Lower housing, 301-Control rotary motor, 302-First output shaft gear, 303-First transmission gear, 304-Control bending motor, 305-Second output shaft gear, 306-Second transmission gear, 307-Control linear motion motor, 308-First lower mounting plate, 309-Second lead screw, 310-Slide, 311-Second lower mounting plate, 312-Third mounting plate, 313-Allowing hole, 314-Cover plate, 315-Connecting column, 316-Fourth transmission gear, 317-Third transmission gear;

[0062] 401 - Position detection magnetic encoder, 402 - Induction magnet, 403 - Single-turn absolute encoder, 404 - Grating disk, 405 - Photodetector;

[0063] 5-Locking block; 61-Two-way joystick; 62-Linear motion joystick; 63-Segment selector switch; 64-Safety button.

[0064] 70-Transmission assembly, 701-Upper transmission rod, 702-Lower transmission rod, 703-Upper connecting cap, 704-Lower connecting cap, 705-Positioning block, 706-Positioning groove, 707-Transmission spindle, 7071-Keyway, 708-Rotating ring, 7081-Key tooth, 709-First spring;

[0065] 801-Accommodation slot, 802-Quick release buckle, 803-Push rod, 804-Snap buckle, 805-Second spring. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0067] Example 1:

[0068] This embodiment provides a flexible robotic arm drive system for minimally invasive interventional surgery.

[0069] Flexible robotic arms, such as Figures 1-5 As shown, the system includes a coaxially configured hollow first sleeve assembly, comprising an inner tube 11 and an outer tube 12. Both the inner and outer tubes are thin-walled tubes. The inner tube 11 passes inside the outer tube 12, and the inner tube 11 and outer tube 12 are fixedly connected at their distal ends. Both the inner and outer tubes have a straight section 101 at the proximal end and a deformable section 102 at the distal end. The deformable section 102 has several open annular grooves 103 arranged axially on its wall. Pushing / pulling the inner tube 11 causes the deformable section 102 to bend and deform. The flexible robotic arm has a tip 13 at its distal end, such as... Figure 5 As shown, the tip 13 integrates an endoscope camera 131, LED lighting, a flushing channel 132, and a suction channel 133. The tip 13 can also be used to mount surgical instruments. The outer surface of the tip 13 is smooth to avoid scratching the fragile pulmonary artery.

[0070] The drive system includes a device assembly 20 and a drive module assembly 30, which are detachably connected. The device assembly 20 contains a driven slave module, and the flexible robotic arm 1 is connected to the driven slave module. The drive module assembly 30 contains a driven active module and a PCB control board. The driven active module is electrically connected to the PCB control board, and the driven active module is drive-driven to the driven slave module. The drive module assembly 30 is used to drive the flexible robotic arm to perform linear, rotary, and bending movements.

[0071] A quick-release assembly is provided between the instrument assembly and the drive module assembly.

[0072] like Figure 6-14The instrument assembly 20 includes an upper base plate 209 and an upper mounting plate 202, which are slidably connected to the upper base plate 209. An outer tube mounting seat 203 and a drive-driven module mounting seat 204 are fixed on the upper mounting plate 202. The drive-driven module includes a lead screw spline shaft 205, a spline gear 207, and a lead screw gear 206. The lead screw spline shaft 205 is rotatably connected to the drive-driven module mounting seat 204. The lead screw spline shaft 205 is hollow, with a spline on one end of its outer circumference. The other end is a lead screw, and a spline gear 207 is nested around the spline portion of the lead screw spline shaft 205. The lead screw portion of the lead screw spline shaft 205 is threadedly connected to the lead screw gear 206. The end of the lead screw portion of the lead screw spline shaft 205 is connected to the inner tube fixing seat 208. The proximal end of the flexible robotic arm passes through the outer tube fixing seat 203 and the lead screw spline shaft 205 in sequence. The proximal end of the outer tube 12 is rotatably connected to the outer tube fixing seat 203, and the proximal end of the inner tube 11 is fixedly connected to the inner tube fixing seat 208.

[0073] The working principle of the splined gear shaft is as follows: Figure 8 As shown, by controlling the rotation of the lead screw and gear 206 while keeping the spline gear 207 stationary, the overall linear motion of the lead screw and spline shaft 205 can be achieved, thereby pushing and pulling the inner tube 11 relative to the outer tube 12 to control the bending motion of the flexible robotic arm; by controlling the rotation of the spline gear 207, the overall rotational motion of the lead screw and spline shaft 205 can be achieved, and by controlling the rotation of the lead screw and gear 206 to decouple the lead screw and gear from the lead screw, the rotation of the inner tube 11 can drive the overall rotation of the flexible robotic arm; by controlling the linear motion of the upper mounting plate 202, the overall linear motion of the flexible robotic arm can be achieved.

[0074] The drive module assembly includes a first lower mounting plate 308 and a second lower mounting plate 311, the second lower mounting plate 311 being slidably connected to the first lower mounting plate 308. The drive active module includes a rotary motor transmission module, a bending motor transmission module, and a linear motion module. The linear motion module is mounted on the first lower mounting plate 308, and the bending motor transmission module and the rotary motor transmission module are mounted on the second lower mounting plate 311.

[0075] The linear motion module includes a linear motion control motor 307, which is connected to a second lead screw 309. A slide block 310 is connected to the second lead screw 309, and the other end of the slide block 310 is fixed to a second lower mounting plate 311. The second lower mounting plate 311 and the upper mounting plate of the machine assembly are provided with a transmission assembly 70. The linear motion control motor 307 drives the second lead screw 309 to rotate, thereby driving the slide block 310 to move linearly. The slide block 310 drives the second lower mounting plate 311 to move linearly relative to the first lower mounting plate 308. The transmission assembly 70 drives the upper mounting plate 202 to move linearly synchronously relative to the upper base plate 209, thereby realizing the linear motion of the flexible robotic arm.

[0076] The bending motor transmission module includes a control bending motor 304, a second output shaft gear 305, and a second transmission gear 306. The output shaft of the control bending motor 304 is connected to the second output shaft gear 305, the second output shaft gear 305 is meshed with the second transmission gear 306, and the second transmission gear 306 is connected to the lead screw gear 206. The control bending motor 304 rotates, which drives the lead screw gear 206 to rotate, thereby driving the inner tube to move linearly and realizing the bending motion of the flexible robotic arm in a plane.

[0077] The rotary motor transmission module includes a control rotary motor 301, a first output shaft gear 302, and a first transmission gear 303. The output shaft of the control rotary motor 301 is connected to the first output shaft gear 302, the first output shaft gear 302 meshes with the first transmission gear 303, and the first transmission gear 303 drives the spline gear 207. The rotation of the control rotary motor 301 can drive the spline gear 207 to rotate. At the same time, by controlling the rotation of the bending motor 304, the lead screw gear 206 is driven to rotate, decoupling the lead screw gear and the lead screw, thereby driving the inner tube of the flexible robotic arm to rotate, thus realizing the rotation of the flexible robotic arm, with a rotation range of 0-360°.

[0078] Example 2:

[0079] Example 2 is based on Example 1, such as... Figures 6-9 As shown, the transmission assembly between the second lower mounting plate 311 and the upper mounting plate 202 of the instrument assembly includes a third mounting plate 312. The third mounting plate 312 is fixed above the second lower mounting plate 311. The third mounting plate 312 has a clearance hole 313 corresponding to the fixing seat area of ​​the instrument assembly. The lower side wall of the fixing seat of the instrument assembly abuts against the clearance hole 313. The second lower mounting plate 311 is controlled by the linear motion motor 307 to move linearly, driving the third mounting plate 312 to move. The clearance hole of the third mounting plate 312 abuts against the fixing seat inside the instrument assembly, thereby driving the fixing seat and the upper mounting plate 202 to move linearly relative to the upper base plate 209, realizing the linear movement of the flexible robotic arm.

[0080] In this embodiment, the second transmission gear 306 of the bending motor transmission module and the first transmission gear 303 of the rotary motor transmission module are both spur gears. The second transmission gear 306 meshes with the lead screw gear 206, and the first transmission gear 303 meshes with the spline gear 207.

[0081] The instrument assembly also includes an upper housing 201, with an upper base plate 209 fixedly installed inside the top of the upper housing 201. A slide rail is provided below the upper base plate 209, and an upper slider 210 is installed above the upper mounting plate 202, with the upper slider 210 slidably connected to the slide rail of the upper base plate 209. The outer tube fixing seat 203 and the drive driven module fixing seat 204 are installed on the lower part of the upper mounting plate 202.

[0082] The drive module assembly includes a lower housing 300, a first mounting plate 308 is fixedly installed at the bottom of the lower housing 300, a lower slide rail is provided on the first mounting plate 308, and a lower slider is installed below the second mounting plate 311, the lower slider being slidably connected to the lower slide rail.

[0083] Preferably, a cover plate 314 is provided above the lower housing 300 of the drive module assembly. The first lower mounting plate 308 and the cover plate 314 are fixedly connected by a connecting post 315 and screws. The cover plate 314 is connected to the side wall of the lower housing 300 by a locking member.

[0084] The quick-release assembly includes a locking block 5. The instrument assembly 20 is placed above the drive module assembly 30. The locking block 5 is hinged to the side wall of the lower housing 300 of the drive module assembly. The upper housing 201 of the instrument assembly 20 has a locking groove 211. The locking block 5 flips upward and engages with the locking groove 211 to achieve quick locking. Preferably, a pre-positioning structure, such as a matching pin post and pin hole, is also provided between the instrument assembly 20 and the drive module assembly 30. The quick-release assembly allows for quick assembly and disassembly of the instrument assembly and the drive module assembly. The instrument assembly contains no electronic components, facilitating sterilization for reuse.

[0085] Example 3:

[0086] Example 3 is based on Example 1, such as... Figure 10-15 As shown, the transmission assembly 70 between the second lower mounting plate 311 and the upper mounting plate 202 of the instrument assembly is provided in two sets, including a transmission rod assembly. The lower end of the transmission rod assembly is rotatably connected to the second lower mounting plate 311 through a bearing, and the upper end of the transmission rod assembly is rotatably connected to the upper mounting plate 202 through a bearing. The second lower mounting plate 311 moves linearly under the action of a linear motion motor, and drives the upper mounting plate 202 to move linearly through the transmission rod assembly.

[0087] Preferably, the transmission rod assembly is as follows: Figure 14As shown, the device includes an upper transmission rod 701 and a lower transmission rod 702. The upper transmission rod 701 is rotatably connected to the upper mounting plate 202, and an upper connecting cap 703 is fixedly connected to the lower part of the upper transmission rod 701. The lower part of the lower transmission rod 702 is rotatably connected to the second lower mounting plate 311. A lower connecting cap 704 is provided at the top of the lower connecting rod 702, and the upper connecting cap 703 can be fitted onto the top of the lower connecting cap 704. A positioning structure is provided between the upper connecting cap 703 and the lower connecting cap 704. Preferably, the positioning structure consists of a positioning block 705 and a positioning groove 706. The positioning block 705 is located at the top of the brim of the lower connecting cap 704, and the positioning groove 706 is located at the bottom of the brim of the upper connecting cap 703. The positioning block 705 and the positioning groove 706 are adapted to each other. Of course, the positions of the positioning groove 706 and the positioning block 705 can also be interchanged. Preferably, the positioning structure is provided in two sets, and the distances of the two sets of positioning structures from the central axis of the transmission rod assembly are different, with the upper connecting cap 703 and the lower connecting cap 704 having a unique matching position.

[0088] Furthermore, the top of the lower transmission rod 702 is fixedly connected to the transmission spindle 707, and the outer circumference of the transmission spindle 707 is slidably engaged with a rotating ring 708. Specifically, the outer circumference of the transmission spindle 707 is provided with an inverted U-shaped keyway 7071 along the axial direction, and the inner circumference of the rotating ring 708 is provided with key teeth 7081. The key teeth 7081 are adapted to the keyway 7071, and the transmission spindle 707 can drive the rotating ring 708 to rotate synchronously through the cooperation of the key teeth 7081 and the keyway 7071. The rotating ring 708 can slide vertically up and down along the keyway 7071. The upper part of the rotating ring 708 is connected to the lower connecting cap 704, and the cap of the lower connecting cap 704 is provided on the upper part of the transmission spindle 707. The inside of the transmission spindle 707 is hollow, and a first spring 709 is provided between the transmission spindle 707 and the top wall of the cap of the lower connecting cap 704. When the upper connecting cap 703 and the lower connecting cap 704 are successfully aligned, the first spring 709 can be compressed downwards, causing the lower connecting cap 704 and the rotating ring 708 to move down along the transmission spindle 707 until the final installation position is reached. The quick-release assembly then secures the instrument assembly to the drive module assembly.

[0089] Furthermore, a second transmission gear 306 is fixedly mounted on the lower part of the lower transmission rod 702 of one of the transmission components, and a fourth transmission gear 316 is fixedly mounted on the upper part of the upper transmission rod 701. The second transmission gear 306 and the second output shaft gear 305 are bevel gears, and the gear shafts of the second transmission gear 306 and the second output shaft gear 305 intersect at an angle of 90°. The fourth transmission gear 316 is meshed with the lead screw gear 206, and the fourth transmission gear 316 and the lead screw gear 206 are helical gears. The gear shafts of the fourth transmission gear 316 and the lead screw gear 206 are staggered by 90°. The bending motor 304 is controlled to rotate, which drives the lower connecting rod 702 to rotate via the second output shaft gear 305 and the second transmission gear 306. The lower connecting rod 702 drives the upper connecting rod 701 to rotate via the lower connecting cap 704 at the top. The upper connecting rod 701 drives the fourth transmission gear 316 to rotate, which in turn drives the lead screw gear 206 to rotate. The rotation of the lead screw gear 206 drives the spline lead screw shaft 205 to move linearly, thereby driving the inner tube to move linearly, pushing and pulling the inner tube, and realizing the bending motion of the flexible robotic arm in a plane.

[0090] The lower transmission rod 702 of another transmission assembly is fixed with a first transmission gear 303 at its lower part, and the upper transmission rod 701 is fixed with a third transmission gear 317 at its upper part. The first transmission gear 303 and the first output shaft gear 302 are bevel gears, and the gear shafts of the first transmission gear 303 and the first output shaft gear 302 intersect at an angle of 90°. The third transmission gear 317 is meshed with the spline gear 207, and the third transmission gear 317 and the spline gear 207 are helical gears. The gear shafts of the third transmission gear 317 and the spline gear 207 are staggered by 90°. The rotation of the rotary motor 301 drives the lower connecting rod 702 to rotate via the first output shaft gear 302 and the first transmission gear 303. The lower connecting rod 702 drives the upper connecting rod 701 to rotate via the lower connecting cap 704 at the top. The upper connecting rod 701 drives the third transmission gear 317 to rotate, thereby driving the spline gear 207 to rotate. At the same time, the rotation of the bending motor 304 drives the lead screw gear 206 to rotate, decoupling the lead screw gear and the lead screw, so that the inner tube of the flexible robotic arm rotates, thereby realizing the rotation of the flexible robotic arm.

[0091] A cross roller guide 212 is installed between the upper base plate 209 and the upper mounting plate 202. Two sets of cross roller guides 212 are provided, located on both sides of the upper base plate 209. The upper mounting plate 202 and the upper base plate 209 achieve linear navigation through the cross roller guides 212. The upper base plate 209 has several clearance openings to provide sufficient space for the movement of the transmission components. The instrument assembly also includes an upper housing 201. The upper base plate 209 is installed at the lower open end of the upper housing 201 and is fixedly connected to the side wall of the upper housing 201 by locking components.

[0092] The drive module assembly includes a lower housing 300, a first mounting plate 308 is fixedly installed at the bottom of the lower housing 300, a lower slide rail is provided on the first mounting plate 308, and a lower slider is installed below the second mounting plate 311, the lower slider being slidably connected to the lower slide rail.

[0093] Preferably, a cover plate 314 is provided above the lower housing 300 of the drive module assembly. The cover plate 314 has a clearance opening for the movement of the transmission assembly. The first lower mounting plate 308 is fixedly connected to the cover plate 314 by a connecting post 315 and screws. The side wall of the lower housing 300 is fixedly connected to the connecting post 315 by a locking member.

[0094] The quick-release component, such as Figure 13 , Figure 15 As shown, it includes a receiving groove 801 and a quick-release buckle 802. The quick-release buckle 802 is U-shaped and slides within the receiving groove 801. The receiving groove 801 is connected to the lower part of the cover plate 314. The cover plate 314 has an opening for the quick-release buckle 802 to move. The two side walls of the quick-release buckle 802 extend from the opening to the upper part of the cover plate 314. A push rod 803 is provided on the outer side of one side wall of the quick-release buckle 802, and a hook 804 is provided on the top of the other side wall. A second spring 805 is provided between the side wall of the hook 804 and the inner side wall of the receiving groove 801. An opening is provided on the upper base plate 209 for the hook 804 to move. The hook 804 passes through the opening of the upper base plate 209 and hooks onto the top surface of the upper base plate 209.

[0095] When installing the instrument assembly 20 and the drive module assembly 30, after the transmission assembly is aligned, pressing the instrument assembly 20 compresses the first spring 709 inside the transmission assembly. Simultaneously, the upper base plate 209 moves downward, pushing the quick-release buckle 802 inward until the buckle 804 of the quick-release buckle 802 fully protrudes from the upper base plate 209. Under the rebound action of the second spring 805, the quick-release buckle 802 moves outward and engages with the upper base plate 209. At this time, the first spring 709 is in a compressed state. When the instrument assembly needs to be removed, pushing the push rod 803 compresses the second spring 805, causing the hook 804 to move inward and unlocking the upper base plate 209. At this time, the first spring 709 rebounds, lifting the instrument assembly 20 upward, and then the entire instrument assembly 20 can be removed upward.

[0096] Furthermore, the drive module assembly also includes a zero-point position detection component, which includes a position detection magnetic encoder 401 and an induction magnet 402. The induction magnet 402 is respectively disposed on the inner tube fixing seat 208 and the slide 310. The position detection magnetic encoder 401 is disposed on the inner tube fixing seat 208 and the slide 310, which are located directly above or directly below the zero-point position. The position detection magnetic encoder can detect that the inner tube fixing seat and the slide are located at the initial zero-point position, thereby obtaining that the flexible robotic arm is currently at the zero-point position.

[0097] Furthermore, in Embodiment 2, the control bending motor and control rotary motor have built-in encoders, and a single-turn absolute encoder 403 is also installed at the end of the output shaft of the control bending motor and control rotary motor to detect the rotation angle of the motor, realizing redundant detection with dual encoders. When the deviation between the built-in encoder and the single-turn absolute encoder exceeds a predetermined value, it indicates that the gear transmission mechanism is not working properly, which may cause safety hazards. In Embodiment 3, the bending motor transmission module and the rotary motor transmission module are also equipped with photoelectric encoders. The grating disk 404 of the photoelectric encoder is coaxially fixed on the first transmission gear 303 and the second transmission gear 306. The photoelectric detector 405 of the photoelectric encoder is installed on the second lower mounting plate 311. The grating disk 404 rotates synchronously with the first transmission gear 303 or the second transmission gear 306. The photoelectric detector 405 detects the light changes generated by the rotation of the grating disk 404, thereby outputting a corresponding signal to reflect the speed and direction of the first transmission gear or the second transmission gear, and thus reflect the speed and direction of the control bending motor or the control rotary motor.

[0098] Example 4

[0099] This embodiment, based on embodiments 1, 2, and 3, adds an active bending segment, allowing for two bending maneuvers and access to deeper surgical areas. Specifically, as shown... Figure 16 As shown:

[0100] The flexible robotic arm 1 also includes a coaxially configured hollow second sleeve assembly. The first sleeve assembly is inserted inside the second sleeve assembly, and the length of the first sleeve assembly is greater than that of the second sleeve assembly. The second sleeve assembly includes a second inner tube 14 and a second outer tube 15. The second inner tube 14 and the second outer tube 15 are divided into straight sections and deformable sections. The deformable sections are provided with open annular grooves. The distal end of the second inner tube 14 is fixedly connected to the distal end of the second outer tube 15. Pushing / pulling the second inner tube 14 can cause the deformable section of the second sleeve assembly to bend and deform.

[0101] Preferably, the deformable section of the first sleeve assembly includes a distal segment 104 and a compliant segment 105, and the deformable section of the second sleeve assembly is a proximal segment 106. The deformable section of the first sleeve assembly extends beyond the deformable section of the second sleeve assembly. The grooves 103 on the distal segment 104 and the proximal segment 106 are tenon-and-mortise shaped, and the second groove 107 of the compliant segment 105 is I-shaped. The groove of the compliant segment is as follows: Figure 17 As shown, adjacent slots are arranged in an intersecting pattern on the compliant section. The tenon-and-mortise shaped slots enable the robotic arm to achieve relatively high stiffness when bending. The "I"-shaped slots enable the contact part of the deformable section from the distal segment to the proximal segment to move passively. The structure of the flexible robotic arm gives it two active bending sections, six degrees of freedom, and high stiffness.

[0102] The drive module assembly contains two sets of active drive modules, which respectively drive the first sleeve assembly and the second sleeve assembly of the flexible robotic arm to achieve linear, rotational, and bending movements.

[0103] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A flexible robotic arm drive system for minimally invasive interventional surgery, characterized in that: The flexible robotic arm includes a coaxially configured hollow first sleeve assembly, which includes an inner tube and an outer tube. The inner tube and the outer tube are thin-walled tubes. The inner tube passes through the outer tube and the inner tube and the outer tube are fixedly connected at the distal end. Both the inner tube and the outer tube are configured as a straight tube section at the proximal end and a deformable section at the distal end. Several open annular grooves are arranged axially on the wall of the deformable section. When the inner tube is pushed / pulled, the deformable section can bend and deform. The drive system includes a mechanical component and a drive module component, which are detachably connected. The mechanical component contains a driven slave module, and the flexible robotic arm is connected to the driven slave module. The drive module component contains a driven active module and a PCB control board. The driven active module is electrically connected to the PCB control board, and the driven active module is drively connected to the driven slave module. The drive module component is used to drive the flexible robotic arm to perform linear, rotary, and bending movements. The mechanical component includes an upper base plate and an upper mounting plate, which are slidably connected to the upper base plate. An outer tube mounting seat is fixed on the upper mounting plate. The driven module is fixed in place. The driven module includes a lead screw spline shaft, a spline gear, and a lead screw gear. The lead screw spline shaft is rotatably connected to the driven module fixed in place. The lead screw spline shaft is hollow, with a spline on the outer circumference of one end and a lead screw on the outer circumference of the other end. A spline gear is nested on the outer circumference of the spline portion of the lead screw spline shaft. The lead screw portion of the lead screw spline shaft is threadedly connected to the lead screw gear. The end of the lead screw portion of the lead screw spline shaft is connected to the inner tube fixed in place. The proximal end of the flexible robotic arm passes through the outer tube mounting seat and the lead screw spline shaft in sequence. The proximal end of the outer tube is rotatably connected to the outer tube mounting seat, and the proximal end of the inner tube is fixedly connected to the inner tube fixed in place. A quick-release assembly is provided between the instrument assembly and the drive module assembly.

2. The flexible robotic arm drive system for minimally invasive interventional surgery according to claim 1, characterized in that: The drive module assembly includes a first lower mounting plate and a second lower mounting plate, the second lower mounting plate being slidably connected to the first lower mounting plate. The drive active module includes a rotary motor transmission module, a bending motor transmission module, and a linear motion module. The linear motion module is mounted on the first lower mounting plate, and the bending motor transmission module and the rotary motor transmission module are mounted on the second lower mounting plate. The linear motion module includes a linear motion control motor, which is connected to a second lead screw. A slide is connected to the second lead screw, and a second lower mounting plate is fixed to the other end of the slide. A transmission assembly is provided between the second lower mounting plate and the upper mounting plate of the instrument assembly. The bending motor transmission module includes a control bending motor, a second output shaft gear, and a second transmission gear. The output shaft of the control bending motor is connected to the second output shaft gear, the second output shaft gear meshes with the second transmission gear, and the second transmission gear drives the lead screw gear. The rotary motor transmission module includes a control rotary motor, a first output shaft gear, and a first transmission gear. The output shaft of the control rotary motor is connected to the first output shaft gear, the first output shaft gear meshes with the first transmission gear, and the first transmission gear drives and connects to a spline gear.

3. The flexible robotic arm drive system for minimally invasive interventional surgery according to claim 2, characterized in that: The transmission assembly between the second lower mounting plate and the upper mounting plate of the instrument assembly includes a third mounting plate. The third mounting plate is fixed above the second lower mounting plate. The third mounting plate is provided with a clearance hole corresponding to the fixing seat area of ​​the instrument assembly. The lower side wall of the fixing seat of the instrument assembly abuts against the clearance hole. The second transmission gear of the bending motor transmission module and the first transmission gear of the rotating motor transmission module are both spur gears. The second transmission gear meshes with a lead screw gear, and the first transmission gear meshes with a spline gear.

4. The flexible robotic arm drive system for minimally invasive interventional surgery according to claim 3, characterized in that: The instrument assembly also includes an upper housing, an upper base plate fixedly installed on the top of the upper housing, a slide rail provided below the upper base plate, an upper slider installed above the upper mounting plate, and the upper slider slidably connected to the upper slide rail; the outer tube mounting seat and the driven module fixing seat are installed on the lower part of the upper mounting plate; The drive module assembly includes a lower housing, a first lower mounting plate is fixedly installed at the bottom of the lower housing, a lower slide rail is provided on the first lower mounting plate, and a lower slider is installed below the second lower mounting plate, the lower slider being slidably connected to the lower slide rail. The drive module assembly has a cover plate on the upper part of the lower housing. The first lower mounting plate is fixedly connected to the cover plate by connecting posts and screws. The cover plate is connected to the side wall of the lower housing by locking components.

5. The flexible robotic arm drive system for minimally invasive interventional surgery according to claim 4, characterized in that: The quick-release assembly includes a locking block. The instrument assembly is placed above the drive module assembly. The locking block is hinged to the lower housing side wall of the drive module assembly. The upper housing of the instrument assembly is provided with a locking groove. The locking block flips upward and engages in the locking groove.

6. The flexible robotic arm drive system for minimally invasive interventional surgery according to claim 2, characterized in that: The transmission assembly between the second lower mounting plate and the upper mounting plate of the instrument assembly is provided in two sets, including a transmission rod assembly. The lower end of the transmission rod assembly is rotatably connected to the second lower mounting plate through a bearing, and the upper end of the transmission rod assembly is rotatably connected to the upper mounting plate through a bearing. The second lower mounting plate moves linearly under the action of a linear motion motor, and drives the upper mounting plate to move linearly through the transmission rod assembly. The transmission rod assembly includes an upper transmission rod and a lower transmission rod. The upper transmission rod is rotatably connected to the upper mounting plate, and an upper connecting cap is fixedly connected to the lower part of the upper transmission rod. The lower part of the lower transmission rod is rotatably connected to the second lower mounting plate, and a lower connecting cap is provided at the top of the lower transmission rod. The upper connecting cap can be fitted onto the top of the lower connecting cap, and a positioning structure is provided between the upper connecting cap and the lower connecting cap.

7. The flexible robotic arm drive system for minimally invasive interventional surgery according to claim 6, characterized in that: The positioning structure consists of a positioning block and a positioning groove. The positioning block is located at the top of the brim of the lower connecting cap, and the positioning groove is located at the bottom of the brim of the upper connecting cap. The positioning block and the positioning groove are adapted to each other. There are two sets of positioning structures, and the distances of the two sets of positioning structures from the central axis of the transmission rod assembly are different.

8. The flexible robotic arm drive system for minimally invasive interventional surgery according to claim 6, characterized in that: The top of the lower transmission rod is fixed to the transmission spindle, and a rotating ring is slidably engaged on the outer circumference of the transmission spindle. The outer circumference of the transmission spindle is provided with an inverted U-shaped keyway along the axial direction, and the inner circumference of the rotating ring is provided with key teeth. The key teeth are adapted to the keyway, and the transmission spindle can drive the rotating ring to rotate synchronously through the cooperation of the key teeth and the keyway. The rotating ring can slide vertically up and down along the keyway. The upper part of the rotating ring is connected to the lower connecting cap, and the cap of the lower connecting cap is located on the upper part of the transmission spindle. The transmission spindle is hollow inside, and a first spring is provided between the transmission spindle and the top wall of the cap of the lower connecting cap. One of the transmission components has a second transmission gear fixed at the lower part of the lower transmission rod and a fourth transmission gear fixed at the upper part of the upper transmission rod. The second transmission gear and the second output shaft gear are bevel gears, and the gear shafts of the second transmission gear and the second output shaft gear intersect at an angle of 90°. The fourth transmission gear meshes with the lead screw gear, and the fourth transmission gear and the lead screw gear are helical gears. The gear shafts of the fourth transmission gear and the lead screw gear are staggered by 90°. The lower part of the lower transmission rod of the other transmission assembly is fixed with a first transmission gear, and the upper part of the upper transmission rod is fixed with a third transmission gear. The first transmission gear and the first output shaft gear are bevel gears, and the gear shafts of the first transmission gear and the first output shaft gear intersect at an angle of 90°. The third transmission gear meshes with a spline gear, and the third transmission gear and the spline gear are helical gears. The gear shafts of the third transmission gear and the spline gear are staggered by 90°.

9. The flexible robotic arm drive system for minimally invasive interventional surgery according to claim 8, characterized in that: A cross roller guide is installed between the upper base plate and the upper mounting plate. There are two sets of cross roller guides, which are respectively located on both sides of the upper base plate. The upper mounting plate and the upper base plate achieve linear navigation through the cross roller guides. Several clearance openings are provided on the upper base plate in the transmission component area. The instrument assembly also includes an upper housing. The upper base plate is installed at the lower opening end of the upper housing. The upper base plate is connected and fixed to the side wall of the upper housing by locking components. The drive module assembly includes a lower housing, a first lower mounting plate is fixedly installed at the bottom of the lower housing, a lower slide rail is provided on the first lower mounting plate, a lower slider is installed below the second lower mounting plate, and the lower slider is slidably connected to the lower slide rail; a cover plate is provided on the upper part of the lower housing of the drive module assembly, the first lower mounting plate and the cover plate are fixedly connected by a connecting post and screws, and the side wall of the lower housing is fixedly connected to the connecting post by a locking member.

10. The flexible robotic arm drive system for minimally invasive interventional surgery according to claim 9, characterized in that: The quick-release assembly includes a receiving groove and a quick-release buckle. The quick-release buckle is U-shaped and slides within the receiving groove. The receiving groove is connected to the lower part of the cover plate. The cover plate has an opening for the quick-release buckle to move. Two side walls of the quick-release buckle extend from the opening to the upper part of the cover plate. A push rod is provided on the outer side of one side wall of the quick-release buckle, and a hook is provided on the top of the other side wall. A second spring is provided between the side wall with the hook and the inner side wall of the receiving groove. An opening for the hook to move is provided on the upper base plate. The hook passes through the opening of the upper base plate and hooks onto the top surface of the upper base plate.

11. The flexible robotic arm drive system for minimally invasive interventional surgery according to claim 2, characterized in that: The drive module assembly also includes a zero-point position detection component, which includes a position detection magnetic encoder and an induction magnet. The induction magnet is respectively located on the inner tube fixing seat and the slide. The position detection magnetic encoder is located directly above or directly below the zero-point position on the inner tube fixing seat and the slide.

12. The flexible robotic arm drive system for minimally invasive interventional surgery according to claim 3, characterized in that: The control bending motor and the control rotating motor have built-in encoders, and a single-turn absolute encoder is also installed at the end of the output shaft of the control bending motor and the control rotating motor to detect the rotation angle of the motor.

13. The flexible robotic arm drive system for minimally invasive interventional surgery according to claim 8, characterized in that: The bending motor drive module and the rotating motor drive module are also equipped with photoelectric encoders. The grating disk of the photoelectric encoder is coaxially fixed on the first transmission gear or the second transmission gear. The photoelectric detector of the photoelectric encoder is mounted on the second lower mounting plate. The grating disk rotates synchronously with the first transmission gear or the second transmission gear. The photoelectric detector detects the light changes generated by the rotation of the grating disk and outputs corresponding signals to detect the rotation angle of the first transmission gear or the second transmission gear.

14. The flexible robotic arm drive system for minimally invasive interventional surgery according to claim 2, characterized in that: The flexible robotic arm also includes a coaxially configured hollow second sleeve assembly. The first sleeve assembly is inserted inside the second sleeve assembly, and the length of the first sleeve assembly is greater than that of the second sleeve assembly. The second sleeve assembly includes a second inner tube and a second outer tube. The second inner tube and the second outer tube are divided into straight sections and deformed sections. The deformed sections are provided with annular grooves. The top of the outer wall of the second inner tube is fixed to the inner wall of the second outer tube. When the second inner tube is pushed or pulled, the deformed section of the second sleeve assembly bends and deforms. The deformable section of the first sleeve assembly includes a distal segment and a compliant segment, and the deformable section of the second sleeve assembly is a proximal segment, with the deformable section of the first sleeve assembly extending beyond the deformable section of the second sleeve assembly. The drive module assembly contains two sets of active drive modules, which are used to drive the first sleeve assembly and the second sleeve assembly of the flexible robotic arm to achieve linear, rotational and bending movements, respectively.

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