Nasal biopsy robot

Abstract

The invention provides a nasal biopsy robot. The nasal biopsy robot comprises a driving assembly, a transmission guide assembly and a flexible tail end assembly. The driving assembly comprises a plurality of telescopic driving parts; the transmission guide assembly comprises a plurality of traction pieces, one ends of the traction pieces are connected with the telescopic driving pieces, and the traction pieces correspond to the telescopic driving pieces one to one; the flexible tail end assembly comprises a first flexible section and a second flexible section which are connected with each other; the first end of the first flexible section is connected with the transmission guide assembly; and in the multiple traction pieces, part of the traction pieces penetrate through the first flexible section and are connected with the second end of the first flexible section, and the remaining traction pieces sequentially penetrate through the first flexible section and the second flexible section and are connected with the second end of the second flexible section. The nasal biopsy robot can adapt to the complex anatomical structure of the nasal cavity and the paranasal sinus, clinical nasal biopsy with the small diameter, the small bending radius and the large bending angle is achieved, extra incision is not needed, trauma and pain to a patient are reduced, and operation safety is improved.

Description

Technical Field

[0001] This application belongs to the technical field of medical devices, and more specifically, relates to a transnasal biopsy robot. Background Art

[0002] Transnasal approach sampling biopsy is an effective method for clinical examination, diagnosis of nasal and sinus inflammation, and confirmation of lesions (such as polyps, benign and malignant tumors). Currently, there are generally two methods for current clinical transnasal biopsy surgery.

[0003] One is biopsy based on a rigid endoscope. Due to the proximity of the nasal and sinus regions to the orbit and the brain, the complexity of the anatomical structure and the particularity of the location, it is easy for the rigid straight endoscope to damage the surrounding optic nerve, blood vessels, mucosa, and the cribriform plate on the outer side of the brain during the biopsy process, resulting in serious complications. At the same time, due to the characteristics of the nasal and sinus anatomical structure being abnormally shaped, porous, narrow, and slender, etc., the current rigid straight endoscope cannot reach many key areas through complex curved channels and sinus openings (for example, the anterior and lower segments of the maxillary sinus are difficult to examine and sample due to imaging blind spots).

[0004] The other is flexible fiber endoscope biopsy. Although the flexible fiber endoscope has a certain bending ability, the passive bending method and size limitation of manual operation make it difficult to control the bending direction and angle of its end, and it cannot approach the blind spot through the sinus opening. In this case, it is inevitable to perform an external incision approach, thus bringing external trauma to the patient.

[0005] Currently, commercially available surgical systems, such as the da Vinci SP surgical system of Intuitive Surgical, Inc., the TiRobot surgical robot of MicroPort Medical (Group) Co., Ltd., etc., have an end effector with too large a diameter and cannot be applied in nasal and sinus surgeries. Flexible continuum mechanisms are often applied to the design of the end effector of surgical robots, and the cable-driven mechanism helps to minimize the end size. However, the narrow and tortuous anatomical structure of the nasal and sinus regions brings a series of new challenges to the design and control of continuum robots. Existing specifications such as the continuum configuration, diameter, and bending radius cannot be applied to the nasal and sinus anatomical structure, such as the anterior and lower segments of the maxillary sinus, and new configuration research is urgently needed to meet the needs of transnasal surgery.

[0006] In summary, it is difficult for the existing technology to achieve clinical transnasal biopsy with a small diameter, a small bending radius, and a large bending angle. Summary of the Invention

[0007] The purpose of the embodiments of this application is to provide a transnasal biopsy robot to solve the technical problem in the existing technology that it is difficult to achieve clinical transnasal biopsy with a small diameter, a small bending radius, and a large bending angle.

[0008] To achieve the above-mentioned purpose, the technical solution adopted in the present application is: to provide a transnasal biopsy robot, including a driving assembly, a transmission guide assembly and a flexible terminal assembly; the driving assembly includes a plurality of telescopic driving members; the transmission guide assembly includes a plurality of traction members, one end of the traction member is connected to the telescopic driving member, and the traction member corresponds to the telescopic driving member one by one; the flexible terminal assembly has a hollow structure, and the hollow structure is used to place microsurgical instruments; the flexible terminal assembly includes a first flexible segment and a second flexible segment; the first end of the first flexible segment is connected to the transmission guide assembly, and the second end of the first flexible segment is connected to the first end of the second flexible segment; among the plurality of traction members, a part of the traction members pass through the first flexible segment and are connected to the second end of the first flexible segment, and the remaining traction members pass through the first flexible segment and the second flexible segment in turn, and are connected to the second end of the second flexible segment.

[0009] Furthermore, the drive assembly also includes a first fixed base, a second fixed base and an adjusting screw; the second fixed base is spaced apart from the first fixed base, and the telescopic drive member is installed on the second fixed base; one end of the adjusting screw passes through the first fixed base and is threadedly connected to the second fixed base.

[0010] Furthermore, the driving assembly also includes a guide support member, the guide support member passes through the second fixed base, and the first end of the guide support member is connected to the first fixed base.

[0011] Furthermore, the driving assembly also includes a driving circuit unit, and the driving circuit unit is electrically connected to the telescopic driving member.

[0012] Furthermore, the transmission guide assembly also includes a guide base and a driving guide member, the driving guide member is slidably connected to the guide base, the output end of the telescopic driving member is connected to the driving guide member; the second end of the guide support member is connected to the guide base; and the traction member passes through the guide base.

[0013] Furthermore, the transmission guide assembly also includes a fixing member, one end of which is connected to the driving guide member, and the other end of which is connected to the traction member; the driving guide member and the traction member are arranged in parallel and offset, and the driving guide member passes through the fixing member.

[0014] Furthermore, the transmission guide assembly also includes a guide extension structure, one end of the guide extension structure is installed on an end of the guide base away from the drive assembly, the other end of the guide extension structure is connected to the first end of the first flexible segment, and the traction member sequentially passes through the guide base, the guide extension structure and the first flexible segment.

[0015] Further, the first flexible section includes a plurality of first spring assemblies, and the plurality of first spring assemblies are connected in series in sequence; among the plurality of first spring assemblies, a part of the traction members are connected to the first spring assembly at the second end of the first flexible section and penetrate through the remaining first spring assemblies.

[0016] Further, the first spring assembly includes a first spacer ring and a plurality of first compression springs, and one end of the first compression spring is connected to the first spacer ring; the traction member penetrates through the first compression spring and the first spacer ring.

[0017] Further, the structure of the second flexible section is the same as that of the first flexible section.

[0018] The beneficial effects of the transnasal biopsy robot provided by the present application are as follows: Compared with the prior art, in the present application, a plurality of telescopic driving members are provided, and the flexible end assembly is driven by the traction member to deform, so that multi-degree-of-freedom movement of the flexible end assembly can be realized, thereby improving the flexibility and accuracy of the biopsy operation. Due to the design of the flexible end assembly, the transnasal biopsy robot of the present application can adapt to the complex anatomical structure of the nasal cavity and paranasal sinuses, realize clinical transnasal biopsy with a small diameter, a small bending radius and a large bending angle, assist the doctor to achieve non-invasive and blind-area-free sampling of the nasal cavity and paranasal sinuses, and adopt the method of entering through the natural cavity (nasal cavity) without the need for additional incisions, reducing the trauma and pain to the patient and increasing the surgical safety. The design of the transmission and guiding assembly enables the traction member to transmit power smoothly and smoothly, ensuring the stability and flexibility of the flexible end assembly. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a three-dimensional structural schematic diagram of the transnasal biopsy robot provided by the embodiment of the present application;

[0021] Figure 2 It is a three-dimensional structural schematic diagram of the driving assembly in the transnasal biopsy robot provided by the embodiment of the present application;

[0022] Figure 3 It is an exploded structural schematic diagram of the driving assembly in the transnasal biopsy robot provided by the embodiment of the present application;

[0023] Figure 4Exploded structural schematic diagram of the transmission and guiding assembly in the transnasal biopsy robot provided by the embodiment of the present application;

[0024] Figure 5 Stereoscopic structural schematic diagram of the guiding base in the transnasal biopsy robot provided by the embodiment of the present application;

[0025] Figure 6 Cross-sectional structural schematic diagram of the guiding base in the transnasal biopsy robot provided by the embodiment of the present application Figure 1 ;

[0026] Figure 7 Cross-sectional structural schematic diagram of the guiding base in the transnasal biopsy robot provided by the embodiment of the present application Figure 2 ;

[0027] Figure 8 Exploded structural schematic diagram of the flexible end assembly in the transnasal biopsy robot provided by the embodiment of the present application Figure 2 ;

[0028] Figure 9 Stereoscopic structural schematic diagram of the first flexible section in the transnasal biopsy robot provided by the embodiment of the present application;

[0029] Figure 10 Stereoscopic structural schematic diagram of the second flexible section in the transnasal biopsy robot provided by the embodiment of the present application.

[0030] Among them, each reference numeral in the figure:

[0031] 000 - Transnasal biopsy robot;

[0032] 100 - Driving assembly; 101 - Adjusting screw; 102 - Support column screw; 103 - First fixed base; 104 - Circuit board fixing screw; 105 - Driving circuit unit; 106 - Second fixed base; 107 - Driving part fixing stud; 108 - Driving part fixing nut; 109 - Guiding support; 110 - Telescopic driving part;

[0033] 200 - Transmission and guiding assembly; 201 - Driving and guiding part; 202 - Fixing part; 203 - Fastening pin; 204 - Locking screw; 205 - Traction part; 206 - Guiding base; 207 - Guiding extension structure; 208 - Extension structure fixing screw; 209 - Support part guiding hole; 210 - First driving guiding hole; 211 - Second driving guiding hole; 212 - First positioning through hole; 213 - Threaded hole; 214 - Screw hole;

[0034] 300 - Flexible end assembly; 301 - First flexible section; 3011 - First compression spring; 302 - Second flexible section; 3021 - Second compression spring; 303 - First spacer ring. Detailed implementation manners

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, the following further details this application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0036] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0037] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing this 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 a limitation to this application.

[0038] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality of" means two or more, unless otherwise specifically defined.

[0039] Please refer to Figure 1 , and now the nasal biopsy robot 000 provided by the embodiments of this application will be described. The nasal biopsy robot 000 includes a driving assembly 100, a transmission and guiding assembly 200, and a flexible end assembly 300; please refer to Figure 2 and Figure 3 , the driving assembly 100 includes a plurality of telescopic driving members 110; please refer to Figure 4 , the transmission and guiding assembly 200 includes a plurality of traction members 205. One end of the traction member 205 is connected to the telescopic driving member 110, and the traction members 205 correspond to the telescopic driving members 110 one by one; the flexible end assembly 300 has a hollow structure, and the hollow structure is used to place micro-surgical instruments (such as sampling forceps, etc.); please refer to Figure 9 and Figure 10, the flexible end assembly 300 includes a first flexible section 301 and a second flexible section 302; the first end of the first flexible section 301 is connected to the transmission and guiding assembly 200, and the second end of the first flexible section 301 is connected to the first end of the second flexible section 302; among the plurality of traction members 205, a part of the traction members 205 pass through the first flexible section 301 and are connected to the second end of the first flexible section 301, and the remaining traction members 205 sequentially pass through the first flexible section 301 and the second flexible section 302 and are connected to the second end of the second flexible section 302.

[0040] Compared with the prior art, the nasal biopsy robot 000 provided in the present application is provided with a plurality of telescopic driving members 110, and drives the flexible end assembly 300 to deform through the traction members 205, so as to realize the multi-degree-of-freedom movement of the flexible end assembly 300, thereby improving the flexibility and accuracy of the biopsy operation. Due to the design of the flexible end assembly 300, the nasal biopsy robot 000 of the present application can adapt to the complex anatomical structure of the nasal cavity and paranasal sinuses, realize clinical nasal biopsy with a small diameter, a small bending radius and a large bending angle, assist the doctor to realize non-invasive and blind-area sampling of the nasal cavity and paranasal sinuses, and adopt the method of entering through the natural cavity (nasal cavity) without the need for additional incisions, reducing the trauma and pain to the patient and increasing the surgical safety. The design of the transmission and guiding assembly 200 enables the traction members 205 to transmit power smoothly and smoothly, ensuring the stability and flexibility of the flexible end assembly 300.

[0041] In this embodiment, the telescopic driving member 110 can adopt a servo electric cylinder, which has the characteristics of high precision, high stability and easy control, and can realize the precise driving of the traction member 205. By controlling the telescopic length and speed of the servo electric cylinder, the precise control of the flexible end assembly 300 can be realized, so as to realize the high-precision movement of the nasal biopsy robot 000. In addition, the servo electric cylinder also has the advantages of compact structure, small volume and light weight, and is suitable for being applied to medical devices such as the nasal biopsy robot 000.

[0042] In this embodiment, the traction member 205 can adopt a nitinol wire, which has good elasticity and memory, and can quickly return to its original shape after being acted by an external force, so as to ensure the stability and flexibility of the traction member 205 when transmitting power. In addition, the nitinol wire also has good corrosion resistance and biocompatibility, and is suitable for use in the medical field.

[0043] In this embodiment, the traction members 205 and the telescopic driving members 110 are in one-to-one correspondence, that is, one telescopic driving member 110 is correspondingly provided with one traction member 205, so as to ensure that each telescopic driving member 110 can independently control the corresponding traction member 205 and achieve precise motion control. This design enables the transnasal biopsy robot 000 to more flexibly adjust the position and posture of the flexible end assembly 300 during the biopsy operation to adapt to the complex anatomical structure of the nasal cavity and paranasal sinuses, and improve the accuracy and safety of the operation.

[0044] In this embodiment, taking the setting of six telescopic driving members 110 as an example, correspondingly, six traction members 205 are also provided. The six telescopic driving members 110 and the six traction members 205 are both arranged in a circular array; three of the traction members 205 pass through the first flexible section 301 and are connected to the second end of the first flexible section 301, and can traction the first flexible section 301 to achieve three-degree-of-freedom motion (front-back telescoping, up-down deflection, left-right deflection); the other three traction members 205 sequentially pass through the first flexible section 301 and the second flexible section 302 and are connected to the second end of the second flexible section 302, and can traction the second flexible section 302 to achieve three-degree-of-freedom motion (front-back telescoping, up-down deflection, left-right deflection); therefore, ultimately, the six-degree-of-freedom motion of the flexible end assembly 300 can be achieved.

[0045] In an embodiment of the present application, please refer to Figure 2 and Figure 3 , the driving assembly 100 further includes a first fixed base 103, a second fixed base 106 and an adjusting screw 101; the second fixed base 106 is spaced from the first fixed base 103, and the telescopic driving member 110 is installed on the second fixed base 106; one end of the adjusting screw 101 passes through the first fixed base 103 and is in threaded transmission connection with the second fixed base 106.

[0046] In this embodiment, by rotating the adjusting screw 101, the distance between the second fixed base 106 and the first fixed base 103 can be adjusted, so as to realize the adjustment of the initial position of the telescopic driving member 110 and facilitate the fine adjustment of the telescopic length of the telescopic driving member 110. This design enables the transnasal biopsy robot 000 to more precisely adjust the position and posture of the flexible end assembly 300 during the biopsy operation, and further improve the accuracy and safety of the operation.

[0047] Specifically, please refer to Figure 2 and Figure 3 , the driving assembly 100 further includes a driving member fixing stud 107 and a driving member fixing nut 108, and the telescopic driving member 110 is installed on the second fixed base 106 through the driving member fixing stud 107 and the driving member fixing nut 108, so as to realize the stable installation of the telescopic driving member 110.

[0048] In one embodiment of the present application, please refer to Figure 2 and Figure 3 , the driving assembly 100 further includes a guiding and supporting member 109. The guiding and supporting member 109 penetrates through the second fixed base 106, and the first end of the guiding and supporting member 109 is connected to the first fixed base 103.

[0049] In this embodiment, the setting of the guiding and supporting member 109 can enhance the structural stability of the driving assembly 100, ensuring that the telescopic driving member 110 can maintain a stable position and posture during operation. Through the guiding function of the guiding and supporting member 109, the telescopic movement of the telescopic driving member 110 can be carried out more smoothly, thereby improving the overall stability and movement accuracy of the transnasal biopsy robot 000. In addition, the guiding and supporting member 109 can also play a role in protecting the telescopic driving member 110, preventing it from being directly impacted or damaged by external forces during operation.

[0050] In this embodiment, a plurality of guiding and supporting members 109 are provided. The plurality of guiding and supporting members 109 are arranged in a circular array. The guiding and supporting members 109 are arranged between every two telescopic driving members 110 (without repetition). This distribution method can ensure that the guiding and supporting members 109 provide uniform support and guiding effects on the telescopic driving members 110, further improving the structural stability and movement accuracy of the driving assembly 100. In this embodiment, taking the setting of six telescopic driving members 110 as an example, correspondingly, the number of guiding and supporting members 109 is three.

[0051] Specifically, please refer to Figure 2 and Figure 3 , the driving assembly 100 further includes a support column screw 102. The guiding and supporting member 109 is fixed to the first fixed base 103 through the support column screw 102, making the installation of the guiding and supporting member 109 more stable and the guiding more accurate.

[0052] In one embodiment of the present application, please refer to Figure 2 and Figure 3 , the driving assembly 100 further includes a driving circuit unit 105. The driving circuit unit 105 is electrically connected to the telescopic driving member 110.

[0053] In this embodiment, the drive circuit unit 105 is used to control the telescopic movement of the telescopic drive member 110 to achieve precise position and speed control. Through the drive circuit unit 105, parameters such as the telescopic length, speed, and movement trajectory of the telescopic drive member 110 can be preset, thereby achieving precise control of the flexible end assembly 300. The design of the drive circuit unit 105 makes the operation of the transnasal biopsy robot 000 more intelligent and automated, improving the efficiency and accuracy of the surgery. In this embodiment, the drive circuit unit 105 can be integrated inside the drive assembly 100 or connected to the drive assembly 100 as an independent control module.

[0054] In this embodiment, the drive circuit unit 105 can adopt an RS485 expansion board, which has advantages such as strong anti-interference ability and long transmission distance, and is suitable for use in complex environments such as medical devices. Through the RS485 expansion board, communication and coordination between multiple drive assemblies 100 can be achieved, thereby realizing the overall control of the transnasal biopsy robot 000. In addition, the RS485 expansion board also has the characteristics of easy expansion and upgrade, and more functions and control nodes can be added according to actual needs.

[0055] Specifically, please refer to Figure 2 and Figure 3 , the drive assembly 100 further includes a circuit board fixing screw 104, and the drive circuit unit 105 is fixed on the first fixing base 103 through the circuit board fixing screw 104 to ensure the stable installation and reliable connection of the drive circuit unit 105. In addition, the design of the circuit board fixing screw 104 also facilitates the maintenance and replacement of the drive circuit unit 105, improving the maintainability of the transnasal biopsy robot 000.

[0056] In an embodiment of the present application, please refer to Figure 4 , the transmission and guiding assembly 200 further includes a guiding base 206 and a driving guiding member 201, the driving guiding member 201 is slidably connected to the guiding base 206, and the output end of the telescopic drive member 110 is connected to the driving guiding member 201; the second end of the guiding support member 109 is connected to the guiding base 206; the traction member 205 passes through the guiding base 206.

[0057] In this embodiment, by providing a guiding base 206 and a driving guiding member 201, the guiding base 206 serves as the main supporting structure of the transmission guiding assembly 200. Its design is reasonable and stable, capable of withstanding the power transmitted by the telescopic driving member 110 and transmitting the power to the traction member 205. The driving guiding member 201 guides the movement of the telescopic driving member 110, ensuring that the telescopic movement of the telescopic driving member 110 can be carried out smoothly and accurately. At the same time, the sliding connection design between the driving guiding member 201 and the guiding base 206 enables the telescopic driving member 110 to maintain a stable movement trajectory during the telescopic process, avoiding the position deviation of the flexible end assembly 300 caused by unstable movement trajectories, and further improving the movement accuracy and stability of the transnasal biopsy robot 000.

[0058] Specifically, please refer to Figure 5 and Figure 6 . The guiding base 206 is provided with a support member guiding hole 209, a first driving guiding hole 210, and a second driving guiding hole 211; the support member guiding hole 209 cooperates with the guiding support member 109, and the first driving guiding hole 210 and the second driving guiding hole 211 respectively cooperate with the driving guiding member 201; the first driving guiding hole 210 and the second driving guiding hole 211 are respectively located on both sides of the support member guiding hole 209. This design can ensure that the sliding of the driving guiding member 201 on the guiding base 206 is smoother, and at the same time, it avoids the movement jamming or damage caused by movement interference.

[0059] In this embodiment, the side surface of the guiding base 206 is further provided with a threaded hole 213, which is used to connect an external support structure and can be adjusted accordingly according to clinical needs. Adding a liftable collar structure can achieve the effect of a seven-degree-of-freedom robot.

[0060] In an embodiment of the present application, please refer to Figure 4 . The transmission guiding assembly 200 further includes a fixing member 202. One end of the fixing member 202 is connected to the driving guiding member 201, and the other end of the fixing member 202 is connected to the traction member 205; the driving guiding member 201 and the traction member 205 are arranged in parallel and offset, and the driving guiding member 201 penetrates the fixing member 202.

[0061] In this embodiment, by providing the fixing member 202, stable connection and guiding of the traction member 205 can be achieved, avoiding the deviation or distortion of the traction member 205 during power transmission, ensuring that the traction member 205 can transmit power smoothly and smoothly, thereby improving the movement accuracy and stability of the transnasal biopsy robot 000. The output end of the telescopic driving member 110 is arranged in parallel and offset with the traction member 205. When multiple traction members 205 are provided, multiple traction members 205 can be made more concentrated, facilitating the miniaturized design of the transnasal biopsy robot 000.

[0062] In this embodiment, the fixing member 202 can be made of metal material, such as stainless steel, which has good mechanical properties and corrosion resistance and is suitable for use in the medical field. At the same time, the shape and size of the fixing member 202 can be designed according to actual needs to ensure that the connection between the fixing member 202 and the driving guide member 201 and the traction member 205 is stable and reliable.

[0063] Specifically, see Figure 4 The transmission guide assembly 200 also includes a fastening pin 203 and a locking screw 204. The fastening pin 203 passes through the fixing member 202 and is connected to the driving guide member 201. The traction member 205 is installed on the fixing member 202 through the locking screw 204. This design makes the structure of the transmission guide assembly 200 more stable and the connection more reliable. The use of the fastening pin 203 and the locking screw 204 ensures that the connection between the fixing member 202 and the driving guide member 201 and the traction member 205 is firm and not easy to loosen, thereby improving the overall stability and durability of the transnasal biopsy robot 000. In addition, the design of the fastening pin 203 and the locking screw 204 also facilitates the assembly and disassembly of the transmission guide assembly 200, improving the maintainability of the transnasal biopsy robot 000.

[0064] In one embodiment of the present application, see Figure 4 The transmission guide assembly 200 also includes a guide extension structure 207, one end of the guide extension structure 207 is installed on the end of the guide base 206 away from the drive assembly 100, and the other end of the guide extension structure 207 is connected to the first end of the first flexible segment 301, and the traction member 205 passes through the guide base 206, the guide extension structure 207 and the first flexible segment 301 in sequence.

[0065] In this embodiment, the guide extension structure 207 is used to extend the effective length of the traction member 205, so that the traction member 205 can more flexibly drive the flexible end assembly 300 to move. By setting the guide extension structure 207, the connection length between the traction member 205 and the flexible end assembly 300 can be increased, thereby expanding the range of motion of the flexible end assembly 300 and improving the flexibility and adaptability of the operation. The design of the guide extension structure 207 is reasonable and stable, and can withstand the power transmitted by the telescopic drive member 110, and stably transmit the power to the flexible end assembly 300, ensuring the smooth progress of the operation. At the same time, the guide extension structure 207 can also protect the traction member 205, preventing it from being damaged during the power transmission process, and extending the service life of the transnasal biopsy robot 000.

[0066] For more information, please see Figure 4 and Figure 7, the transmission and guiding assembly 200 further includes an extended structure fixing screw 208, and the guiding base 206 is provided with a screw hole 214; the guiding extended structure 207 is fixed on the guiding base 206 through the cooperation of the extended structure fixing screw 208 and the screw hole 214. This design method makes the installation of the guiding extended structure 207 more stable and the connection more reliable. The use of the extended structure fixing screw 208 ensures the firm connection between the guiding extended structure 207 and the guiding base 206, which is not easy to loosen, thus improving the overall stability and durability of the transnasal biopsy robot 000. In addition, the design of the extended structure fixing screw 208 also facilitates the assembly and disassembly of the guiding extended structure 207, improving the maintainability of the transnasal biopsy robot 000.

[0067] In this embodiment, please refer to Figure 6 , the guiding base 206 is provided with a first positioning through hole 212, and the guiding extended structure 207 is provided with a second positioning through hole. The traction member 205 sequentially passes through the first positioning through hole 212 and the second positioning through hole; the design of the first positioning through hole 212 and the second positioning through hole can ensure that the traction member 205 can maintain a stable position and posture when transmitting power, avoiding deviation or distortion, and further improving the motion accuracy and stability of the transnasal biopsy robot 000. At the same time, the first positioning through hole 212 and the second positioning through hole can also play a limiting role, preventing the traction member 205 from moving excessively or detaching from the guiding base 206 and the guiding extended structure 207 during the telescopic process, ensuring the smooth progress of the operation.

[0068] In an embodiment of the present application, the first flexible section 301 includes a plurality of first spring assemblies, and the plurality of first spring assemblies are connected in series in sequence; among the plurality of first spring assemblies, a part of the traction member 205 is connected to the first spring assembly located at the second end of the first flexible section 301 and passes through the remaining first spring assemblies.

[0069] In this embodiment, by setting the first spring assembly, when the first flexible section 301 is subjected to the pulling force of the traction member 205, it can undergo elastic deformation, thereby realizing the movement of the flexible end assembly 300. The plurality of first spring assemblies are connected in series in sequence, which can make the first flexible section 301 more evenly stressed, avoiding uneven deformation or damage caused by uneven stress. At the same time, the first spring assembly has good elasticity and recoverability, and can quickly return to its original shape after being subjected to an external force, thus ensuring that the flexible end assembly 300 can maintain a stable position and posture during the operation.

[0070] In an embodiment of the present application, please refer to Figure 8The first spring assembly includes a first spacer ring 303 and a plurality of first compression springs 3011 , one end of the first compression spring 3011 is connected to the first spacer ring 303 ; the traction member 205 passes through the first compression spring 3011 and the first spacer ring 303 .

[0071] In this embodiment, the first spacer ring 303 can ensure that a certain distance is maintained between the first compression springs 3011 of two adjacent first spring assemblies, so as to avoid the first compression springs 3011 from squeezing or interfering with each other when subjected to force, resulting in uneven deformation or damage. At the same time, the first spacer ring 303 can also play a guiding role, so that the traction member 205 can smoothly and stably pass through the first compression spring 3011, ensuring the stable transmission of power. This design improves the stability and durability of the first flexible segment 301, and further ensures the stability and accuracy of the transnasal biopsy robot 000 during the operation.

[0072] In one embodiment of the present application, the structure of the second flexible segment 302 is the same as that of the first flexible segment 301 .

[0073] Specifically, the second flexible section 302 includes multiple second spring assemblies, which are connected in series in sequence; the second spring assembly includes a second spacer ring and multiple second compression springs 3021, and one end of the second compression spring 3021 is connected to the second spacer ring; the traction member 205 passes through the second compression spring 3021 and the second spacer ring.

[0074] In this embodiment, six telescopic driving members 110 are set as an example, and correspondingly, six traction members 205 are also set; the specific number of the first spring assembly and the second spring assembly can be determined according to actual use requirements; a first spring assembly includes a first spacer ring 303 and six first compression springs 3011, a second spring assembly includes a second spacer ring and three second compression springs 3021, and a traction member 205 passes through a first compression spring 3011; among the six traction members 205, three traction members 205 pass through the first compression spring 3011 and are connected to the first spacer ring 303 at the end; the three-degree-of-freedom movement of the first flexible segment 301 can be realized; the other three traction members 205 continue to pass through the second compression spring 3021, and are connected to the second spacer ring at the end, so that the three-degree-of-freedom movement of the second flexible segment 302 can be realized.

[0075] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A transnasal biopsy robot, characterized in that: include: A drive assembly, the drive assembly comprising a plurality of telescopic drive members; A transmission guide assembly, wherein the transmission guide assembly comprises a plurality of traction members, one end of each traction member is connected to the telescopic driving member, and each traction member corresponds to the telescopic driving member one by one; A flexible end assembly having a hollow structure for placing microsurgical instruments; the flexible end assembly comprises a first flexible segment and a second flexible segment; the first end of the first flexible segment is connected to the transmission guide assembly, and the second end of the first flexible segment is connected to the first end of the second flexible segment; among a plurality of traction members, a portion of the traction members pass through the first flexible segment and are connected to the second end of the first flexible segment, and the remaining traction members pass through the first flexible segment and the second flexible segment in sequence and are connected to the second end of the second flexible segment.

2. The transnasal biopsy robot according to claim 1, characterized in that: The drive assembly also includes: a first fixed base; a second fixed base, the second fixed base being spaced apart from the first fixed base, and the telescopic driving member being mounted on the second fixed base; An adjusting screw, one end of which passes through the first fixed base and is threadedly connected to the second fixed base.

3. The transnasal biopsy robot according to claim 2, characterized in that: The driving assembly further includes a guide support member, the guide support member passes through the second fixed base, and a first end of the guide support member is connected to the first fixed base.

4. The transnasal biopsy robot according to claim 1, characterized in that: The driving assembly further comprises a driving circuit unit, and the driving circuit unit is electrically connected to the telescopic driving member.

5. The transnasal biopsy robot according to claim 3, characterized in that: The transmission guide assembly also includes a guide base and a driving guide member, the driving guide member is slidably connected to the guide base, the output end of the telescopic driving member is connected to the driving guide member; the second end of the guide support member is connected to the guide base; the traction member passes through the guide base.

6. The transnasal biopsy robot according to claim 5, characterized in that: The transmission guide assembly also includes a fixing member, one end of which is connected to the driving guide member, and the other end of which is connected to the traction member; the driving guide member is arranged in parallel and offset with the traction member, and the driving guide member passes through the fixing member.

7. The transnasal biopsy robot according to claim 5, characterized in that: The transmission guide assembly also includes a guide extension structure, one end of which is installed on the end of the guide base away from the drive assembly, and the other end of the guide extension structure is connected to the first end of the first flexible segment, and the traction member passes through the guide base, the guide extension structure and the first flexible segment in sequence.

8. The transnasal biopsy robot according to any one of claims 1 to 7, characterized in that: The first flexible section includes a plurality of first spring assemblies, which are connected in series in sequence; among the plurality of first spring assemblies, a portion of the traction members is connected to the first spring assembly located at the second end of the first flexible section and passes through the remaining first spring assemblies.

9. The transnasal biopsy robot according to claim 8, characterized in that: The first spring assembly includes a first spacer ring and a plurality of first compression springs, one end of the first compression spring is connected to the first spacer ring; the traction member passes through the first compression spring and the first spacer ring.

10. The transnasal biopsy robot according to claim 9, characterized in that: The structure of the second flexible segment is the same as that of the first flexible segment.

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