Flexible endoscope robot for intervertebral disc minimally invasive surgery

Abstract

The invention discloses a flexible endoscope robot for intervertebral disc minimally invasive surgery, and relates to the technical field of intervertebral disc minimally invasive surgery. The device comprises a flexible pipeline, a negative pressure removing pipe and a flushing pipe are arranged in the flexible pipeline, a supporting pipe is arranged at the insertion end of the negative pressure removing pipe, an inner sliding sleeve is slidably connected to the interior of the supporting pipe, a driving rope disc is rotatably installed in the inner sliding sleeve, and multiple sets of mincing thin ropes are arranged on the outer side of the driving rope disc. The flexible endoscope robot is adopted as a whole, when the puncture needle reaches the position of the intervertebral foramen, the external opening of the intervertebral foramen does not need to be expanded in a deliberate mode, part of zygapophyseal joints or vertebral plates do not need to be cut off, the flexible endoscope robot is directly bent to enter the intervertebral foramen after passing through the puncture needle, and then the flexible endoscope robot is used in cooperation with the clamping jaw and the negative pressure removing pipe; the protrusion of the intervertebral disc is grabbed and sucked out through negative pressure, damage to skeleton joints can be reduced, the stability of the spine is enhanced, and the recurrence rate of the intervertebral disc is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of minimally invasive disc surgery, and particularly to a flexible endoscope robot for minimally invasive disc surgery. Background Art

[0002] With the continuous progress of medical technology, the surgical methods in the field of spinal surgery are also developing towards more precise, minimally invasive and low-risk directions. For disc diseases, especially disc herniation, when the intervertebral disc degenerates or is damaged, the nucleus pulposus may break through the annulus fibrosus of the intervertebral disc and protrude, forming a disc herniation. At this time, the jelly-like substance of the nucleus pulposus may compress the nearby nerve roots, causing symptoms such as low back pain, leg pain, and numbness.

[0003] The percutaneous transforaminal endoscopic technique is most critical for the enlargement of the intervertebral foramen and the insertion of the working sleeve. The enlargement of the intervertebral foramen is to complete the decompression of the intervertebral foramen and insert the working sleeve by processing the superior articular process. Currently, it is mainly divided into three categories according to different tools:

[0004] 1. The trephine system: First, a puncture needle is punctured into the target point of the nucleus pulposus herniation of the intervertebral disc, then a guide wire is inserted, a skin incision is made with a sharp knife, a first-stage dilator is inserted through the tip of the superior articular process to the target point of the disc herniation, and then the second-stage, third-stage, and fourth-stage dilators are inserted into the bone at the outer edge of the superior articular process. Then, a first thin guide rod is inserted along the guide wire, and the superior articular process is initially ground with a trephine along the first thin guide rod to form a larger channel. Using this channel, a second slightly thicker guide rod is inserted again, and the superior articular process is ground again with a trephine along the second guide rod to form an even larger channel. If necessary, the superior articular process can be continuously ground with a higher-stage guide rod and a higher-stage trephine.

[0005] 2. The hollow bone drill system: The main method is to first puncture the tip of the superior articular process with a puncture needle, and then use the TOMshidi locator to directly establish a small channel on the bone of the superior articular process to enable the insertion of a guide wire. Then, hollow bone drills from thin to thick are used to grind the superior articular process along the guide wire in sequence, and finally the working sleeve is inserted along the guide rod.

[0006] 3. The solid bone drill system: The main method is that after the puncture needle reaches the outside of the superior articular process, a guide wire and a guide rod are inserted, and then a duckbill working cannula is inserted. The head end of the duckbill working cannula enters the intervertebral foramen along the ventral bone of the superior articular process, and then the solid bone drill grinds and removes the ventral bone of the superior articular process through the duckbill working cannula to enlarge the intervertebral foramen, and then the working sleeve is inserted.

[0007] In Chinese Patent (Publication No.: CN208640780U), a lumbar intervertebral foramen mirror working sleeve with a positioning function is disclosed, including a sleeve and a handle. Although this patent simplifies the processes of intervertebral foramen enlargement and the insertion of the working sleeve in percutaneous lumbar intervertebral foramen mirror technology, in actual operation, similar to the above three systems, it directly enters the intervertebral foramen through the guidance of the working sleeve. This requires step-by-step reaming of the outer opening of the intervertebral foramen, and when dealing with the intervertebral foramen, it is necessary to remove part of the articular process joint or the lamina to keep the channel unobstructed before subsequent removal of the intervertebral disc herniation. At the same time, during the removal, it can only be removed little by little slowly, resulting in low removal efficiency and long operation time. Summary of the Invention

[0008] The purpose of the present invention is to provide a flexible endoscope robot for minimally invasive disc surgery to solve the above problems.

[0009] The present invention specifically adopts the following technical solutions to achieve the above purpose:

[0010] A flexible endoscope robot for minimally invasive disc surgery includes a flexible pipe. Inside the flexible pipe, a negative pressure removal pipe and a flushing pipe are arranged. The insertion ends of the negative pressure removal pipe and the flushing pipe both exceed the flexible pipe. A micro camera and a lamp head are arranged at the insertion end of the flexible pipe.

[0011] A support pipe is arranged at the insertion end of the negative pressure removal pipe. An inner sliding sleeve is slidably connected inside the support pipe. A driving rope reel is rotatably installed inside the inner sliding sleeve. The inside of the driving rope reel is designed with a through hole. A plurality of groups of clamping claws are annularly hinged on the outer side of the inner sliding sleeve. A first elastic sheet is arranged between the clamping claws and the inner sliding sleeve. One end of the clamping claw away from the inner sliding sleeve is hinged with an extension rod. A second elastic sheet is arranged between the extension rod and the clamping claw. The extension rod and the clamping claw can be locked. A plurality of groups of crushing thin ropes are arranged on the outer side of the driving rope reel. The crushing thin ropes are fixedly connected with the clamping ends of the extension rods.

[0012] Further, a top spring is arranged between the inner sliding sleeve and the inner wall of the support pipe. A first pulling rope is fixedly connected to one end of the inner sliding sleeve close to the inside of the negative pressure removal pipe.

[0013] Further, an installation ring is arranged inside the inner sliding sleeve. An installation groove is opened on the outer side of the driving rope reel. The installation ring can be inserted into the installation groove. A pressing ring is fixedly installed on the outer side of the installation groove. The crushing thin ropes are fixedly installed on the pressing ring.

[0014] Further, a driving rope is wound around the outer side of the driving rope reel. A first rope guiding ring is arranged on the inner wall of the inner sliding sleeve. The driving rope passes through the first rope guiding ring.

[0015] Further, a sliding box is arranged on the inner side of the clamping jaw. A locking plug rod is slidably connected inside the sliding box. A locking spring is arranged between the locking plug rod and the inner wall of the sliding box. A locking slot is formed on the inner side of the extension rod. The locking plug rod can be inserted into the locking slot. A sliding groove is formed on the outer side of the inner sliding sleeve. A sliding ring is sleeved outside the sliding groove. The sliding ring is connected with the locking plug rod through a transmission rope. A second pull rope is fixedly connected to one side of the sliding ring close to the negative pressure removal tube. A guide rope ring two is arranged on the inner side of the clamping jaw. The transmission rope passes through the guide rope ring two.

[0016] Further, a control port and a negative pressure connection port are arranged at the tail end of the negative pressure removal tube. The negative pressure connection port is designed to be inclined downward. A blocking plug is arranged between the control port and the negative pressure connection port. Three sealing rope holes are formed inside the blocking plug. The first pull rope, the second pull rope and the driving rope respectively pass through the three sealing rope holes.

[0017] Further, the extension rod is a magnetic rod, and the crushing thin rope can be adsorbed on the extension rod.

[0018] Further, a plurality of hinge grooves are annularly formed on the outer side of the inner sliding sleeve. The clamping jaw is hinged in the hinge groove. The depth of the hinge groove is greater than the thickness of the clamping jaw. The first elastic sheet is also located in the hinge groove.

[0019] Further, a flexible fine mesh is arranged on the outer sides of the clamping jaw and the extension rod

[0020] Further, a negative pressure adsorber is connected to the negative pressure connection port. A circulating pump is connected to the tail end of the flushing tube. The circulating pump pumps physiological saline into the flushing tube. The micro camera is connected to an external display.

[0021] The beneficial effects of the present invention are as follows:

[0022] 1. The whole of the present invention adopts a flexible endoscope robot. When the puncture needle reaches the position of the intervertebral foramen, it is not necessary to perform step-by-step reaming on the outer opening of the intervertebral foramen, and it is not necessary to resect part of the articular process joint or resect the lamina. After the flexible endoscope robot passes through the puncture needle, it directly bends into the intervertebral foramen, and then cooperates with the use of the clamping jaw and the negative pressure removal tube to grab and suck out the intervertebral disc herniation, which can reduce the damage to the bone joints, enhance the stability of the spine, and reduce the recurrence rate of the intervertebral disc.

[0023] 2. Through the arrangement of the extension rod, the present invention can increase the clamping space of the clamping jaw, enabling the clamping jaw to hold all the protruding parts inside at once. Then, by controlling the rotation of the driving rope reel, the driving rope reel drives the crushing thin rope to rotate. Multiple groups of crushing thin ropes are twisted together in a spiral shape to crush the protruding part of the intervertebral disc inside. The crushed protruding part of the intervertebral disc is directly sucked out by the negative pressure extraction tube, eliminating the need for repeated extraction. One operation is sufficient, which can greatly shorten the operation time. Moreover, through the crushing and extraction method, the overall size of the flexible endoscope robot is set to be relatively thin, making it easier to adapt to the intervertebral foramen environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 is a schematic diagram of the structure of the insertion end of the flexible endoscope robot of the present invention;

[0026] Figure 3 is a schematic diagram of the flexible endoscope robot of the present invention removing the protruding part of the intervertebral disc;

[0027] Figure 4 is a schematic diagram of the sectional structure of the insertion end of the negative pressure extraction tube of the present invention;

[0028] Figure 5 is a schematic diagram of the sectional structure of the tail end of the negative pressure extraction tube of the present invention;

[0029] Figure 6 is an exploded view of the structure of the inner sliding sleeve of the present invention;

[0030] Figure 7 is a schematic diagram of the sectional structure of the inner sliding sleeve of the present invention;

[0031] Figure 8 is a schematic diagram of the sectional structure of the clamping jaw and the extension rod of the present invention.

[0032] Reference numerals: 1. Flexible pipeline; 2. Negative pressure extraction tube; 21. Control port; 22. Negative pressure connection port; 23. Plug; 24. Support tube; 3. Flushing tube; 4. Miniature camera; 5. Lamp head; 6. Inner sliding sleeve; 61. Top spring; 62. First pull rope; 63. Mounting ring; 64. Guide rope ring 1; 65. First elastic piece; 66. Sliding ring; 67. Second pull rope; 7. Driving rope reel; 71. Pressure ring; 72. Crushing thin rope; 73. Driving rope; 8. Clamping jaw; 81. Sliding box; 82. Locking insertion rod; 83. Locking spring; 84. Transmission rope; 85. Guide rope ring 2; 9. Extension rod; 91. Locking slot; 10. Second elastic piece. DETAILED DESCRIPTION OF THE INVENTION

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0034] Embodiment 1, as Figures 1-8 shown, a flexible endoscope robot for minimally invasive intervertebral disc surgery includes a flexible tube 1. Inside the flexible tube 1, a negative pressure removal tube 2 and a flushing tube 3 are provided. The insertion ends of the negative pressure removal tube 2 and the flushing tube 3 both extend beyond the flexible tube 1. At the insertion end of the flexible tube 1, a micro camera 4 and a lamp head 5 are provided.

[0035] At the insertion end of the negative pressure removal tube 2, a support tube 24 is provided. Inside the support tube 24, an inner sliding sleeve 6 is slidably connected. Inside the inner sliding sleeve 6, a driving rope reel 7 is rotatably installed. The inside of the driving rope reel 7 is designed with a through hole. A plurality of groups of clamping jaws 8 are annularly hinged to the outside of the inner sliding sleeve 6. Between the clamping jaws 8 and the inner sliding sleeve 6, a first elastic sheet 65 is provided. One end of the clamping jaw 8 away from the inner sliding sleeve 6 is hinged with an extension rod 9. Between the extension rod 9 and the clamping jaw 8, a second elastic sheet 10 is provided. The extension rod 9 and the clamping jaw 8 can be locked. A plurality of groups of crushing thin ropes 72 are provided on the outside of the driving rope reel 7. The crushing thin ropes 72 are fixedly connected to the clamping end of the extension rod 9.

[0036] Surgical process: First, use a puncture needle to puncture to a position near the intervertebral foramen, then place a working sleeve along the periphery of the puncture needle and remove the puncture needle. Then, place the flexible endoscope robot along the working sleeve. Under the shooting of the micro camera 4, the surgical field of view is clearly displayed. Then, control the flexible endoscope robot to bend and extend into the intervertebral foramen. It should be noted that the flexible tube 1 of the present invention can adopt the existing motion structure of a flexible endoscope robot, which is usually a slender and flexible tube. At the front end of the tube, a snake bone tube is usually designed. Several steel wires pass through the snake bone tube, and the steel wires are connected to a handle. By pulling the steel wires with the handle, the snake bone tube can be controlled to bend. During the extension process, the flushing tube 3 sprays physiological saline to make the internal field of view of the intervertebral foramen clearer in a water circulation environment. When the flexible endoscope robot reaches the intervertebral disc herniation site, control the inner sliding sleeve 6 to slide inside the support tube 24. The inner sliding sleeve 6 drives the clamping jaws 8 and the extension rod 9 to extend. When the clamping jaws 8 and the extension rod 9 extend outside the support tube 24, the first elastic sheet 65 causes the clamping jaws 8 to expand, and the second elastic sheet 10 forms a certain angle between the extension rod 9 and the clamping jaws 8, making the extension rod 9 horizontal. At this time, a relatively large clamping space is formed between the clamping jaws 8 and the extension rod 9. Specifically, as shown in the appendix Figure 2In the shown state, then move the flexible pipeline 1 to make the protruding part of the intervertebral disc enter the clamping space. During this process, the negative pressure extraction tube 2 generates suction force, which can better guide the protruding part of the intervertebral disc into the clamping space. Then, control the inner sliding sleeve 6 to slide into the support tube 24. Under the pressing action of the support tube 24, the clamping jaws 8 close inward. The clamping jaws 8 drive the extension rods 9 to close. The ends of the extension rods 9 away from the clamping jaws 8 come together. Then, control the driving rope reel 7 to rotate. The driving rope reel 7 drives the crushing thin ropes 72 to rotate. Multiple groups of crushing thin ropes 72 rotate and wind together to crush the protruding part of the intervertebral disc in the clamping space. Since the negative pressure extraction tube 2 continuously generates negative pressure during this process, the crushed protruding part is sucked out through the negative pressure extraction tube 2. Specifically, as shown in the appendix Figure 3 In the shown state, it should be noted that the protruding part of the intervertebral disc is a jelly-like substance. Therefore, when the crushing thin ropes 72 are twisted together in a twist shape, they can crush the protruding part of the intervertebral disc. After completely sucking it out, control the inner sliding sleeve 6 to slide into the interior of the support tube 24, so that the clamping jaws 8 and the extension rods 9 retract into the support tube 24. Finally, withdraw the flexible endoscope robot. It can quickly complete the removal of the protruding intervertebral disc by inserting it once, without repeatedly clamping and removing, and the surgical efficiency is high.

[0037] Since the present invention uses the method of crushing and adsorption to remove the intervertebral disc, the flexible endoscope robot can be set thinner. Generally, the passing space of the intervertebral foramen is about 1 centimeter. The flexible endoscope robot of the present invention can be set to 5 millimeters, and it can enter the intervertebral foramen more easily without gradually expanding the outer opening of the intervertebral foramen, and without removing part of the articular process joint or removing the lamina. After the flexible endoscope robot passes through the puncture needle, it directly bends into the intervertebral foramen, and then cooperates with the use of the clamping jaws 8 and the negative pressure extraction tube 2 to grab and suck out the protruding intervertebral disc, which can reduce the damage to the bone joints, enhance the stability of the spine, and reduce the recurrence rate of the intervertebral disc.

[0038] Embodiment 2, on the basis of the above embodiment, further includes that a top spring 61 is arranged between the inner sliding sleeve 6 and the inner wall of the support tube 24, and a first pull rope 62 is fixedly connected to one end of the inner sliding sleeve 6 close to the inside of the negative pressure extraction tube 2.

[0039] This embodiment provides a control structure for the inner sliding sleeve 6. By pulling the first pull rope 62, the first pull rope 62 drives the inner sliding sleeve 6 to slide into the interior of the support tube 24. When the first pull rope 62 is relaxed, the top spring 61 pushes the inner sliding sleeve 6 to slide outward of the support tube 24. Connecting the first pull rope 62 to the handle can easily control it.

[0040] Embodiment 3, on the basis of the above embodiment, further includes that an installation ring 63 is arranged inside the inner sliding sleeve 6, an installation groove is formed on the outer side of the driving rope reel 7, the installation ring 63 can be inserted into the installation groove, and a pressing ring 71 is fixedly installed on the outer side of the installation groove. The crushing thin ropes 72 are fixedly installed on the pressing ring 71.

[0041] This embodiment provides an installation structure for the driving rope pulley 7. Insert the driving rope pulley 7 into the inner sliding sleeve 6 so that the installation ring 63 is inserted into the installation groove, and then fix and install the pressing ring 71 on the outside of the installation groove with screws.

[0042] Embodiment 4, on the basis of the above embodiment, further includes that a driving rope 73 is wound around the outside of the driving rope pulley 7, a guide rope ring 1 64 is arranged on the inner wall of the inner sliding sleeve 6, and the driving rope 73 passes through the guide rope ring 1 64.

[0043] This embodiment provides a driving structure for the driving rope pulley 7. By pulling the driving rope 73, the driving rope 73 drives the driving rope pulley 7 to rotate, and the driving rope 73 is also connected to a handle.

[0044] Embodiment 5, on the basis of the above embodiment, further includes that a sliding box 81 is arranged inside the inner side of the clamping jaw 8, a locking plug rod 82 is slidably connected inside the sliding box 81, a locking spring 83 is arranged between the locking plug rod 82 and the inner wall of the sliding box 81, a locking slot 91 is opened inside the inner side of the extension rod 9, the locking plug rod 82 can be inserted into the locking slot 91, a sliding groove is opened on the outside of the inner sliding sleeve 6, a sliding ring 66 is sleeved outside the sliding groove, the sliding ring 66 is connected to the locking plug rod 82 through a transmission rope 84, a second pull rope 67 is fixedly connected to the side of the sliding ring 66 close to the negative pressure removal tube 2, and a guide rope ring 2 85 is arranged inside the inner side of the clamping jaw 8, and the transmission rope 84 passes through the guide rope ring 2 85.

[0045] During the clamping and crushing process, it is necessary to lock the angle between the extension rod 9 and the clamping jaw 8 to ensure stable clamping and crushing. Therefore, when the clamping jaw 8 and the extension rod 9 extend, the locking spring 83 pushes the locking plug rod 82 to be inserted into the locking slot 91 to lock the clamping jaw 8 and the extension rod 9. After the crushing is completed, pull the sliding ring 66 to slide along the sliding groove, the sliding ring 66 drives the locking plug rod 82 to slide into the inside of the sliding box 81 through the transmission rope 84, the locking plug rod 82 is away from the locking slot 91, the extension rod 9 can swing relative to the clamping jaw 8, and the extension rod 9 and the clamping jaw 8 can retract into the support tube 24. Moreover, the sliding of the sliding ring 66 can simultaneously control the locking and unlocking of multiple groups of extension rods 9 and clamping jaws 8, the control is simple, and the second pull rope 67 can be controlled by connecting to a handle.

[0046] Embodiment 6, on the basis of the above embodiment, further includes that a control port 21 and a negative pressure connection port 22 are arranged at the tail end of the negative pressure removal tube 2, the negative pressure connection port 22 is designed to be inclined downward, a blocking plug 23 is arranged between the control port 21 and the negative pressure connection port 22, three sealing rope holes are opened inside the blocking plug 23, and the first pull rope 62, the second pull rope 67 and the driving rope 73 respectively pass through the three sealing rope holes.

[0047] Through the setting of this embodiment, the control of the first pull rope 62, the second pull rope 67 and the driving rope 73 will not affect the negative pressure removal.

[0048] Embodiment VII. On the basis of the above embodiments, it further includes that the extension rod 9 is a magnetic rod, and the shredded thin string 72 can be adsorbed on the extension rod 9.

[0049] Since the shredded thin string 72 generates a cutting force by twisting together, when the shredded thin string 72 is in a non-twisted state, a longer length is required, which causes the shredded thin string 72 to easily sag. Without any restriction, it is likely to affect the entry of the intervertebral disc herniation into the clamping space. Therefore, in this embodiment, it is designed that the shredded thin string 72 is adsorbed on the extension rod 9 at the beginning and will detach from the extension rod 9 when twisted together.

[0050] Further, a plurality of groups of hinge grooves are annularly formed on the outer side of the inner sliding sleeve 6. The clamping jaws 8 are hinged in the hinge grooves, and the depth of the hinge grooves is greater than the thickness of the clamping jaws 8. The first elastic piece 65 is also located in the hinge grooves. Through the arrangement of the hinge grooves, when the clamping jaws 8 and the extension rod 9 retract, there is enough space and they will not be overly squeezed.

[0051] Embodiment VIII. On the basis of the above embodiments, it further includes that a flexible fine mesh is arranged on the outer sides of the clamping jaws 8 and the extension rod 9. Through the arrangement of the flexible fine mesh, it can block the shredded intervertebral disc herniation and better suck away the shredded part.

[0052] Further, a negative pressure adsorber is connected to the negative pressure connection port 22, a circulating pump is connected to the tail end of the flushing tube 3, the circulating pump pumps physiological saline into the flushing tube 3, and the micro camera 4 is connected to an external display.

[0053] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible endoscopic robot for minimally invasive intervertebral disc surgery, comprising a flexible pipe (1), characterized in that: The flexible pipe (1) is provided with a negative pressure removal pipe (2) and a flushing pipe (3) inside, the insertion ends of the negative pressure removal pipe (2) and the flushing pipe (3) both extend beyond the flexible pipe (1), and the insertion end of the flexible pipe (1) is provided with a miniature camera (4) and a lamp head (5); The insertion end of the negative pressure removal tube (2) is provided with a support tube (24), and the interior of the support tube (24) is slidably connected with an inner sleeve (6), and a driving rope drum (7) is rotatably installed inside the inner sleeve (6). The driving rope drum (7) has an internal through-type design, and the outer side of the inner sleeve (6) is annularly hinged with multiple groups of clamping claws (8), and a first elastic piece (65) is provided between the clamping claw (8) and the inner sleeve (6). The end of the clamping claw (8) away from the inner sleeve (6) is hinged with an extension rod (9), and a second elastic piece (10) is provided between the extension rod (9) and the clamping claw (8). The extension rod (9) and the clamping claw (8) can be locked, and the outer side of the driving rope drum (7) is provided with multiple groups of shredded ropes (72), and the shredded ropes (72) are fixedly connected to the clamping end of the extension rod (9).

2. The flexible endoscopic robot for minimally invasive intervertebral disc surgery according to claim 1, characterized in that: A top spring (61) is provided between the inner sliding sleeve (6) and the inner wall of the support tube (24), and a first pull rope (62) is fixedly connected to one end of the inner sliding sleeve (6) close to the inside of the negative pressure removal tube (2).

3. The flexible endoscopic robot for minimally invasive intervertebral disc surgery according to claim 2, characterized in that: The inner sleeve (6) is provided with a mounting ring (63) inside, the outer side of the driving rope drum (7) is provided with a mounting groove, the mounting ring (63) can be inserted into the mounting groove, and a pressure ring (71) is fixedly installed on the outer side of the mounting groove, and the shredded rope (72) is fixedly installed on the pressure ring (71).

4. The flexible endoscopic robot for minimally invasive surgery of intervertebral disc according to claim 3, characterized in that: A driving rope (73) is wound around the outer side of the driving rope drum (7), and a guide rope ring (64) is provided on the inner wall of the inner sliding sleeve (6), through which the driving rope (73) passes.

5. The flexible endoscopic robot for minimally invasive surgery of intervertebral disc according to claim 4, characterized in that: A sliding box (81) is provided on the inner side of the clamping jaw (8), and a locking rod (82) is slidably connected inside the sliding box (81). A locking spring (83) is provided between the locking rod (82) and the inner wall of the sliding box (81). A locking slot (91) is provided on the inner side of the extension rod (9), and the locking rod (82) can be inserted into the locking slot (91). A sliding groove is provided on the outer side of the inner sliding sleeve (6), and a slip ring (66) is sleeved on the outer side of the sliding groove. The slip ring (66) is connected to the locking rod (82) through a transmission rope (84). A second pull rope (67) is fixedly connected to the side of the slip ring (66) close to the negative pressure removal tube (2). A guide rope ring 2 (85) is provided on the inner side of the clamping jaw (8), and the transmission rope (84) passes through the guide rope ring 2 (85).

6. The flexible endoscopic robot for minimally invasive surgery of intervertebral disc according to claim 5, characterized in that: The tail end of the negative pressure removal tube (2) is provided with a control port (21) and a negative pressure connection port (22), and the negative pressure connection port (22) is designed to be inclined downward. A stopper (23) is provided between the control port (21) and the negative pressure connection port (22), and three groups of sealing rope holes are opened inside the stopper (23), and the first pull rope (62), the second pull rope (67) and the driving rope (73) respectively pass through the three groups of sealing rope holes.

7. The flexible endoscopic robot for minimally invasive surgery of intervertebral disc according to claim 6, characterized in that: The extension rod (9) is a magnetic rod, and the shredded string (72) can be adsorbed on the extension rod (9).

8. The flexible endoscopic robot for minimally invasive surgery of intervertebral disc according to claim 7, characterized in that: The outer side of the inner sliding sleeve (6) is provided with a plurality of sets of hinge grooves in an annular shape, the clamping jaws (8) are hinged in the hinge grooves, and the depth of the hinge grooves is greater than the thickness of the clamping jaws (8), and the first spring sheet (65) is also located in the hinge grooves.

9. The flexible endoscopic robot for minimally invasive surgery of intervertebral disc according to claim 8, characterized in that: Flexible fine nets are arranged on the outer sides of the clamping claw (8) and the extension rod (9).

10. The flexible endoscopic robot for minimally invasive surgery of intervertebral disc according to claim 9, characterized in that: The negative pressure connection port (22) is connected to a negative pressure absorber, the tail end of the flushing tube (3) is connected to a circulation pump, the circulation pump pumps physiological saline into the flushing tube (3), and the micro camera (4) is connected to an external display.

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