Automatic driving mechanism and narrow cavity surgical robot

Abstract

The invention provides an automatic driving mechanism and a narrow cavity surgical robot, and relates to the technical field of medical robots. Comprising a linear sliding table, a second driving module, a wire drawing mechanism and a first driving module are sequentially installed on an output part of the linear sliding table, an end effector is installed on an output part of the first driving module, and a surgical tool is inserted into the end effector; the linear sliding table controls the end effector to move linearly; the second driving module drives the surgical tool to rotate around the axis of the surgical tool and telescopically move along the axis of the surgical tool; the wire pulling mechanism is connected with one end of the rope, the other end of the rope is connected with the flexible section of the end effector, the first driving module drives the wire pulling mechanism, and the wire pulling mechanism controls the flexible section of the end effector to bend or unbend by pulling the rope; the first driving module controls the end effector to rotate around the axis of the end effector. The tension of each rope is adjusted, quantitative regulation and control of the tension of the ropes are achieved, constant and lasting tension control is achieved, and stability and accuracy are high.

Description

Technical Field

[0001] The present invention relates to the technical field of medical robots, and particularly to an automatic driving mechanism and a narrow-channel surgical robot. Background Art

[0002] At present, minimally invasive surgical robots refer to high-end equipment that uses modern medical devices and related equipment such as electron microscopes and small flexible robotic arms to perform surgical operations in the human body, including robotic arms and end effectors. Existing technologies include laparoscopic surgical robots using end flexible surgical robotic arms. The surgical robot enters the surgical site through narrow, long-distance and complex channels such as the urethra, throat, and nose, and uses new energy instruments such as water jets, lasers, and plasmas to perform surgeries. Since the long and narrow channels pose new requirements for the design of the robot and the driving mechanism, and at the same time, the new energy instruments have higher load requirements, stability requirements, and accuracy requirements compared to traditional electrocautery and ultrasound.

[0003] The commonly used snake bone joints of laparoscopic surgical robots with end flexible surgical robotic arms are formed by the protrusions and depressions on both sides of the snake bone to form a revolute pair, and the cooperation between the joints depends on the tension of the driving ropes. If the driving ropes are loose, gaps will be generated at the joint cooperation, which will seriously affect the control accuracy and stability of the joints. As Figure 2 shown in the schematic diagram of the driving control between common snake bone joints. Under the ideal state, it is assumed that the ropes will not deform during the pulling process, and the ropes only move along the central axis of the snake bone cord holes. At this time, the two ropes on both sides are symmetric with respect to the rotation center O. Let the distance between the two ropes on both sides be D, the relative rotation angle between the two joints be θ, the maximum unilateral deflection angle of the joint be α, the length of the rope at the pulling end be L 1 , the length of the rope at the releasing end be L 2 , and the length of the rope in the joint be N, then there is:

[0004]

[0005] In the case of a small angle, it can be approximately processed,

[0006]

[0007] From this, the displacement ΔL 1 of the rope on the pulling side and the displacement ΔL 2 of the rope on the releasing side are calculated, that is, the displacements of the ropes on the wire-receiving side and the wire-releasing side are the same numerically under the ideal state. Therefore, the existing common driving method, namely Figure 3As shown in the figure, the rope is wound around the rotating shaft S, and the output shaft of the motor drives the rotating shaft S to rotate so that the displacement values of the ropes on the wire-receiving side and the wire-releasing side are the same. Ideally, precise movement of the flexible arm can be controlled. However, in actual situations, the output shaft of the motor will be twisted by an external force, resulting in weak resistance of the output end of the motor shaft to the rope displacement, affecting the tension and control of the rope, and further affecting the stability of the flexible joint control.

[0008] As Figure 3 shown in the figure, even if the rope is well-tensioned in the initial state, the rope will still become slack during repeated movements. The main reasons are as follows:

[0009] 1) Various devices for controlling the end surgical instrument hinder the control of the bending of the flexible snake bone through the middle channel of the snake bone, and factors such as the friction between joints and the coupling between the ropes for controlling each degree of freedom cause the rope at the wire-pulling end to often bear a large tensile force during wire pulling. The rope deforms and becomes longer during the pulling process. As a result, when the instrument arm bends by the same angle, the rotating shaft rotates through a larger angle, causing the displacement of the rope on the wire-releasing side to be greater than the theoretical displacement, resulting in the slack of the rope on the wire-releasing side and the appearance of gaps at the joint.

[0010] 2) Due to factors such as manufacturing errors, installation errors, and design considerations, the diameter of the rope is inconsistent with the rope holes on the snake bone, and the rope deforms after being pulled, and the diameter of the rope will shrink. At this time, observing the wire-pulling end, after the rope is subjected to a large tensile force, the rope becomes thinner and the range of movement in the rope hole increases, and it adheres to the center of curvature of the current bend of the flexible arm. Let the bending angle of the flexible arm be θ′, and the radius of curvature of the wire-pulling end in the ideal state be r 1 , and the curvature of the rope in the actual situation is approximately r′ 1 , approximately comparing the allowance L 1 of the wire-pulling end rope in the flexible arm in the ideal state 1 and the allowance L′ 1 , r′ 1 <r 1 , r′ 1 <L 1 =r 1 θ′. That is, under the same bending angle of the surgical arm, the displacement of the wire-pulling end rope is larger than that in the ideal state. This situation, like the previous analysis, exacerbates the slack of the rope on the wire-releasing side, making the rigidity and stability of the flexible arm worse and the control accuracy lower. Summary of the Invention

[0011] The present invention provides an automatic driving mechanism and a surgical robot for narrow-channel surgery. In the prior art, flexible surgical instruments are driven by ropes. In the traditional wire-winding disc and shaft-type rope driving methods, there are problems of inconsistent winding and unwinding during driving. The ropes on the wire-releasing side are loose, resulting in poor rigidity and stability of the flexible arm, reduced control accuracy, and difficult adjustment of the rope tension during driving. The surgical site is narrow and the access distance is long, such as the urethra, throat, nasal cavity, etc. The access diameter is usually about 3-25 mm, and the length is about 3-30 cm.

[0012] To solve the above problems of the invention, the technical solutions provided by the present invention are as follows:

[0013] On the one hand, the present invention provides an automatic driving mechanism. The automatic driving mechanism includes a wire-pulling mechanism. The wire-pulling mechanism includes a guide rail rod. A wire-pulling mechanism bearing is installed in the main board of the second driving module. The two ends of the guide rail rod are respectively installed in the two wire-pulling mechanism bearings, and the two ends of the left-hand and right-hand lead screw are respectively installed in the two wire-pulling mechanism bearings. A spring traction module, two rope traction modules, and a rope adjustment mechanism are sequentially installed on the guide rail rod. Two screw sleeves are installed on the left-hand and right-hand lead screw. The two screw sleeves are respectively connected to the two rope traction modules. The two rope traction modules independently drive two ropes respectively. The other ends of the two ropes are connected to the flexible section of the end effector.

[0014] Preferably, the spring traction module includes a traction base and a traction baffle. The two ends of the spring box are respectively inserted into the traction base and the traction baffle. A constant-force spring is installed in the spring box. The outer extension end of the constant-force spring is installed in an adapter handle, and the adapter handle is connected to the rope.

[0015] Preferably, the rope traction module includes a ratchet mechanism base and a ratchet mechanism baffle. A sliding bearing is installed on the ratchet mechanism base and the ratchet mechanism baffle. The two ends of the ratchet shaft are respectively installed in the sliding bearings on the ratchet mechanism base and the ratchet mechanism baffle, and the ratchet mechanism base and the ratchet mechanism baffle are connected by a support column; a ratchet and a rope winding disc are installed on the ratchet shaft. The rope is wound on the rope winding disc. A ratchet pawl is rotatably installed on the ratchet mechanism base. The two ends of a tension spring are respectively connected to the ratchet pawl and the ratchet mechanism base;

[0016] A rotary disk rear cover is mounted on the side of the ratchet mechanism base, and the axis of the ratchet shaft is perpendicular to the axis of the rotary disk rear cover; a rolling bearing is installed in the push disk, and a rotary guide rail kit is installed on the inner ring of the rolling bearing. The guide rail kit is installed in the rotary disk rear cover through a round head key. On the side of the push disk away from the rotary disk rear cover, a bearing retaining plate and a rotary disk front cover are sequentially installed, and the rotary disk rear cover, the bearing retaining plate and the rotary disk front cover are connected by bolt fasteners; the rotary guide rail kit is sleeved on the guide rail rod.

[0017] Preferably, the rope adjusting mechanism includes an adjusting mechanism base, a pulley shaft is arranged on the adjusting mechanism base, a wire pulley is installed on the pulley shaft, the rope is wound around the wire pulley, and the adjusting mechanism upper cover is detachably connected to the adjusting mechanism base.

[0018] On the other hand, the present invention provides a narrow channel surgical robot, which includes a linear slide table. A second driving module, the wire pulling mechanism, and a first driving module are sequentially installed on the output member of the linear slide table. An end effector is installed on the output member of the first driving module, and a surgical tool is inserted into the end effector;

[0019] The linear slide table controls the second driving module, the wire pulling mechanism, the first driving module and the end effector to perform linear movement; the second driving module drives the surgical tool to rotate around its own axis and telescopically move along its own axis; one end of the rope is connected by the wire pulling mechanism, and the other end of the rope is the flexible section of the end effector. The first driving module drives the wire pulling mechanism, and the wire pulling mechanism controls the flexible section of the end effector to bend or straighten by pulling the rope; the first driving module controls the end effector to rotate around its own axis.

[0020] Preferably, the linear slide table includes a bottom plate, mounting plates are provided at both ends of the bottom plate, a first lead screw and a first guide rail rod are installed on the mounting plates, a motor power module is installed on one of the mounting plates, the output shaft of the motor power module is connected to the first lead screw, a first lead screw nut is installed on the first lead screw, linear bearing support feet are connected to both sides of the first lead screw nut, the linear bearing support feet are sleeved on the first guide rail rod, and a propulsion main board is installed on the top of the first lead screw nut. The second driving module, the wire pulling mechanism and the first driving module are installed on the propulsion main board.

[0021] Preferably, the first driving module includes an installation housing, in which a power input shaft and a power output shaft are installed. The power input shaft and the power output shaft are driven by gears. The installation housing is covered with a driving mounting seat, on which a driving motor is installed. The output shaft of the driving motor is connected to the power input shaft.

[0022] Preferably, the second driving module includes a rear cover, on which a rear cover sliding bearing is installed. One end of a guide shaft is installed in the rear cover sliding bearing, and the other end is installed on the rear plate of the second driving module. The front plate of the second driving module is installed on the main board of the second driving module. The rear cover and the main board of the second driving module are detachably connected; a bearing is installed on the front plate of the second driving module, and one end of a second lead screw is installed in the bearing. The other end of the second lead screw is connected to the output shaft of a first motor of the second driving module through a coupling. The first motor of the second driving module is installed on the rear plate of the second driving module. The front plate and the rear plate of the second driving module are connected by support columns; a second lead screw nut is installed on the second lead screw, and the second lead screw nut is connected to the front plate of the propulsion unit. Both ends of a spring clamping shaft are respectively installed on the front plate and the rear plate of the propulsion unit through bearings. A cylindrical spur gear II is installed on the spring clamping shaft. A second motor of the second driving module is installed on the rear plate of the propulsion unit. A cylindrical spur gear I is installed on the output shaft of the second motor of the second driving module. The cylindrical spur gear I and the cylindrical spur gear II are meshed and driven. The front plate and the rear plate of the propulsion unit are connected by support columns; a linear bearing is installed on the front plate of the propulsion unit through a snap ring. The linear bearing is sleeved on a second guide rod. Both ends of the second guide rod are respectively installed in the front plate and the rear plate of the second driving module.

[0023] Preferably, the spring clamping shaft is provided with a radial screw hole, and a circular channel is arranged inside the spring clamping shaft.

[0024] Preferably, the end effector includes a hollow straight rod, a flexible section, an end joint, a telescopic tube, and an integrated nozzle that are sequentially connected in series. A light source and an electron microscope are installed at the end of the end joint. The flexible section includes multiple snake bone joints. Two arc protrusions are symmetrically arranged on the upper side of the snake bone joint, and notches are symmetrically arranged on the lower side. An inclined plane is arranged on the snake bone joint. The arc protrusion and the notch are adapted to each other. The notch of the previous snake bone joint is docked with the arc protrusion of the next snake bone joint to form a rotating pair. The inclined planes of the previous snake bone joint and the next snake bone joint are located on the same side to form a bendable space.

[0025] The above technical solution has at least the following beneficial effects compared with the prior art:

[0026] In the above solution, (1) The present invention adopts a wire-pulling mechanism driven by a left-right hand lead screw, which independently drives two ropes respectively, and adjusts the tension of each rope through an independent spring traction module, realizing quantitative regulation and constant and lasting tension control of the rope tension. At the same time, it can resist interference, ensuring the stability and accuracy of the snake bone joint control.

[0027] (2) The wire-pulling mechanism of the present invention is driven by a left-right hand lead screw. The lead screw itself has a self-locking property, and the nut sleeve installed on the left-right hand lead screw further strengthens the self-locking property of the lead screw when subjected to forces in the same direction. This feature enables the fixed end of the rope by the wire-pulling mechanism to resist rope displacement, which is also beneficial for the end of the flexible arm to resist interference, solving the problem that the ability of the output end of the motor shaft to resist rope displacement in the prior art is not strong.

[0028] (3) The present invention is different from the common driving layout of surgical narrow cavity surgical robots in the prior art. It uses a left-right hand lead screw to drive two independent rope traction modules. The ropes can rotate freely in the rope traction mechanism, making the rotation of the flexible arm itself and the wire-pulling mechanism decoupled, which is beneficial for precise and simplified control. At the same time, the coaxial operation of linear distance adjustment and self-rotation is achieved through two linear motions in cooperation with the left-right hand lead screw.

[0029] (4) The present invention realizes the movement of multiple degrees of freedom of the end effector. Compared with the rigid straight rod through-natural-cavity surgical instruments, it can reach the lesion positions in some narrow spaces that are difficult to reach, and flexibly adjust the pose. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0031] Figure 1 It is a schematic diagram of the sheath and the end instrument of the prior art;

[0032] Figure 2 It is a schematic diagram of the drive control of the snake bone joint of the prior art Figure 1 ;

[0033] Figure 3 It is a schematic diagram of the drive control of the snake bone joint of the prior art Figure 2 ;

[0034] Figure 4 It is a schematic diagram of the structure of the narrow cavity surgical robot of the present invention;

[0035] Figure 5Schematic diagram of the linear slide of the narrow-channel surgical robot of the present invention;

[0036] Figure 6 Schematic diagram of the first driving module of the narrow-channel surgical robot of the present invention;

[0037] Figure 7 Schematic diagram of the wire-pulling mechanism of the narrow-channel surgical robot of the present invention;

[0038] Figure 8 Schematic diagram of the rope traction module of the wire-pulling mechanism of the narrow-channel surgical robot of the present invention;

[0039] Figure 9 is Figure 8 front view of

[0040] Figure 10 Schematic diagram of the rotary guide rail kit and guide rail rod of the rope traction module of the wire-pulling mechanism of the narrow-channel surgical robot of the present invention Figure 1 ;

[0041] Figure 11 Schematic diagram of the rotary guide rail kit and guide rail rod of the rope traction module of the wire-pulling mechanism of the narrow-channel surgical robot of the present invention Figure 2 ;

[0042] Figure 12 Schematic diagram of the spring traction module of the wire-pulling mechanism of the narrow-channel surgical robot of the present invention;

[0043] Figure 13 Schematic diagram of the rope adjustment mechanism of the wire-pulling mechanism of the narrow-channel surgical robot of the present invention;

[0044] Figure 14 Working principle diagram of the wire-pulling mechanism of the narrow-channel surgical robot of the present invention;

[0045] Figure 15 Schematic diagram of the second driving module of the narrow-channel surgical robot of the present invention;

[0046] Figure 16 Schematic diagram of the end effector of the narrow-channel surgical robot of the present invention;

[0047] Figure 17 Schematic diagram of the single-sided bending snake bone joint of the narrow-channel surgical robot of the present invention;

[0048] Figure 18 Schematic diagram of the double-sided bending snake bone joint of the narrow-channel surgical robot of the present invention;

[0049] Figure 19Principle of the cable-driven flexible segment of the narrow-channel surgical robot of the present invention Figure 1 ;

[0050] Figure 20 Principle of the cable-driven flexible segment of the narrow-channel surgical robot of the present invention Figure 2 ; Figure 21 Application scenario one of the narrow-channel surgical robot of the present invention;

[0051] Figure 22 Application scenario two of the narrow-channel surgical robot of the present invention;

[0052] Figure 23 Application scenario three of the narrow-channel surgical robot of the present invention;

[0053] Figure 24 Application scenario four of the narrow-channel surgical robot of the present invention;

[0054] Figure 25 Application scenario five of the narrow-channel surgical robot of the present invention;

[0055] Figure 26 Application scenario six of the narrow-channel surgical robot of the present invention.

[0056] The descriptions of the attached drawing reference numerals are as follows:

[0057] A, sheath; B, end instrument;

[0058] 1, linear slide; 101, mounting plate; 102, first lead screw; 103, propulsion main board; 104, propulsion block; 105, motor power module; 106, first lead screw nut; 107, linear bearing support foot; 108, first guide rod; 109, bottom plate;

[0059] 2, first drive module; 201, drive motor; 201a, first drive motor; 201b, second drive motor; 202, power input shaft; 202a, first power input shaft; 202b, second power input shaft; 203, first power output shaft; 204, second power output shaft; 205, drive mounting seat; 206, mounting housing;

[0060] 3. Cable pulling mechanism; 301. Rope adjustment mechanism; 302. Rope traction module; 303. Guide rail rod; 304. Spring traction module; 305. Cable pulling mechanism bearing; 306. Right and left hand lead screw; 307. Nut sleeve; 308. Outer cover; 301-1. Adjustment mechanism base; 301-2. Pulley shaft; 301-3. Wire pulley; 301-4. Adjustment mechanism upper cover; 302-1. Rotating disk front cover; 302-2. Bearing retaining plate; 302-3. Rolling bearing; 302-4. Push plate; 302-5. Rotating guide rail kit; 302-5a. Ball spline; 302-6. Rotating disk rear cover; 302-7. Round head key; 302-8. Ratchet mechanism baffle; 302-9. Tension spring; 302-10. Ratchet mechanism base; 302-11. Pawl; 302-12. Set screw; 302-13. Rope winding disk with shaft ratchet; 302-13a. Ratchet shaft; 302-13b. Ratchet; 302-13c. Rope winding disk; 302-14. Sleeve bearing; 302-15. First support column; 303a. Ball spline shaft; 304-1. Traction base; 304-2. Traction baffle; 304-3. Spring box; 304-4. Constant force spring; 304-5. Connecting handle; 304-6. Second support column;

[0061] 4. Second drive module; 401. Second drive module main board; 402. Second drive module front board; 403. Second lead screw; 404. Second lead screw nut; 405. Propulsion unit front board; 406. Linear bearing; 407. Spring clamping shaft; 407-1. Threaded hole; 407-2. Circular channel; 408. Propulsion unit rear board; 409. Second drive module rear board; 410. Guide shaft; 411. Rear cover; 412. Rear cover sleeve bearing; 413. Second drive module motor; 414. Cylindrical spur gear; 415. Second guide rod;

[0062] 5. End effector; 501. Hollow straight rod; 502. Flexible section; 502a. Arc protrusion; 502b. Notch; 502c. Oblique section; 502d. Threading hole; 502e. Snake bone joint; 503. Light source; 504. Electron microscope; 505. Telescopic tube; 506. Integrated nozzle; 506-1. Nozzle; 506-2. Tool channel; 507. End joint; 6. Rigid urethral sheath; 7. Urothelium and lamina propria; 8. Muscle layer; 9. Rope. Detailed implementation manners

[0063] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the embodiments of the present invention in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0064] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the ordinary meanings understood by those of ordinary skill in the art to which the present invention pertains. The "first", "second", and similar terms used in the present invention do not denote any order, quantity, or importance, but are only used to distinguish different components. Similarly, terms such as "a", "an", or "the" do not denote a quantity limitation, but mean that there is at least one. The terms "comprising" or "including" and the like mean that the elements or items appearing before the term cover the elements or items listed after the term and their equivalents, without excluding other elements or items. The terms "connected" or "coupled" and the like are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0065] It should be noted that the "up", "down", "left", "right", "front", "back", etc. used in the present invention are only used to represent relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0066] Embodiment 1

[0067] As Figures 7 - 13 shown, this embodiment provides an automatic driving mechanism. The automatic driving mechanism includes a cable pulling mechanism 3. A cable pulling mechanism bearing 305 is installed in the main board 401 of the second driving module. Both ends of the guide rail rod 303 are installed in the cable pulling mechanism bearing 305. A spring traction module 304, two rope traction modules 302, and a rope adjustment mechanism 301 are sequentially installed on the guide rail rod 303. Both ends of the positive and negative lead screw 306 are installed in the cable pulling mechanism bearing 305. Two nuts 307 are installed on the positive and negative lead screw 306, and the two nuts 307 are respectively connected to the two rope traction modules 302.

[0068] As Figure 12As shown, the spring traction module 304 includes a traction base 304-1 and a traction baffle 304-2. Both ends of the spring box 304-3 are respectively inserted into the traction base 304-1 and the traction baffle 304-2. A constant force spring 304-4 is installed in the spring box 304-3, and a connection handle 304-5 is installed at the extended end of the constant force spring 304-4. Specifically, both ends of the spring box 304-3 have protrusions, and both the traction base 304-1 and the traction baffle 304-2 have grooves. The protrusions at both ends of the spring box 304-3 are respectively inserted into the grooves of the traction base 304-1 and the traction baffle 304-2. Further, a second support column 304-6 is provided at the middle position of the traction base 304-1, and the second support column 304-6 can be inserted into the traction baffle 304-2.

[0069] As Figure 8 and Figure 9As shown in the figure, the rope traction module 302 includes a ratchet mechanism base 302-10 and a ratchet mechanism baffle 302-8. A sliding bearing 302-14 is installed on the ratchet mechanism base 302-10 and the ratchet mechanism baffle 302-8. Both ends of the ratchet shaft 302-13a are respectively installed in the sliding bearing 302-14 of the ratchet mechanism base 302-10 and the sliding bearing 302-14 of the ratchet mechanism baffle 302-8, and the ratchet mechanism base 302-10 and the ratchet mechanism baffle 302-8 are connected by a first support column 302-15; a ratchet 302-13b and a rope winding disc 302-13c are installed on the ratchet shaft 302-13a. A ratchet pawl 302-11 is rotatably installed on the ratchet mechanism base 302-10. Both ends of the tension spring 302-9 are respectively connected to the ratchet pawl 302-11 and the ratchet mechanism base 302-10. Specifically, the tail end of the ratchet pawl 302-11 is installed on the protruding shaft of the ratchet mechanism base 302-10 to form a rotating pair; one end of the tension spring 302-9 is sleeved on the protruding shaft of the ratchet mechanism base 302-10, and the other end is fixed to the ratchet pawl 302-11 by a set screw 302-12. A rotating disc rear cover 302-6 is installed on the side of the ratchet mechanism base 302-10. The axis of the ratchet shaft 302-13a is perpendicular to the axis of the rotating disc rear cover 302-6; a rolling bearing 302-3 is installed in the push disc 302-4. The inner ring of the rolling bearing 302-3 is installed with a rotating guide rail kit 302-5. The guide rail kit is installed in the rotating disc rear cover 302-6 by a round head key 302-7. On the side of the push disc 302-4 away from the rotating disc rear cover 302-6, a bearing retaining piece 302-2 and a rotating disc front cover 302-1 are installed in sequence. The rotating disc rear cover 302-6 and the rotating disc front cover 302-1 cooperate to hold the inner and outer rings of the rolling bearing 302-3. The rotating disc rear cover 302-6, the bearing retaining piece 302-2 and the rotating disc front cover 302-1 are connected by bolt fasteners. The rotating guide rail kit 302-5 is sleeved on the guide rail rod 303. Specifically, as Figure 10 As shown in the figure, in one solution, the guide rail rod 303 is a spline shaft, and the rotating guide rail kit 302-5 is a ball spline 302-5a. There are balls rolling axially in the ball spline 302-5a. There are axial ball grooves on the ball spline shaft 303a. The balls cooperate with the axial ball grooves to form a moving pair, so that the rotating guide rail kit 302-5 can slide freely axially on the conduit rod. The circumferential rotation of the conduit rod drives the circumferential rotation of the rotating guide rail kit 302-5. Its advantage is precise transmission and small resistance; as Figure 11As shown, in another solution, the mating shape of the guide rail rod 303 and the rotating guide rail kit 302-5 sleeve is non-circular, so as to achieve circumferential locking and an axial sliding moving pair, and its advantage is simple structure and small volume. An installation hole is provided at the top of the push plate 302-4, and the screw sleeve 307 is installed in the installation hole of the push plate 302-4, so that the movement of the screw sleeve 307 drives the push plate 302-4 to move at the same time. Rope channels are provided corresponding to the ratchet mechanism base 302-10, the rotating disk rear cover 302-6 and the rotating disk front cover 302-1. The rope 9 passes through the rope channels and then winds around the rope winding disk 302-13c.

[0070] As Figure 13 shown, the rope adjustment mechanism 301 includes an adjustment mechanism base 301-1, on which a pulley shaft 301-2 is provided, and a wire pulley 301-3 is installed on the pulley shaft 301-2. The adjustment mechanism upper cover 301-4 is detachably connected to the adjustment mechanism base 301-1. Specifically, the adjustment mechanism base 301-1 cooperates with the guide rail rod 303, and the central axes of the adjustment mechanism base 301-1 and the guide rail rod 303 coincide. The central axis of the cooperation between the adjustment mechanism upper cover 301-4 and the second power output shaft 204 coincides, so that the rope 9 enters the end effector 5 through the rope adjustment mechanism 301 and is connected to the snake bone joint 502e of the end effector 5; the 4 groups of pulley shafts 301-2 and the wire pulleys 301-3 form two pairs of wire pulley 301-3 groups to guide the rope to be pulled from the designed position.

[0071] As Figure 14 shown, there are 2 rope traction modules 302. One end of a rope 9 is connected to the connection handle 304-5 (connected to the constant force spring 304-4 through the connection handle 304-5), and the other end is wound around the rope winding disk 302-13c of a rope traction module 302 and passes through the ratchet mechanism base 302-10, the rotating disk rear cover 302-6, and the rotating disk front cover 302-1, then enters the ratchet mechanism base 302-10, the rotating disk rear cover 302-6, and the rotating disk front cover 302-1 of another rope traction module 302, enters the wire pulley 301-3 of the rope adjustment mechanism 301, and is then connected to the snake bone joint 502e; one end of the other rope 9 is connected to the connection handle 304-5, and the other end enters the ratchet mechanism base 302-10, the rotating disk rear cover 302-6, and the rotating disk front cover 302-1 of a rope traction module 302, then winds around the rope winding disk 302-13c of another rope traction module 302 and passes through the ratchet mechanism base 302-10, the rotating disk rear cover 302-6, and the rotating disk front cover 302-1, then enters the wire pulley 301-3 of the rope adjustment mechanism 301 and is connected to the snake bone joint 502e.

[0072] Specifically, after the two ropes 9 enter the rope traction module 302, the ropes 9 are respectively wound around the rope winding disc 302-13c of the belt shaft ratchet rope winding disc 302-13. The ropes 9 are pulled tangentially along the winding disc by the constant force spring 304-4, and this direction is the rotation direction of the ratchet 302-13b. The constant force spring 304-4 can provide a continuous constant pulling force to maintain the moment balance at both ends of the rope 9 wound around the ratchet 302-13b, so as to control the tension of the rope 9.

[0073] Specifically, the two sides of the left and right hand lead screw 306 have left-handed threads and right-handed threads. A left-handed nut 307 and a right-handed nut 307 are respectively screwed on the left-handed thread and the right-handed thread. When the left and right hand lead screw 306 rotates circumferentially, the left-handed nut 307 and the right-handed nut 307 move in opposite directions, so that the left-handed nut 307 and the right-handed nut 307 approach or move away from each other simultaneously. The nut 307 is fixedly connected to the push plate 302-4, and the guide rail rod 303 plays a guiding role. The guide rail rod 303 restricts the rope traction module 302 to move only along its axial direction. When the left and right hand lead screw 306 rotates, the rope traction module 302 is driven to move linearly in the axial direction through the nut 307.

[0074] Two ropes 9 are installed on the wire pulling mechanism 3. One of the rope traction modules 302 moves towards the spring traction module 304, and the rope wound around this rope traction module 302 is the wire pulling rope 9. At this time, this rope 9 is in a tightened state (the length of the rope 9 becomes shorter). The rope 9 wound around the ratchet mechanism has a tendency to drive the ratchet mechanism to rotate in the reverse direction. Since the ratchet mechanism has a reverse self-locking function, the ratchet 302-13b in the ratchet mechanism will not rotate in the reverse direction, and this rope 9 maintains the tightened state; the other rope traction module 302 moves towards the rope adjustment mechanism 301. One end of this rope 9 is affected by the constant force spring 304-4 and is in a straightened state (this straightened state means not loose), realizing the compensation of the rope 9. It should be noted that Figure 11 The described spring traction mechanism 304 is for reference only and can be in various forms. Its purpose is to provide a stable and appropriate pulling force for the traction rope 9 when it is slack.

[0075] The working process of the wire pulling mechanism 3 in this embodiment is as follows:

[0076] Using the left and right hand lead screw 306 to drive two independent rope traction modules 302 can perform operations such as tension adjustment and rope compensation for each rope 9 separately. The self-locking property of the left and right hand lead screw 306 makes the driving of the rope 9 not easily affected by external interference, thus maintaining the stable control of the end effector 5. The above description is the driving, tensioning, and guiding principle for a pair of ropes 9. For the case where multiple ropes 9 are required, the structure can be adjusted by adding multiple rope traction modules 302 and corresponding spring traction modules 304, etc.

[0077] Embodiment 2

[0078] As Figure 4 shown, on the basis of Embodiment 1, this embodiment provides a surgical robot for narrow channels, including a linear slide 1. A second driving module 4, a wire-pulling mechanism 3, and a first driving module 2 are sequentially installed on the output member of the linear slide 1, and an end effector 5 is installed on the output member of the first driving module 2. Specifically, the end effector 5 is installed at the front-end interface of the first driving module 2, and the second driving module 4 is installed at the rear end of the wire-pulling mechanism 3. After the four are combined, they are installed on the linear slide 1.

[0079] As Figure 4 and Figure 5 shown, the linear slide 1 includes a bottom plate 109. Installation plates 101 are provided at both ends of the bottom plate 109. A first lead screw 102 and a first guide rod 108 are installed on the installation plates 101. A motor power module 105 is installed on one of the installation plates 101. The output shaft of the motor power module 105 is connected to the first lead screw 102. A first lead screw nut 106 is installed on the first lead screw 102. Linear bearing 406 support feet 107 are connected to both sides of the first lead screw nut 106. The linear bearing 406 support feet 107 are sleeved on the first guide rod 108. A propulsion main board 103 is installed on the top of the first lead screw nut 106. The second driving module 4, the wire-pulling mechanism 3, and the first driving module 2 are installed on the propulsion main board 103. The output shaft of the motor power module 105 transmits the rotational motion to the first lead screw 102. The first lead screw nut 106 moves along the axial direction of the first lead screw 102. The movement of the first lead screw nut 106 drives the propulsion main board 103 to move, thereby realizing the linear movement of the second driving module 4, the wire-pulling mechanism 3, the first driving module 2, and the end effector 5 along the axis of the first lead screw 102. The cooperation between the linear bearing 406 support feet 107 sleeve and the first guide rod 108 restricts the circumferential rotation of the first lead screw nut 106 and plays the role of a guide rail at the same time, making the movement accuracy more accurate. The main function of the linear slide 1 is to push the control main board to move linearly. The form of controlling the linear movement of the control main board is not limited to this embodiment, and other mechanisms that can push the control main board to move linearly are also applicable.

[0080] As Figure 6As shown, the first driving module 2 includes an installation housing. Inside the installation housing, a power input shaft 202 and a power output shaft are installed. The power input shaft 202 and the power output shaft are driven by gears. The installation housing is covered with a driving mounting seat 205. A driving motor 201 is installed on the driving mounting seat 205. The output shaft of the driving motor 201 is connected to the power input shaft 202. Specifically, there are 2 power input shafts 202, namely a first power input shaft 202a and a second power input shaft 202b. There are 2 driving motors 201 supporting them, namely a first driving motor 201a and a second driving motor 201b. There are 2 power output shafts supporting them, namely a first power output shaft 203 and a second power output shaft 204. Further, the power input shaft 202 and the power output shaft are driven by cylindrical gears. The driving motor 201 transmits the rotational motion of its output shaft to the first power input shaft 202a and the second power input shaft 202b. The first power input shaft 202a transmits the rotational motion to the first power output shaft 203 through gear drive. The second power input shaft 202b transmits the rotational motion to the second power output shaft 204 through gear drive. In this embodiment, the power input shaft 202 and the power output shaft of the first driving module 2 are driven by gears, realizing that the output shaft of the driving motor 201 and the power output shaft are on different axes, so that other instruments can be passed in the middle to save space.

[0081] The working process of the first driving module 2 in this embodiment is as follows:

[0082] The first driving motor 201a starts. The output shaft of the first driving motor 201a drives the first power input shaft 202a to rotate. There is a gear drive between the first power input shaft 202a and the first power output shaft 203. The rotation of the first power output shaft 203 drives the positive and negative lead screw 306 of the cable mechanism 3 to rotate. The second driving motor 201b starts. The output shaft of the second driving motor 201b drives the second power input shaft 202b to rotate. There is a gear drive between the second power input shaft 202b and the second power output shaft 204. The rotation of the second power output shaft 204 drives the hollow straight rod 501 of the end effector 5 to rotate, and then drives the end effector 5 to rotate.

[0083] As Figure 15As shown, the second drive module 4 includes a rear cover 411 and a second drive module motor 413. There are two second drive module motors 413, namely the first second drive module motor and the second second drive module motor. A rear cover sliding bearing 412 is installed on the rear cover 411. One end of the guide shaft 410 is installed in the rear cover sliding bearing 412, and the other end is installed on the second drive module rear plate 409. The second drive module front plate 402 is installed on the second drive module main board 401, and the rear cover 411 and the second drive module main board 401 are detachably connected. A bearing is installed on the second drive module front plate 402, and one end of the second lead screw 403 is installed in the bearing. The other end of the second lead screw 403 is connected to the output shaft of the first second drive module motor through a coupling. The first second drive module motor is installed on the second drive module rear plate 409. The second drive module front plate 402 and the second drive module rear plate 409 are connected by support columns. A second lead screw nut 404 is installed on the second lead screw 403. The second lead screw nut 404 is connected to the front plate 405 of the propulsion unit. Both ends of the spring clamping shaft 407 are respectively installed on the front plate 405 of the propulsion unit and the rear plate 408 of the propulsion unit through bearings. A cylindrical spur gear two is installed on the spring clamping shaft 407. The second second drive module motor is installed on the rear plate 408 of the propulsion unit. A cylindrical spur gear one is installed on the output shaft of the second second drive module motor. The cylindrical spur gear one and the cylindrical spur gear two are in meshing transmission. The front plate 405 of the propulsion unit and the rear plate 408 of the propulsion unit are connected by support columns; a linear bearing 406 is installed on the front plate 405 of the propulsion unit through a circlip. The linear bearing 406 is sleeved on the rail rod 108. Both ends of the second guide rail rod 415 are respectively installed in the second drive module front plate 402 and the second drive module rear plate 409. Specifically, the spring clamping shaft 407 is provided with a radial screw hole 407-1, and a circular channel 407-2 is provided inside the spring clamping shaft 407. After driving the surgical tool to insert into the circular channel 407-2, a screw is screwed into the radial screw hole 407-1, so that the spring clamping shaft 407 clamps the surgical tool.

[0084] The working process of the second drive module 4 in this embodiment is as follows:

[0085] The second second drive module motor is started, and through the transmission of the cylindrical spur gear one and the cylindrical spur gear two, the rotational movement is transmitted to the spring clamping shaft 407. The spring clamping shaft 407 rotates the surgical tool, driving the surgical tool to rotate. The first second drive module motor is started, and through the transmission of the coupling, the rotational movement is transmitted to the second lead screw 403. While the second lead screw 403 rotates, the second lead screw nut 404 moves along the axis of the second lead screw 403. The movement of the second lead screw nut 404 drives the front plate 405 of the propulsion unit to move, and further drives the spring clamping shaft 407 installed on the front plate 405 of the propulsion unit to move, driving the surgical tool to move.

[0086] AsFigure 16 and Figure 17 As shown, the end effector 5 includes a hollow straight rod 501, a flexible section 502, an end joint 507, and a telescopic tube 505 that are sequentially and serially connected. The hollow straight rod 501 is installed on the second power output shaft 204 of the first drive module 2. The rotation of the second power output shaft 204 drives the rotation of the hollow straight rod 501, thereby realizing the rotation of the end effector 5. The flexible section 502 includes multiple snake bone joints 502e and can perform large-angle bending. Two arc protrusions 502a are symmetrically arranged on the upper side of the snake bone joint 502e, and notches 502b are symmetrically arranged on the lower side. An inclined plane 502c is provided on the snake bone joint 502e, and a through hole is provided in the middle of the snake bone joint 502e. The arc protrusions 502a and the notches 502b are adapted to each other. The notch 502b of the previous snake bone joint 502e is docked with the arc protrusion of the next snake bone joint 502e to form a rotating pair. The inclined planes 502c of the previous snake bone joint 502e and the next snake bone joint 502e are located on the same side to form a bendable space. The snake bone joint 502e adopts a single-sided bending snake bone joint 502e. The notch 502b of the same snake bone joint 502e is directly below the arc protrusion 502a, so that the notch 502b and the arc protrusion 502a are on the same side. One inclined plane 502c is provided on the snake bone joint 502e. After multiple snake bone joints 502e are installed together, the inclined planes 502c of the multiple snake bone joints 502e are located on the same side, and a bending space is formed on one side. When rotating towards the inclined plane 502c, the joint bends. When the non-bending sides coincide, the initial position of the joint is in a vertical state. The arc protrusions 502a and the notches 502b can form a rotating pair and limit the joint displacement in the direction perpendicular to the rotation center axis, making the joint movement more stable. The telescopic tube 505 is fitted with springs with opposite rotation directions, which can maintain high-synchronization torsional motion transmission...

[0087] Another example is Figure 17 As shown, for the single-sided bending snake bone joint 502e, two threading holes 502d are symmetrically arranged on each snake bone joint 502e. After multiple snake bone joints 502e are installed, two rope channels are formed. A rope 9 is installed in these two rope channels, and the other end of the rope 9 enters the wire pulling mechanism 3...

[0088] The second power output shaft 204, the guide rail rod 303, the traction base 304-1, the spring clamping shaft 407, the guide shaft 410, the hollow straight rod 501, the flexible section 502, the end joint 507, and the telescopic tube 505 in this embodiment all have hollow channels. The above hollow channels form a hollow installation space for a surgical tool to pass through...

[0089] Embodiment Three

[0090] This embodiment provides a surgical robot for narrow channels. On the basis of Embodiment 2, the unilateral snake joint 502e is changed to a bilateral snake joint 502e. As Figure 18 shown, the snake joint 502e adopts a bilateral bending snake joint 502e. The arc protrusions 502a and the notches 502b on the same snake joint 502e are in two directions, and the connecting line direction of the two arc protrusions 502a on the same snake joint 502e is perpendicular to the connecting line direction of the two notches 502b. And there are 2 symmetrically arranged inclined sections 502c on the snake joint 502e, and the inclined sections 502c are inclined towards the notches 502b. After multiple snake joints 502e are installed together, a bending space is formed on both sides, and movements in two degrees of freedom of pitch and yaw can be performed. For the bilateral bending snake joint 502e, 4 wire passing holes 502d are symmetrically arranged on each snake joint 502e, and 4 rope channels are formed after multiple snake joints 502e are installed. Correspondingly, 4 sets of the spring box 304-3, the constant force spring 304-4 and the connection handle 304-5 in the spring traction module 304 of the wire pulling mechanism 3 in this embodiment are provided, corresponding to 4 ropes 9 respectively.

[0091] The working process of the surgical robot for narrow channels of the present invention is as follows:

[0092] The second driving module 4, the wire pulling mechanism 3 and the first driving module 2 are installed on the propulsion main board 103 of the linear slide 1, and a surgical tool is installed in the hollow installation space formed by the hollow channel of the second power output shaft 204, the guide rail rod 303, the traction base 304-1, the spring clamping shaft 407, the guide shaft 410 and the hollow straight rod 501. The spring clamping shaft 407 screws and clamps the surgical tool.

[0093] Start the linear slide 1, the output shaft of the motor power module 105 transmits the rotational motion to the first lead screw 102, the first lead screw nut 106 moves along the axial direction of the first lead screw 102, and the movement of the first lead screw nut 106 drives the propulsion main board 103 to move, thereby realizing the linear movement of the second driving module 4, the wire pulling mechanism 3, the first driving module 2 and the end effector 5 along the axis of the first lead screw 102, and thus realizing the linear movement of the surgical tool.

[0094] Start the second driving module 4, the spring clamping shaft 407 rotates to drive the surgical tool to rotate, realizing the rotation of the surgical tool. When the spring clamping shaft 407 in the second driving module 4 clamps surgical tools such as a water jet pipe, a puncture needle and a flexible endoscope 504, then start the first motor of the second driving module, control the movement of the spring clamping shaft 407, and thereby drive the surgical tool to move, realizing the telescopic movement of the surgical tool.

[0095] The wire-pulling mechanism 3 is connected to one end of the rope 9, and the other end of the rope 9 is connected to the snake bone joint 502e. The first driving motor 201a of the first driving module 2 is started, and the first power output shaft 203 rotates to drive the left-handed and right-handed lead screw 306 to rotate, driving the wire-pulling mechanism 3 to pull the rope 9, driving the snake bone joint 502e to bend or straighten. The bending or straightening of the snake bone joint 502e further drives the bending or straightening of the surgical tool inserted in the circular channel 407-2 of the snake bone joint 502e. The second driving motor 201b of the first driving module 2 is started, and the second power output shaft 204 rotates to drive the hollow straight rod 501 to rotate, realizing the rotation of the end effector 5, and further driving the rotation of the surgical tool installed in the hollow straight rod 501.

[0096] In the prior art, the slack of the wire-releasing side driving rope 9 is caused by two situations: the large load of the wire-receiving side driving rope 9 caused by the difficult bending of the flexible section of the articulated joint, resulting in deformation, and the error between the actual displacement and the theoretical displacement caused by factors such as design and assembly. At this time, there is a gap between the arc protrusions and depressions of the articulated joints, affecting the control stability of the flexible section. At the same time, when the wire-releasing side and the wire-receiving side are changed, the wire-receiving side needs to first tighten the slack driving rope 9 before it can control the flexible section, that is, there is a return error. When the flexible section is controlled to bend back and forth, the error will continuously accumulate, seriously affecting the control accuracy and control response of the flexible section.

[0097] The beneficial effect of the automatic driving mechanism of the present invention is that it can adaptively adjust the tension of the rope 9, without the need for an additional power source control, and can improve the control response speed and anti-interference ability of the flexible section 502. The improvement of the control response speed of the flexible section 502 is specifically manifested as follows Figure 19 As shown, when the rope 9 on the wire-releasing side is slack, the ratchet mechanism (as shown Figure 14 in) can automatically tighten the driving rope 9 on the wire-releasing side due to the constant torque under the tension of the constant force spring 304-4, so that the driving rope 9 on the wire-releasing side maintains a certain tension. At this time, the control of the flexible section 502 can immediately respond when bending in the reverse direction, ensuring the stability of the current articulated joint cooperation, and being able to operate according to the theoretical control model of the flexible section 502 of the articulated joint.

[0098] As Figure 20As shown, improving the anti-interference ability of the flexible section 502 is manifested in that, firstly, the ends of the two-side ropes 9 are always pulled by the ratchets 302-13b with a constant torque, enhancing the rigidity of the flexible section 52 and being able to resist a certain amount of vibration interference. When the flexible section 502 is in a certain posture, if it is interfered by an external force F, causing some joints to deflect, in the case where the driving ropes 9 do not easily deform, the driving ropes 9 on the stressed side resist the rope feeding displacement due to the action of the ratchets 302-13b, while the ropes 9 on the other side tend to slacken because the channel length in the flexible section 502 becomes shorter. The pulling of the ratchets 302-13b can inhibit the slackening of the ropes on this side. When the external force no longer acts, both sides still tighten simultaneously to maintain the current posture stability of the flexible section 502, being able to resist the influence of a certain amount of external force and vibration on the structural stability of the flexible arm. It should be noted that in the case where the ropes 9 do not easily undergo large telescopic deformations, Figure 20 The above process is not obvious and has extremely little influence on the current pose and posture of the flexible arm end.

[0099] This automatic driving mechanism is beneficial for the control of the flexible arm in the master-slave control mode because, in the master-slave control mode, the response speed of the instrument and the structural stability of the surgical flexible arm are particularly important, and the control error can be compensated by manual adjustment by the operator.

[0100] The beneficial effects of the narrow-channel surgical robot of the present invention are as follows:

[0101] (1) The present invention adopts the wire-pulling mechanism 3 driven by the left-right threaded lead screw 306 to independently drive two ropes 9 respectively, and adjusts the tension of each rope 9 through the independent spring traction module 304, realizing the quantitative regulation and constant and lasting tension control of the tension of the ropes 9. Moreover, the ratchet mechanism on the traction module 304 can resist the rope feeding displacement caused by the external force interference on the flexible section 502, while keeping both sides of the ropes in a tensioned state, ensuring the stability and accuracy of the control of the snake joint 502e.

[0102] (2) The wire-pulling mechanism 3 of the present invention is driven by the left-right threaded lead screw 306. The lead screw itself has a self-locking performance, and the nut sleeve 307 installed on the left-right threaded lead screw 306 further strengthens the self-locking performance of the lead screw when subjected to forces in the same direction. This feature enables the fixed end of the rope 9 by the wire-pulling mechanism 3 to resist the displacement of the rope 9, which is also beneficial for the flexible arm end to resist interference, solving the problem in the prior art that the ability of the output end of the motor shaft to resist the displacement of the rope 9 is not strong.

[0103] (3) The driving layout of the surgical robot for narrow channels in the present invention is different from the common ones in the prior art. The positive and negative lead screws 306 are used to drive two independent rope traction modules 302. The rope 9 can rotate freely in the rope traction mechanism, so that the rotation of the flexible arm itself and the wire pulling mechanism 3 are decoupled, which is beneficial to precise and simplified control.

[0104] (4) The present invention realizes the movement of 5 degrees of freedom of the end effector. Compared with the surgical instruments with rigid straight rods passing through natural channels, it can reach some lesions with tricky positions and flexibly adjust the position and posture.

[0105] Embodiment 4

[0106] Based on Embodiments 1, 2, and 3, the surgical tool of the surgical robot for narrow channels in this embodiment adopts a water jet pipe, a puncture needle, and a suction pipe. An integrated nozzle 506 is installed at the end of the telescopic pipe 505. The integrated nozzle 506 includes a nozzle 506-1 perpendicular to its central axis and a tool channel 506-2. The water jet pipe is communicated with the nozzle 506-1. The puncture needle is located in the tool channel 506-2. A light source 503 and an endoscope 504 are installed at the end of the end joint 507. A suction channel is provided on the end joint 507, and the suction pipe is communicated with the suction channel.

[0107] It aims to perform precise resection of early bladder cancer tumors in a small range and with low pressure, and solves the problem that the existing hydrodynamic equipment uses high-pressure jets to resect prostate tumors and hyperplasia through the urethra, and its end degrees of freedom cannot achieve precise jet cutting for some lesions with tricky positions. Specifically, in the prior art, the tool for performing the operation is a rigid straight rod that rotates around its own axis and advances and retreats along the axis, and the nozzle is located on the side of the rod end. As Figure 1 shown, during the operation, the sheath A with an integrated light source and endoscope at the end is inserted into the patient's urethra, and then the end is adjusted to a position near the bladder lesion. Then the end instrument B is inserted into the sheath A. There is a lateral incision at the end of the sheath A for a certain distance. Thus, the nozzle of the end instrument B can be exposed, and the nozzle is oriented perpendicular to the axis of the sheath A. When spraying high-pressure jets, the end instrument B can be controlled to advance, retreat, and rotate in the sheath, and the jet can form a fan-shaped working surface in the cross section, and its end degrees of freedom are low.

[0108] As Figure 21As shown, the water jet device of the end effector 5 of the narrow-channel surgical robot enters the bladder. Before the operation, the doctor inserts the rigid urethral sheath 6 into the patient's urethra and fixes it in place after reaching an appropriate position, providing an access channel for the narrow-channel surgical robot. Then, the narrow-channel surgical robot is adjusted to the appropriate attitude and inserted into the inner channel of the sheath. At this time, the maximum bending angle θ of the flexible section 502 at the end of the narrow-channel surgical robot is related to the length d extending from the end of the sheath. The space inside the bladder of each patient is different, and the doctor can judge in real time and control the linear slide 1 to reasonably adjust the penetration length of the flexible section 502 to meet the surgical requirements. Saline is injected into the bladder through the suction channel of the end joint 507 to keep the bladder full for the operation. The two channels can be used for injection and suction simultaneously, so that the water around the electron microscope 504 is constantly renewed to keep the field of view clear.

[0109] As Figure 22 shown, the tumor should be staged before the operation to determine the appropriate resection method. When the tumor is still in the urothelium and the lamina propria 7 and has not invaded the muscle layer 8, that is, in the Tis, Ta, T1 stages of bladder cancer in medicine, it is applicable to the application scenario of this narrow-channel surgical robot.

[0110] As Figure 23 shown, when the jet flows out, it will impact the environmental water and tumor tissue. To avoid the deformation and displacement of the tumor tissue, resulting in inaccurate and incomplete resection, it is necessary to adjust the pose of the flexible section 502 and extend the linear telescopic tube 505 to make the integrated nozzle 506-1 close to the root of the tumor after determining the exact location of the tumor. Thereafter, the puncture needle is inserted into the urothelium and the lamina propria 7 through the tool channel 506-2 on the end face of the integrated nozzle 506-1. At this time, the doctor needs to judge the puncture depth according to experience and control the needle to reach between the muscle layer 8 and the lamina propria, and inject the medical medium at multiple points. The general dosage is 50-80 ml, so that the urothelium and the lamina propria in the area near the tumor are separated. The tumor tissue swells and protrudes due to the action of the medium, and is not easy to displace and deform, forming favorable conditions for the operation.

[0111] As Figure 24 shown, adjust the flexible section 502 and the linear telescopic tube 505 to the appropriate pose, and use the nozzle 506-1 on the integrated nozzle 506-1 to jet high-pressure water jets to obliquely cut the inner side of the root of the protruding lesion from multiple positions around the tumor until the swollen urothelium and lamina propria 7 around the tumor are cut off from the healthy tissue, and the tumor tissue is freed.

[0112] As Figure 25 shown, to prevent massive bleeding, hemostasis treatment is required after removing the tumor tissue. At this time, the pose of the end instrument can be adjusted to make the end integrated nozzle 506-1 close to the bleeding point, extend the laser optical fiber to contact the bleeding point, and heat treatment makes the wound surface coagulate, which is beneficial to postoperative recovery.

[0113] As Figure 26 shown, retract the linear telescopic tube 505 to bring the end of the flexible section 502 close to the free tumor tissue, simultaneously aspirate the fluid channels on the end joint 507, adsorb it at the end of the flexible section 502, extract the end effector 5, and complete the surgical operation.

[0114] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An automatic driving mechanism, characterized in that: The automatic driving mechanism includes a wire pulling mechanism, which includes a guide rod. A wire pulling mechanism bearing is installed in the second driving module mainboard, and both ends of the guide rod are respectively installed in the two wire pulling mechanism bearings, and both ends of the forward and reverse threaded screws are respectively installed in the two wire pulling mechanism bearings. A spring traction module, two rope traction modules and a rope adjustment mechanism are sequentially installed on the guide rod, and two screw sleeves are installed on the forward and reverse threaded screws. The two screw sleeves are respectively connected to the two rope traction modules, and the two rope traction modules independently drive two ropes. The other ends of the two ropes are connected to the flexible section of the end actuator.

2. The automatic driving mechanism according to claim 1, characterized in that: The spring traction module includes a traction base and a traction baffle. The two ends of the spring box are respectively inserted into the traction base and the traction baffle. A constant force spring is installed in the spring box. The extended end of the constant force spring is installed in a connecting handle, and the connecting handle is connected to the rope.

3. The automatic driving mechanism according to claim 1, characterized in that: The rope pulling module comprises a ratchet mechanism base and a ratchet mechanism baffle, sliding bearings are installed on the ratchet mechanism base and the ratchet mechanism baffle, two ends of the ratchet shaft are respectively installed in the sliding bearings of the ratchet mechanism base and the ratchet mechanism baffle, and the ratchet mechanism base and the ratchet mechanism baffle are connected by a supporting column; a ratchet and a rope winding disk are installed on the ratchet shaft, a rope is wound around the rope winding disk, a pawl is rotatably installed on the ratchet mechanism base, and two ends of a tension spring are respectively connected to the pawl and the ratchet mechanism base; A rotating disk rear cover is installed on the side of the ratchet mechanism base, and the axis of the ratchet shaft is perpendicular to the axis of the rotating disk rear cover; a rolling bearing is installed in the push plate, and a rotating guide rail kit is installed on the inner ring of the rolling bearing, and the guide rail kit is installed in the rotating disk rear cover through a round head key, and a bearing baffle and a rotating disk front cover are installed in sequence on the side of the push plate away from the rotating disk rear cover, and the rotating disk rear cover, the bearing baffle and the rotating disk front cover are connected by bolt fasteners; the rotating guide rail kit is sleeved on the guide rail rod.

4. The automatic driving mechanism according to claim 1, characterized in that: The rope adjustment mechanism comprises an adjustment mechanism base, a pulley shaft is arranged on the adjustment mechanism base, a wire pulley is installed on the pulley shaft, the rope is wound around the wire pulley, and the adjustment mechanism upper cover is detachably connected to the adjustment mechanism base.

5. A narrow cavity surgical robot, using the automatic drive mechanism according to any one of claims 1 to 4, characterized in that: The narrow cavity surgical robot comprises a linear slide, on the output member of which a second driving module, the wire pulling mechanism and a first driving module are sequentially mounted, on the output member of the linear slide an end effector is mounted, and a surgical tool is inserted into the end effector; The linear slide controls the second drive module, the wire pulling mechanism, the first drive module and the end effector to move linearly; the second drive module drives the surgical tool to rotate around its own axis and to telescopically move along its own axis; the wire pulling mechanism connects one end of the rope, and the other end of the rope is the flexible segment of the end effector; the first drive module drives the wire pulling mechanism, and the wire pulling mechanism controls the bending or straightening of the flexible segment of the end effector by pulling the rope; the first drive module controls the end effector to rotate around its own axis.

6. The narrow cavity surgical robot according to claim 5, characterized in that: The linear slide includes a base plate, mounting plates are provided at both ends of the base plate, a first lead screw and a first guide rod are installed on the mounting plates, a motor power module is installed on one of the mounting plates, the output shaft of the motor power module is connected to the first lead screw, a first lead screw nut is installed on the first lead screw, linear bearing support feet are connected to both sides of the first lead screw nut, the linear bearing support feet are sleeved on the first guide rod, a propulsion mainboard is installed on the top of the first lead screw nut, and the second drive module, the wire pulling mechanism and the first drive module are installed on the propulsion mainboard.

7. The narrow cavity surgical robot according to claim 5, characterized in that: The first driving module includes a mounting shell, in which a power input shaft and a power output shaft are installed. The power input shaft and the power output shaft are driven by gears. The mounting shell is covered with a driving mounting seat, on which a driving motor is installed, and the output shaft of the driving motor is connected to the power input shaft.

8. The narrow cavity surgical robot according to claim 5, characterized in that: The second driving module comprises a rear cover, a rear cover sliding bearing is mounted on the rear cover, one end of the guide shaft is mounted on the rear cover sliding bearing, and the other end is mounted on the rear plate of the second driving module, the front plate of the second driving module is mounted on the main board of the second driving module, and the rear cover and the main board of the second driving module are detachably connected; A bearing is installed on the front plate of the second driving module, one end of a second lead screw is installed in the bearing, the other end of the second lead screw is connected to the output shaft of the second driving module motor 1 through a coupling, the second driving module motor 1 is installed on the rear plate of the second driving module, and the front plate of the second driving module and the rear plate of the second driving module are connected through a support column; A second lead screw nut is installed on the second lead screw, and the second lead screw nut is connected to the front plate of the propulsion unit. Both ends of the spring clamping shaft are respectively installed on the front plate of the propulsion unit and the rear plate of the propulsion unit through bearings. A cylindrical spur gear 2 is installed on the spring clamping shaft. The second drive module motor 2 is installed on the rear plate of the propulsion unit. A cylindrical spur gear 1 is installed on the output shaft of the second drive module motor 2. The cylindrical spur gear 1 and the cylindrical spur gear 2 are meshed for transmission. The front plate of the propulsion unit and the rear plate of the propulsion unit are connected through a support column. A linear bearing is installed on the front plate of the propulsion unit through a retaining spring. The linear bearing is sleeved on the second guide bar. Two ends of the second guide bar are respectively installed in the second drive module front plate and the second drive module rear plate.

9. The narrow cavity surgical robot according to claim 8, characterized in that: The spring clamping shaft is provided with a radial screw hole, and the interior of the spring clamping shaft is provided with a circular channel.

10. The narrow cavity surgical robot according to claim 5, characterized in that: The end effector comprises a hollow straight rod, a flexible section, an end joint, a telescopic tube and an integrated nozzle which are sequentially connected, and a light source and an electron microscope are installed at the end of the end joint; The flexible section includes a multi-section snake bone joint, two arc protrusions are symmetrically arranged on the upper side of the snake bone joint, and a notch is symmetrically arranged on the lower side. A beveled surface is provided on the snake bone joint, and the arc protrusion and the notch are matched. The notch of the previous snake bone joint is connected with the arc protrusion of the next snake bone joint to form a revolute pair, and the beveled surface of the previous snake bone joint and the beveled surface of the next snake bone joint are located on the same side to form a bendable space.

Images