Automatic driving mechanism and narrow cavity operation robot

Abstract

The application provides an automatic driving mechanism and a narrow cavity operation robot, and relates to the technical field of medical robots. The automatic driving mechanism comprises a linear slide, a second driving module, a pull wire mechanism and a first driving module are sequentially installed on the output member of the linear slide, an end effector is installed on the output member of the first driving module, and a surgical tool is inserted into the end effector; the linear slide controls linear movement of the end effector; the second driving module drives the surgical tool to rotate around the axis of the surgical tool and to move along the axis of the surgical tool; the pull wire mechanism is connected with one end of a rope, the other end of the rope is connected with a flexible section of the end effector, the first driving module drives the pull wire mechanism, and the pull wire mechanism controls the flexible section of the end effector to bend or stretch by pulling the rope; and the first driving module controls the end effector to rotate around the axis of the end effector. The tension of each rope is adjusted, the tension of the rope is quantitatively controlled, constant and persistent tension control is realized, and the stability and accuracy are high.

Description

Technical Field

[0001] This invention relates to the field of medical robot technology, and in particular to an automatic drive mechanism and a surgical robot for narrow cavities. Background Technology

[0002] Currently, minimally invasive surgical robots refer to high-end equipment that utilizes modern medical instruments and related devices such as electron microscopes and small, flexible surgical arms to perform surgical procedures inside the human body. These robots include robotic arms and end effectors. Existing technologies include laparoscopic surgical robots employing flexible surgical arms at the end of the arm. These robots enter the surgical site through narrow, long, and complex cavities such as the urethra, pharynx, and nose, using novel energy devices such as water jets, lasers, and plasma to perform the surgery. The long and narrow cavities place new demands on the design of the robot and its drive mechanism. Furthermore, these new energy devices require higher load capacity, stability, and precision compared to traditional electrosurgical units and ultrasound devices.

[0003] The serpentine joints commonly used in laparoscopic surgical robots with flexible end-effector arms are formed by the interlocking of protrusions and depressions on both sides of the serpentine bone to create a revolute joint. The engagement between these joints relies on the tension of the drive cables. If the drive cables slack, gaps will form at the joint interfaces, severely affecting the control precision and stability of the joints. Figure 2 The diagram shows a common drive control system between snake-like joints. Ideally, the ropes do not deform during pulling, and they only move along the central axis of the snake-like joint holes. In this case, the two ropes are symmetrical about their rotation center O. Let the distance between the two ropes be D, and the relative rotation angle between the two joints be θ. The maximum unilateral deflection angle of the joint is The length of the rope at the end of the pull line Length of rope at the end of the line If the length of the rope in the joint is N, then:

[0004]

[0005] When the angle is small, it can be approximated.

[0006]

[0007] Therefore, the displacement of the rope on the guy wire side is calculated. and the displacement of the rope on the laying side , ,

[0008] Ideally, the displacement of the rope on the take-up side and the release side should be the same. Therefore, existing common drive methods... Figure 3The diagram illustrates how a rope is wound around a rotating shaft S, and the motor output shaft drives the shaft S to rotate, ensuring that the rope displacement on the take-up and release sides are the same. Ideally, this would allow for precise control of the flexible arm's movement. However, in reality, the motor output shaft can be twisted by external forces, resulting in a weak resistance to rope displacement at the motor shaft's output end. This affects rope tension and control, consequently impacting the stability of the flexible joint control.

[0009] like Figure 3 The phenomenon shown indicates that even if the rope is well tensioned initially, it will still slack during repeated movements. The main reasons are as follows:

[0010] 1) Various devices controlling the end surgical instruments obstruct the bending of the flexible snake bone through the middle channel of the snake bone. Factors such as friction between joints and coupling between ropes controlling each degree of freedom cause the rope at the suture end to often bear a large tension when pulling the suture. The rope deforms and lengthens during the pulling process. As a result, when the instrument arm bends at the same angle, the pivot rotates at a greater angle, causing the displacement of the suture-releasing rope to be greater than the theoretical displacement. This leads to the slack of the suture-releasing rope and gaps appearing at the joint mating points.

[0011] 2) Due to manufacturing errors, installation errors, design considerations, etc., the rope diameter does not match the cable hole on the snake bone. Furthermore, the rope deforms under tension, causing its diameter to shrink. Observing the pull end, after being subjected to significant tension, the rope thins, increasing its range of motion within the cable hole and causing it to move closer to the center of curvature of the flexible arm's current bend. Let the bending angle of the flexible arm be... The radius of curvature of the ideal draw wire end is In reality, the curvature of the rope is approximately Approximate comparison of the allowance of the rope at the end of the pull line in the flexible arm under ideal conditions. and the margin under ideal conditions , , That is, under the same surgical arm bending angle, the displacement of the suture end is greater than ideal. This situation, like the previous analysis, exacerbates the slack of the suture on the release side, resulting in a decrease in the rigidity and stability of the flexible arm and a reduction in control precision. Summary of the Invention

[0012] This invention provides an automated drive mechanism and a surgical robot for small cavities. Existing technologies use rope-driven flexible surgical instruments. Traditional suture reel and shaft-type rope drive methods suffer from inconsistent release and retraction during the drive process, with the rope on the release side becoming slack. This reduces the rigidity and stability of the flexible arm, lowers control precision, and makes it difficult to adjust the rope tension during drive. Surgical sites are often small and have long access routes, such as the urethra, pharynx, and nasal cavity, with access diameters typically ranging from 3-25 mm and lengths from 3-30 cm.

[0013] To address the aforementioned problems, the present invention provides the following technical solution:

[0014] On one hand, the present invention provides an automatic drive mechanism, which includes a cable pulling mechanism, a guide rail, and two cable pulling mechanism bearings installed in the main board of a second drive module. The guide rail is connected to one of the cable pulling mechanism bearings, and a positive and negative threaded screw is connected to the other cable pulling mechanism bearing. A spring traction module, two rope traction modules, and a rope adjustment mechanism are sequentially installed on the guide rail. Two threaded sleeves are installed on the positive and negative threaded screws, and the two threaded sleeves are respectively connected to the two rope traction modules. The two rope traction modules independently drive two ropes, and the other ends of the two ropes are connected to the flexible section of an end effector.

[0015] 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 extended end of the constant force spring is installed in a connecting handle, and the connecting handle is connected to a rope.

[0016] Preferably, the rope traction module includes a ratchet mechanism base and a ratchet mechanism baffle. Sliding bearings are 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 of the ratchet mechanism base and the ratchet mechanism baffle. 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 around the rope winding disc. A pawl is rotatably installed on the ratchet mechanism base. The two ends of a tension spring are respectively connected to the pawl and the ratchet mechanism base.

[0017] A rotating 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 rotating disk rear cover. A rolling bearing is installed inside the push plate, and a rotating guide rail kit is installed on the inner ring of the rolling bearing. The guide rail kit is installed inside the rotating disk rear cover by a round-head key. A bearing baffle and a rotating disk front cover are sequentially installed on 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.

[0018] Preferably, the rope adjustment mechanism includes an adjustment mechanism base, a pulley shaft is provided on the adjustment mechanism base, a guide pulley is installed on the pulley shaft, the rope is wound around the guide pulley, and the upper cover of the adjustment mechanism is detachably connected to the adjustment mechanism base.

[0019] On the other hand, the present invention provides a small cavity surgical robot, the small cavity surgical robot including a linear slide, a second drive module, the wire pulling mechanism and a first drive module are sequentially installed on the output of the linear slide, an end effector is installed on the output of the first drive module, and a surgical tool is inserted into the end effector;

[0020] 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 move telescopically along its own axis; the wire-pulling mechanism connects one end of a rope to the other end of the flexible segment of the end effector; the first drive module drives the wire-pulling mechanism, which 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.

[0021] Preferably, the linear slide includes a base plate, with mounting plates at both ends of the base plate. A first lead screw and a first guide rail are mounted on the mounting plates. A motor power module is mounted 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 mounted 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. A propulsion main plate is mounted on the top of the first lead screw nut. The second drive module, the cable pulling mechanism, and the first drive module are mounted on the propulsion main plate.

[0022] Preferably, the first drive module includes a mounting housing, in which a power input shaft and a power output shaft are mounted, the power input shaft and the power output shaft are driven by gears, the mounting housing is covered by a drive mounting base, a drive motor is mounted on the drive mounting base, and the output shaft of the drive motor is connected to the power input shaft.

[0023] Preferably, the second drive module includes a rear cover, on which a rear cover sliding bearing is mounted. One end of a guide shaft is mounted on the rear cover sliding bearing, and the other end is mounted on the rear plate of the second drive module. The front plate of the second drive module is mounted on the main board of the second drive module. The rear cover and the main board of the second drive module are detachably connected. A bearing is mounted on the front plate of the second drive module, and one end of a second lead screw is mounted inside the bearing. The other end of the second lead screw is connected to the output shaft of the first motor of the second drive module via a coupling. The first motor of the second drive module is mounted on the rear plate of the second drive module. The front plate and the rear plate of the second drive module are connected by a support column. A second lead screw nut is installed, which is connected to the front plate of the propulsion unit. The two ends of the spring clamping shaft are respectively mounted on the front plate and the rear plate of the propulsion unit via bearings. A second cylindrical spur gear is installed on the spring clamping shaft. A second drive module motor is installed on the rear plate of the propulsion unit. A first cylindrical spur gear is installed on the output shaft of the second drive module motor. The first and second cylindrical spur gears mesh and drive each other. The front plate and the rear plate of the propulsion unit are connected by a support column. A linear bearing is installed on the front plate of the propulsion unit via a snap ring. The linear bearing is sleeved on a second guide bar. The two ends of the second guide bar are respectively installed inside the front plate and the rear plate of the second drive module.

[0024] Preferably, the spring clamping shaft is provided with a radial threaded hole, and the interior of the spring clamping shaft is provided with a circular channel.

[0025] Preferably, the end effector comprises a hollow straight rod, a flexible section, an end joint, a telescopic tube, and an integrated nozzle connected in sequence. A light source and an electron microscope are installed at the end of the end joint. The flexible section comprises a multi-segmented serpentine joint. The upper side of the serpentine joint has two symmetrically arranged arcuate protrusions, and the lower side has symmetrically arranged notches. The serpentine joint has a chamfered surface. The arcuate protrusions and the notches are adapted to each other. The notch of the previous serpentine joint and the arcuate protrusion of the next serpentine joint are connected to form a rotating pair. The chamfered surface of the previous serpentine joint and the chamfered surface of the next serpentine joint are located on the same side to form a flexible space.

[0026] The above technical solution has at least the following advantages compared with the existing technology:

[0027] In the above scheme, (1) the present invention adopts a wire pulling mechanism driven by positive and negative screws to independently drive two ropes. The tension of each rope is adjusted by an independent spring traction module, which realizes quantitative regulation and constant and lasting tension control of the rope tension. At the same time, it can resist interference and ensure the stability and accuracy of snake joint control.

[0028] (2) The cable pulling mechanism of the present invention is driven by a positive and negative thread screw. The screw itself has a self-locking performance. When the screw sleeve installed on the positive and negative thread screw is subjected to the same force, it further enhances the self-locking performance of the screw. This enables the end of the rope fixed by the cable pulling mechanism to resist the displacement of the rope. This is also beneficial for the flexible arm end to resist interference, and solves the problem that the existing technology has a weak ability to resist the displacement of the rope by using the output end of the motor shaft.

[0029] (3) The present invention differs from the drive layout of surgical robots with narrow surgical cavities commonly found in the prior art. It uses positive and negative screws to drive two independent rope traction modules. The ropes can rotate freely in the rope traction mechanism, which decouples the rotation of the flexible arm itself from the wire pulling mechanism, which is beneficial for precise and simplified control. At the same time, the two linear motions, in conjunction with the positive and negative screws, achieve coaxial operation of linear spacing adjustment and self-rotation.

[0030] (4) The present invention realizes multiple degrees of freedom of movement of the end effector. Compared with rigid straight rod surgical instruments through natural cavity, it can reach the lesion location that is difficult to reach in some narrow space and flexibly adjust the position. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 A schematic diagram of a sheath and end-effector from the prior art;

[0033] Figure 2 A schematic diagram of the drive control of a snake-bone joint in the prior art. Figure 1 ;

[0034] Figure 3 A schematic diagram of the drive control of a snake-bone joint in the prior art. Figure 2 ;

[0035] Figure 4 This is a schematic diagram of the structure of the surgical robot for narrow cavities according to the present invention;

[0036] Figure 5 This is a schematic diagram of the linear slide of the surgical robot for narrow cavities according to the present invention.

[0037] Figure 6 This is a schematic diagram of the structure of the first drive module of the narrow cavity surgical robot of the present invention;

[0038] Figure 7This is a schematic diagram of the wire-pulling mechanism of the surgical robot for narrow cavities according to the present invention;

[0039] Figure 8 This is a schematic diagram of the cable traction module of the cable pulling mechanism of the surgical robot for narrow cavities of the present invention.

[0040] Figure 9 for Figure 8 The main view;

[0041] Figure 10 This is a schematic diagram of the rotating guide rail assembly and guide rail rod of the cable traction module of the cable pulling mechanism of the small cavity surgical robot of the present invention. Figure 1 ;

[0042] Figure 11 This is a schematic diagram of the rotating guide rail assembly and guide rail rod of the cable traction module of the cable pulling mechanism of the small cavity surgical robot of the present invention. Figure 2 ;

[0043] Figure 12 This is a schematic diagram of the spring traction module of the cable pulling mechanism in the narrow cavity surgical robot of the present invention.

[0044] Figure 13 This is a schematic diagram of the rope adjustment mechanism of the draw-wire mechanism in the narrow cavity surgical robot of the present invention;

[0045] Figure 14 This is a schematic diagram illustrating the working principle of the wire-pulling mechanism of the surgical robot for narrow cavities according to the present invention.

[0046] Figure 15 This is a schematic diagram of the structure of the second drive module of the narrow cavity surgical robot of the present invention;

[0047] Figure 16 This is a schematic diagram of the end effector of the surgical robot for narrow cavities according to the present invention;

[0048] Figure 17 This is a schematic diagram of the unilateral bending snake joint of the narrow cavity surgical robot of the present invention;

[0049] Figure 18 This is a schematic diagram of the bilateral lateral bending snake joints of the narrow cavity surgical robot of the present invention;

[0050] Figure 19 The principle of the cable-driven flexible segment of the confined space surgical robot of the present invention. Figure 1 ;

[0051] Figure 20 The principle of the cable-driven flexible segment of the confined space surgical robot of the present invention. Figure 2 ; Figure 21This is one application scenario of the surgical robot for narrow cavities of the present invention;

[0052] Figure 22 This is the second application scenario of the surgical robot for narrow cavities of the present invention;

[0053] Figure 23 This is the third application scenario for the surgical robot for narrow cavities of the present invention;

[0054] Figure 24 This is the fourth application scenario for the surgical robot for narrow cavities of the present invention;

[0055] Figure 25 This is the fifth application scenario for the surgical robot for narrow cavities of the present invention;

[0056] Figure 26 This is the sixth application scenario for the surgical robot for narrow cavities of the present invention.

[0057] The annotations in the attached figures are explained as follows:

[0058] A. Sheath; B. End-effector;

[0059] 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 rail; 109. Base plate;

[0060] 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 base; 206. Mounting housing;

[0061] 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. Positive and negative threaded screw; 307. Screw 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. Rotary disk front cover; 302-2. Bearing baffle; 302-3. Rolling bearing; 302-4. Push plate; 302-5. Rotary guide rail kit; 302-5a. Ball spline; 302-6. Rotary disk rear cover; 302-7, Round-headed key; 302-8, Ratchet mechanism baffle; 302-9, Tension spring; 302-10, Ratchet mechanism base; 302-11, Pawl; 302-12, Set pin; 302-13, Rope winding disc with shaft; 302-13a, Ratchet shaft; 302-13b, Ratchet; 302-13c, Rope winding disc; 302-14, Sliding 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;

[0062] 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. Screw 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 sliding bearing; 413. Second drive module motor; 414. Cylindrical spur gear; 415. Second guide rail bar;

[0063] 5. End effector; 501. Hollow straight rod; 502. Flexible section; 502a. Arc protrusion; 502b. Notch; 502c. Beveled surface; 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. Urothelial layer and lamina propria; 8. Muscle layer; 9. Rope. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0065] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an,” “a,” or “the,” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising,” “including,” or “including,” and similar terms mean that the element or object preceding the word encompasses the element or object listed following the word and its equivalents, without excluding other elements or objects. The terms “connected,” “linked,” or “connected,” and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.

[0066] It should be noted that the terms "up", "down", "left", "right", "front", and "back" used in this invention are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0067] Example 1

[0068] like Figures 7-13 As shown, this example provides an automatic drive mechanism, which includes a cable pulling mechanism 3. Two cable pulling mechanism bearings 305 are installed in the main board 401 of the second drive module. A guide rail rod 303 is installed and connected to one of the cable pulling mechanism bearings 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. A positive and negative threaded screw 306 is installed and connected to the other cable pulling mechanism bearing 305. Two threaded sleeves 307 are installed on the positive and negative threaded screw 306, and the two threaded sleeves 307 are respectively connected to the two rope traction modules 302.

[0069] like Figure 12As shown, the spring traction module 304 includes a traction base 304-1 and a traction baffle 304-2. Both ends of a spring box 304-3 are inserted into the traction base 304-1 and the traction baffle 304-2, respectively. A constant force spring 304-4 is installed inside the spring box 304-3, and a connecting handle 304-5 is installed on 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 inserted into the grooves of the traction base 304-1 and the traction baffle 304-2, respectively. Further, a second support column is provided at the middle position of the traction base 304-1, and the second support column can be inserted into the traction baffle 304-2.

[0070] like Figure 8 and Figure 9 As shown, the rope traction module 302 includes a ratchet mechanism base 302-10 and a ratchet mechanism baffle 302-8. Sliding bearings 302-14 are installed on the ratchet mechanism base 302-10 and the ratchet mechanism baffle 302-8. The two ends of the ratchet shaft 302-13a are respectively installed within the sliding bearings 302-14 in the ratchet mechanism base 302-10 and the sliding bearings 302-14 in the ratchet mechanism baffle 302-8. Furthermore, 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 mounted on the ratchet shaft 302-13a; a pawl 302-11 is rotatably mounted on the ratchet mechanism base 302-10; and the two ends of a tension spring 302-9 are respectively connected to the pawl 302-11 and the ratchet mechanism base 302-10. Specifically, the tail end of the pawl 302-11 is mounted 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 pawl 302-11 by a set screw 302-12. A rotating disk rear cover 302-6 is mounted on the side of the ratchet mechanism base 302-10, and the axis of the ratchet shaft 302-13a is perpendicular to the axis of the rotating disk rear cover 302-6. A rolling bearing 302-3 is installed inside the push plate 302-4, and a rotating guide rail assembly 302-5 is installed on the inner ring of the rolling bearing 302-3. The guide rail assembly is installed inside the rotating disk rear cover 302-6 via a round-head key 302-7. On the push plate 302-4 away from the rotating disk rear cover 302-6, a bearing baffle 302-2 and a rotating disk front cover 302-1 are installed in sequence. The rotating disk rear cover 302-6 and the rotating disk front cover 302-1 cooperate to hold the inner and outer rings of the rolling bearing 302-3. The rotating disk rear cover 302-6, the bearing baffle 302-2, and the rotating disk front cover 302-1 are connected by bolt fasteners. The rotary guide rail assembly 302-5 is fitted onto the guide rail rod 303, specifically, as shown in... Figure 10 As shown, in one embodiment, the guide rod 303 is a splined shaft, and the rotary guide assembly 302-5 is a ball spline 302-5a. Balls roll axially within the ball spline 302-5a, and the ball spline shaft 303a has axial ball grooves. The balls and axial ball grooves cooperate to form a sliding pair, allowing the rotary guide assembly 302-5 to slide freely axially on the guide rod. The circumferential rotation of the guide rod drives the circumferential rotation of the rotary guide assembly 302-5. Its advantages include precise transmission and low resistance. Figure 11 As shown, in another embodiment, the guide rail rod 303 and the rotating guide rail assembly 302-5 have a non-circular mating shape, thus achieving circumferential locking and axial sliding movement. Its advantages include simple structure and small size. A mounting hole is provided on the top of the push plate 302-4, and a threaded sleeve 307 is installed in the mounting hole of the push plate 302-4, so that the movement of the threaded sleeve 307 simultaneously moves the push plate 302-4. Corresponding rope channels are provided on the ratchet mechanism base 302-10, the rear cover 302-6 of the rotating disk, and the front cover 302-1 of the rotating disk. The rope 9 passes through the rope channel and wraps around the rope winding disc 302-13c.

[0071] like Figure 13 As shown, the rope adjustment mechanism 301 includes an adjustment mechanism base 301-1, a pulley shaft 301-2 mounted on the adjustment mechanism base 301-1, and a guide pulley 301-3 mounted on the pulley shaft 301-2. The adjustment mechanism 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 axis of the adjustment mechanism base 301-1 and the guide rail rod 303 coincides. The adjustment mechanism cover 301-4 cooperates with the second power output shaft 204, and the central axis coincides, so that the rope 9 enters the end effector 5 after passing through the rope adjustment mechanism 301, and connects to the snake joint 502e of the end effector 5; the four sets of pulley shafts 301-2 and the guide pulleys 301-3 form two pairs of guide pulleys 301-3, guiding the rope from the designed position.

[0072] like Figure 14As shown, the rope traction module 302 has two components. One end of a rope 9 is connected to a connecting handle 304-5 (which connects to a constant force spring 304-4). The other end of the rope is wound around the rope reel 302-13c of one rope traction module 302, passes through the ratchet mechanism base 302-10, the rear cover 302-6 of the rotating disk, and the front cover 302-1 of the rotating disk, and then enters the ratchet mechanism base 302-10, the rear cover 302-6, and the front cover 302-1 of the rotating disk of the other rope traction module 302, and finally enters the rope adjustment mechanism 301. The guide pulley 301-3 is then connected to the snake joint 502e; one end of another rope 9 is connected to the connecting handle 304-5, and the other end is inserted into the ratchet mechanism base 302-10, the rear cover 302-6, and the front cover 302-1 of a rope traction module 302, then wraps around the rope winding disc 302-13c of another rope traction module 302 and passes through the ratchet mechanism base 302-10, the rear cover 302-6, and the front cover 302-1 of the rotating disc, and then enters the guide pulley 301-3 of the rope adjustment mechanism 301 and is then connected to the snake joint 502e.

[0073] 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 ratchet winding disc 302-13. The ropes 9 are pulled tangentially along the winding disc by the constant force spring 304-4, which is the rotation direction of the ratchet 302-13b. The constant force spring 304-4 can provide a continuous constant tension to maintain the torque balance at both ends of the ropes 9 wound on the ratchet 302-13b, thereby controlling the tension of the ropes 9.

[0074] Specifically, the threads on both sides of the positive and negative threaded screw 306 are left-hand threads and right-hand threads, respectively. Left-hand threaded sleeves 307 and right-hand threaded sleeves 307 are screwed onto the left-hand and right-hand threads. When the positive and negative threaded screw 306 rotates circumferentially, the left-hand threaded sleeves 307 and right-hand threaded sleeves 307 move in opposite directions, causing them to simultaneously approach or move away from each other. The threaded sleeves 307 are fixedly connected to the push plate 302-4, and the guide rail 303 acts as a guide, restricting the rope traction module 302 to move only along its axial direction. The rotation of the positive and negative threaded screw 306 drives the rope traction module 302 to move linearly axially through the threaded sleeves 307.

[0075] Two ropes 9 are installed on the cable pulling mechanism 3. One rope traction module 302 moves towards the spring traction module 304. The rope wound around the cable traction module 302 is the cable pulling rope 9. At this time, the rope 9 is in a taut 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 opposite direction. Since the ratchet mechanism has a reverse self-locking function, the ratchet 302-13b in the ratchet mechanism will not rotate in the opposite direction, and the rope 9 remains taut. The other rope traction module 302 moves towards the rope adjustment mechanism 301. One end of the rope 9 is affected by the constant force spring 304-4 and is in a taut state (this taut state means not loose), realizing the compensation of the rope 9. It should be noted that for Figure 11 The spring traction mechanism 304 described is for reference only and can take many forms. Its purpose is to provide a stable and appropriate tension to the traction rope 9 when it is slack.

[0076] The working process of the wire-pulling mechanism 3 in this embodiment is as follows:

[0077] By using the positive and negative threaded screws 306 to drive two independent rope traction modules 302, tension adjustment and rope compensation can be performed on each rope 9 individually. The self-locking property of the positive and negative threaded screws 306 makes the rope 9 drive less susceptible to external interference, thus maintaining the stability of the end effector 5. The above description explains the driving, tensioning, and guiding principle of a pair of ropes 9. For cases requiring multiple sets of ropes 9, the structure can be adjusted by adding multiple sets of rope traction modules 302 and corresponding spring traction modules 304, etc.

[0078] Example 2

[0079] like Figure 4 As shown, based on Embodiment 1, this embodiment provides a surgical robot for narrow cavities, including a linear slide 1. A second drive module 4, a wire-pulling mechanism 3, and a first drive module 2 are sequentially mounted on the output component of the linear slide 1. An end effector 5 is mounted on the output component of the first drive module 2. Specifically, the end effector 5 is mounted at the front end interface of the first drive module 2, and the second drive module 4 is mounted at the rear end of the wire-pulling mechanism 3. All four components are then combined and mounted on the linear slide 1.

[0080] like Figure 4 and Figure 5As shown, the linear slide 1 includes a base plate 109, with mounting plates 101 at both ends of the base plate 109. A first lead screw 102 and a first guide rail 108 are mounted on the mounting plates 101. A motor power module 105 is mounted on one of the mounting 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 mounted on the first lead screw 102. Linear bearings 406 support feet 107 are connected to both sides of the first lead screw nut 106. The linear bearings 406 support feet 107 are sleeved on the first guide rail 108. A push main plate 103 is mounted on the top of the first lead screw nut 106. A second drive module 4, a cable pulling mechanism 3, and a first drive module 2 are mounted on the push main plate 103. The output shaft of the motor power module 105 transmits 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 main drive plate 103 to move, thereby realizing the linear movement of the second drive module 4, the wire pulling mechanism 3, the first drive module 2, and the end effector 5 along the axis of the first lead screw 102. The linear bearing 406 supports the foot 107 and cooperates with the first guide rail 108, which not only restricts the circumferential rotation of the first lead screw nut 106, but also acts as a guide rail, resulting in more accurate motion. The main function of the linear slide table 1 is to propel the main drive plate to move linearly. The form of controlling the linear movement of the main drive plate is not limited to this embodiment; other mechanisms that can propel the main drive plate to move linearly are also acceptable.

[0081] like Figure 6As shown, the first drive module 2 includes a mounting housing, within which a power input shaft 202 and a power output shaft are mounted. The power input shaft 202 and the power output shaft are driven by gears. The mounting housing is covered by a drive mounting base 205, on which a drive motor 201 is mounted. The output shaft of the drive motor 201 is connected to the power input shaft 202. Specifically, there are two power input shafts 202, namely a first power input shaft 202a and a second power input shaft 202b, and two corresponding drive motors 201, namely a first drive motor 201a and a second drive motor 201b. There are also two corresponding power output shafts, 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 drive 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 via gear transmission, and the second power input shaft 202b transmits the rotational motion to the second power output shaft 204 via gear transmission. In this embodiment, the power input shaft 202 and the power output shaft of the first drive module 2 are connected by gear transmission, which allows the output shaft of the drive motor 201 and the power output shaft to be located on different axes, so that other instruments can pass through in between and space can be saved.

[0082] The operation of the first driving module 2 in this embodiment is as follows:

[0083] The first drive motor 201a starts, and its output shaft drives the first power input shaft 202a to rotate. The first power input shaft 202a and the first power output shaft 203 are connected by gear transmission. The rotation of the first power output shaft 203 drives the positive and negative threaded screws 306 of the wire pulling mechanism 3 to rotate. The second drive motor 201b starts, and its output shaft drives the second power input shaft 202b to rotate. The second power input shaft 202b and the second power output shaft 204 are connected by gear transmission. The rotation of the second power output shaft 204 drives the hollow straight rod 501 of the end effector 5 to rotate, thereby driving the end effector 5 to rotate.

[0084] like 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, second drive module motor one and second drive module motor two. A rear cover sliding bearing 412 is installed on the rear cover 411. One end of the guide shaft 410 is installed on the rear cover sliding bearing 412, and the other end is installed on the rear plate 409 of the second drive module. The front plate 402 of the second drive module is installed on the main board 401 of the second drive module. The rear cover 411 and the main board 401 of the second drive module are detachably connected. A bearing is installed on the front plate 402 of the second drive module. One end of a second lead screw 403 is installed inside the bearing. The other end of the second lead screw 403 is connected to the output shaft of the second drive module motor one via a coupling. The second drive module motor one is installed on the rear plate 409 of the second drive module. The front plate 402 and the rear plate 409 of the second drive module are connected by a support column. 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. The two ends of the spring clamping shaft 407 are respectively installed on the front plate 405 and the rear plate 408 of the propulsion unit through bearings. A second cylindrical spur gear is installed on the spring clamping shaft 407. A second drive module motor is installed on the rear plate 408 of the propulsion unit. A first cylindrical spur gear is installed on the output shaft of the second drive module motor. The first cylindrical spur gear and the second cylindrical spur gear mesh and drive each other. The front plate 405 and the rear plate 408 of the propulsion unit are connected by a support column. A linear bearing 406 is installed on the front plate 405 of the propulsion unit through a snap ring. The linear bearing 406 is sleeved on the rail bar 108. The two ends of the second guide rail bar 415 are respectively installed in the front plate 402 and the rear plate 409 of the second drive module. Specifically, the spring clamping shaft 407 is provided with a radial screw hole 407-1, and the inside of the spring clamping shaft 407 is provided with a circular channel 407-2. After the surgical tool is inserted into the circular channel 407-2, the screw is screwed into the radial screw hole 407-1, so that the spring clamping shaft 407 clamps the surgical tool.

[0085] The operation of the second driving module 4 in this embodiment is as follows:

[0086] The second drive module motor 2 starts, transmitting rotational motion to the spring clamping shaft 407 via spur gear 1 and spur gear 2. The spring clamping shaft 407 rotates the surgical tool, causing it to rotate. The second drive module motor 1 starts, transmitting rotational motion to the second lead screw 403 via a coupling. As the second lead screw 403 rotates, the second lead screw nut 404 moves along its axis. This movement of the second lead screw nut 404 moves the front plate 405 of the propulsion unit, which in turn moves the spring clamping shaft 407 mounted on the front plate 405, thus moving the surgical tool.

[0087] like Figure 16 and Figure 17 As shown, the end effector 5 includes a hollow straight rod 501, a flexible segment 502, an end joint 507, and a telescopic tube 505 connected in sequence. The hollow straight rod 501 is mounted on the second power output shaft 204 of the first drive module 2. The rotation of the second power output shaft 204 drives the hollow straight rod 501 to rotate, thereby realizing the rotation of the end effector 5. The flexible segment 502 includes a multi-segmented serpentine joint 502e, which can be bent at a large angle. The snake joint 502e has two symmetrically arranged arc protrusions 502a on its upper side and a symmetrically arranged notch 502b on its lower side. The snake joint 502e has a beveled surface 502c and a through hole in the middle. The arc protrusions 502a and the notch 502b are adapted to each other. The notch 502b of the first snake joint 502e is connected to the arc protrusion of the second snake joint 502e to form a rotating pair. The beveled surface 502c of the first snake joint 502e and the beveled surface 502c of the second snake joint 502e are located on the same side to form a flexible space. The snake-bone joint 502e is a unilaterally bending snake-bone joint 502e. The notch 502b of the same snake-bone joint 502e is located directly below the arc-shaped protrusion 502a, making the notch 502b and the arc-shaped protrusion 502a on the same side. The snake-bone joint 502e has one oblique surface 502c. When multiple snake-bone joints 502e are installed together, the oblique surfaces 502c of the multiple joints 502e are on the same side, forming a bending space on one side. The joint bends when rotating towards the oblique surface 502c. When the non-bending sides coincide, the initial position of the joint is vertical. The arc-shaped protrusion 502a and the notch 502b enable the formation of a revolute joint and restrict joint displacement in the vertical direction of the rotation center axis, making the joint movement more stable. The telescopic tube 505 uses springs with opposite rotation directions for engagement, maintaining highly synchronized torsional motion transmission.

[0088] For example Figure 17 As shown, a single-sided curved snake joint 502e has two symmetrically arranged wire holes 502d on each snake joint 502e. After multiple snake joints 502e are installed, two rope channels are formed. A rope 9 is installed in the two rope channels, and the other end of the rope 9 enters the wire pulling mechanism 3.

[0089] In this embodiment, the second power output shaft 204, guide rail 303, traction base 304-1, spring clamping shaft 407, guide shaft 410, hollow straight rod 501, flexible section 502, end joint 507, and telescopic tube 505 all have hollow channels, which form a hollow installation space for surgical instruments to pass through.

[0090] Example 3

[0091] This embodiment provides a surgical robot for narrow cavities, which, based on Embodiment 2, changes the unilateral serpentine joint 502e to a bilateral serpentine joint 502e. For example... Figure 18 As shown, the snake joint 502e is a bilaterally curved snake joint 502e. The arcuate protrusions 502a and notches 502b on the same snake joint 502e are located in two directions, and the line connecting the two arcuate protrusions 502a on the same snake joint 502e is perpendicular to the line connecting the two notches 502b. Two oblique cut surfaces 502c are symmetrically arranged on the snake joint 502e, tilting towards the notches 502b. After multiple snake joints 502e are installed together, a bending space is formed on both sides, allowing for pitch and yaw movements. Each bilaterally curved snake joint 502e has four symmetrically arranged threading holes 502d, forming four rope channels after multiple snake joints 502e are installed. To complement this, the spring traction module 304 of the cable pulling mechanism 3 in this embodiment has 4 sets of spring boxes 304-3, constant force springs 304-4 and connecting handles 304-5, which correspond to 4 ropes 9 respectively.

[0092] The working process of the surgical robot for narrow cavities of the present invention is as follows:

[0093] The second drive module 4, the wire-pulling mechanism 3, and the first drive module 2 are mounted on the propulsion main board 103 of the linear slide 1. Surgical tools are installed within the hollow mounting space formed by the hollow channel of the second power output shaft 204, guide rail 303, traction base 304-1, spring clamping shaft 407, guide shaft 410, and hollow straight rod 501. The surgical tools are clamped by screws on the spring clamping shaft 407.

[0094] When the linear slide 1 is started, 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 drive module 4, the wire pulling mechanism 3, the first drive module 2, and the end effector 5 along the axis of the first lead screw 102, thus realizing the linear movement of the surgical tool.

[0095] When the second drive module 4 is activated, the spring clamping shaft 407 rotates, causing the surgical tools to rotate, thus realizing the rotation of the surgical tools. When the spring clamping shaft 407 in the second drive module 4 clamps the surgical tools such as the jet water pipe, puncture needle, and flexible electron microscope 504, the second drive module motor one is activated again to control the movement of the spring clamping shaft 407, thereby driving the surgical tools to move, thus realizing the extension and retraction of the surgical tools.

[0096] The pull mechanism 3 connects to one end of the rope 9, and the other end of the rope 9 connects to the snake joint 502e. Activating the first drive motor 201a of the first drive module 2 rotates the first power output shaft 203, causing the forward and reverse threaded screws 306 to rotate. This drives the pull mechanism 3 to pull the rope 9, causing the snake joint 502e to bend or straighten. The bending or straightening of the snake joint 502e, in turn, causes the surgical instrument inserted into the circular channel 407-2 of the snake joint 502e to bend or straighten. Activating the second drive motor 201b of the first drive module 2 rotates the second power output shaft 204, causing the hollow straight rod 501 to rotate, thus rotating the end effector 5, which in turn causes the surgical instrument installed in the hollow straight rod 501 to rotate.

[0097] The existing technology suffers from two main problems: the flexible segment of the articulated joint is difficult to bend, leading to a large load on the take-up drive rope 9 and resulting in deformation; and errors between actual and theoretical displacement due to design and assembly factors. These factors combined cause the slack in the release drive rope 9. In this situation, gaps appear in the arc protrusions and recesses between the articulated joints, affecting the control stability of the flexible segment. Furthermore, when switching between the release and take-up sides, the take-up side must first tighten the slack drive rope 9 before it can control the flexible segment, resulting in a return error. As the flexible segment bends back and forth, this error accumulates, severely impacting the control accuracy and response of the flexible segment.

[0098] The beneficial effect of the automatic drive 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, thus improving the control response speed and anti-interference capability of the flexible segment 502. Specifically, the improved control response speed of the flexible segment 502 is manifested in, for example... Figure 19 As shown, when the rope 9 on the pay-off side becomes slack, the ratchet mechanism (such as...) Figure 14 As shown, due to the constant torque of the constant force spring 304-4, the drive rope 9 on the wire-laying side can be automatically tightened, so that the drive rope 9 on the wire-laying side maintains a certain tension. At this time, when bending in the reverse direction, the control of the flexible segment 502 can respond immediately, ensuring the stability of the current articulation joint and operating according to the theoretical control model of the flexible segment 502 of the articulation joint.

[0099] like Figure 20As shown, the improved anti-interference capability of the flexible segment 502 is manifested in the following ways: Firstly, the ends of the ropes 9 on both sides are always pulled by ratchet 302-13b with a constant torque, enhancing the rigidity of the flexible segment 502 and enabling it to resist certain vibration interference. If the flexible segment 502 is subjected to an external force F in a certain posture, causing some joints to deflect, and the driving rope 9 does not easily deform, the driving rope 9 on the force-bearing side resists the rope feed displacement due to the ratchet 302-13b. Meanwhile, the rope 9 on the other side, due to the shortened channel length within the flexible segment 502, tends to slack off. The ratchet 302-13b's pulling action suppresses this slack. When the external force ceases to act, both sides remain simultaneously tightened to maintain the current posture stability of the flexible segment 502, resisting the influence of external forces and vibrations on the structural stability of the flexible arm. It should be noted that this is under the condition that the rope 9 does not easily undergo large expansion and contraction deformation. Figure 20 The process is subtle and has minimal impact on the current end-effector pose and attitude of the flexible arm.

[0100] This automatic drive mechanism is advantageous for the control of flexible arms in master-slave control mode, because in master-slave control mode, the response speed of the instrument and the structural stability of the surgical flexible arm are particularly important, and control errors can be compensated for by manual adjustment by the operator.

[0101] The beneficial effects of the surgical robot for narrow cavities of the present invention are as follows:

[0102] (1) The present invention uses a wire pulling mechanism 3 driven by a positive and negative screw 306 to independently drive two ropes 9. The tension of each rope 9 is adjusted by an independent spring traction module 304, which realizes quantitative control and constant and lasting tension control of the rope 9. The ratchet mechanism on the traction module 304 can resist the feed displacement of the rope 9 caused by external force interference to the flexible section 502, while keeping both ropes in a taut state, thus ensuring the stability and accuracy of the snake joint 502e control.

[0103] (2) The cable pulling mechanism 3 of the present invention is driven by a positive and negative thread screw 306. The screw itself has a self-locking performance. When the screw sleeve 307 installed on the positive and negative thread screw 306 is subjected to the same force, it further enhances the self-locking performance of the screw. This enables the end of the rope 9 that is fixed by the cable pulling mechanism 3 to resist the displacement of the rope 9. This is also beneficial for the flexible arm end to resist interference, and solves the problem that the existing technology has a weak ability to resist the displacement of the rope 9 by using the output end of the motor shaft.

[0104] (3) The present invention differs from the drive layout of surgical robots with narrow surgical cavities commonly found in the prior art. It uses a forward and reverse screw 306 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.

[0105] (4) The present invention realizes five degrees of freedom of movement of the end effector. Compared with rigid straight rod surgical instruments through natural cavity, it can reach some lesion locations that are more difficult to reach and flexibly adjust the position.

[0106] Example 4

[0107] Based on embodiments one, two, and three, the surgical tools of the narrow cavity surgical robot in this embodiment adopt a jet water pipe, a puncture needle, and a suction tube. An integrated nozzle 506 is installed at the end of the telescopic tube 505. The integrated nozzle 506 includes a nozzle 506-1 perpendicular to its central axis and a tool channel 506-2. The jet water pipe nozzle 506-1 is connected, and the puncture needle is located in the tool channel 506-2. A light source 503 and an electron microscope 504 are installed at the end of the distal joint 507. A suction channel is provided on the distal joint 507, and the suction tube is connected to the suction channel.

[0108] This technique aims to perform precise, low-pressure resection of early-stage bladder cancer tumors, addressing the limitations of existing hydrodynamic devices that use high-pressure jets to remove prostate tumors and hyperplasia via the urethra. These devices suffer from insufficient distal freedom of movement, making precise jet cutting difficult for lesions in challenging locations. Specifically, in existing technologies, the surgical tool is a rigid straight rod that rotates around its own axis and moves forward and backward along that axis, with the nozzle located on the side of the rod's end. For example... Figure 1 As shown, during the surgery, the sheath A, which integrates the light source and endoscope at the end, is inserted into the patient's urethra. The end is then adjusted to a position near the bladder lesion, and the end instrument B is inserted into the sheath A. There is a lateral incision at the end of the sheath A, so that the nozzle of the end instrument B can be exposed. The nozzle is oriented perpendicular to the axis of the sheath A. When spraying high-pressure jet, the end instrument B can be controlled to move forward, backward, and rotate within the sheath. The jet can form a fan-shaped working surface in the cross section, and its end has low degree of freedom.

[0109] like Figure 21As shown, the water jet device of the actuator 5 of the narrow cavity surgical robot enters the bladder. Before the operation, the doctor inserts a rigid urethral sheath 6 into the patient's urethra, and fixes it in place after reaching a suitable position, providing an entry channel for the narrow cavity surgical robot. Then, the narrow cavity surgical robot is adjusted in posture and inserted into the channel inside the sheath. At this time, the maximum bending angle θ of the flexible segment 502 at the end of the narrow cavity surgical robot is related to the length d extending from the end of the sheath. The space inside each patient's bladder is different, which the doctor can judge in real time and control the linear slide 1 to reasonably adjust the insertion length of the flexible segment 502 to meet the surgical requirements. Physiological saline is injected into the bladder through the suction channel of the distal joint 507 to keep the bladder full for surgery. The two channels can inject and aspirate simultaneously. This keeps the water around the electron microscope 504 constantly refreshed, maintaining a clear field of view.

[0110] like Figure 22 As shown, the tumor should be staged preoperatively to determine the appropriate resection method. This narrow-cavity surgical robot is suitable for applications when the tumor is still in the urothelial layer and lamina propria 7 and has not invaded the muscle layer 8, i.e., when the bladder cancer is in the Tis, Ta, or T1 stage in medicine.

[0111] like Figure 23 As shown, the jet impacts the surrounding water and tumor tissue upon ejection. To prevent deformation and displacement of the tumor tissue, which could lead to inaccurate or incomplete resection, the flexible segment 502 needs to be adjusted and the straight telescopic tube 505 extended after determining the exact location of the tumor, so that the integrated nozzle 506-1 is close to the root of the tumor. Subsequently, the puncture needle is inserted into the urothelium and lamina propria 7 through the tool channel 506-2 on the end face of the integrated nozzle 506-1. At this point, the doctor needs to judge the puncture depth based on experience, controlling the needle to reach between the muscle layer 8 and the lamina propria, injecting medical medium at multiple points, generally 50-80 ml. This causes the urothelium and lamina propria in the area near the tumor to separate, and the tumor surface swells and protrudes due to the medium, making it less prone to displacement and deformation, thus creating favorable conditions for surgery.

[0112] like Figure 24 As shown, the flexible section 502 and the linear telescopic tube 505 are adjusted to a suitable position, and high-pressure water jets are sprayed from the nozzle 506-1 on the integrated nozzle 506-1 to obliquely cut the inner side of the root of the protruding lesion from multiple positions around the tumor until the swollen urothelial layer and lamina propria 7 around the tumor are cut off from the healthy tissue, so that the tumor tissue is freed.

[0113] like Figure 25 As shown, to prevent massive bleeding, hemostasis is necessary after tumor tissue removal. At this time, the position of the end-effector can be adjusted so that the integrated nozzle 506-1 is close to the bleeding site, and the extended laser fiber contacts the bleeding point. Heat treatment causes coagulation on the wound surface, which is beneficial for postoperative recovery.

[0114] like Figure 26 As shown, the linear telescopic tube 505 is retracted, bringing the end of the flexible segment 502 close to the free tumor tissue. The fluid channel on the end joint 507 is simultaneously aspirated, adsorbing the tumor tissue onto the end of the flexible segment 502. The end actuator 5 is then withdrawn, completing the surgical procedure.

[0115] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An automatic drive mechanism, characterized in that, The automatic drive mechanism includes a cable pulling mechanism, which includes a guide rail. Two cable pulling mechanism bearings are installed in the main board of the second drive module. The guide rail is connected to one of the cable pulling mechanism bearings, and the positive and negative threaded screws are connected to the other cable pulling mechanism bearing. A spring traction module, two rope traction modules, and a rope adjustment mechanism are sequentially installed on the guide rail. Two threaded sleeves are installed on the positive and negative threaded screws. The two threaded sleeves are respectively connected to the two rope traction modules. 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 effector. 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 a rope. The rope traction module includes a ratchet mechanism base and a ratchet mechanism baffle. Sliding bearings are 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 of the ratchet mechanism base and the ratchet mechanism baffle. 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 around the rope winding disc. A pawl is rotatably installed on the ratchet mechanism base. The two ends of a tension spring are respectively connected to the pawl and the ratchet mechanism base. A rotating 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 rotating disk rear cover. A rolling bearing is installed inside the push plate, and a rotating guide rail kit is installed on the inner ring of the rolling bearing. The guide rail kit is installed inside the rotating disk rear cover by a round-head key. A bearing baffle and a rotating disk front cover are sequentially installed on 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.

2. The automatic drive mechanism according to claim 1, characterized in that, The rope adjustment mechanism includes an adjustment mechanism base, a pulley shaft is provided on the adjustment mechanism base, a guide pulley is installed on the pulley shaft, the rope is wound around the guide pulley, and the upper cover of the adjustment mechanism is detachably connected to the adjustment mechanism base.

3. A surgical robot for narrow cavities, employing the automatic drive mechanism as described in any one of claims 1-2, characterized in that, The narrow cavity surgical robot includes a linear slide, on which a second drive module, the wire pulling mechanism, and a first drive module are sequentially mounted. An end effector is mounted on the output of the first drive module, 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 extend and retract along its own axis; the wire-pulling mechanism connects one end of a rope to the other end of the flexible segment of the end effector; the first drive module drives the wire-pulling mechanism, which 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.

4. The surgical robot for narrow cavities according to claim 3, characterized in that, The linear slide includes a base plate with mounting plates at both ends. A first lead screw and a first guide rail are mounted on the mounting plates. A motor power module is mounted 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 mounted 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. A propulsion main plate is mounted on the top of the first lead screw nut. The second drive module, the cable pulling mechanism, and the first drive module are mounted on the propulsion main plate.

5. The surgical robot for narrow cavities according to claim 3, characterized in that, The first drive module includes a mounting housing, in which a power input shaft and a power output shaft are mounted. The power input shaft and the power output shaft are driven by gears. The mounting housing is covered with a drive mounting base, on which a drive motor is mounted. The output shaft of the drive motor is connected to the power input shaft.

6. The surgical robot for narrow cavities according to claim 3, characterized in that, The second drive module includes a rear cover, on which a rear cover sliding bearing is mounted. One end of a guide shaft is mounted on the rear cover sliding bearing, and the other end is mounted on the rear plate of the second drive module. The front plate of the second drive module is mounted on the main board of the second drive module. The rear cover and the main board of the second drive module are detachably connected. A bearing is installed on the front plate of the second drive module, and one end of the second lead screw is installed in the bearing. The other end of the second lead screw is connected to the output shaft of the first motor of the second drive module through a coupling. The first motor of the second drive module is installed on the rear plate of the second drive module. The front plate and the rear plate of the second drive module are connected by 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. The two ends of the spring clamping shaft are respectively installed on the front plate and the rear plate of the propulsion unit through bearings. A second cylindrical spur gear is installed on the spring clamping shaft. A second drive module motor is installed on the rear plate of the propulsion unit. A first cylindrical spur gear is installed on the output shaft of the second drive module motor. The first cylindrical spur gear and the second cylindrical spur gear mesh and drive each other. The front plate and the rear plate of the propulsion unit are connected by a support column. A linear bearing is mounted on the front plate of the propulsion unit via a snap ring. The linear bearing is sleeved on a second guide bar, and the two ends of the second guide bar are respectively installed in the front plate of the second drive module and the rear plate of the second drive module.

7. The surgical robot for narrow cavities according to claim 6, characterized in that, The spring clamping shaft is provided with a radial threaded hole, and the interior of the spring clamping shaft is provided with a circular channel.

8. The surgical robot for narrow cavities according to claim 3, characterized in that, The end effector includes a hollow straight rod, a flexible section, an end joint, a telescopic tube, and an integrated nozzle connected in sequence, with a light source and an electron microscope installed at the end of the end joint; The flexible segment includes multiple snake-bone joints. The upper side of each snake-bone joint has two symmetrically arranged arc protrusions, and the lower side has symmetrically arranged notches. Each snake-bone joint has a beveled surface. The arc protrusions and the notches are adapted to each other. The notch of the previous snake-bone joint and the arc protrusion of the next snake-bone joint are connected to form a rotating pair. 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 flexible space.

Images