A handheld, narrow-cavity bone tissue grinding robot

Abstract

The application belongs to the technical field of medical devices, and particularly relates to a hand-held bone tissue grinding robot in a narrow cavity, which comprises an end grinding drill device, a hand-held driving mechanism, a transmission pipe and a remote driving mechanism arranged in sequence. The remote driving mechanism transmits power to the hand-held driving mechanism through the transmission pipe, and the hand-held driving mechanism further drives the end grinding drill device to move in three degrees of freedom of forward / rearward movement, bending and rotation. The robot greatly reduces the size and weight of the hand-held mechanism, provides convenience for doctors to perform flexible and accurate surgical operations for a long time, enables the end grinding drill to realize bending, rotation and overall forward / rearward movement degrees, realizes driving of the end in multiple degrees of freedom in a small size, and does not need to manually drive the end grinding drill to move.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical devices, and particularly relates to a handheld narrow-cavity-in bone tissue grinding robot. BACKGROUND

[0002] The existing small medical grinding devices focus on multi-degree-of-freedom motion control and lightweight structure design. In multi-degree-of-freedom motion control, the pitch and circumferential angle of the grinding head / cutting head are adjusted through mechanical transmission or joint structure to adapt to complex surgical sites. In lightweight structure design, the transmission chain is simplified or lightweight materials are used to reduce the size of the device while ensuring its function, thereby meeting the needs of minimally invasive surgery. For example, a medical grinding tool is disclosed in Chinese Patent Application CN107334507A, and a rotary cutting tool is respectively disclosed in US Patents US11510687B2 and US11844534B2.

[0003] However, the existing bone grinding surgical devices have a large volume and heavy body design, which makes it inconvenient for doctors to perform flexible and accurate surgical operations for a long time. The existing bone grinding surgical devices only support single degree-of-freedom (pitch) or discrete angle locking, and the end is not flexible enough, making it difficult to reach complex surgical areas, which may result in incomplete surgery or failure to perform the surgery. In addition, the existing robots are manually controlled by the operator to control the end degree-of-freedom, which relies on the operation of both hands of the doctor, and the automation level is insufficient. SUMMARY

[0004] The present application provides a handheld narrow-cavity-in bone tissue grinding robot, which greatly reduces the size and weight of the handheld mechanism, provides convenience for doctors to perform flexible and accurate surgical operations for a long time, and enables the end mill to realize bending, rotation and overall forward / backward freedom, thereby driving multiple degrees of freedom at the end in a small size without manually driving the end mill to move.

[0005] To achieve the above purpose, the present application adopts the following specific technical solutions:

[0006] A handheld narrow-cavity-in bone tissue grinding robot, which comprises an end mill device, a handheld driving mechanism, a transmission pipe and a distal end driving mechanism arranged in sequence.

[0007] The distal end driving mechanism is used to generate driving force and transmit the driving force to the handheld driving mechanism through the Bowden cable and the flexible shaft collected in the transmission pipe; and the handheld driving mechanism is used to control the end mill device to move in three degrees of freedom of forward / backward, bending and rotation.

[0008] Further, the end mill device comprises an end mill, a connecting rod, a middle layer pipe connector, an inner layer pipe connector, an inner layer concentric pipe, a middle layer concentric pipe and an outer layer concentric pipe.

[0009] The inner layer concentric tube, the middle layer concentric tube and the outer layer concentric tube are sequentially sleeved from inside to outside in the radial direction and can slide relative to each other in the axial direction; and the end mill is located in the inner layer concentric tube;

[0010] The middle layer tube connector is fixedly connected with the middle layer concentric tube;

[0011] The inner layer tube connector is fixedly connected with the inner layer concentric tube;

[0012] The connecting rod and the middle layer tube connector are oppositely arranged in the radial direction of the end mill and are wrapped on the outer circumferential side of the end mill;

[0013] The end mill and the connecting rod, the end mill and the middle layer tube connector, and the connecting rod (12) and the inner layer tube connector are connected by the thin rope;

[0014] In the initial state, the outer layer concentric tube is located at the end, the end mill device is in a non-bending state, and the end mill device forms a straight shaft drill bit for completing a high rigidity operation task;

[0015] When it is necessary to realize a dexterous operation, relative movement of the inner layer concentric tube and the middle layer concentric tube is controlled by the handheld driving mechanism and the distal driving mechanism to generate displacement between the connecting rod and the middle layer tube connector, so that the end mill device realizes bending.

[0016] Further, the handheld driving mechanism comprises an end cover, a shell, a button, an outer tube slider, a rotary driving device, a bending and translation driving device;

[0017] The end cover is fixedly installed on one end of the shell facing the end mill;

[0018] The button is in signal connection with the distal driving mechanism and is used for controlling the distal driving mechanism to realize multi-degree-of-freedom control on the end mill device;

[0019] The outer tube slider is fixedly connected with the outer layer concentric tube and is arranged through the shell and is used for controlling the outer layer concentric tube to slide along the axial direction thereof;

[0020] The rotary driving device is installed in the shell and is used for controlling rotation of the end mill device;

[0021] The bending and translation driving device is installed in the shell and is used for controlling bending and translation of the end mill device;

[0022] When the outer tube slider is pushed to the end mill device to completely expose the outer layer concentric tube, the end mill device is in a bendable state; and when the outer tube slider is pushed to drive the outer layer concentric tube to cover the movement joint of the end mill device, the end mill device is in a straight shaft state.

[0023] Further, the rotating driving device comprises a stop block, a threaded pipe, a first convex slider and a first concave fixing groove.

[0024] The threaded pipe is coaxially fixedly connected with the middle concentric pipe.

[0025] The first convex slider is screwedly matched with the threaded pipe.

[0026] The stop block is coaxially fixedly installed on the middle concentric pipe and is used for limiting the first convex slider.

[0027] The first concave fixing groove is fixedly installed in the shell and is in mortise and tenon type sliding cooperation with the first convex slider and is used for limiting the rotational freedom of the first convex slider so that the first convex slider can only move in the axial direction.

[0028] When the first convex slider moves in the axial direction, the threaded pipe is rotated through the screw transmission with the first convex slider, so that the middle concentric pipe is driven to rotate.

[0029] Further, the bending and moving driving device comprises a second convex slider, an H-shaped slider, a second concave fixing groove, a small convex slider, a first bearing, a first sleeve, a second sleeve, a second bearing and a small concave slider.

[0030] The second concave fixing groove is fixedly installed in the shell; the small convex slider is rotatably installed in the second convex slider through the first bearing and the first sleeve; the small convex slider is fixedly connected to the outer circumferential side of the middle concentric pipe; the small concave slider is installed in the second concave fixing groove through the second bearing and the second sleeve; the small concave slider is fixedly connected to the outer circumferential side of the inner concentric pipe; the small convex slider and the small concave slider are in mortise and tenon type cooperation and can relatively slide along the axial direction of the middle concentric pipe.

[0031] When the rotating driving device drives the middle concentric pipe to move in the rotating manner, the inner concentric pipe is synchronously rotated with the middle concentric pipe based on the mortise and tenon type cooperation of the small convex slider and the small concave slider, so that the rotating freedom of the end mill device is realized.

[0032] Further, the second convex slider, the H-shaped slider and the second concave fixing groove are sequentially arranged along the axial direction of the middle concentric pipe; the H-shaped slider is in sliding cooperation with the second convex slider and the second concave fixing groove; the second convex slider is matched with the first bearing, the second concave fixing groove is matched with the second bearing, and the second concave fixing groove limits the circumferential direction of the H-shaped slider.

[0033] The second convex slider is fixedly connected with the middle concentric pipe; and the H-shaped slider is fixedly connected with the inner concentric pipe.

[0034] When the second convex slider is driven to move alone, the second convex slider and the H-shaped slider are displaced relative to each other, so that the middle concentric tube and the inner concentric tube are displaced relative to each other, and the end mill device is driven to realize the bending freedom.

[0035] When the second convex slider and the H-shaped slider are driven to move as a whole, the inner concentric tube and the middle concentric tube move forward or backward together, so that the end mill device is driven to realize the overall forward / backward freedom.

[0036] Further, the distal end driving mechanism comprises a motor, a motor fixing plate, a fixing support, a screw rod, a sliding block set, a sliding plate and a Bowden cable.

[0037] The motor is fixedly installed on the motor fixing plate, and the output shaft is fixedly connected with the screw rod.

[0038] The motor fixing plate is fixedly connected with the fixing support.

[0039] The sliding block set comprises a small sliding block and a flexible shaft.

[0040] The Bowden cable and the flexible shaft are bundled in the transmission tube; the Bowden cable is used for transmitting the pushing and pulling force at a long distance to drive the first convex slider, the second convex slider and the H-shaped slider of the handheld driving mechanism to move; the flexible shaft is fixedly connected with the end mill and is used for transmitting the torque at a long distance to drive the end mill to rotate at a high speed.

[0041] The power generated by the motor is transmitted to the sliding block set and the sliding plate through the screw rod, and then transmitted to the handheld driving mechanism at a long distance through the Bowden cable and the flexible shaft.

[0042] When the motor drives the sliding plate to move, the power is transmitted to the rotary driving device through the Bowden cable, and the rotary driving device further drives the end mill device to realize the rotary motion.

[0043] When the motor drives the sliding block set to move, the power is transmitted to the bending and moving driving device through the Bowden cable, the second convex slider and the H-shaped slider are pushed / pulled to move together, and the end mill device is driven to realize the overall forward / backward freedom.

[0044] When the motor drives the small sliding block in the sliding block set to move alone, the power is transmitted to the bending and moving driving device through the Bowden cable, the second convex slider and the H-shaped slider are pushed / pulled to move, and the end mill device is driven to realize the bending motion.

[0045] Further, the output shaft of the motor is fixedly connected with the screw rod through a shaft coupling.

[0046] The motor fixing plate is fixedly connected with the fixing support through a steel shaft.

[0047] The sliding block set and the sliding plate are screw-connected with the screw rod.

[0048] Further, the small slider is connected with the second convex slider and the H-shaped slider through the Bowden wire respectively, and the sliding plate is connected with the first convex slider through the Bowden wire.

[0049] Compared with the prior art, the technical scheme of the application has the following beneficial effects:

[0050] 1、The robot of the application places the far-end driving mechanism with large weight and large size such as a motor at the rear end of the end mill drill device, uses the Bowden wire and the flexible shaft to realize long-distance transmission of the pushing and pulling force and the torque, greatly reduces the size and weight of the handheld driving mechanism, and provides convenience for the doctor to perform flexible and accurate surgical operation for a long time.

[0051] 2、The end mill drill of the robot adopts the articulated link structure, can realize three degrees of freedom motion of bending, rotating and overall advancing / retreating, and based on the far-end driving mechanism at the rear end, can realize automatic control of the degrees of freedom of the end mill drill, is more flexible relative to the prior art, can reach the complex lesion area, is more suitable for the minimally invasive surgery scene, and improves the flexibility of the end mill drill.

[0052] 3、The handheld driving mechanism of the robot is provided with the button conforming to the ergonomics, and the operator can realize control on the end through the button without manually driving the end mill drill to move.

[0053] 4、The rotary driving device of the handheld driving mechanism adopts the reversible screw transmission structure, can realize switching from linear motion to rotary motion by increasing the thread angle.

[0054] 5、The handheld driving mechanism adopts the pen type design, internally adopts the concave-convex mortise and tenon structure, and realizes driving of the end with multiple degrees of freedom in a small size. DETAILED DESCRIPTION

[0055] Figure 1 It is a whole structure schematic diagram of the handheld narrow cavity bone tissue grinding robot of the application;

[0056] Figure 2 It is a schematic diagram of the end mill drill device;

[0057] Figure 3 It is a schematic diagram of the bending posture of the end mill drill device;

[0058] Figure 4 It is a schematic diagram of the handheld driving mechanism;

[0059] Figure 5 It is a schematic diagram of the internal structure of the handheld driving mechanism;

[0060] Figure 6 It is a schematic diagram of the internal structure of the bending and translation driving device;

[0061] Figure 7This is a schematic diagram showing the fit between a small convex slider and a small concave slider.

[0062] Figure 8 This is a schematic diagram showing the fit between the second convex slider, the H-shaped slider, and the second concave fixing groove;

[0063] Figure 9 This is a schematic diagram of the second convex slider and its internal structure;

[0064] Figure 10 This is a schematic diagram of the remote drive mechanism.

[0065] Among them, 1-end grinding drill device, 2-handheld drive mechanism, 3-transmission tube, 4-remote drive mechanism; 11-end grinding drill, 12-connecting rod, 13-middle layer tube connector, 14-inner layer tube connector, 15-inner layer concentric tube, 16-middle layer concentric tube, 17-outer layer concentric tube, 21-end cap, 22-outer shell, 23-button, 24-outer tube slider, 251-stop, 252-threaded tube, 253-first convex slider, 254-first concave fixing groove, 26-... 1-Second convex slider, 262-H-type slider, 263-Second concave fixing groove, 264-Small convex slider, 265-First bearing, 266-First sleeve, 267-Second sleeve, 268-Second bearing, 269-Small concave slider, 41-Motor, 42-Motor fixing plate, 43-Coupling, 44-Fixed bracket, 45-Steel shaft, 46-Lead screw, 47-Slide assembly, 48-Slide, 49-Bowden line, 471-Small slider, 472-Flexible shaft. Detailed Implementation

[0066] 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 embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0067] like Figure 1As shown in the diagram, this embodiment of the invention provides a handheld bone grinding robot for narrow cavities. The robot consists of four parts: an end effector 1, a handheld drive mechanism 2, a transmission tube 3, and a distal drive mechanism 4, arranged sequentially. The distal drive mechanism 4 transmits power to the handheld drive mechanism 2 via the transmission tube 3. The handheld drive mechanism 2 further drives the end effector 1 to perform forward / backward, bending, and rotational three-degree-of-freedom movements. The transmission tube 3 is a rigid tube connecting the distal drive mechanism 4 and the handheld drive mechanism 2. The distal drive mechanism 4 generates driving force; the transmission tube 3 transmits the power generated by the distal drive mechanism 4 to the handheld drive mechanism 2; and the handheld drive mechanism 2 controls the end effector 1 to perform forward / backward, bending, and rotational three-degree-of-freedom movements.

[0068] like Figure 2 As shown, the end-grinding device 1 includes an end-grinding drill 11, a connecting rod 12, a middle layer tube connector 13, an inner layer tube connector 14, an inner layer concentric tube 15, a middle layer concentric tube 16, and an outer layer concentric tube 17; the inner layer concentric tube 15, the middle layer concentric tube 16, and the outer layer concentric tube 17 are sequentially sleeved radially from the inside to the outside and can slide relative to each other axially; the end-grinding drill 11 is located inside the inner layer concentric tube 15; the middle layer tube connector 13 is fixedly connected to the middle layer concentric tube 16; the inner layer tube connector 14 is fixedly connected to the inner layer concentric tube 15; the connecting rod 12 and the middle layer tube connector 13 are arranged radially opposite to each other along the end-grinding drill 11 and cover the outer periphery of the end-grinding drill 11; the end-grinding drill... The connection between the connecting rod 11 and the connecting rod 12, between the end drill 11 and the middle tube connector 13, and between the connecting rod 12 and the inner tube connector 14 are all connected by thin ropes, which can be nickel-titanium ropes. In the initial state, the outer concentric tube 17 is at the end, and the end drill 1 is in a non-bent state, forming a straight-axis drill bit for high-rigidity tasks. When dexterity is required, the handheld drive mechanism 2 and the remote drive mechanism 4 control the relative movement of the inner concentric tube 15 and the middle concentric tube 16, causing displacement between the connecting rod 12 and the middle tube connector 13, thereby causing the end drill 1 to bend. Figure 3 As shown.

[0069] like Figure 4 and Figure 5As shown, the handheld drive mechanism 2 includes an end cap 21, a housing 22, a button 23, an outer tube slider 24, a rotation drive device, and a bending and translation drive device; the operator can control the robot end effector with multiple degrees of freedom through the button 23 to achieve intelligent interaction with the robot. End cap 21 is fixedly installed on the end of housing 22 facing the end drill 11; button 23 is signal-connected to remote drive mechanism 4 and is used to control remote drive mechanism 4 to achieve multi-degree-of-freedom control of end drill device 1, such as: controlling motor 41 in remote drive mechanism 4 to achieve the action of different components through button 23; outer tube slider 24 is fixedly connected to outer concentric tube 17 and is set through housing 22 to control outer concentric tube 17 to slide along its axial direction; rotation drive device is installed in housing 22 to control the rotation of end drill device 1; bending and translation drive device is installed in housing 22 to control the bending and translation of end drill device 1; when the outer tube slider 24 is pushed until end drill device 1 is completely exposed from outer concentric tube 17, end drill device 1 is in a bendable state; when the outer tube slider 24 is pushed to drive outer concentric tube 17 to cover the movement joint of end drill device 1, end drill device 1 is in a straight axis state.

[0070] like Figure 5 As shown, the rotary drive device includes a stop 251, a threaded tube 252, a first convex slider 253, and a first concave fixing groove 254. The threaded tube 252 is coaxially and fixedly connected to the middle concentric tube 16. The first convex slider 253 is helically engaged with the threaded tube 252, and the thread helix angle is relatively large. The stop 251 is coaxially and fixedly installed on the middle concentric tube 16 to limit the first convex slider 253. The first concave fixing groove 254 is fixedly installed inside the outer shell 22 and is in a tenon-and-mortise sliding engagement with the first convex slider 253 to restrict the rotational freedom of the first convex slider 253, so that it can only move in translation. When the first convex slider 253 moves axially, it rotates through the helical transmission with the threaded tube 252, thereby driving the middle concentric tube 16 to rotate.

[0071] like Figure 5 , Figure 6 and Figure 9As shown, the bending and translational drive device includes a second convex slider 261, an H-shaped slider 262, a second concave fixing groove 263, a small convex slider 264, a first bearing 265, a first sleeve 266, a second sleeve 267, a second bearing 268, and a small concave slider 269. The second concave fixing groove 263 is fixedly installed inside the outer shell 22. The small convex slider 264 is rotatably installed inside the second convex slider 261 via the first bearing 265 and the first sleeve 266. The small convex slider 264 is fixedly connected to the outer periphery of the middle concentric tube 16. The small concave slider 269 is installed inside the second concave fixing groove 263 via the second bearing 268 and the second sleeve 267. The small concave slider 269 is fixedly connected to the outer periphery of the inner concentric tube 15. The small convex slider 264 and the small concave slider 269 are mortise and tenon-shaped and can slide relative to each other along the axial direction of the middle concentric tube 16.

[0072] When the rotary drive device drives the middle concentric tube 16 to rotate, based on the tenon-and-mortise fit between the small convex slider 264 and the small concave slider 269, the inner concentric tube 15 and the middle concentric tube 16 rotate synchronously, realizing the rotational freedom of the end grinding device 1, such as... Figure 7 As shown.

[0073] like Figure 8 and Figure 9 As shown, the second convex slider 261, the H-shaped slider 262, and the second concave fixing groove 263 are arranged sequentially along the axial direction of the middle concentric tube 16. The H-shaped slider 262 slides in conjunction with the second convex slider 261 and the second concave fixing groove 263. The second convex slider 261 engages with the first bearing 265, and both the H-shaped slider 262 and the second concave fixing groove 263 engage with the second bearing 268. The second concave fixing groove 263 circumferentially limits the movement of the H-shaped slider 262. The second convex slider 261 is fixed to the middle concentric tube 16. Fixed connection; H-shaped slider 262 is fixedly connected to inner concentric tube 15; when the second convex slider 261 is driven to translate alone, the second convex slider 261 and H-shaped slider 262 generate relative displacement, causing the middle concentric tube 16 and inner concentric tube 15 to generate relative displacement, thereby enabling the end grinding device 1 to achieve bending freedom; when the second convex slider 261 and H-shaped slider 262 are driven to translate as a whole, the inner concentric tube 15 and the middle concentric tube 16 move forward or backward together, enabling the end grinding device 1 to achieve overall forward / backward freedom.

[0074] like Figure 10As shown, the remote drive mechanism 4 includes a motor 41, a motor mounting plate 42, a coupling 43, a mounting bracket 44, a steel shaft 45, a lead screw 46, a sliding plate assembly 47, a sliding plate 48, and a Bowden cable 49. It should be noted that in this embodiment, multiple motors 41, couplings 43, steel shafts 45, lead screws 46, and Bowden cables 49 are used. The motor 41 is fixedly mounted on the motor mounting plate 42, as shown... Figure 10 As shown, two motors 41 are fixed on the motor mounting plate 42. One motor 41 drives the slide assembly 47, and the other motor 41 drives the slide plate 48. The output shaft of the motor 41 is fixedly connected to the lead screw 46. The output shaft of the motor 41 and the lead screw 46 can be fixedly connected by a coupling 43. The motor mounting plate 42 is fixedly connected to the fixed bracket 44, and the motor mounting plate 42 and the fixed bracket 44 can be fixedly connected by multiple parallel steel shafts 45. Both the slide assembly 47 and the slide plate 48 are helically engaged with the lead screw 46 and guided by the steel shafts 45. The slide assembly 47 includes a small slider 471 and a flexible shaft 472. Driven by a motor 41, the slide assembly 47 can move along a steel shaft 45. The slide assembly 47 also has its own drive motor, which drives the small slider 471 and the flexible shaft 472. The small slider 471 is guided by the steel shaft 45 and can slide along the steel shaft 45. The Bowden wire 49 and the flexible shaft 472 are constricted within the transmission tube 3. The Bowden wire 49 is used to transmit push and pull forces over long distances, driving the translation of the first convex slider 253, the second convex slider 261, and the H-shaped slider 262 of the handheld drive mechanism 2. The flexible shaft 472 is fixedly connected to the end drill 11 for long-distance torque transmission to drive the end drill 11 to rotate at high speed; the flexible shaft 472 and the end drill 11 can be connected by welding; the power generated by the motor 41 is transmitted to the slide assembly 47 and slide 48 via the lead screw 46, and then transmitted to the handheld drive mechanism 2 via the Bowden cable 49 and the flexible shaft 472; when the motor 41 drives the slide 48 to move, the power is transmitted to the rotary drive device of the handheld drive mechanism 2 via the Bowden cable 49, and the rotary drive device further drives the end drill device 1 to achieve rotational movement; When the motor 41 drives the slide plate assembly 47 to move, the power is transmitted to the bending and translational drive device of the handheld drive mechanism 2 via the Bowden line 49, pushing / pulling the second convex slider 261 and the H-shaped slider 262 to move together, thereby driving the end grinding device 1 to achieve the overall forward / backward freedom. When the motor 41 drives the small slider 471 in the slide plate assembly 47 to move alone, the power is transmitted to the bending and translational drive device of the handheld drive mechanism 2 via the Bowden line 49, pushing / pulling the second convex slider 261 and the H-shaped slider 262 to move together, thereby driving the end grinding device 1 to achieve bending motion.

[0075] The robot places the heavy and large-sized distal drive mechanism 4, such as the motor 41, at the rear end of the end-effector drill 1. It uses Bowden wire 49 and a flexible shaft 472 to achieve long-distance transmission of push-pull force and torque, significantly reducing the size and weight of the handheld drive mechanism 2, thus facilitating flexible and precise surgical operations for doctors over extended periods. The end-effector drill 11 employs a hinged linkage 12 structure, enabling bending, rotation, and overall forward / backward three-degree-of-freedom movement. Based on the rear-end distal drive mechanism 4, automatic control of the end-effector drill 11's degrees of freedom is achieved, making it more agile than existing technologies, capable of reaching complex lesion areas, and more suitable for minimally invasive surgical scenarios, thus improving the dexterity of the end-effector drill 11. The handheld drive mechanism 2 is equipped with ergonomically designed buttons 23, allowing the operator to control the end-effector without manually driving the end-effector drill 11. The rotary drive device uses a reversible helical transmission structure; by increasing the helix angle of the thread, the switch from linear motion to rotary motion can be achieved. The handheld drive mechanism 2 adopts a pen-shaped design and uses a mortise and tenon structure inside to achieve multi-degree-of-freedom drive at the end in a small size.

[0076] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A hand-held, intracavitary bone tissue abrading robot, characterized in that, The device comprises a terminal drill device (1), a handheld driving mechanism (2), a transmission pipe (3) and a remote driving mechanism (4) arranged in sequence; the remote driving mechanism is used for generating driving force and transmitting the driving force to the handheld driving mechanism through a Bowden cable (49) and a flexible shaft (472) collected in the transmission pipe; the handheld driving mechanism is used for controlling the terminal drill device to perform three-degree-of-freedom motion of advancing / retracting, bending and rotating; The terminal drill device comprises a terminal drill (11), a connecting rod (12), a middle layer pipe connector (13), an inner layer pipe connector (14), an inner layer concentric pipe (15), a middle layer concentric pipe (16) and an outer layer concentric pipe (17); The inner layer concentric pipe (15), the middle layer concentric pipe (16) and the outer layer concentric pipe (17) are sequentially sleeved in the radial direction from inside to outside and can slide in the axial direction; the terminal drill (11) is located in the inner layer concentric pipe (15); The middle layer pipe connector (13) is fixedly connected with the middle layer concentric pipe (16); The inner layer pipe connector (14) is fixedly connected with the inner layer concentric pipe (15); The connecting rod (12) is oppositely arranged with the middle layer pipe connector (13) in the radial direction of the terminal drill (11) and is wrapped on the outer circumferential side of the terminal drill (11); The terminal drill (11), the middle layer pipe connector (13) and the inner layer pipe connector (14) are connected by a thin rope; In the initial state, the outer layer concentric pipe (17) is located at the terminal end, the terminal drill device is in a non-bending state, the terminal drill device forms a straight shaft drill bit and is used for completing a high rigidity operation task; When flexible operation is needed, the inner layer concentric pipe and the middle layer concentric pipe are controlled to move relatively by the handheld driving mechanism and the remote driving mechanism, displacement is generated between the connecting rod and the middle layer pipe connector, and the terminal drill device is bent.

2. The robot of claim 1, wherein, The handheld driving mechanism (2) comprises an end cover (21), an outer shell (22), a button (23), an outer pipe sliding block (24), a rotary driving device, a bending and translation driving device; The end cover is fixedly installed on one end of the outer shell facing the terminal drill (11); The button (23) is signal connected with the remote driving mechanism (4) and is used for controlling the remote driving mechanism (4) to move and realize multi-degree-of-freedom control of the terminal drill device; The outer pipe sliding block (24) is fixedly connected with the outer layer concentric pipe (17) and is arranged through the outer shell and is used for controlling the outer layer concentric pipe (17) to slide in the axial direction thereof; The rotary driving device is installed in the outer shell and is used for controlling the rotation of the terminal drill device; The bending and translation driving device is installed in the outer shell and is used for controlling the bending and translation of the terminal drill device; When the outer pipe sliding block is pushed to the terminal drill device and the outer layer concentric pipe (17) is completely exposed, the terminal drill device is in a bendable state; when the outer pipe sliding block drives the outer layer concentric pipe (17) to cover the movement joint of the terminal drill device, the terminal drill device is in a straight shaft state.

3. The robot of claim 2, wherein, The rotary driving device comprises a stop block (251), a threaded pipe (252), a first convex sliding block (253) and a first concave fixed groove (254); The threaded pipe (252) is coaxially fixedly connected with the middle layer concentric pipe (16); The first convex slider (253) is in screwing cooperation with the threaded pipe (252); The stopper (251) is coaxially fixedly installed on the middle layer concentric pipe (16) and is used for limiting the first convex slider (253); The first concave fixed groove (254) is fixedly installed in the shell (22) and is in mortise and tenon type sliding cooperation with the first convex slider (253) and is used for limiting the rotation freedom of the first convex slider (253) so that the first convex slider (253) can only move horizontally; When the first convex slider (253) moves horizontally, the threaded pipe (252) is rotated through the screw transmission with the first convex slider (253), so as to drive the middle layer concentric pipe (16) to rotate.

4. The robot of claim 3, wherein, The bending and horizontal driving device comprises a second convex slider (261), an H-shaped slider (262), a second concave fixed groove (263), a small convex slider (264), a first bearing (265), a first sleeve (266), a second sleeve (267), a second bearing (268) and a small concave slider (269); The second concave fixed groove (263) is fixedly installed in the shell (22); the small convex slider (264) is rotatably installed in the second convex slider (261) through the first bearing (265) and the first sleeve (266); the small convex slider (264) is fixedly connected to the outer circumferential side of the middle layer concentric pipe (16); the small concave slider (269) is installed in the second concave fixed groove (263) through the second bearing (268) and the second sleeve (267); the small concave slider (269) is fixedly connected to the outer circumferential side of the inner layer concentric pipe (15); the small convex slider (264) and the small concave slider (269) are in mortise and tenon type cooperation and can relatively slide along the axial direction of the middle layer concentric pipe (16); When the rotating driving device drives the middle layer concentric pipe (16) to rotate, the inner layer concentric pipe (15) rotates synchronously with the middle layer concentric pipe (16) based on the mortise and tenon type cooperation between the small convex slider (264) and the small concave slider (269), so as to realize the rotation freedom of the end mill drill device.

5. The robot of claim 4, wherein, The second convex slider (261), the H-shaped slider (262) and the second concave fixed groove (263) are sequentially arranged along the axial direction of the middle layer concentric pipe (16) and are in mortise and tenon type sliding cooperation between the H-shaped slider (262) and the second convex slider (261) and the second concave fixed groove (263); the second convex slider (261) cooperates with the first bearing (265) and the second concave fixed groove (263) cooperates with the second bearing (268) and the second concave fixed groove (263) limits the circumferential direction of the H-shaped slider (262); The second convex slider (261) is fixedly connected with the middle layer concentric pipe (16); the H-shaped slider (262) is fixedly connected with the inner layer concentric pipe (15); When the second convex slider (261) is driven to move horizontally, the second convex slider (261) and the H-shaped slider (262) relatively displace, the middle layer concentric pipe (16) and the inner layer concentric pipe (15) relatively displace, and then the end mill drill device realizes the bending freedom. When the second convex slider (261) and the H-shaped slider (262) are driven to move horizontally as a whole, the inner concentric tube (15) and the middle concentric tube (16) move forward or backward together, so that the end mill device realizes the overall forward / backward freedom.

6. The robot of claim 5, wherein, The distal end driving mechanism (4) comprises a motor (41), a motor fixing plate (42), a fixing support (44), a screw rod (46), a sliding plate group (47), a sliding plate (48) and a Bowden cable (49); The motor (41) is fixedly installed on the motor fixing plate (42), and the output shaft is fixedly connected with the screw rod (46); The motor fixing plate (42) is fixedly connected with the fixing support (44); The sliding plate group (47) comprises a small slider (471) and a flexible shaft (472); The Bowden cable (49) and the flexible shaft (472) are collected in the transmission pipe (3); The Bowden cable (49) is used for transmitting the pushing and pulling force at a long distance, and driving the first convex slider (253), the second convex slider (261) and the H-shaped slider (262) of the handheld driving mechanism (2) to move horizontally; The flexible shaft (472) is fixedly connected with the end mill (11) and is used for transmitting the torque at a long distance to drive the end mill (11) to rotate at a high speed; The power generated by the motor (41) is transmitted to the sliding plate group (47) and the sliding plate (48) through the screw rod (46), and then transmitted to the handheld driving mechanism (2) at a long distance through the Bowden cable (49) and the flexible shaft (472); When the motor (41) drives the sliding plate (48) to move, the power is transmitted to the rotary driving device through the Bowden cable (49), and the rotary driving device further drives the end mill device (1) to realize the rotary motion; When the motor (41) drives the sliding plate group (47) to move, the power is transmitted to the bending and horizontal driving device through the Bowden cable (49), and the second convex slider (261) and the H-shaped slider (262) are pushed / pulled to move horizontally, so as to drive the end mill device (1) to realize the overall forward / backward freedom. When the motor (41) drives the small slider (471) in the sliding plate group (47) to move, the power is transmitted to the bending and horizontal driving device through the Bowden cable (49), and the second convex slider (261) and the H-shaped slider (262) are pushed / pulled to move horizontally, so as to drive the end mill device (1) to realize the bending motion.

7. The robot of claim 6, wherein, The output shaft of the motor (41) is fixedly connected with the screw rod (46) through the shaft coupling (43); The motor fixing plate (42) is fixedly connected with the fixing support (44) through the steel shaft (45); The sliding plate group (47) and the sliding plate (48) are screw-connected with the screw rod (46).

8. The robot of claim 7, wherein, The small slider (471) is connected with the second convex slider (261) and the H-shaped slider (262) through the Bowden cable (49) respectively, and the sliding plate (48) is connected with the first convex slider (253) through the Bowden cable (49).

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