Bronchoscope mechanism for surgical robot

Abstract

The bronchoscope mechanism for the surgical robot comprises a shell with a guide wire hole formed in one side, a winding device and a driving device in transmission connection with the winding device are arranged in the shell, and the output end of the driving mechanism is perpendicular to the rotating axis of the winding device; a guide wire hole is formed in the shell, a guide pipe is arranged on the outer side of the shell, the connecting end of the guide pipe is detachably connected with the guide wire hole, an elastic bent part is formed at the tail end of the guide pipe, the bent part is connected with the free end of a traction wire arranged in the guide pipe in a penetrating mode, and the connecting end of the traction wire extends into the shell through the guide wire hole and is wound on a winding device; when the winding device rotates, the free end of the traction wire moves along the guide pipe so as to pull and bend the bending part; manual work can be replaced by machinery, and the direction of the intervention end of the bronchoscope can be flexibly adjusted in a narrow internal space of a human body, so that discomfort to the human body is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of bronchoscope mechanisms, and in particular to a bronchoscope mechanism for a surgical robot. Background Art

[0002] A bronchoscope is a medical device that is inserted into the lower respiratory tract of a patient through the mouth or nose and is used for observing, biopsy sampling, bacteriological and cytological examinations of lesions in the lung lobes, segments, and sub-segments. It can be used for photography, teaching, and dynamic recording in cooperation with a TV system; it is applicable to operations such as the study of bronchial and pulmonary diseases and postoperative examinations.

[0003] Currently, bronchoscope intervention is mainly completed manually. An internal image of the human body is obtained through an image device inside the bronchoscope, and the image is transmitted to an external control terminal for display. Doctors can perform corresponding operations based on this image; in order to comprehensively obtain the internal image of the human body, the observation direction needs to be adjusted. Doctors hold the handle of the bronchoscope and rotate it accordingly to change the direction of the insertion end of the bronchoscope. Due to hand tremors during manual operation, operation errors are likely to occur, especially in narrow internal spaces of the human body. It is difficult to precisely change the direction of the insertion end of the bronchoscope, and it is easy to cause discomfort to the human body and even cause additional damage when changing the direction. Summary of the Invention

[0004] The object of the present invention is to provide a bronchoscope mechanism for a surgical robot, which can replace manual operation with a machine and flexibly adjust the direction of the insertion end of the bronchoscope in a narrow internal space of the human body, thereby reducing discomfort to the human body.

[0005] The object of the present invention is achieved through the following technical solutions:

[0006] A bronchoscope mechanism for a surgical robot includes a housing having a guide wire hole formed on one side, a winding device disposed inside the housing, and a driving device drivingly connected to the winding device, wherein an output end of the driving mechanism is perpendicular to a rotation axis of the winding device; a catheter detachably connected to the guide wire hole is disposed on an outer side of the housing, and the catheter forms an elastic bending portion at a terminal end, and the bending portion is connected to a free end of a traction wire passing through the catheter. A connecting end of the traction wire extends into the housing through the guide wire hole and is wound around the winding device; when the winding device makes a rotational movement, the free end of the traction wire moves along the catheter to pull and bend the bending portion.

[0007] Based on the above technical solutions, the present invention can be improved as follows:

[0008] Further, the outer shell includes a base and a shell cover that are connected to form an assembly cavity. The base is provided with a vertical plate on one side, and the wire guiding hole is opened on the vertical plate. The connecting end of the catheter is detachably connected to the outer plate surface of the vertical plate at the wire guiding hole. The shell cover is provided with a fitting groove on one side, and the bottom end of the fitting groove forms an opening that can cooperate with the vertical plate at the cover opening of the shell cover.

[0009] Further, the winding device includes a connecting column provided on the base, and a winding disc rotatably connected to the connecting column. The winding disc is in transmission connection with the driving device through a transmission device. The connecting end of the traction wire is wound on the winding disc. When the winding disc rotates around the axis, the traction wire is wound or released to cause the bent portion of the catheter to move along with the free end of the traction wire and be pulled and bent.

[0010] Further, the winding disc is provided with a winding groove on the circumferential surface, and the traction wire can be wound in the winding groove when the winding disc is winding.

[0011] Further, the winding disc is also provided with a card slot communicating with the winding groove on the circumferential surface. The connecting end of the traction wire is provided with a card head, and the traction wire is detachably connected to the winding disc through the mutual buckling cooperation of the card head and the card slot.

[0012] Further, the winding disc is sleeved on the connecting column through a first bearing, and the winding disc is provided with a first bearing groove for embedding the first bearing at the bottom.

[0013] Further, the transmission device includes a worm gear and a worm that are engaged with each other. The worm gear is rotatably sleeved on the connecting column, and the top of the worm gear is connected to the bottom of the winding disc. The two ends of the worm are rotatably connected to the base, and one end of the worm is connected to the output end of the driving device.

[0014] Further, the worm gear is sleeved on the connecting column through a second bearing, and the worm gear is provided with a second bearing groove for embedding the second bearing at the bottom.

[0015] Further, a spacer sleeve is arranged between the first bearing and the second bearing, and the spacer sleeve is sleeved on the connecting column. The top of the spacer sleeve is connected to the bottom of the inner ring of the first bearing, and the bottom of the spacer sleeve is connected to the top of the inner ring of the second bearing, so that the first bearing and the second bearing are arranged at intervals, and a gap is formed between the worm gear and the winding disc.

[0016] Further, a circular boss is arranged at the bottom of the connecting column. The diameter of the circular boss is larger than the inner ring diameter of the second bearing and smaller than the diameter of the second bearing. The top of the circular boss is connected to the bottom of the inner ring of the second bearing, so that the second bearing and the base are arranged at intervals, and a gap is formed between the worm gear and the base.

[0017] Compared with the prior art, the technology of the present invention has the following advantages:

[0018] The present invention is applied to a surgical robot. By arranging a winding device inside the housing and a traction wire inside the catheter, the free end of the traction wire is connected to the bent portion of the catheter; the winding device releases or winds the traction wire in a rotational motion manner, driving the free end of the traction wire to move along the catheter, and the bent portion of the catheter is pulled and bent. By replacing manual operation with machinery, it is convenient to flexibly change the bending direction of the bent portion, thereby completing the adjustment of the observation direction of the camera, avoiding the generation of a visual blind area, and ensuring the smooth progress of bronchial surgery; at the same time, surgical instruments can also be inserted into the bent portion. By changing the bending direction of the bent portion of the catheter, the operation direction of the surgical instruments can be precisely adjusted in the narrow internal space of the human body, reducing the discomfort of the human body and avoiding additional injuries. Description of the Drawings

[0019] The following further describes the present invention in detail with reference to the drawings and specific embodiments.

[0020] Figure 1 It is a schematic structural diagram of the bronchoscope mechanism when the shell cover is opened in the embodiment;

[0021] Figure 2 It is a schematic structural diagram of the bronchoscope mechanism after the shell cover is removed in the embodiment;

[0022] Figure 3 It is a schematic structural diagram of the shell cover in the embodiment;

[0023] Figure 4 It is a schematic structural diagram of the winding device in the embodiment;

[0024] Figure 5 It is a schematic structural diagram of the reel in the embodiment;

[0025] Figure 6 It is a schematic structural diagram of the worm gear in the embodiment;

[0026] Figure 7 It is a schematic structural diagram of the connector in the embodiment.

[0027] Marks on the drawings: 1 - catheter, 101 - bent portion, 2 - traction wire, 3 - base, 4 - shell cover, 401 - mating groove, 5 - vertical plate, 6 - wire guiding hole, 7 - tension pulley, 701 - connecting seat, 702 - runner, 8 - connecting column, 9 - reel, 10 - winding groove, 11 - card slot, 12 - card head, 13 - first bearing, 14 - first bearing groove, 15 - worm gear, 16 - worm, 17 - connector, 18 - servo motor, 19 - second bearing, 20 - second bearing groove, 21 - spacer sleeve, 22 - traction wire channel, 23 - position sensor, 24 - limit cover. Detailed implementation manners

[0028] The following further describes the detailed implementation manners of the present invention with reference to the accompanying drawings. The description of these implementation manners is used to help understand the present invention, but does not limit the present invention. In addition, the technical features involved in the various implementation manners of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0029] See Figures 1 to 7 , this embodiment relates to a bronchoscope mechanism for a surgical robot, including a housing for connecting to the surgical robot, a winding device arranged inside the housing, a driving device in transmission connection with the winding device, and a catheter 1 arranged outside the housing; the catheter 1 is provided with a bending portion 101 at the end, and the bending portion 101 is an intervention end for intervening in the human body; a traction wire 2 is arranged inside the catheter 1, one end of the traction wire 2 is connected to the winding device, and the other end of the traction wire 2 is connected to the bending portion 101 of the catheter 1.

[0030] The housing can be connected to the action execution end of the surgical robot through bolts; an assembly cavity is formed inside the housing, and a wire guide hole 6 communicating with the assembly cavity is formed on one side of the housing. The connection end of the catheter 1 is threadedly connected to the wire guide hole 6 of the housing through a connector 17, and the traction wire 2 can penetrate from the assembly cavity of the housing into the inner cavity of the catheter 1 through the wire guide hole 6; the winding device is arranged in the assembly cavity of the housing, the driving device is located beside the winding device, and is in transmission connection with the winding device through a transmission device; the transmission device is used to laterally transmit the driving force generated by the driving device to the winding device. After receiving the driving force, the winding device can wind or release the traction wire 2 in a rotating manner in the assembly cavity of the housing, driving the traction wire 2 to axially move in the catheter 1 to drive the bending portion 101 of the catheter 1 to bend accordingly; the output end of the driving device is perpendicular to the rotation axis of the winding device.

[0031] Specifically, the housing includes a base 3 and a housing cover 4. When the base 3 and the housing cover 4 are connected to each other, a closed assembly cavity can be formed inside to block the particulate matter floating in the air outside, avoiding the particulate matter from sticking to the traction wire and being brought into the human body, improving the cleanliness and reducing the risk of surgical infection; the base 3 is a rectangular plate structure, a vertical plate 5 is arranged on one side of the base 3, the vertical plate 5 is perpendicular to the top surface of the base 3, and a wire guide hole 6 is opened on the vertical plate 5. The connection end of the catheter 1 is connected to the wire guide hole 6 on the outer plate surface of the vertical plate 5; a tensioning member is arranged on the base 3 to facilitate tensioning the traction wire 2 extending between the wire guide hole 6 and the winding device, avoiding slack bending during the movement of the traction wire 2.

[0032] The shell cover 4 is a rectangular hollow shell structure. The shell cover 4 forms a cover opening at the bottom and is detachably covered on the base 3. The shell cover 4 is provided with a mating groove 401 on one side, and the bottom end of the mating groove 401 forms an opening at the cover opening of the shell cover 4, so as to be able to cooperate with the vertical plate 5 when the shell cover 4 covers the base 3.

[0033] The tensioning component is a tensioning wheel 7. The tensioning wheel 7 includes a connecting seat 701 and a runner 702 rotatably arranged on the connecting seat 701. The connecting seat 701 is provided with a locking hole to facilitate locking in a bolt to fix the connecting seat 701 on the base 3, and corresponding bolt holes are provided on the base 3. The connecting seat 701 is a rectangular seat body structure, and the runner 702 is hinged at one end in the length direction of the connecting seat 701 through a connecting shaft. The locking hole is an elongated hole, and the length direction of the locking hole is parallel to the length direction of the connecting seat 701. Two bolts are locked in the locking hole. By loosening the two bolts, the position of the connecting seat 701 on the base 3 can be adjusted in a translational manner, and after adjusting the position, the connecting seat 701 can be fixed again by tightening the two bolts, so as to change the tension of the runner 702 on the connecting seat 701 on the traction wire 2, keep the traction wire 2 in a taut state, improve the bending sensitivity of the bending part 101 of the catheter 1, and the bolts do not need to be completely screwed out during the whole process of adjusting the position of the connecting seat 701, which is convenient for operation. The runner 702 has a smooth outer peripheral surface to reduce the friction generated when contacting the traction wire 2, ensure the smooth movement of the traction wire 2, and reduce the wear of the traction wire 2.

[0034] The traction wire 2 is a slender wire body. One end of the traction wire 2 is a free end, and the free end of the traction wire 2 passes through the wire guiding hole 6 on the vertical plate 5 and extends into the catheter 1 and extends to the bending part 101 of the catheter 1 for fixed connection. The other end of the traction wire 2 is a connecting end, and the connecting end of the traction wire 2 is connected to the winding device.

[0035] The winding device includes a connecting column 8 arranged on the bottom plate and a reel 9 rotatably connected to the connecting column 8. The connecting end of the traction wire 2 is wound on the reel 9. By driving the reel 9 to rotate around the axis to wind or release the traction wire 2, the free end of the traction wire 2 moves in the catheter 1, and the bending part 101 of the catheter 1 is pulled by the traction wire 2 and bends accordingly.

[0036] The reel 9 is provided with a winding groove 10 on the circumferential surface, so that when the reel 9 winds, the traction wire 2 can be wound in the winding groove 10 of the reel 9 to prevent the traction wire 2 from detaching from the circumferential surface of the reel 9 during the winding process. The reel 9 is also provided with a card slot 11 communicating with the winding groove 10 on the circumferential surface. The connecting end of the traction wire 2 is provided with a card head 12. By the mutual snap-fit of the card head 12 and the card slot 11, the connecting end of the traction wire 2 and the reel 9 are detachably connected to each other, which is convenient for replacing the traction wire 2.

[0037] The connecting column 8 is provided with a limit cover 24 at the top. The limit cover 24 is fixedly connected to the top of the connecting column 8 through a bolt at the center. The periphery of the limit cover 24 can be in abutting fit with the top of the reel 9 to limit the axial movement of the reel 9, so that during the rotation of the reel 9, the traction wire 2 can be stably wound or released; a lubricating layer (not shown in the figure) is provided on the abutting fit surface between the limit cover 24 and the reel 9 to reduce the friction between the limit cover 24 and the reel 9, so that the reel 9 rotates smoothly and the vibration is reduced.

[0038] The bottom of the reel 9 is connected to the transmission device, so as to receive the driving force transmitted by the transmission device and make corresponding rotations; the reel 9 is sleeved on the connecting column 8 through a first bearing 13, so that the reel 9 rotates smoothly. The reel 9 is provided with a first bearing groove 14 for installing the first bearing 13 at the bottom.

[0039] The transmission device includes a mutually meshing worm wheel 15 and a worm 16. The worm wheel 15 is rotatably sleeved on the connecting column 8. The worm wheel 15 and the reel are connected to each other through bolts. Corresponding bolt holes are provided on both the worm wheel 15 and the reel 9; one end of the worm 16 is connected to the output end of the driving device; in this embodiment, the driving device is a servo motor 18. When the servo motor 18 is started, a driving force is generated. The output end on the servo motor 18 drives the worm 16 to rotate. The worm wheel 15 rotates around the connecting column 8 relative to the base 3, driving the reel 9 to rotate correspondingly; since the worm and worm wheel transmission has a large transmission ratio, it can perform speed reduction transmission, so that the reel 9 can wind or release the traction wire 2 at a low speed, facilitating the precise control of the corresponding bending of the bending portion 101 of the catheter 1. At the same time, the worm and worm wheel transmission has a self-locking function. When the servo motor 18 stops, both the worm wheel 15 and the worm 16 are in a stopped state, so that the bending portion 101 of the catheter 1 can be kept fixed after bending, and there is no need to additionally increase a stopping component, which can reduce the space occupation and the overall volume of the bronchoscope mechanism, meeting the requirements for performing operations in an operating room with less space.

[0040] The worm wheel 15 is sleeved on the connecting column 8 through a second bearing 19, so that the worm wheel 15 rotates smoothly. The worm wheel 15 is provided with a second bearing groove 20 for installing the second bearing 19 at the bottom.

[0041] A spacer sleeve 21 is provided between the first bearing 13 and the second bearing 19. The spacer sleeve 21 is sleeved on the connecting column 8. The outer diameter of the spacer sleeve 21 is larger than the inner ring outer diameters of the first bearing 13 and the second bearing 19, and smaller than the outer ring diameters of the first bearing 13 and the second bearing 19. The top of the spacer sleeve 21 abuts against the bottom of the inner ring of the first bearing 13, and the bottom of the spacer sleeve 21 abuts against the top of the inner ring of the second bearing 19, so as to axially fix the first bearing 13 and the second bearing 19 respectively, and arrange the first bearing 13 and the second bearing 19 at intervals. Correspondingly, a gap is formed between the worm wheel 15 and the reel 9, reducing the transmission of the vibration generated when the worm wheel 15 rotates to the reel 9, ensuring that the reel 9 can stably wind or release the traction wire 2. Since bronchoscopic surgery belongs to high-precision minimally invasive surgery, the stable winding or releasing of the traction wire 2 can accurately bend the bending part 101 of the catheter 1, avoiding vibration from affecting the operation of surgical instruments and causing damage to the human body. At the same time, it is beneficial to obtain stable images and perform small-scale surgical actions.

[0042] A circular boss is provided at the bottom of the connecting column 8. The diameter of the circular boss is larger than the inner ring diameter of the second bearing 19 and smaller than the diameter of the second bearing 19. The top of the circular boss abuts against the bottom of the inner ring of the second bearing 19, so as to arrange a gap between the second bearing 19 and the top of the base 3, forming a gap between the worm wheel 15 and the base 3, avoiding frictional vibration caused by the contact between the worm wheel 15 and the base 3 during rotation, ensuring smooth rotation of the worm wheel 15 and reducing vibration generation, and further improving the stability of the reel 9 in winding or releasing the traction wire 2.

[0043] It should be noted that, according to actual needs, several winding devices can be provided, corresponding to winding several traction wires 2, and several driving devices are correspondingly configured. By driving each winding device to wind or release different traction wires 2 respectively, so as to drive each traction wire 2 to control the bending part 101 of the catheter 1 to bend in different directions, improving the flexibility of the bending part 101 of the catheter 1 and meeting the requirements of bronchoscopic surgery with multiple branches and narrow spaces; in this embodiment, three winding devices are provided, winding three traction wires 2 respectively, and three driving devices are configured to drive the three winding devices respectively, and the three traction wires 2 control the bending part 101 of the catheter 1 to bend in three directions.

[0044] During specific implementation, the surgical robot inserts the catheter 1 into the human body by moving the bronchoscope mechanism. A camera is placed inside the bending part 101 of the catheter 1 to obtain images of the internal conditions of the human body. When it is necessary to adjust the observation direction, the winding device is driven by the driving device to wind or release the traction wire 2, so as to flexibly change the bending direction of the bending part 101 of the catheter 1, thereby completing the adjustment of the observation direction of the camera, avoiding the generation of visual blind areas, and ensuring the smooth progress of bronchial surgery. At the same time, surgical instruments can also be placed inside the bending part 101, and the operating direction of the surgical instruments can be adjusted by changing the bending direction of the bending part 101 of the catheter 1.

[0045] A number of traction wire channels 22 are formed inside the tube wall of the catheter 1, and each traction wire channel 22 is correspondingly penetrated by a traction wire 2, ensuring that the traction wire 2 can move along the traction wire channel 22 when the spool 9 winds or releases, improving the effect of transmitting traction force, and isolating the traction wires 2 from each other to prevent the traction wires 2 from winding around each other.

[0046] In this embodiment, the bending part 101 of the catheter 1 is made of an elastic material, such as spring steel, so that the bending part 101 can be bent and elastically deformed.

[0047] In this embodiment, a monitoring device is also provided inside the housing. The monitoring device is a position sensor 23. The position sensor 23 is located on one side of the spool 9. The position sensor 23 is used to obtain the length data of the traction wire 2 wound or released by the spool 9, and transmit the length data to an external control terminal in a wired or wireless manner. The control terminal analyzes and processes the length data to obtain the bending information corresponding to the bending part 101 of the catheter 1, and displays the bending information on a display provided on the control terminal for doctors to intuitively understand.

[0048] The above embodiments of the present invention do not limit the protection scope of the present invention. The implementation manners of the present invention are not limited to this. All these, based on the above content of the present invention, according to the common technical knowledge and customary means in the art, without departing from the above basic technical idea of the present invention, various other forms of modification, substitution or change made to the above structure of the present invention shall fall within the protection scope of the present invention.

Claims

1. A bronchoscope mechanism for a surgical robot, characterized in that: It includes an outer shell with a guide wire hole formed on one side, a winding device is arranged in the outer shell, and a driving device is transmission-connected to the winding device, and the output end of the driving mechanism is perpendicular to the rotation axis of the winding device; a catheter with a connecting end detachably connected to the guide wire hole is arranged on the outer side of the outer shell, and an elastic bending portion is formed at the end of the catheter, and the bending portion is connected to the free end of a traction wire inserted in the catheter, and the connecting end of the traction wire extends into the outer shell through the guide wire hole and is wound on the winding device; when the winding device rotates, the free end of the traction wire moves along the catheter to pull and bend the bending portion.

2. The bronchoscope mechanism for a surgical robot according to claim 1, characterized in that: The shell includes a base and a shell cover which are connected to each other to form an assembly cavity. The base is provided with a vertical plate on one side, and the guide wire hole is opened on the vertical plate. The outer plate surface of the vertical plate is detachably connected to the connecting end of the catheter at the guide wire hole; the shell cover is provided with a matching groove on one side, and the bottom end of the matching groove forms an opening that can match the vertical plate at the cover of the shell cover.

3. The bronchoscope mechanism for a surgical robot according to claim 2, characterized in that: The winding device includes a connecting column arranged on the base, and a reel rotatably connected to the connecting column, and the reel is connected to the driving device through a transmission device; the connecting end of the traction wire is wound on the reel, and the reel rotates around the axis to reel in or release the traction wire, so that the bending portion of the catheter follows the movement of the free end of the traction wire and is pulled and bent.

4. The bronchoscope mechanism for a surgical robot according to claim 3, characterized in that: The reel is provided with a winding groove on the circumferential surface, and the traction wire can be wound in the winding groove when the reel is wound.

5. The bronchoscope mechanism for a surgical robot according to claim 4, characterized in that: The reel is also provided with a slot connected to the winding slot on its circumferential surface, and a clamping head is provided at the connecting end of the traction wire, and the clamping head and the slot are engaged with each other so that the connecting end of the traction wire and the reel can be detachably connected to each other.

6. The bronchoscope mechanism for a surgical robot according to claim 3, characterized in that: The reel is sleeved on the connecting column via a first bearing, and a first bearing groove for embedding the first bearing is arranged at the bottom of the reel.

7. The bronchoscope mechanism for a surgical robot according to claim 6, characterized in that: The transmission device includes a worm wheel and a worm that mesh with each other. The worm wheel is rotatably mounted on the connecting column, and the top of the worm wheel and the bottom of the reel are connected to each other; both ends of the worm are rotatably connected to the base, and one end of the worm is connected to the output end of the driving device.

8. The bronchoscope mechanism for a surgical robot according to claim 7, characterized in that: The worm wheel is sleeved on the connecting column via a second bearing, and a second bearing groove for embedding the second bearing is arranged at the bottom of the worm wheel.

9. The bronchoscope mechanism for a surgical robot according to claim 8, characterized in that: A spacer sleeve is arranged between the first bearing and the second bearing, and the spacer sleeve is sleeved on the connecting column; the top of the spacer sleeve is connected to the bottom of the inner ring of the first bearing, and the bottom of the spacer sleeve is connected to the top of the inner ring of the second bearing, so that the first bearing and the second bearing are arranged at an interval, and a gap is formed between the worm gear and the reel.

10. The bronchoscope mechanism for a surgical robot according to claim 9, characterized in that: A circular boss is arranged at the bottom of the connecting column, the diameter of the circular boss is larger than the inner ring diameter of the second bearing and smaller than the diameter of the second bearing, the top of the circular boss is connected to the bottom of the inner ring of the second bearing, so that the second bearing and the base are arranged at an interval, and a gap is formed between the worm gear and the base.

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