Flexible endoscope combined type dual-purpose control robot

Abstract

The invention discloses a flexible endoscope combined dual-purpose control robot which comprises a steering device and a control system, the steering device comprises a support supporting plate, the support supporting plate is rotationally connected with a steering guide part, the steering guide part is connected with a flexible endoscope elbow, the flexible endoscope elbow is connected with an endoscope, and the control system is connected with the steering guide part. The support supporting plate is connected with a driving mechanism, the output end of the driving mechanism is in power connection with the steering guiding piece, and the steering guiding piece plays a role in guiding the flexible endoscope elbow through power of the driving mechanism. According to the flexible ureteroscope operation robot, manual operation is replaced by the mechanical arm, the remote control handle and the switching platform are combined, the functions of accurate control, labor-saving operation, soft rope lifting, posture locking and remote surgery are achieved, the surgery threshold is lowered, safety is improved, and the flexible ureteroscope operation robot can be expanded to be used in collaborative surgery, remote surgery and surgery teaching scenes.

Description

Technical Field

[0001] The invention relates to the technical field of endoscopes, and in particular to a flexible endoscope combined dual-purpose control robot. Background Art

[0002] Flexible endoscopic robots are widely used in clinical surgical operations, especially in ureteroscopic surgery, gastroscopic surgery, bronchoscopic surgery, etc. The flexible endoscopic robot passes through the urethra, ureter or other parts of the human body to reach the surgical area, and then performs the surgery through the soft endoscope. This surgical method is less traumatic, faster, and is conducive to subsequent physical recovery.

[0003] At present, doctors can only stand when using flexible endoscopes, with one hand holding the handle of the flexible endoscope and the other hand holding the soft cable of the flexible endoscope. During operation, the long axis of the handle of the flexible endoscope is basically perpendicular to the ground or forms a certain angle with the ground. In order to find a favorable observation angle of the head of the flexible endoscope in the body, the holding hand needs to constantly adjust the wrist angle and rotate the wrist to control the position of the flexible endoscope, and needs to maintain the holding posture for a long time during the operation, and cannot put it down, which easily fatigues the doctor.

[0004] In addition, the bending of the flexible endoscope is adjusted by moving the control ring on the handle of the flexible endoscope with the thumb. Long-term thumb movement can easily cause thumb fatigue and damage to the thumb joint, and may even cause muscle paralysis, resulting in operational errors.

[0005] At the same time, the operation of this flexible endoscope requires the doctor to have certain experience and skills so that the flexible endoscope can successfully reach the designated lesion site, or find the lesion by constantly changing its position in the body.

[0006] Therefore, improvements are needed to optimize the doctors' operating methods. Summary of the invention

[0007] The purpose of the present invention is to provide a flexible endoscope combined dual-purpose manipulation robot to overcome the deficiencies in the prior art.

[0008] To achieve the above object, the present invention provides the following technical solutions: The present application discloses a flexible endoscope combined dual-purpose manipulation robot, including a steering device and a control system, wherein the steering device includes a support plate, a steering guide is rotatably connected to the support plate, a flexible endoscope curved tube is connected to the steering guide, an endoscope is connected to the flexible endoscope curved tube, a driving mechanism is connected to the support plate, an output end of the driving mechanism is connected to the steering guide, and the steering guide guide guides the flexible endoscope curved tube through the power of the driving mechanism to control the flexible endoscope curved tube to steer; The driving mechanism includes a rotation adjustment part and a direction adjustment part, which respectively control the rotation of the support plate and the rotation of the steering guide. The rotation adjustment part includes a rotating shaft, and the output end of the rotating shaft is fixedly connected to the support plate. The rotation of the rotating shaft drives the support plate to rotate, so as to cooperate with the rotation of the steering guide to achieve omnidirectional steering.

[0009] Preferably, the direction adjustment part includes a movable groove opened on the rotating shaft. A central gear is slidably connected in the movable groove. A connecting rod is rotatably connected to the central gear, and the other end of the connecting rod is rotatably connected to a non-rotation center on the steering guide. The rotation of the steering guide is controlled by the sliding of the central gear in the movable groove.

[0010] Preferably, a first cooperating rod is rotatably connected to the central gear, and a second cooperating rod is rotatably connected to the steering guide. The first cooperating rod and the second cooperating rod are located on the same side of the support plate, and one end of the connecting rod is respectively connected to the first cooperating rod and the second cooperating rod.

[0011] Preferably, a propulsion part is connected to the rotating shaft. A propulsion connecting part that is slidably connected to the rotating shaft is provided on the propulsion part, and the propulsion connecting part is connected to the central gear.

[0012] Preferably, a propulsion rod is fixedly connected to the rotating shaft. An operation ring is rotatably connected to the propulsion rod. The propulsion connecting part is connected to the operation ring. Two ends of the propulsion connecting part are respectively rotatably connected to the operation ring and the central gear. The rotation of the operation ring drives the propulsion connecting part to move along the rotation direction.

[0013] Preferably, a conversion shaft is connected to the rotating shaft. The conversion shaft includes two ways of power connection: robotic arm power connection and manual power connection. The conversion shaft realizes the power support for the driving mechanism through the robotic arm and manual ways.

[0014] Preferably, the robotic arm power connection of the conversion shaft includes the power output end of the robotic arm connected to the conversion shaft. The robotic arm includes a plurality of articulated arms and articulated motors provided inside the articulated arms. The power output end of the robotic arm is connected to one of the articulated arms. The articulated arms are movably connected to each other. The articulated motors drive the articulated arms to change the direction of the robotic arm, and the robotic arm drives the steering guide.

[0015] Preferably, the manual power connection of the conversion shaft includes a rotating disk connected to the conversion shaft. The rotating disk is power-connected to the conversion shaft, and the rotation of the rotating disk drives the rotation of the rotating shaft.

[0016] Preferably, the manual power connection of the conversion shaft further includes a connecting seat rotatably connected to the conversion shaft, and a displacement adjusting device is connected to the connecting seat. The displacement adjusting device includes a rotating seat connected to the connecting seat, and the rotating seat is rotatably connected between the connecting seats. A rotating mechanism for supporting the connecting seat to rotate around the rotating seat is provided on the rotating seat, and a sliding seat and a slide rail for planar movement are connected to the bottom of the rotating seat.

[0017] Preferably, the steering guide is rotatably connected to the support tray, a rotating inner disk is fixedly connected to the steering guide, a fixed caliper is provided on a side of the steering guide away from the support tray, and the flexible endoscope elbow is arranged in the fixed caliper.

[0018] Preferably, the control system includes a machine base, a control terminal is arranged in the machine base, and the control terminal is electrically connected to the driving mechanism through a wire.

[0019] Advantages of the present invention: (1) The flexible endoscope combined dual-purpose manipulation robot of the present application uses a robotic arm to replace manual operation, combines a remote control handle and a support tray to achieve precise control, labor-saving operation, soft cable lifting, attitude locking and remote surgery functions, reduces the surgical threshold and improves safety, and can be extended to cooperative surgery, remote surgery and surgical teaching scenarios; (2) Through the structural design of the rotating shaft and the central gear, rotation and axial movement can be achieved, and the axial movement can be transmitted through the connecting rod to drive the steering guide to rotate, realizing the omnidirectional rotation of the flexible endoscope elbow.

[0020] The features and advantages of the present invention will be described in detail through embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a three-dimensional structural schematic diagram of an embodiment of a flexible endoscope combined dual-purpose manipulation robot of the present invention; Figure 2 is a three-dimensional structural schematic diagram of a steering device of Embodiment 1 of the present invention; Figure 3 is a three-dimensional structural schematic diagram of a part of the structure of Embodiment 1 of the present invention; Figure 4 is a planar structural schematic diagram of a part of the structure of Embodiment 1 of the present invention; Figure 5 is of Embodiment 1 of the present invention Figure 4 is a three-dimensional structural sectional view of the structure at A-A; Figure 6 is a three-dimensional structural schematic diagram of a part of the structure of Embodiment 1 of the present invention; Figure 7 This is a schematic enlarged view of the structure at position B in Embodiment 1 of the present invention. Figure 2 Figure 8 This is a three-dimensional structure schematic diagram of Embodiment 2 of the present invention. Figure 9 This is a plan structure schematic diagram of Embodiment 2 of the present invention. Figure 10 This is a schematic cross-sectional view of the internal structure of Embodiment 2 of the present invention. Figure 11 This is of Embodiment 2 of the present invention Figure 9 schematic enlarged view of the structure at position C in In the figure: 1, steering device; 101, support plate; 102, steering guide; 103, drive mechanism; 104, rotation adjustment part; 105, direction adjustment part; 106, rotating shaft; 107, central gear; 108, connecting rod; 1081, first mating rod; 1082, second mating rod; 1083, mating groove; 109, push rod; 110, operating ring; 1101, push connecting piece; 111, fixed point; 112, cushion block; 113, fixed caliper; 2, control system; 201, operating rod; 3, moving camera; 4, robotic arm; 401, telescopic rod; 5, mobile trolley; 601, connecting seat; 602, rotating disc; 603, support plate; 604, rotating seat; 6041, threaded rod; 6042, threaded seat; 6043, threaded slider; 6044, handle; 6045, threaded hole; 6046, towing rod; 605, sliding seat; 606, slide rail. Detailed implementation manners

[0022] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the scope of the present invention. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0023] Refer to Figure 1 、 2, an embodiment of the present invention provides a flexible endoscope combined dual-purpose control robot, which includes a steering device 1 and a control system 2. The steering device 1 includes a bracket support plate 101, a steering guide member 102 is rotatably connected to the bracket support plate 101, a flexible endoscope elbow is connected to the steering guide member 102, an endoscope is connected to the flexible endoscope elbow, a driving mechanism 103 is connected to the bracket support plate 101, and a power connection is established between the output end of the driving mechanism 103 and the steering guide member 102. The steering guide member 102 guides the flexible endoscope elbow through the power of the driving mechanism 103 to control its steering; The driving mechanism 103 includes a rotation adjustment part 104 and a direction adjustment part 105, which respectively control the rotation of the bracket support plate 101 and the rotation of the steering guide member 102. The rotation adjustment part 104 includes a rotating shaft 106. The output end of the rotating shaft 106 is fixedly connected to the bracket support plate 101. The rotation of the rotating shaft 106 drives the bracket support plate 101 to rotate, so as to cooperate with the rotation of the steering guide member 102 to achieve omnidirectional steering.

[0024] The thickness of the steering guide member 102 is adjusted according to the handle of the flexible endoscope elbow, so as to realize the support and balance of the handle. A cushion block 112 is connected to the bracket support plate 101. The cushion block 112 and the steering guide member 102 jointly act on the handle of the flexible endoscope elbow to provide stable support.

[0025] Refer to Figures 3 - 6 , a fixing point 111 is provided at the end of the bracket support plate 101, a U-shaped groove is opened, and a flexible endoscope elbow is connected in the U-shaped groove, and is kept horizontal and stable through the support of the cushion block 112 and the steering guide member 102.

[0026] The bracket support plate 101 is fixedly connected to the rotating shaft 106. Specifically, fixing holes are opened on the rotating shaft 106, and the fixing holes are connected to a fixing frame through bolts, and the fixing frame is fixedly connected to the bracket support plate 101, so as to realize the fixed connection between the rotating shaft 106 and the bracket support plate 101.

[0027] The direction adjustment part 105 includes a movable groove opened on the rotating shaft 106. A central gear 107 is slidably connected in the movable groove. A connecting rod 108 is rotatably connected to the central gear 107. The other end of the connecting rod 108 is rotatably connected to a non-rotation center on the steering guide member 102. The rotation of the steering guide member 102 is controlled by the sliding of the central gear 107 in the movable groove.

[0028] A steering guide member 102 is rotatably connected to the support pallet 101. A second mating rod 1082 is provided at a non-rotating center of the steering guide member 102. An arc-shaped mating groove 1083 is formed in the support pallet 101. A first mating rod 1081 is connected to the central gear 107. The first mating rod 1081 and the second mating rod 1082 face the same side, and the first mating rod 1081 and the second mating rod 1082 are respectively connected to one end of the connecting rod 108. Both ends of the connecting rod 108 are rotatably connected to the first mating rod 1081 and the second mating rod 1082. After the central gear 107 moves, it will drive the first mating rod 1081 to move, and then drive the second mating rod 1082 to move through the connecting rod 108, realizing the rotation of the steering guide member 102.

[0029] A propulsion member is connected to the rotating shaft 106. A propulsion connecting member 1101 that is slidably connected to the rotating shaft 106 is provided on the propulsion member, and the propulsion connecting member 1101 is connected to the central gear 107.

[0030] A propulsion rod 109 is fixedly connected to the rotating shaft 106. An operating ring 110 is rotatably connected to the propulsion rod 109. The propulsion connecting member 1101 is connected to the operating ring 110, and both ends of the propulsion connecting member 1101 are rotatably connected to the operating ring 110 and the central gear 107 respectively.

[0031] After rotating the operating ring 110, the propulsion connecting member 1101 will be axially pushed and pulled in the tangential direction of the rotation, generating a displacement, so as to drive the propulsion member and the central gear 107 to move through the propulsion connecting member 1101.

[0032] A conversion shaft is connected to the rotating shaft 106. The conversion shaft includes two ways of power connection: power connection of the robotic arm 4 and manual power connection. The conversion shaft realizes the power support for the driving mechanism 103 through the robotic arm 4 and the manual two ways.

[0033] The power connection of the robotic arm 4 of the conversion shaft includes the power output end of the robotic arm 4 connected to the conversion shaft. The robotic arm 4 includes a plurality of articulated arms and articulated motors provided in the articulated arms. The power output end of the robotic arm 4 is connected to one of the articulated arms. The articulated arms are movably connected to each other. The articulated arms are driven by the articulated motors to realize the direction change of the robotic arm 4, and the steering guide member 102 is driven by the robotic arm 4 for power.

[0034] The manual power connection of the conversion shaft includes a rotating disk connected to the conversion shaft. The rotating disk is power-connected to the conversion shaft, and the rotation of the rotating disk drives the rotation of the rotating shaft 106.

[0035] The steering guide 102 is rotatably connected to the support pallet 101. A rotating inner disk is fixedly connected to the steering guide 102. A fixed caliper 113 is provided on the side of the steering guide 102 away from the support pallet 101. The flexible endoscope elbow is arranged in the fixed caliper 113.

[0036] A wedge block is arranged in the fixed caliper 113. Different sizes of the wedge block can be suitable for flexible endoscope elbows with different thicknesses, different materials, and different sizes. Appropriate thickness of wedge-shaped cushion blocks can be selected according to different annular thicknesses, and they are clamped tightly by friction.

[0037] The control system 2 includes a machine base. A control terminal is arranged in the machine base. The control terminal is electrically connected to the drive mechanism 103 through a wire.

[0038] The output end of the robotic arm 4 is connected with a conversion shaft. A rotating shaft 106 is connected to the conversion shaft. An activity groove is formed on the rotating shaft 106. A central gear 107 is slidably connected inside the activity groove. At the same time, a push rod 109 is also slidably connected to the rotating shaft 106. Operation rings 110 are rotatably connected to both ends of the push rod 109. A push connecting piece 1101 is arranged on the operation ring 110, and the push connecting piece 1101 is connected to the central gear 107. Refer to Figure 7 , a telescopic rod 401 is arranged on the robotic arm 4. The telescopic end of the telescopic rod 401 is connected to the operation ring 110. Furthermore, the angle change of the operation ring 110 is controlled through the telescopic rod 401 to realize the movement of the central gear 107. The robotic arm 4 controls the height and position of the entire support pallet 101, and further adjustment is carried out through the rotating shaft 106 and the central gear 107.

[0039] The bottom of the robotic arm 4 is connected with a mobile trolley 5, and the mobile trolley 5 facilitates the movement of the robotic arm 4.

[0040] Embodiment 1: It includes the following contents: 6-axis robotic arm 4: The support pallet 101 is carried at the end, which is used to fix the flexible endoscope handle. The robotic arm 4 is controlled by a rocker to realize the pitching, advancing and retreating, and rotating movements of the flexible endoscope; for example, the CR3 type six-axis robotic arm 4 of Dobot.

[0041] Integration of the robotic arm 4: The core functions of the manual control device (such as the steering wheel, translation mechanism) are converted into the multi-axis movement of the robotic arm 4 to improve the operation accuracy and stability. The robotic arm 4 controls the mobile cart 5: There are three connection structures with the support plate 101, at both ends of the central axis of the support plate 101 and the operation ring 110 (at the 3 o'clock direction and 9 o'clock direction). The robotic arm 4 controls the central axis of the support plate 101, driving the handle of the flexible endoscope to perform forward and backward, tilting, and rotating movements. There are two drive motors on both sides of the end of the robotic arm 4, driving two connecting rods connected to both ends of the operation ring 110, pushing and pulling the operation ring 110 to move (moving in the opposite direction along the X-axis at the 3 o'clock direction and 9 o'clock direction), and controlling the movement of the control ring at the head of the flexible cable of the handle through the bending control structure (rotating guide 102 + fixed caliper 113 + operation ring 110). A moving lens 3 is installed at the end of the robotic arm 4 to monitor the movement of the support plate 101 and feedback it to the display screen of the remote control console. The mobile cart 5 at the base of the robotic arm 4 is equipped with rollers and a locking device. The characteristics and performance of the robotic arm 4 are described according to the parameters of a medical-grade 6-axis robotic arm 4.

[0042] Support plate 101: Solve the problem of insufficient rigidity of the flexible cable through the extended structure of the support plate 101, eliminating the need to manually support the flexible cable of the flexible endoscope during surgery; Compatibility design: Adapt and clamp the mainstream flexible endoscope handles on the market through adjustable fixtures; Flexible cable lifting structure: An extended support supports the root of the flexible cable, enhancing rigidity and reducing the need for manual support; Bending control conversion mechanism: Convert the movement of the bending control ring of the flexible lens into a remote control handle button signal (mechanical linkage or electronic signal transmission); Remote control lever 201: Integrates flexible endoscope movement control buttons (forward and backward, rotation, tilting) and flexible lens bending buttons; Equipped with a damping adjustment knob to support fine operation; Supports a one-key locking function to freeze the posture of the robotic arm 4; Simplify the traditional thumb push-pull operation to a control lever button control; The control lever 201 includes a handle and a steering wheel-shaped control lever, precisely controlling the direction and displacement amount, and enabling rapid adjustment responses through rotation and forward and backward pushing and pulling.

[0043] The image of the flexible endoscope is displayed on the display screen. The remote control operation method is similar to an aircraft control lever. Push and pull the control lever 201 to control the robotic arm 4 to drive the transfer platform forward and backward. The control lever can move up and down along the Y-axis to control the robotic arm 4 to drive the transfer platform to tilt. Rotating the control lever 201 can control the robotic arm 4 to drive the transfer platform to rotate. There are customized buttons on the control lever 201 to control the drive motor to operate the bending of the flexible cable head. The control system of the 6-axis robotic arm 4 is optimized according to the above movement trajectory requirements, and there are physical function buttons for locking the posture of the robotic arm 4 on the control lever 201. Control system 2: Achieve closed-loop control based on sensor feedback (such as position encoders, pressure sensors); An expandable remote operation module that supports doctors to collaborate or perform remote surgeries through terminal devices.

[0044] Motion lens 3: connected to the robot arm 4 to capture images and transmit them to the terminal device through the network or wires; When encountering special circumstances, the flexible endoscope can be removed from the support plate 101 and can be directly operated by hand.

[0045] See also Figures 8 - 11 , Embodiment 2: The manual power connection of the conversion shaft includes a rotating disk 602 connected to the conversion shaft, and the rotating disk 602 is power-connected to the conversion shaft. The rotation of the rotating disk 602 drives the rotation of the rotating shaft 106. The rotating disk 602 rotates, and the rotating shaft 106 is driven to rotate via the conversion shaft, thereby realizing the rotation of the bracket support plate 101. The operating ring 110 can be rotated by pulling it with fingers, and then the central tooth 107 can be moved axially. The rotating guide can be driven to rotate by the matching rod 1081, the connecting rod 108, and the matching rod 2 1082 to adjust the direction of the flexible endoscope bend tube.

[0046] The rotating shaft 106 is connected to a connecting seat 601 through a bearing, a supporting plate 603 is fixedly connected to the bottom of the connecting seat 601, a rotating seat 604 is hinged on one side of the supporting plate 603, and the rotating seat 604 drives the supporting plate 603 to rotate, thereby supporting the angle adjustment of the connecting seat 601 and other structures; The rotating seat 604 is provided with a threaded seat 6042, and a threaded rod 6041 is rotatably connected to the threaded seat 6042. The threaded rod 6041 is provided with a threaded slider 6043 with a threaded hole 6045 matched therewith. The threaded slider 6043 is slidably connected to the rotating seat 604. When the threaded rod 6041 rotates, the threaded slider 6043 will slide horizontally. The threaded rod 6041 is provided with a handle 6044 for driving the threaded rod 6041 to rotate. When the handle 6044 rotates, the threaded rod 6041 will be driven to rotate, thereby realizing the movement of the threaded slider 6043. A traction rod 6046 is rotatably connected to the threaded slider 6043. One end of the traction rod 6046 is connected to the threaded slider 6043, and the other end is rotatably connected to the support plate 603. The threaded slider 6043 moves to drive the traction rod 6046 to push and pull down the support plate 603, thereby driving the angle adjustment.

[0047] A sliding seat 605 and a slide rail 606 are provided at the bottom of the rotating seat 604. The sliding seat 605 moves on the slide rail 606, thereby driving the movement of the entire mechanism.

[0048] Embodiment 3 Electric and manual dual-mode switching: In case of an emergency, the electric control mode of the robotic arm 4 can be downgraded to manual mode. The method is to loosen the connection device of the robotic arm 4 and the connection of the angle adjustment motor, install the handwheel outer ring - rotating disk 602 and the manual base bracket - connecting seat 601. At this time, rely on the pure manual operation of the double-ring (rotating disk 602 and operating ring 110) structure, and cooperate with the adjustment functions of the connecting seat 601 and the rotating seat 604 and sliding seat 605 to complete the control of the rotation, advancement and retreat, and tilting angle adjustment of the flexible endoscope elbow tube, as well as the bending of the cable head.

[0049] In case of special circumstances, the support plate 101 of the flexible endoscope can be detached from the robotic arm trolley and the hand-rotating disk 602 structure (outer ring) and the manual support base with rollers and locking function can be installed. At this time, it is switched to a pure manual control device.

[0050] The working process of the present invention: In the present invention, a combined dual-purpose control robot for a flexible endoscope, when in use, moves the steering device 1 to a suitable position through the moving trolley 5, and then drives and adjusts it through the robotic arm 4. Quick positioning is achieved through the six-axis robotic arm 4. After that, the handle of the flexible endoscope elbow tube is installed on the steering guide 102, and the flexible endoscope elbow tube is installed at the fixed point 111, and is supported horizontally by the spacer 112 therebetween; Start the rotation motor provided on the robotic arm 4, and then drive the rotating shaft 106 to rotate through the conversion shaft to achieve the angle adjustment of the support plate 101. The telescopic rod 401 is telescoped, and then drives the operation ring 110 to be adjusted. The push rod 109 rotates, and the push connecting piece 1101 provided thereon drives the central gear 107 to move, realizing the sliding of the central gear 107. After the central gear 107 moves, the cooperating rod one 1081 connected thereto drives the connecting rod 108 to move, and then drives the steering guide 102 to rotate through the cooperating rod two 1082 to achieve the angle adjustment. The fixed caliper 113 provided thereon will drive the flexible endoscope elbow tube to move to complete the angle adjustment of the flexible endoscope elbow tube.

[0051] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements or improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A flexible endoscope combined dual-purpose control robot, characterized in that: It includes a steering device (1) and a control system (2). The steering device (1) includes a bracket support plate (101). A steering guide member (102) is rotatably connected to the bracket support plate (101). A flexible endoscope elbow is connected to the steering guide member (102). An endoscope is connected to the flexible endoscope elbow. A driving mechanism (103) is connected to the bracket support plate (101). There is a power connection between the output end of the driving mechanism (103) and the steering guide member (102). The driving mechanism (103) includes a rotation adjustment part (104) and a direction adjustment part (105). The rotation adjustment part (104) includes a rotating shaft (106). The output end of the rotating shaft (106) is fixedly connected to the bracket support plate (101). The direction guide member (102) includes an operation ring (110) and a central gear (107). The operation ring (110) is power-connected to the central gear (107).

2. The combined dual-purpose flexible endoscope control robot according to claim 1, wherein: The direction adjustment part (105) includes a movable groove opened on the rotating shaft (106). A central gear (107) is slidably connected in the movable groove. A connecting rod (108) is rotatably connected to the central gear (107). The other end of the connecting rod (108) is rotatably connected to a non-rotating center on the steering guide member (102). The rotation of the steering guide member (102) is controlled by the sliding of the central gear (107) in the movable groove.

3. The combined dual-purpose flexible endoscope control robot according to claim 2, wherein: A first mating rod (1081) is rotatably connected to the central gear (107). A second mating rod (1082) is rotatably connected to the steering guide member (102). The first mating rod (1081) and the second mating rod (1082) are located on the same side of the bracket support plate (101). One end of the connecting rod (108) is respectively connected to the first mating rod (1081) and the second mating rod (1082).

4. The flexible endoscope combined dual-purpose control robot according to claim 2, characterized in that: A propelling member for driving the central gear (107) to move is connected to the rotating shaft (106). A propelling connecting member (1101) which is slidably connected to the rotating shaft (106) is provided on the propelling member. The propelling connecting member (1101) is connected to the central gear (107) and drives it to move.

5. The combined dual-purpose flexible endoscope control robot according to claim 4, characterized in that: A propelling rod (109) is fixedly connected to the rotating shaft (106). An operation ring (110) is rotatably connected to the propelling rod (109). The propelling connecting member (1101) is connected to the operation ring (110). Both ends of the propelling connecting member (1101) are rotatably connected to the operation ring (110) and the central gear (107) respectively.

6. The flexible endoscope combined dual-purpose control robot according to claim 1, characterized in that: A conversion shaft is connected to the rotating shaft (106). The conversion shaft includes two ways of power connection, i.e., power connection with a robotic arm (4) and manual power connection. The conversion shaft realizes the power support for the driving mechanism (103) through the two ways of the robotic arm (4) and manual operation.

7. A flexible endoscope combined dual-purpose control robot according to claim 6, characterized in that: The robotic arm (4) power connection of the conversion shaft includes the power output end of the robotic arm (4) connected to the conversion shaft. The robotic arm (4) includes a plurality of joint arms and joint motors provided inside the joint arms. The power output end of the robotic arm (4) is connected to one of the joint arms. The joint arms are movably connected to each other. The joint motors drive the joint arms to change the direction of the robotic arm (4), and the robotic arm (4) drives the steering guide member (102) for power.

8. The combined dual-purpose flexible endoscope control robot according to claim 6, wherein: The manual power connection of the conversion shaft includes a rotating disk (602) connected to the conversion shaft. The rotating disk (602) is power-connected to the conversion shaft, and the rotation of the rotating disk (602) drives the rotation of the rotating shaft (106).

9. The combined dual-purpose flexible endoscope control robot according to claim 8, wherein: The manual power connection of the conversion shaft further includes a connecting seat (601) rotatably connected to the conversion shaft. A displacement adjustment device is connected to the connecting seat (601). The displacement adjustment device includes a rotating seat (604) connected to the connecting seat (601). The rotating seat (604) is rotatably connected to the connecting seat (601). A rotating mechanism for the connecting seat (601) to rotate around the rotating seat (604) is provided on the rotating seat (604). A sliding seat (605) and a slide rail (606) for planar movement are connected to the bottom of the rotating seat (604).

10. The combined dual-purpose flexible endoscope control robot according to claim 1, wherein: The steering guide member (102) is rotatably connected to the support tray (101). A fixed caliper (113) is provided on the side of the steering guide member (102) away from the support tray (101). The flexible endoscope elbow is arranged in the fixed caliper (113).

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