Laser scanning and cutting endoscope robot based on carbon fiber paper folding micro galvanometer

Abstract

The invention discloses a laser scanning cutting endoscope robot based on a carbon fiber paper folding micro galvanometer. According to the endoscope robot, a paper folding transmission structure is fixedly installed at one end of a supporting structure, and a GRIN lens is fixedly installed at the other end of the supporting structure; the fixed mirror, the X galvanometer and the Y galvanometer are fixedly installed on the paper folding transmission structure, and an optical path is formed by the optical fiber, the GRIN lens, the fixed mirror, the X galvanometer and the Y galvanometer. The first piezoelectric bimorph driver and the second piezoelectric bimorph driver are both mounted between the supporting structure and the paper folding transmission structure; the first piezoelectric bimorph driver is used for driving the X galvanometer to rotate around the Y axis through the paper folding transmission structure and / or driving the X galvanometer to rotate around the Y axis; the second piezoelectric bimorph driver is used for driving the Y galvanometer to rotate around the Z axis through the paper folding transmission structure. According to the endoscope robot, the piezoelectric bimorph driver and the paper folding transmission structure are adopted, so that the overall structure is small and light, movement is stable, and the excellent dynamic performance is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of origami robots, and in particular relates to a laser scanning and cutting endoscope robot based on a carbon fiber origami micro-vibration mirror. Background Art

[0002] With the rapid development of medical technology, minimally invasive laser surgery has become a rising star in the field of modern surgery, attracting much attention and acclaim. Compared to traditional surgical methods, laser minimally invasive surgery is gradually gaining widespread recognition and favor among doctors and patients due to its significant advantages such as minimal trauma, rapid recovery, and reduced complication rate. Compared to traditional manual laser minimally invasive surgery, robotic-controlled laser surgery has significant advantages in precision, surgical size, and incision quality. By using the reflection of the galvanometer system to transform the propagation path of the laser, the laser direction can be flexibly adjusted. Existing micro-laser steering devices have excellent performance in terms of workspace, dynamic characteristics, and motion accuracy.

[0003] However, traditional processes are no longer suitable for the millimeter-level mechanical design of minimally invasive surgical robotic systems. Efficiently constructing microscale mechanical structures with excellent mechanical properties has become a major challenge in building microsystems. Furthermore, real-time lesion information feedback is essential for minimally invasive laser surgery. Traditional laser surgical systems mostly use video recording, but when multi-viewpoint three-dimensional imaging is required to obtain precise surface topography, traditional video recording methods make it difficult to reduce the size of the surgical robot. Summary of the Invention

[0004] In view of this, the present invention provides a laser scanning and cutting endoscopic robot based on a carbon fiber origami micro-vibrator. The endoscopic robot adopts a piezoelectric dual-chip driver and an origami transmission structure to make the overall structure compact and light, the movement stable and have excellent dynamic performance.

[0005] In order to achieve the above object, the present invention adopts the following specific technical solutions:

[0006] A laser scanning and cutting endoscopic robot based on a carbon fiber origami micro-vibration mirror, the endoscopic robot comprising an origami transmission structure, a first piezoelectric bimorph driver, a second piezoelectric bimorph driver, a support structure, a GRIN lens, an optical fiber, a fixed mirror, an X-vibration mirror, and a Y-vibration mirror;

[0007] The origami transmission structure is fixedly mounted on one end of the support structure, and the GRIN lens is fixedly mounted on the other end; the GRIN lens is connected to the optical fiber;

[0008] The fixed mirror, the X-galvanometer mirror, and the Y-galvanometer mirror are all fixedly mounted on the origami transmission structure, and an optical path is formed by the optical fiber, the GRIN lens, the fixed mirror, the X-galvanometer mirror, and the Y-galvanometer mirror;

[0009] The first piezoelectric dual-chip driver and the second piezoelectric dual-chip driver are both piezoelectric dual-chip drivers installed between the support structure and the origami transmission structure; the first piezoelectric dual-chip driver is used to drive the X galvanometer to rotate around the Y axis and / or through the origami transmission structure; the second piezoelectric dual-chip driver is used to drive the Y galvanometer to rotate around the Z axis through the origami transmission structure.

[0010] Furthermore, the origami transmission structure includes a carbon fiber origami transmission structure 1, a carbon fiber origami transmission structure 2 and a fixed mirror bracket;

[0011] The carbon fiber origami transmission structure 1 and the carbon fiber origami transmission structure 2 are both fixedly mounted on the support structure;

[0012] One end of the fixed mirror bracket is fixedly mounted on the support structure, and the fixed mirror is fixedly mounted on the other end facing the GRIN lens;

[0013] The X-ray galvanometer is fixedly mounted on the carbon fiber origami transmission structure 1;

[0014] The Y galvanometer is fixedly mounted on the second carbon fiber origami transmission structure;

[0015] One of the first piezoelectric bimorph drivers is fixedly installed between the carbon fiber origami transmission structure 1 and the support structure, and is used to drive the X-ray galvanometer to rotate through the carbon fiber origami transmission structure 1;

[0016] Another second piezoelectric dual-chip driver is fixedly installed between the second carbon fiber origami transmission structure and the supporting structure, and is used to drive the Y galvanometer to rotate through the second carbon fiber origami transmission structure.

[0017] Furthermore, the carbon fiber origami transmission structure 1 is composed of a structure 1 first transmission mechanism, a structure 1 second transmission mechanism, a structure 1 third transmission mechanism and a structure 1 fixing mechanism, which are hinged in sequence; the structure 1 fixing mechanism is fixedly mounted on the support structure; the X-ray galvanometer is fixedly mounted on the structure 1 third transmission mechanism;

[0018] The carbon fiber origami transmission structure 2 is composed of a first transmission mechanism of structure 2, a second transmission mechanism of structure 2, a third transmission mechanism of structure 2, a fourth transmission mechanism of structure 2, and a fixing mechanism of structure 2, which are hinged in sequence; the fixing mechanism of structure 2 is fixedly mounted on the supporting structure; the Y galvanometer is fixedly mounted on the fourth transmission mechanism of structure 2;

[0019] The first piezoelectric bimorph driver is fixedly mounted on the first transmission mechanism of the structure;

[0020] The second piezoelectric bimorph driver is fixedly mounted on the first transmission mechanism of the structure 2.

[0021] Furthermore, the third transmission mechanism of the structure 1 is provided with an X-ray galvanometer embedding groove; the X-ray galvanometer is embedded and fixedly connected in the X-ray galvanometer embedding groove;

[0022] The fourth transmission mechanism of the structure 2 is provided with a Y-mirror embedding groove; the Y-mirror is embedded and fixedly connected in the Y-mirror embedding groove;

[0023] The other end of the fixed mirror bracket is provided with a fixed mirror embedding groove; the fixed mirror is embedded and fixedly connected in the fixed mirror embedding groove.

[0024] Furthermore, the second transmission mechanism of structure 1 is hinged to the first transmission mechanism of structure 1 through a first motion joint of structure 1; the third transmission mechanism of structure 1 is hinged to the second transmission mechanism of structure 1 through a second motion joint of structure 1; the fixing mechanism of structure 1 is hinged to the third transmission mechanism of structure 1 through a third motion joint of structure 1;

[0025] The fixing mechanism of structure 2 is hinged to the fourth transmission mechanism of structure 2 through the first motion joint of structure 2; the fourth transmission mechanism of structure 2 is hinged to the third transmission mechanism of structure 2 through the second motion joint of structure 2; the third transmission mechanism of structure 2 is hinged to the second transmission mechanism of structure 2 through the third motion joint of structure 2; the second transmission mechanism of structure 2 is hinged to the first transmission mechanism of structure 2 through the fourth motion joint of structure 2.

[0026] Furthermore, the first transmission mechanism of structure 1, the second transmission mechanism of structure 1, the third transmission mechanism of structure 1, the fixing mechanism of structure 1, the fixing mechanism of structure 2, the fourth transmission mechanism of structure 2, the third transmission mechanism of structure 2, the second transmission mechanism of structure 2 and the first transmission mechanism of structure 2 are all made of carbon fiber material;

[0027] The first motion joint of structure 1, the second motion joint of structure 1, the third motion joint of structure 1, the first motion joint of structure 2, the second motion joint of structure 2, the third motion joint of structure 2 and the fourth motion joint of structure 2 are all made of polyimide.

[0028] Furthermore, the support structure includes a first pillar, a second pillar, a third pillar, a first layer of fiberglass board, a second layer of fiberglass board, a third layer of fiberglass board, a fourth layer of fiberglass board, a fifth layer of fiberglass board, a sixth layer of fiberglass board and inter-board sleeves;

[0029] Along the direction from the fixed mirror toward the GRIN lens, the first layer of fiberglass board, the second layer of fiberglass board, the third layer of fiberglass board, the fourth layer of fiberglass board, the fifth layer of fiberglass board, and the sixth layer of fiberglass board are sequentially spaced apart;

[0030] The first support sequentially passes through the first fiberglass board, the second fiberglass board, the third fiberglass board, the fourth fiberglass board, the fifth fiberglass board and the sixth fiberglass board and is fixedly connected;

[0031] The second support column sequentially passes through the first fiberglass board, the second fiberglass board, the third fiberglass board, the fifth fiberglass board, and the sixth fiberglass board and is fixedly connected, and passes through the inter-board sleeve between two adjacent fiberglass boards;

[0032] The third support is fixedly connected between the fourth layer of fiberglass board and the sixth layer of fiberglass board;

[0033] An inter-board sleeve is provided on the outer periphery of each support between adjacent fiberglass boards, and the inter-board sleeve is clamped between two adjacent layers of fiberglass boards;

[0034] The fixed mirror bracket is fixedly mounted on the first layer of fiberglass board;

[0035] The first fixing mechanism of the structure is fixedly connected to the second layer of glass fiber board;

[0036] The second structure fixing mechanism is fixedly connected to the first layer of fiberglass board and the third layer of fiberglass board;

[0037] One of the first piezoelectric bimorph drivers is fixedly mounted on the fourth layer of fiberglass board;

[0038] The second another piezoelectric dual chip driver is fixedly mounted on the fifth layer of fiberglass board.

[0039] Furthermore, one end of the fixed mirror bracket is provided with a groove, and the first layer of fiberglass board is fixedly connected in the groove;

[0040] The second structure fixing mechanism is provided with two slots, wherein the first layer of glass fiber board is embedded and fixed in one of the slots, and the third layer of glass fiber board is embedded and fixed in the other slot.

[0041] Furthermore, the first piezoelectric dual-chip driver and the second piezoelectric dual-chip driver each include an output end, a positive piezoelectric ceramic, a front glass fiber, a signal electrode, a positive electrode, a negative piezoelectric ceramic, a signal layer, a back glass fiber and a negative electrode.

[0042] Furthermore, the rotation angle range of the X galvanometer and the Y galvanometer is ±10°.

[0043] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0044] The endoscopic robot of the present invention drives the rotation of the X-mirror and the Y-mirror through a piezoelectric dual-chip driver and an origami transmission structure, thereby achieving precise control of the laser motion path. By inputting different types of lasers, the robot can not only measure the surface morphology by laser, but also accurately cut the lesion by laser. The origami transmission structure adopts carbon fiber origami technology, and can construct a tiny three-dimensional mechanical structure by using carbon fiber and polyimide film, which is convenient for reducing the overall volume, making the overall structure small and light, stable in movement and having excellent dynamic performance. The piezoelectric dual-chip driver is used for driving, which can achieve a wider motion space, better dynamic characteristics, higher motion accuracy, a more compact structure and a smaller volume. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a schematic diagram of the overall structure of the laser scanning and cutting endoscope robot of the present invention;

[0046] Figure 2 is a structural diagram of the supporting structure;

[0047] Figure 3 Schematic diagram of the matching position relationship between the piezoelectric bimorph driver and the origami transmission structure;

[0048] Figure 4a This is a schematic diagram of the principle of the three-mirror system;

[0049] Figure 4b Schematic diagram of the X-ray galvanometer motion state;

[0050] Figure 4c Schematic diagram of the motion state of the Y galvanometer;

[0051] Figure 5a This is a structural diagram of a carbon fiber origami transmission structure 1;

[0052] Figure 5b This is a motion diagram of the carbon fiber origami transmission structure 1;

[0053] Figure 5c This is a structural diagram of the carbon fiber origami transmission structure 2;

[0054] Figure 5d This is a motion diagram of the carbon fiber origami transmission structure 2;

[0055] Figure 6 Schematic diagram of the structure of the piezoelectric dual-chip driver;

[0056] Figure 7 This is the principle diagram of laser interferometry ranging.

[0057] Among them, 1-origami transmission structure; 2-first piezoelectric bimorph driver; 3-second piezoelectric bimorph driver; 4-support structure; 5-GRIN lens; 6-optical fiber; 7-fixed mirror; 8-X galvanometer mirror; 9-Y galvanometer mirror; 11-carbon fiber origami transmission structure 1; 12-carbon fiber origami transmission structure 2; 13-fixed mirror bracket; 21-output end; 22-positive piezoelectric ceramic; 23-front glass fiber of piezoelectric driver; 24-signal electrode; 25-positive electrode; 26-negative piezoelectric ceramic; 27-signal layer; 28-back glass fiber; 29-negative electrode; 111-first transmission mechanism of structure 1; 112-second transmission mechanism of structure 1; 113-third transmission mechanism of structure 1; 114-fixed mechanism of structure 1; 121-first transmission mechanism of structure 2; 122-second transmission mechanism of structure 2; 123-third transmission mechanism of structure 2; 124-fourth transmission mechanism of structure 2; 125-fixed mechanism of structure 2; 131-groove; 411-first pillar; 412-second pillar; 413-third pillar; 421-first fiberglass layer; 422-second fiberglass layer; 423-third fiberglass layer; 424-fourth fiberglass layer; 425-fifth fiberglass layer; 426-sixth fiberglass layer; 431-inter-board sleeve; 1111-structure-first motion joint; 1112-first rectangular groove; 1121-structure-second motion joint; 1131-X galvanometer slot; 1132-structure 1-third motion joint; 1211-second rectangular slot; 1221-fourth motion joint of structure 2; 1231-third motion joint of structure 2; 1241-Y galvanometer embedding slot; 1242-second motion joint of structure 2; 1251-card slot; 1252-first motion joint of structure 2; 1253-yield slot; A-incident galvanometer system light; B-fixed mirror reflected light; CY galvanometer reflected light; D-outgoing galvanometer system light; E-tissue surface; F-light circulator. DETAILED DESCRIPTION

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0059] The present invention provides a laser scanning and cutting endoscopic robot based on a carbon fiber origami micro-vibrator. The origami transmission structure 1 of the endoscopic robot is constructed by a PC-MEMS process using carbon fiber, acrylic acid, and polyimide materials to form a carbon fiber origami structure. The sheet material is processed by picosecond laser processing equipment, and is folded into three-dimensional shape and assembled onto a bracket constructed of a light-cured 3D-printed sleeve and a laser-cut glass fiber board to construct a micro laser surgical robot, which solves the problems of the current minimally invasive surgical robot model construction difficulty, low surgical accuracy and flexibility, and the like.

[0060] like Figure 1 As shown in the structure, this embodiment provides a laser scanning and cutting endoscope robot based on a carbon fiber origami micro-vibrator, including an origami transmission structure 1, a first piezoelectric bimorph driver 2, a second piezoelectric bimorph driver 3, a support structure 4, a GRIN lens 5, an optical fiber 6, a fixed mirror 7, an X-vibrator 8, and a Y-vibrator 9, wherein:

[0061] The support structure 4 is fixedly mounted with an origami transmission structure 1 at one end and a GRIN lens 5 at the other end. The GRIN lens 5 is connected to an optical fiber 6. A fixed mirror 7, an X-mirror 8, and a Y-mirror 9 are all fixedly mounted to the origami transmission structure 1, forming an optical path formed by the optical fiber 6, GRIN lens 5, fixed mirror 7, X-mirror 8, and Y-mirror 9. A first piezoelectric bimorph driver 2 and a second piezoelectric bimorph driver 3 are both mounted between the support structure 4 and the origami transmission structure 1. The first piezoelectric bimorph driver 2 is used to drive the X-mirror 8 to rotate about the Y-axis via the origami transmission structure 1, while the second piezoelectric bimorph driver 3 is used to drive the Y-mirror 9 to rotate about the Z-axis via the origami transmission structure 1. The rotation angle range of both the X-mirror 8 and the Y-mirror 9 is ±10°.

[0062] like Figure 2The support structure 4 includes a first support column 411, a second support column 412, a third support column 413, a first layer of fiberglass boards 421, a second layer of fiberglass boards 422, a third layer of fiberglass boards 423, a fourth layer of fiberglass boards 424, a fifth layer of fiberglass boards 425, a sixth layer of fiberglass boards 426, and inter-board sleeves 431. Along the direction from the fixed mirror 7 toward the GRIN lens 5, the first layer of fiberglass boards 421, the second layer of fiberglass boards 422, the third layer of fiberglass boards 423, the fourth layer of fiberglass boards 424, the fifth layer of fiberglass boards 425, and the sixth layer of fiberglass boards 426 are sequentially spaced apart, with adjacent layers of fiberglass boards supported by inter-board sleeves 431. The first support 411 sequentially passes through the first fiberglass board 421, the second fiberglass board 422, the third fiberglass board 423, the fourth fiberglass board 424, the fifth fiberglass board 425, and the sixth fiberglass board 426, and is fixedly connected. It also passes through the inter-board sleeve 431 between two adjacent fiberglass boards. The first support 411 and each fiberglass board layer can be connected via a bayonet. The second support 412 sequentially passes through the first fiberglass board 421, the second fiberglass board 422, the third fiberglass board 423, the fifth fiberglass board 425, and the sixth fiberglass board 426, and is fixedly connected. It also passes through the inter-board sleeve 431 between two adjacent fiberglass boards. The third support 413 is fixedly connected between the fourth fiberglass board 424 and the sixth fiberglass board 426. The outer circumference of each pillar between adjacent fiberglass boards is sleeved with an inter-board sleeve 431, and the inter-board sleeve 431 is clamped between two adjacent layers of fiberglass boards, such as: a first pillar 411 between the first and second layers of fiberglass boards is provided with a first and second inter-board sleeve, a first pillar 411 between the second and third layers of fiberglass boards is provided with a second and third inter-board sleeve... a first pillar 411 between the fifth and sixth layers of fiberglass boards is provided with a fifth and sixth inter-board sleeve, a second pillar 412 between the first and second layers of fiberglass boards is also provided with a first and second inter-board sleeve... a second pillar 412 between the third and fifth layers of fiberglass boards is provided with a third and fifth inter-board sleeve, a third and sixth inter-board sleeve is provided on the outer circumference of the third pillar 413 between the fourth and sixth layers of fiberglass boards. Each pillar can be made of a cylinder with the same outer diameter, and each plate sleeve can also be made of a sleeve of the same size with different lengths.

[0063] like Figure 3 As shown, the origami transmission structure 1 includes a carbon fiber origami transmission structure 11, a carbon fiber origami transmission structure 2 12 and a fixed mirror bracket 13; the carbon fiber origami transmission structure 1 11 and the carbon fiber origami transmission structure 2 12 are both fixedly mounted on the support structure 4.

[0064] like Figure 5a and Figure 5bAs shown, the carbon fiber origami transmission structure 11 is composed of a structure-first transmission mechanism 111, a structure-second transmission mechanism 112, a structure-third transmission mechanism 113 and a structure-fixing mechanism 114, which are hinged in sequence; the structure-fixing mechanism 114 is fixedly connected to the second layer of glass fiber board 422 of the supporting structure 4, such as by bonding. The structure-second transmission mechanism 112 and the structure-first transmission mechanism 111 are hinged at the structure-first motion joint 1111; the structure-third transmission mechanism 113 and the structure-second transmission mechanism 112 are hinged at the structure-second motion joint 1121; the structure-fixing mechanism 114 and the structure-third transmission mechanism 113 are hinged at the structure-third motion joint 1132. The structure-third transmission mechanism 113 is provided with an X-galvanometer embedding groove 1131; the X-galvanometer 8 is embedded and fixedly connected in the X-galvanometer embedding groove 1131; Figure 3 and Figure 4a As shown, after the X-mirror 8 is embedded in the X-mirror embedding groove 1131, it is fixedly connected to the third transmission mechanism 113 of the structure 1 and moves along with the third transmission mechanism 113 of the structure 1;

[0065] like Figure 5c and Figure 5d As shown, the carbon fiber origami transmission structure 2 12 is composed of a first transmission mechanism 121 of structure 2, a second transmission mechanism 122 of structure 2, a third transmission mechanism 123 of structure 2, a fourth transmission mechanism 124 of structure 2 and a fixing mechanism 125 of structure 2, which are hinged in sequence; the fixing mechanism 125 of structure 2 and the fourth transmission mechanism 124 of structure 2 are hinged through a first motion joint 1252 of structure 2; the fourth transmission mechanism 124 of structure 2 and the third transmission mechanism 123 of structure 2 are hinged through a second motion joint 1242 of structure 2; the third transmission mechanism 123 of structure 2 and the second transmission mechanism 122 of structure 2 are hinged through a third motion joint 1231 of structure 2; and the second transmission mechanism 122 of structure 2 and the first transmission mechanism 121 of structure 2 are hinged through a fourth motion joint 1221 of structure 2. The fourth transmission mechanism 124 of structure two is provided with a Y-vibration mirror embedding groove 1241; the Y-vibration mirror 9 is embedded and fixedly connected in the Y-vibration mirror embedding groove 1241; after the Y-vibration mirror 9 is embedded in the Y-vibration mirror embedding groove 1241, it is fixedly connected to the fourth transmission mechanism 124 of structure two and moves together with the fourth transmission mechanism 124 of structure two; the fixing mechanism 125 of structure two is fixedly connected to the first layer of fiberglass board 421 and the third layer of fiberglass board 423; the fixing mechanism 125 of structure two is provided with two card slots, one of which is embedded and fixed with the first layer of fiberglass board 421, and the other is embedded and fixed with the third layer of fiberglass board 423; the fixing mechanism 125 of structure two is provided with a make way groove 1253 between the two card slots, and the make way groove 1253 is used to make way for the carbon fiber origami transmission structure 11, so that the carbon fiber origami transmission structure 11 can pass through to avoid interference.

[0066] The first transmission mechanism 111 of structure 1, the second transmission mechanism 112 of structure 1, the third transmission mechanism 113 of structure 1, the fixing mechanism 114 of structure 1, the fixing mechanism 125 of structure 2, the fourth transmission mechanism 124 of structure 2, the third transmission mechanism 123 of structure 2, the second transmission mechanism 122 of structure 2 and the first transmission mechanism 121 of structure 2 are all made of carbon fiber material; the first motion joint 1111 of structure 1, the second motion joint 1121 of structure 1, the third motion joint 1132 of structure 1, the first motion joint 1252 of structure 2, the second motion joint 1242 of structure 2, the third motion joint 1231 of structure 2 and the fourth motion joint 1221 of structure 2 are all made of polyimide; each motion joint can be bonded to the transmission mechanism and the fixing mechanism by acrylic acid.

[0067] like Figure 1 and Figure 3 As shown, a groove 131 is provided at one end of the fixed mirror bracket 13, and the first layer of fiberglass board 421 is embedded and fixedly connected in the groove 131; the fixed mirror bracket 13 is provided with a fixed mirror 7 embedding groove at the other end facing the GRIN lens 5; the fixed mirror 7 is embedded and fixedly connected in the fixed mirror 7 embedding groove, and the fixed mirror 7 is fixedly connected to the fixed mirror bracket 13 after being embedded in the fixed mirror 7 embedding groove.

[0068] like Figure 1 As shown, the first piezoelectric bimorph driver 2 is fixedly installed between the first transmission mechanism 111 of structure 1 and the fourth fiberglass plate 424 of the support structure 4, and is used to drive the X galvanometer 8 to rotate through the carbon fiber origami transmission structure 1. The second piezoelectric bimorph driver 3 is fixedly installed between the first transmission mechanism 121 of structure 2 and the fifth fiberglass plate 425 of the support structure 4, and is used to drive the Y galvanometer 9 to rotate through the carbon fiber origami transmission structure 2 12. Figure 3 and Figure 6 As shown, the top ends of the two piezoelectric dual-chip drivers are provided with a smaller protrusion, and the bottom ends are provided with a larger protrusion. The protrusions at the top ends are respectively inserted into the first rectangular groove 1112 of the carbon fiber origami transmission structure 11 and the second rectangular groove 1211 of the carbon fiber origami transmission structure 2 12, and the protrusions at the bottom ends are respectively inserted into the square slots of the fourth layer of fiberglass board 424 and the fifth layer of fiberglass board 425, thereby realizing the three-dimensional fixation of the two piezoelectric dual-chip drivers.

[0069] Figure 6 The diagram illustrates the structures of the front and back sides of the first piezoelectric dual-chip driver 2, wherein the second piezoelectric dual-chip driver 3 has the same structure as the first piezoelectric dual-chip driver 2; the piezoelectric dual-chip driver includes an output end 21, a positive piezoelectric ceramic 22, a front glass fiber 23, a signal electrode 24, a positive electrode 25, a negative piezoelectric ceramic 26, a signal layer 27, a back glass fiber 28 and a negative electrode 29.

[0070] It should be noted that Figure 1 The spatial rectangular coordinate system XYZ established in the figure has an arbitrary origin position, with the Z axis being perpendicular to the upper surface of the GRIN lens 5, the Y axis being parallel to the third motion joint 1132 of the origami transmission structure 1, and the X axis being perpendicular to both the Y axis and the Z axis.

[0071] like Figure 5b As shown, when the first transmission mechanism 111 of structure 1 moves along the X-axis, it can drive the second transmission mechanism 112 of structure 1 to move, thereby enabling the third transmission mechanism 113 of structure 1 to rotate with the third motion joint 1132 of structure 1 as the axis, thereby realizing the function of driving the X-galvanometer 8 to rotate; Figure 5d As shown, when the first transmission mechanism 121 of structure 2 moves along the Y axis, it can drive the second transmission mechanism 122 of structure 2 to move, and then drive the third transmission mechanism 123 of structure 2 to move, so that the fourth transmission mechanism 124 of structure 2 can rotate with the edge of the fixing mechanism 125 of structure 2 as the axis, thereby realizing the function of driving the Y galvanometer 9 to rotate.

[0072] like Figure 4a 、 Figure 4b as well as Figure 4c , the fixed mirror 7 is fixedly connected to the fixed mirror bracket 13; the incident galvanometer system light A is reflected by the fixed mirror 7, and the fixed mirror reflected light B is emitted to the Y galvanometer 9, and the Y galvanometer reflected light C is reflected by the X galvanometer 8 to obtain the outgoing galvanometer system light D; the carbon fiber origami structure 2 moves along the Y axis so that the Y galvanometer 9 has one degree of freedom of rotation around the Z axis, and the carbon fiber origami structure 1 moves along the X axis so that the X galvanometer 8 has one degree of freedom of rotation around the Y axis. The rotation angle range of the X galvanometer 8 and the Y galvanometer 9 is ±10°, and finally the outgoing galvanometer system light D has two degrees of freedom and can change within a certain spatial range.

[0073] The operating principle of the above-mentioned laser scanning and cutting endoscope robot is:

[0074] First, the principle of laser three-dimensional scanning of the laser scanning and cutting endoscope robot is described in detail. A laser with a specific wavelength (the wavelength has the highest reflectivity to the scanned tissue) is input at the laser input end. Figure 4a The galvanometer system comprising the fixed mirror 7, the X galvanometer 8 and the Y galvanometer 9 can achieve precise control of the laser path, thereby achieving scanning of the internal tissues of the human body. Figure 7The laser interferometry principle illustrated here can measure the depth of tissue surface E. Laser light is emitted through optical fiber 6, reflected by a galvanometer system, and then illuminates tissue surface E. The reflected light signal interferes with a reference light signal within an optical circulator F and is received by a photoelectric sensor. By analyzing the spectrum of the interfering light signal, the distance between the surgical robot and tissue surface E can be accurately calculated. Using point-by-point scanning technology, the system can obtain three-dimensional surface information of the target area and generate a precise three-dimensional surface model.

[0075] Secondly, the part about lesion diagnosis of the above-mentioned laser scanning and cutting endoscope robot is described in detail. Professional doctors judge whether the tissue is normal based on the three-dimensional surface model obtained by laser scanning. If the tissue is abnormal, the doctor can further determine the optimal laser cutting path based on the three-dimensional surface model. In this way, a large amount of data on the relationship between the three-dimensional surface model, tissue status and laser cutting path can be collected and constructed into a training set for training the deep learning model for lesion diagnosis. The trained model can automatically judge whether the tissue is normal, identify different types of lesions, and generate the optimal laser cutting path based on the three-dimensional surface model obtained by laser scanning, thereby realizing automatic diagnosis and intelligent generation of surgical plans.

[0076] Then, the laser cutting part of the laser scanning and cutting endoscope robot is described in detail. The laser used for surgical cutting is input into the laser input end. Combined with the trained lesion diagnosis deep learning model, the model can automatically generate the optimal cutting path based on the three-dimensional surface model obtained by laser scanning. Figure 4a The three-galvanometer mirror system shown precisely controls the laser path, allowing the laser to complete the cutting along the generated path, thereby achieving precise resection of the lesion.

[0077] Finally, the overall implementation plan of the above-mentioned laser scanning and cutting endoscopic robot is described in detail. A laser of a specific wavelength for three-dimensional scanning is input at the laser input end (this wavelength has the highest reflectivity to the scanned tissue), and the three-dimensional surface model of the target area is obtained through point-by-point scanning and laser interference ranging principle. The lesion diagnosis model then automatically generates the optimal cutting path based on the three-dimensional surface model. The laser input end is switched to the laser for surgical cutting, and the galvanometer system controls the laser to complete the cutting along the generated path, thereby achieving precise resection of the lesion.

[0078] The above-mentioned laser scanning and cutting endoscope robot integrates all components into a carbon fiber origami micro-vibration mirror structure, ensuring that the equipment is light, flexible, precisely controllable, and can complete a series of surgical tasks such as scanning, diagnosis, planning and resection through a single device.

[0079] The aforementioned laser scanning and cutting endoscopic robot utilizes frequency-modulated continuous wave (FMCW) laser ranging technology to measure the distance between the surgical robot and tissue in real time during surgery. Point-by-point scanning generates a three-dimensional surface model of the target area. A deep learning model for lesion diagnosis is constructed and trained using a large dataset provided by professional physicians. This trained deep learning model automatically determines tissue status and generates an optimal cutting path based on the 3D surface model obtained by laser scanning. By integrating 3D laser scanning, lesion diagnosis, and laser cutting technologies, it enables seamless integration of tissue observation and lesion excision, providing a precise and efficient surgical solution. Frequency-modulated continuous wave (FMCW) laser ranging technology uses a photodetector to capture the coherent light spectrum generated by the interference of reference light and reflected light, encoding distance information based on the phase difference between the reference and reflected light. This measurement method achieves micron-level distance resolution, accurately estimating the minimum distance between the surgical robot and the tissue being measured. Due to its compact size and immediate feedback, it can be integrated into laser minimally invasive surgical robots for in vivo tissue surface topography strategies, providing important information for lesion observation and surgical path planning.

[0080] Obviously, those skilled in the art may make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is intended to include such modifications and variations.

Claims

1. A laser scanning and cutting endoscopic robot based on a carbon fiber origami micro-vibration mirror, characterized in that: It includes an origami transmission structure, a first piezoelectric bimorph driver, a second piezoelectric bimorph driver, a support structure, a GRIN lens, an optical fiber, a fixed mirror, an X-galvanometer, and a Y-galvanometer; The origami transmission structure is fixedly mounted on one end of the support structure, and the GRIN lens is fixedly mounted on the other end; the GRIN lens is connected to the optical fiber; The fixed mirror, the X-galvanometer mirror, and the Y-galvanometer mirror are all fixedly mounted on the origami transmission structure, and an optical path is formed by the optical fiber, the GRIN lens, the fixed mirror, the X-galvanometer mirror, and the Y-galvanometer mirror; The first piezoelectric dual-chip driver and the second piezoelectric dual-chip driver are both installed between the support structure and the origami transmission structure; the first piezoelectric dual-chip driver is used to drive the X galvanometer to rotate around the Y axis through the origami transmission structure; the second piezoelectric dual-chip driver is used to drive the Y galvanometer to rotate around the Z axis through the origami transmission structure.

2. The endoscopic robot according to claim 1, wherein: The origami transmission structure includes a carbon fiber origami transmission structure 1, a carbon fiber origami transmission structure 2, and a fixed mirror bracket; The carbon fiber origami transmission structure 1 and the carbon fiber origami transmission structure 2 are both fixedly mounted on the support structure; One end of the fixed mirror bracket is fixedly mounted on the support structure, and the fixed mirror is fixedly mounted on the other end facing the GRIN lens; The X-ray galvanometer is fixedly mounted on the carbon fiber origami transmission structure 1; The Y galvanometer is fixedly mounted on the second carbon fiber origami transmission structure; The first piezoelectric bimorph driver is fixedly installed between the carbon fiber origami transmission structure 1 and the support structure, and is used to drive the X-ray galvanometer to rotate through the carbon fiber origami transmission structure 1; The second piezoelectric bimorph driver is fixedly installed between the second carbon fiber origami transmission structure and the supporting structure, and is used to drive the Y galvanometer to rotate through the second carbon fiber origami transmission structure.

3. The endoscopic robot according to claim 2, wherein: The carbon fiber origami transmission structure 1 is composed of a structure 1 first transmission mechanism, a structure 1 second transmission mechanism, a structure 1 third transmission mechanism and a structure 1 fixing mechanism, which are hinged in sequence; the structure 1 fixing mechanism is fixedly mounted on the supporting structure; the X-ray galvanometer is fixedly mounted on the structure 1 third transmission mechanism; The carbon fiber origami transmission structure 2 is composed of a first transmission mechanism of structure 2, a second transmission mechanism of structure 2, a third transmission mechanism of structure 2, a fourth transmission mechanism of structure 2, and a fixing mechanism of structure 2, which are hinged in sequence; the fixing mechanism of structure 2 is fixedly mounted on the supporting structure; the Y galvanometer is fixedly mounted on the fourth transmission mechanism of structure 2; The first piezoelectric bimorph driver is fixedly mounted on the first transmission mechanism of the structure; The second piezoelectric bimorph driver is fixedly mounted on the first transmission mechanism of the structure 2.

4. The endoscopic robot according to claim 3, wherein: The third transmission mechanism of the structure 1 is provided with an X-ray galvanometer embedding groove; the X-ray galvanometer is embedded and fixedly connected in the X-ray galvanometer embedding groove; The fourth transmission mechanism of the structure 2 is provided with a Y-mirror embedding groove; the Y-mirror is embedded and fixedly connected in the Y-mirror embedding groove; The other end of the fixed mirror bracket is provided with a fixed mirror embedding groove; the fixed mirror is embedded and fixedly connected in the fixed mirror embedding groove.

5. The endoscopic robot according to claim 4, wherein: The second transmission mechanism of structure 1 is hinged to the first transmission mechanism of structure 1 through the first motion joint of structure 1; the third transmission mechanism of structure 1 is hinged to the second transmission mechanism of structure 1 through the second motion joint of structure 1; the fixing mechanism of structure 1 is hinged to the third transmission mechanism of structure 1 through the third motion joint of structure 1; The fixing mechanism of structure 2 is hinged to the fourth transmission mechanism of structure 2 through the first motion joint of structure 2; the fourth transmission mechanism of structure 2 is hinged to the third transmission mechanism of structure 2 through the second motion joint of structure 2; the third transmission mechanism of structure 2 is hinged to the second transmission mechanism of structure 2 through the third motion joint of structure 2; the second transmission mechanism of structure 2 is hinged to the first transmission mechanism of structure 2 through the fourth motion joint of structure 2.

6. The endoscopic robot according to claim 5, wherein: The first transmission mechanism of structure 1, the second transmission mechanism of structure 1, the third transmission mechanism of structure 1, the fixing mechanism of structure 1, the fixing mechanism of structure 2, the fourth transmission mechanism of structure 2, the third transmission mechanism of structure 2, the second transmission mechanism of structure 2 and the first transmission mechanism of structure 2 are all made of carbon fiber material; The first motion joint of structure 1, the second motion joint of structure 1, the third motion joint of structure 1, the first motion joint of structure 2, the second motion joint of structure 2, the third motion joint of structure 2 and the fourth motion joint of structure 2 are all made of polyimide.

7. The endoscopic robot according to claim 3, wherein: The supporting structure includes a first pillar, a second pillar, a third pillar, a first layer of fiberglass board, a second layer of fiberglass board, a third layer of fiberglass board, a fourth layer of fiberglass board, a fifth layer of fiberglass board, a sixth layer of fiberglass board and sleeves between the boards; Along the direction from the fixed mirror toward the GRIN lens, the first layer of fiberglass board, the second layer of fiberglass board, the third layer of fiberglass board, the fourth layer of fiberglass board, the fifth layer of fiberglass board, and the sixth layer of fiberglass board are sequentially spaced apart; The first support sequentially passes through the first fiberglass board, the second fiberglass board, the third fiberglass board, the fourth fiberglass board, the fifth fiberglass board and the sixth fiberglass board and is fixedly connected; The second support column sequentially passes through the first fiberglass board, the second fiberglass board, the third fiberglass board, the fifth fiberglass board, and the sixth fiberglass board and is fixedly connected, and passes through the inter-board sleeve between two adjacent fiberglass boards; The third support is fixedly connected between the fourth layer of fiberglass board and the sixth layer of fiberglass board; An inter-board sleeve is provided on the outer periphery of each support between adjacent fiberglass boards, and the inter-board sleeve is clamped between two adjacent layers of fiberglass boards; The fixed mirror bracket is fixedly mounted on the first layer of fiberglass board; The first fixing mechanism of the structure is fixedly connected to the second layer of glass fiber board; The second structure fixing mechanism is fixedly connected to the first layer of fiberglass board and the third layer of fiberglass board; The first piezoelectric bimorph driver is fixedly mounted on the fourth layer of fiberglass board; The second piezoelectric dual-chip driver is fixedly mounted on the fifth layer of fiberglass board.

8. The endoscopic robot according to claim 7, wherein: One end of the fixed mirror bracket is provided with a groove, and the first layer of glass fiber board is fixedly connected in the groove; The second structure fixing mechanism is provided with two slots, wherein the first layer of glass fiber board is embedded and fixed in one of the slots, and the third layer of glass fiber board is embedded and fixed in the other slot.

9. The endoscopic robot according to any one of claims 1 to 8, characterized in that: The first piezoelectric bimorph driver and the second piezoelectric bimorph driver each include an output end, a positive piezoelectric ceramic, a front glass fiber, a signal electrode, a positive electrode, a negative piezoelectric ceramic, a signal layer, a back glass fiber, and a negative electrode.

10. The endoscopic robot according to any one of claims 1 to 8, characterized in that: The rotation angle range of the X galvanometer and the Y galvanometer is ±10°.

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