A laser scanning cutting endoscope robot based on carbon fiber origami micro-mirror

Abstract

The application discloses a kind of laser scanning cutting endoscope robots based on carbon fiber paper micro-vibration mirror, the endoscope robot is fixedly installed with paper transmission structure in one end of support structure, and the other end is fixedly installed with GRIN lens;Fixed mirror, X galvanometer and Y galvanometer are fixedly installed in paper transmission structure, and optical path is formed by optical fiber, GRIN lens, fixed mirror, X galvanometer and Y galvanometer;First piezoelectric bimorph driver and second piezoelectric bimorph driver are piezoelectric bimorph driver installed between support structure and paper transmission structure;First piezoelectric bimorph driver is used to drive X galvanometer to rotate around Y axis and / or by paper transmission structure;Second piezoelectric bimorph driver is used to drive Y galvanometer to rotate around Z axis by paper transmission structure.The above-mentioned endoscope robot is compact, light, stable in motion and has excellent dynamic performance by using piezoelectric bimorph driver and paper transmission structure.

Description

Technical Field

[0001] This invention belongs to the field of origami robot technology, specifically relating to a laser scanning and cutting endoscope robot based on a carbon fiber origami micro-vibrating mirror. Background Technology

[0002] With the rapid development of medical technology, laser minimally invasive surgery has become a rising star in the field of modern surgery, attracting much attention and praise. Compared with traditional surgical methods, laser minimally invasive surgery, with its significant advantages such as minimal trauma, rapid recovery, and reduced complication rates, is gradually gaining widespread recognition and favor from doctors and patients. Compared with traditional manual laser minimally invasive surgery, robot-controlled laser surgery has significant advantages in terms of precision, surgical size, and incision quality. By using the reflection of a galvanometer system to change the propagation path of the laser, flexible adjustment of the laser direction can be achieved. Existing micro-laser steering devices exhibit excellent performance in terms of workspace, dynamic characteristics, and motion precision.

[0003] For the millimeter-scale mechanical design of minimally invasive surgical robot systems, traditional processes are no longer suitable. Efficiently constructing microscale mechanical structures with excellent mechanical properties has become a major challenge in building microsystems. Meanwhile, real-time lesion information feedback is indispensable in minimally invasive laser surgery. Traditional laser surgical systems mostly rely on camera recording, but for situations requiring multi-viewpoint 3D imaging to obtain precise surface morphology, traditional camera recording methods struggle 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 endoscope robot based on a carbon fiber origami micro-vibrator. The endoscope robot adopts a piezoelectric dual-crystal actuator and an origami transmission structure, which makes the overall structure compact, lightweight, stable in motion and have excellent dynamic performance.

[0005] To achieve the above objectives, the present invention adopts the following specific technical solution:

[0006] A laser scanning and cutting endoscope robot based on carbon fiber origami micro-mirrors, the endoscope robot includes an origami transmission structure, a first piezoelectric bicrystalline actuator, a second piezoelectric bicrystalline actuator, a support structure, a GRIN lens, an optical fiber, a fixed mirror, an X-mirror, and a Y-mirror.

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

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

[0009] Both the first and second piezoelectric bicrystalline driver are mounted between the support structure and the origami transmission structure; the first piezoelectric bicrystalline driver is used to drive the X-mirror to rotate around the Y-axis and / or via the origami transmission structure; the second piezoelectric bicrystalline driver is used to drive the Y-mirror to rotate around the Z-axis via the origami transmission structure.

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

[0011] Both the first carbon fiber origami transmission structure and the second carbon fiber origami transmission structure are fixedly installed on the support structure;

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

[0013] The X-ray mirror is fixedly installed on the carbon fiber origami transmission structure.

[0014] The Y-mirror is fixedly installed on the second carbon fiber origami transmission structure.

[0015] One of the first piezoelectric bicrystalline wafer drivers is fixedly installed between the carbon fiber origami transmission structure and the support structure, and is used to drive the X-ray mirror to rotate through the carbon fiber origami transmission structure.

[0016] Another second piezoelectric bicrystalline driver is fixedly installed between the second carbon fiber origami transmission structure and the support structure, and is used to drive the Y-mirror to rotate through the second carbon fiber origami transmission structure.

[0017] Furthermore, the carbon fiber origami transmission structure consists of a first transmission mechanism, a second transmission mechanism, a third transmission mechanism, and a fixing mechanism that are sequentially hinged together; the fixing mechanism is fixedly installed on the support structure; and the X-ray galvanometer is fixedly installed on the third transmission mechanism.

[0018] The second carbon fiber origami transmission structure consists of a first transmission mechanism, a second transmission mechanism, a third transmission mechanism, a fourth transmission mechanism, and a fixing mechanism, all hinged together in sequence. The fixing mechanism is fixedly installed on the supporting structure. The Y-mirror is fixedly installed on the fourth transmission mechanism.

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

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

[0021] Furthermore, the third transmission mechanism of the structure is provided with an X-mirror slot; the X-mirror is fitted and fixedly connected in the X-mirror slot;

[0022] The fourth transmission mechanism of the second structure is provided with a Y-mirror slot; the Y-mirror is fitted and fixedly connected in the Y-mirror slot;

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

[0024] Furthermore, the second transmission mechanism of structure one is hinged to the first transmission mechanism of structure one through the first moving joint of structure one; the third transmission mechanism of structure one is hinged to the second transmission mechanism of structure one through the second moving joint of structure one; and the fixing mechanism of structure one is hinged to the third transmission mechanism of structure one through the third moving joint of structure one.

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

[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 joint, second joint, third joint, first joint, second joint, third joint, and fourth joint of structure one 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 an inter-board sleeve.

[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 arranged at intervals in sequence;

[0030] The first support column passes through and is fixedly connected to 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 in sequence;

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

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

[0033] Each support column between adjacent fiberglass boards is fitted with an inter-board sleeve, which is clamped between two adjacent layers of fiberglass boards.

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

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

[0036] The second 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 bicrystalline drivers is fixedly mounted on the fourth layer of fiberglass board;

[0038] The second piezoelectric bicrystalline 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 embedded and fixedly connected in the groove;

[0040] The second structure fixing mechanism has two slots, one of which is fitted and fixed with the first layer of fiberglass board, and the other slot is fitted and fixed with the third layer of fiberglass board.

[0041] Furthermore, both the first and second piezoelectric bicrystalline driver include an output terminal, 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 both the X-mirror and the Y-mirror 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 this invention drives the X-mirror and Y-mirror to rotate through a piezoelectric dual-crystal actuator and an origami transmission structure, achieving precise control of the laser motion path. By inputting different types of lasers, it can perform surface morphology measurement and precise cutting of lesions using lasers. The origami transmission structure adopts carbon fiber origami technology, which can construct a tiny three-dimensional mechanical structure through carbon fiber and polyimide film, making it easy to reduce the overall volume, resulting in a compact, lightweight, stable, and dynamic structure with excellent performance. The use of a piezoelectric dual-crystal actuator enables a wider motion space, better dynamic characteristics, higher motion accuracy, a more compact structure, and a smaller volume. Attached Figure Description

[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 A structural diagram of the supporting structure;

[0047] Figure 3 A schematic diagram showing the positional relationship between the piezoelectric bicrystalline wafer driver and the origami transmission structure;

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

[0049] Figure 4b This is a schematic diagram of the motion state of the X-ray galvanometer;

[0050] Figure 4c This is a schematic diagram of the motion state of the Y-mirror.

[0051] Figure 5a This is a schematic diagram of the carbon fiber origami transmission structure.

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

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

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

[0055] Figure 6 This is a schematic diagram of the structure of a piezoelectric bicrystalline wafer driver;

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

[0057] Among them, 1-origami transmission structure; 2-first piezoelectric bicrystalline driver; 3-second piezoelectric bicrystalline driver; 4-support structure; 5-GRIN lens; 6-optical fiber; 7-fixed mirror; 8-X-galvanometer; 9-Y-galvanometer; 11-carbon fiber origami transmission structure one; 12-carbon fiber origami transmission structure two; 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 one; 112-second transmission mechanism of structure one; 113-third transmission mechanism of structure one; 114-fixing mechanism of structure one; 121-first transmission mechanism of structure two; 122-second transmission mechanism of structure two; 123-third transmission mechanism of structure two; 124-fourth transmission mechanism of structure two; 125-fixing mechanism of structure two; 131-groove. 411-First support column; 412-Second support column; 413-Third support column; 421-First layer of fiberglass board; 422-Second layer of fiberglass board; 423-Third layer of fiberglass board; 424-Fourth layer of fiberglass board; 425-Fifth layer of fiberglass board; 426-Sixth layer of fiberglass board; 431-Inter-board sleeve; 1111-First motion joint of structure one; 1112-First rectangular groove; 1121-Second motion joint of structure one; 1131-X-ray galvanometer slot; 1132-Structure 1-Third motion joint; 1211-Second rectangular groove; 1221-Fourth motion joint of structure two; 1231-Third motion joint of structure two; 1241-Y-Galvanometer slot; 1242-Second motion joint of structure two; 1251-Slot; 1252-First motion joint of structure two; 1253-Relieving groove; A-Incident galvanometer system light; B-Reflected light from fixed mirror; CY-Reflected light from galvanometer; D-Outgoing galvanometer system light; E-Tissue surface; F-Optical circulator. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] This invention provides a laser scanning and cutting endoscope robot based on a carbon fiber origami micromirror. The origami transmission structure 1 of this endoscope robot is constructed using carbon fiber, acrylic, and polyimide materials through PC-MEMS technology. The sheet material is processed by a picosecond laser processing device, folded and stereo-formed, and assembled onto a support constructed from a sleeve printed by photopolymerization 3D and a laser-cut fiberglass plate, thus constructing a miniature laser surgical robot. This invention solves the problems of difficulty in constructing minimally invasive surgical robot models and low surgical precision and flexibility at present.

[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 micromirror, including an origami transmission structure 1, a first piezoelectric bicrystalline wafer driver 2, a second piezoelectric bicrystalline wafer driver 3, a support structure 4, a GRIN lens 5, an optical fiber 6, a fixed mirror 7, an X-mirror 8, and a Y-mirror 9, wherein:

[0061] One end of the support structure 4 is fixedly mounted with the origami transmission structure 1, and the other end is fixedly mounted with the GRIN lens 5. The GRIN lens 5 is connected to the optical fiber 6. The fixed mirror 7, the X-mirror 8, and the Y-mirror 9 are all fixedly mounted on the origami transmission structure 1, and an optical path is formed by the optical fiber 6, the GRIN lens 5, the fixed mirror 7, the X-mirror 8, and the Y-mirror 9. The first piezoelectric bicrystalline driver 2 and the second piezoelectric bicrystalline driver 3 are both installed between the support structure 4 and the origami transmission structure 1. The first piezoelectric bicrystalline driver 2 is used to drive the X-mirror 8 to rotate around the Y-axis through the origami transmission structure 1. The second piezoelectric bicrystalline driver 3 is used to drive the Y-mirror 9 to rotate around the Z-axis through the origami transmission structure 1. The rotation angle range of 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 board 421, a second layer of fiberglass board 422, a third layer of fiberglass board 423, a fourth layer of fiberglass board 424, a fifth layer of fiberglass board 425, a sixth layer of fiberglass board 426, and an inter-board sleeve 431. Along the direction from the fixed mirror 7 towards the GRIN lens 5, the first layer of fiberglass board 421, the second layer of fiberglass board 422, the third layer of fiberglass board 423, the fourth layer of fiberglass board 424, the fifth layer of fiberglass board 425, and the sixth layer of fiberglass board 426 are arranged sequentially at intervals, with adjacent layers of fiberglass board supported by the inter-board sleeve 431. The first support column 411 passes sequentially through and is fixedly connected to the first layer of fiberglass board 421, the second layer of fiberglass board 422, the third layer of fiberglass board 423, the fourth layer of fiberglass board 424, the fifth layer of fiberglass board 425, and the sixth layer of fiberglass board 426, and also passes through the inter-board sleeve 431 between adjacent fiberglass boards; the first support column 411 can be connected to each layer of fiberglass board via a snap-fit ​​connection. The second support column 412 passes sequentially through and is fixedly connected to the first layer of fiberglass board 421, the second layer of fiberglass board 422, the third layer of fiberglass board 423, the fifth layer of fiberglass board 425, and the sixth layer of fiberglass board 426, and also passes through the inter-board sleeve 431 between adjacent fiberglass boards. The third support column 413 is fixedly connected between the fourth layer of fiberglass board 424 and the sixth layer of fiberglass board 426. Each support column between adjacent fiberglass boards is fitted with an inter-board sleeve 431. The inter-board sleeve 431 clamps between two adjacent layers of fiberglass boards. For example, an inter-board sleeve 431 is provided on the outer periphery of the first support column 411 between the first and second layers of fiberglass boards, an inter-board sleeve 431 is provided on the outer periphery of the first support column 411 between the second and third layers of fiberglass boards, and so on. An inter-board sleeve 431 is provided on the outer periphery of the first support column 411 between the fifth and sixth layers of fiberglass boards, an inter-board sleeve 431 is also provided on the outer periphery of the second support column 412 between the first and second layers of fiberglass boards, and so on. An inter-board sleeve 431 is provided on the outer periphery of the second support column 412 between the third and fifth layers of fiberglass boards, and an inter-board sleeve 431 is provided on the outer periphery of the third support column 413 between the fourth and sixth layers of fiberglass boards. Each support column can be made of a column with the same outer diameter, and each board sleeve can be made of a sleeve of the same size but different lengths.

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

[0064] like Figure 5a and Figure 5bAs shown, the carbon fiber origami transmission structure 11 consists of a first transmission mechanism 111, a second transmission mechanism 112, a third transmission mechanism 113, and a fixing mechanism 114, which are sequentially hinged. The fixing mechanism 114 is fixedly connected to the second layer of fiberglass board 422 of the supporting structure 4, such as by bonding. The second transmission mechanism 112 is hinged to the first transmission mechanism 111 through the first moving joint 1111; the third transmission mechanism 113 is hinged to the second transmission mechanism 112 through the second moving joint 1121; and the fixing mechanism 114 is hinged to the third transmission mechanism 113 through the third moving joint 1132. The third transmission mechanism 113 is provided with an X-ray mirror slot 1131; the X-ray mirror 8 is fitted and fixedly connected in the X-ray mirror slot 1131. Figure 3 and Figure 4a As shown, after the X-mirror 8 is embedded in the X-mirror slot 1131, it is fixedly connected to the third transmission mechanism 113 of the structure and moves together with the third transmission mechanism 113 of the structure.

[0065] like Figure 5c and Figure 5d As shown, the carbon fiber origami transmission structure 12 consists of a first transmission mechanism 121, a second transmission mechanism 122, a third transmission mechanism 123, a fourth transmission mechanism 124, and a fixing mechanism 125, which are connected in sequence. The fixing mechanism 125 and the fourth transmission mechanism 124 are hinged to each other via the first motion joint 1252. The fourth transmission mechanism 124 and the third transmission mechanism 123 are hinged to each other via the second motion joint 1242. The third transmission mechanism 123 and the second transmission mechanism 122 are hinged to each other via the third motion joint 1231. The second transmission mechanism 122 and the first transmission mechanism 121 are hinged to each other via the fourth motion joint 1221. The fourth transmission mechanism 124 of structure two is provided with a Y-mirror slot 1241; the Y-mirror 9 is fitted and fixedly connected in the Y-mirror slot 1241; after the Y-mirror 9 is embedded in the Y-mirror slot 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 slots, one slot in which the first layer of fiberglass board 421 is fitted and fixed, and the other slot in which the third layer of fiberglass board 423 is fitted and fixed; the fixing mechanism 125 of structure two is provided with a clearance slot 1253 between the two slots, the clearance slot 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 and avoid interference.

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

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

[0068] like Figure 1 As shown, the first piezoelectric bicrystalline wafer driver 2 is fixedly installed between the first transmission mechanism 111 of structure one and the fourth layer of fiberglass plate 424 of support structure 4, and is used to drive the X-mirror 8 to rotate via the carbon fiber origami transmission mechanism 11. The second piezoelectric bicrystalline wafer driver 3 is fixedly installed between the first transmission mechanism 121 of structure two and the fifth layer of fiberglass plate 425 of support structure 4, and is used to drive the Y-mirror 9 to rotate via the carbon fiber origami transmission mechanism 2 12. Figure 3 and Figure 6 As shown, the top of each of the two piezoelectric bicrystalline wafer drivers has a smaller protrusion, and the bottom of each has a larger protrusion. The protrusions at the top are 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, respectively. The protrusions at the bottom are inserted into the square slots of the fourth layer of fiberglass board 424 and the fifth layer of fiberglass board 425, respectively, thereby achieving three-dimensional fixation of the two piezoelectric bicrystalline wafer drivers.

[0069] Figure 6 The diagram illustrates the front and back structures of the first piezoelectric bicrystalline driver 2, wherein the second piezoelectric bicrystalline driver 3 has the same structure as the first piezoelectric bicrystalline driver 2; the piezoelectric bicrystalline driver includes an output terminal 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 is established in the middle, with the origin position arbitrary. The direction perpendicular to the upper surface of GRIN lens 5 is the Z-axis, and the direction parallel to the third motion joint 1132 of the origami transmission structure 1 is the Y-axis. The X-axis is perpendicular to both the Y-axis and the Z-axis.

[0071] like Figure 5b As shown, when the first transmission mechanism 111 of structure one moves along the X-axis, it can drive the second transmission mechanism 112 of structure one to move, thereby enabling the third transmission mechanism 113 of structure one to rotate about the third motion joint 1132 of structure one, thus realizing the function of driving the X-ray mirror 8 to rotate; as Figure 5d As shown, when the first transmission mechanism 121 of structure two moves along the Y-axis, it can drive the second transmission mechanism 122 of structure two to move, and then drive the third transmission mechanism 123 of structure two to move, thereby enabling the fourth transmission mechanism 124 of structure two to rotate around the edge of the fixed mechanism 125 of structure two, thus realizing the function of driving the Y-mirror 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 reflected light B is directed to the Y galvanometer 9. The reflected light C is reflected by the X galvanometer 8 to obtain the outgoing galvanometer system light D; the carbon fiber origami structure II moves along the Y-axis, giving the Y galvanometer 9 one degree of freedom to rotate around the Z-axis, and the carbon fiber origami structure I moves along the X-axis, giving the X galvanometer 8 one degree of freedom to rotate around the Y-axis. The rotation angle range of both the X galvanometer 8 and the Y galvanometer 9 is ±10°, ultimately achieving that the outgoing galvanometer system light D has two degrees of freedom and can vary within a certain spatial range.

[0073] The operating principle of the aforementioned laser scanning and cutting endoscope robot is as follows:

[0074] First, the principle of laser three-dimensional scanning in the aforementioned laser scanning and cutting endoscopic robot is described in detail. A specific wavelength of laser light (with the highest reflectivity to the scanned tissue) is input at the laser input end, and then... Figure 4a The galvanometer system shown, comprising a fixed mirror 7, an X-mirror 8, and a Y-mirror 9, enables precise control of the laser path, thereby achieving scanning of internal human tissues. Based on... Figure 7The laser interferometry principle illustrated here can measure the depth information of tissue surface E. A laser beam is emitted through fiber 6, reflected by a galvanometer system, and then strikes the tissue surface E. The reflected light signal interferes with a reference light signal within the optical circulator F, and the interference signal is received by a photoelectric sensor. By analyzing the spectrum of the interference signal, the distance between the surgical robot and the 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 an accurate three-dimensional surface model.

[0075] Secondly, the lesion diagnosis aspect of the aforementioned laser scanning and cutting endoscopic robot is described in detail. A specialist physician determines the normality of the tissue based on the three-dimensional surface model obtained from the laser scan. If abnormalities are found, the physician can further determine the optimal laser cutting path based on this three-dimensional surface model. In this way, a large amount of data on the relationship between the three-dimensional surface model, tissue state, and laser cutting path can be collected and used to build a training set for training a deep learning model for lesion diagnosis. The trained model can automatically determine the normality of tissue, identify different types of lesions, and generate the optimal laser cutting path based on the three-dimensional surface model obtained from the laser scan, thereby achieving automatic diagnosis and intelligent generation of surgical plans.

[0076] Then, the laser cutting aspect of the aforementioned laser scanning and cutting endoscopic robot is described in detail. A laser for surgical cutting is input at the laser input end, and combined with a trained deep learning model for lesion diagnosis, this model can automatically generate the optimal cutting path based on the three-dimensional surface model obtained from the laser scan. Subsequently, using... Figure 4a The three-mirror system shown precisely controls the laser path, enabling the laser to cut along the generated path and thus achieve precise removal of the lesion.

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

[0078] The aforementioned laser scanning and cutting endoscopic robot integrates all components into a single carbon fiber origami micro-mirror structure, ensuring that the device is lightweight, flexible, precise, and controllable, enabling it to 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. During surgery, it can measure the distance between the surgical robot and the tissue in real time. Through point-by-point scanning, a three-dimensional surface model of the target area can be obtained. A deep learning model for lesion diagnosis is constructed and trained on a large dataset provided by professional physicians. The trained deep learning model can automatically determine the tissue state and generate the optimal cutting path based on the three-dimensional surface model obtained from laser scanning. By integrating laser three-dimensional scanning, lesion diagnosis, and laser cutting technologies, seamless integration of tissue observation and lesion resection can be achieved, providing a precise and efficient surgical solution. The frequency-modulated continuous wave (FMCW) laser ranging technology uses a photodetector to acquire a coherent light spectrum generated by the interference of reference and reflected light, encoding distance information based on the phase difference between the reference and reflected light. This measurement method can achieve micron-level distance resolution, accurately estimating the minimum distance between the surgical robot and the measured tissue. Due to its small size and timely feedback, it can be integrated into laser minimally invasive surgical robots for strategies on the surface morphology of in vivo tissues, providing crucial information for lesion observation and surgical path planning.

[0080] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A laser scanning and cutting endoscopic robot based on carbon fiber origami micro-vibration mirror, characterized in that, It includes a paper-folding transmission structure, a first piezoelectric bicrystalline driver, a second piezoelectric bicrystalline driver, a support structure, a GRIN lens, an optical fiber, a fixed mirror, an X-ray mirror, and a Y-ray mirror; The origami transmission structure is fixedly installed at one end of the support structure, and the GRIN lens is fixedly installed at the other end; the GRIN lens is connected to the optical fiber. The fixed mirror, the X-mirror, and the Y-mirror are all fixedly installed on the origami transmission structure, and an optical path is formed by the optical fiber, the GRIN lens, the fixed mirror, the X-mirror, and the Y-mirror. Both the first piezoelectric bicrystalline driver and the second piezoelectric bicrystalline driver are mounted between the support structure and the origami transmission structure; the first piezoelectric bicrystalline driver is used to drive the X-mirror to rotate around the Y-axis through the origami transmission structure; the second piezoelectric bicrystalline driver is used to drive the Y-mirror to rotate around the Z-axis through the origami transmission structure. The origami transmission structure includes a carbon fiber origami transmission structure one, a carbon fiber origami transmission structure two, and a fixed mirror bracket. Both the first carbon fiber origami transmission structure and the second carbon fiber origami transmission structure are fixedly installed on the support structure; One end of the fixed mirror bracket is fixedly installed on the support structure, and the fixed mirror is fixedly installed on the other end facing the GRIN lens; The X-ray mirror is fixedly installed on the carbon fiber origami transmission structure. The Y-mirror is fixedly installed on the second carbon fiber origami transmission structure. The first piezoelectric bicrystalline driver is fixedly installed between the carbon fiber origami transmission structure and the support structure, and is used to drive the X-ray mirror to rotate through the carbon fiber origami transmission structure. The second piezoelectric bicrystalline driver is fixedly installed between the second carbon fiber origami transmission structure and the support structure, and is used to drive the Y-mirror to rotate through the second carbon fiber origami transmission structure. The carbon fiber origami transmission structure consists of a first transmission mechanism, a second transmission mechanism, a third transmission mechanism, and a fixing mechanism that are sequentially hinged together; the fixing mechanism is fixedly installed on the support structure; and the X-ray galvanometer is fixedly installed on the third transmission mechanism. The second carbon fiber origami transmission structure consists of a first transmission mechanism, a second transmission mechanism, a third transmission mechanism, a fourth transmission mechanism, and a fixing mechanism, all hinged together in sequence. The fixing mechanism is fixedly installed on the supporting structure. The Y-mirror is fixedly installed on the fourth transmission mechanism. The first piezoelectric bicrystalline driver is fixedly mounted on the first transmission mechanism of the structure; The second piezoelectric bicrystalline driver is fixedly mounted on the first transmission mechanism of the second structure.

2. The endoscopic robot as described in claim 1, characterized in that, The third transmission mechanism of the structure is provided with an X-ray mirror slot; the X-ray mirror is fitted and fixedly connected in the X-ray mirror slot; The fourth transmission mechanism of the second structure is provided with a Y-mirror slot; the Y-mirror is fitted and fixedly connected in the Y-mirror slot; The other end of the fixed mirror bracket is provided with a fixed mirror groove; the fixed mirror is fitted and fixedly connected in the fixed mirror groove.

3. The endoscopic robot as described in claim 2, characterized in that, The second transmission mechanism of structure one is hinged to the first transmission mechanism of structure one through the first moving joint of structure one; the third transmission mechanism of structure one is hinged to the second transmission mechanism of structure one through the second moving joint of structure one; the fixing mechanism of structure one is hinged to the third transmission mechanism of structure one through the third moving joint of structure one. The fixing mechanism of structure two is hinged to the fourth transmission mechanism of structure two via the first motion joint of structure two; the fourth transmission mechanism of structure two is hinged to the third transmission mechanism of structure two via the second motion joint of structure two; the third transmission mechanism of structure two is hinged to the second transmission mechanism of structure two via the third motion joint of structure two; and the second transmission mechanism of structure two is hinged to the first transmission mechanism of structure two via the fourth motion joint of structure two.

4. The endoscopic robot as described in claim 3, characterized in that, The first transmission mechanism, the second transmission mechanism, the third transmission mechanism, the fixing mechanism, the fixing mechanism, the fourth transmission mechanism, the third transmission mechanism, the second transmission mechanism, and the first transmission mechanism of the second structure are all made of carbon fiber material. The first joint, second joint, third joint, first joint, second joint, third joint, and fourth joint of structure one are all made of polyimide.

5. The endoscopic robot as described in claim 1, characterized in that, 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 an inter-board sleeve. 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 arranged at intervals in sequence; The first support column passes through and is fixedly connected to 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 in sequence; The second support column passes through the first layer of fiberglass board, the second layer of fiberglass board, the third layer of fiberglass board, the fifth layer of fiberglass board and the sixth layer of fiberglass board in sequence and is fixedly connected, and passes through the inter-board sleeve between two adjacent fiberglass boards; The third support column is fixedly connected between the fourth layer of fiberglass board and the sixth layer of fiberglass board; Each support column between adjacent fiberglass boards is fitted with an inter-board sleeve, which is clamped between two adjacent layers of fiberglass boards. The fixed mirror bracket is fixedly installed on the first layer of fiberglass board; The fixing mechanism of the structure is fixedly connected to the second layer of fiberglass board; The second fixing mechanism is fixedly connected to the first layer of fiberglass board and the third layer of fiberglass board; The first piezoelectric bicrystalline driver is fixedly mounted on the fourth layer of fiberglass board; The second piezoelectric bicrystalline driver is fixedly mounted on the fifth layer of fiberglass board.

6. The endoscopic robot as described in claim 5, characterized in that, One end of the fixed mirror bracket is provided with a groove, and the first layer of fiberglass board is embedded and fixedly connected in the groove; The second structure fixing mechanism has two slots, one of which is fitted and fixed with the first layer of fiberglass board, and the other slot is fitted and fixed with the third layer of fiberglass board.

7. The endoscopic robot as described in any one of claims 1-6, characterized in that, Both the first and second piezoelectric bicrystalline driver include an output terminal, 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.

8. The endoscopic robot as described in any one of claims 1-6, characterized in that, The rotation angle range of both the X-mirror and the Y-mirror is ±10°.

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