Flexible ureteroscope surgical robot and bending device thereof

Abstract

The invention provides a flexible ureteroscope surgical robot and a bending device thereof. The bending device comprises a supporting frame, one end of the supporting frame is connected with a cantilever mechanism of the flexible ureteroscope surgical robot, and the other end of the supporting frame is connected with the flexible ureteroscope; the deflection driving part comprises a driving assembly connected with the supporting frame; one end of the transition piece is connected with the driving assembly, the other end of the transition piece is connected with a bending knob of the flexible ureteroscope, and the driving assembly drives the transition piece to drive the bending knob to rotate, so that the tip end of the flexible ureteroscope is bent.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical devices, and in particular to a ureteroscopic surgical robot and a bending device thereof. Background Art

[0002] Kidney stones are a common urological condition. Compared to open surgical stone removal, shock wave lithotripsy, and percutaneous nephrolithotomy, flexible ureteroscopic lithotomy is widely used due to its advantages of minimal invasiveness, high stone removal rates, and rapid postoperative recovery. This surgical method uses a slender flexible ureteroscope to reach the kidney through the urethra, bladder, and ureter. Lasers and tools such as a stone basket are used to fragment and remove the stones.

[0003] During surgery using a ureteroscope, the doctor bends the end of the scope by turning the knob at the end of the scope's handheld portion. However, since the hand is suspended in the air for a long time, the doctor's operating stability is greatly affected, which will reduce the accuracy and effect of the surgery. Summary of the Invention

[0004] In view of this, the present disclosure provides a bending device for a ureteroscope surgical robot, comprising: a support frame, one end of which is connected to the cantilever mechanism of the ureteroscope surgical robot, and the other end is connected to the ureteroscope; and a deflection drive unit, comprising: a drive assembly, which is connected to the support frame; and a transition piece, one end of which is connected to the drive assembly, and the other end is connected to the bending knob of the ureteroscope, the drive assembly drives the transition piece to rotate the bending knob to bend the tip of the ureteroscope.

[0005] The present disclosure also provides a ureteroscope surgical robot, comprising: a bending device as described above; a ureteroscope mounted on a support frame of the bending device, wherein the bending device is used to drive the tip of the ureteroscope to bend.

[0006] According to the embodiment of the present disclosure, by setting a transition piece to connect with the drive assembly and the transition piece, the drive assembly can be used to drive the transition piece to rotate, thereby driving the bending knob to rotate, thereby controlling the bending of the tip of the ureteroscope, improving surgical accuracy and alleviating doctor fatigue. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0008] Figure 1 A side view of a ureteroscopic surgical robot according to an embodiment of the present disclosure is schematically shown. Figure 2 A stereoscopic view of a ureteroscopic surgical robot according to an embodiment of the present disclosure is schematically shown. Figure 3 Schematically shows a stereoscopic view of the ureteroscopic surgical robot from another angle according to an embodiment of the present disclosure. Figure 4 Schematically shows a side view of a ureteroscopic surgical robot in a folded state according to an embodiment of the present disclosure. Figure 5 The figure schematically shows the positional relationship between the vertical adjustment device and the operating table according to an embodiment of the present disclosure. Figure 6 A cross-sectional view of a vertical adjustment device according to an embodiment of the present disclosure is schematically shown. Figure 7 A partial cross-sectional view of a first arm according to an embodiment of the present disclosure is schematically shown. Figure 8 A partial cross-sectional view of an angle adjustment device according to an embodiment of the present disclosure is schematically shown. Figure 9 A perspective view schematically shows a feeding mechanism in a folded state according to an embodiment of the present disclosure. Figure 10 A perspective view schematically shows a feeding mechanism in an expanded state according to an embodiment of the present disclosure. Figure 11 A perspective view schematically shows a feeding mechanism in a maximum expanded state according to an embodiment of the present disclosure. Figure 12 The working principle diagram of the feeding mechanism according to the embodiment of the present disclosure is schematically shown. Figure 13 A perspective view schematically shows a support mechanism in a retracted state according to an embodiment of the present disclosure. Figure 14 A perspective view schematically shows a support mechanism in an extended state according to an embodiment of the present disclosure. Figure 15 The figure schematically shows the positional relationship between the locking portion and the sliding member according to an embodiment of the present disclosure. Figure 16 A cross-sectional view of a locking portion according to an embodiment of the present disclosure is schematically shown. Figure 17 A side view of a clamping device according to an embodiment of the present disclosure is schematically shown, wherein the clamping connector is not shown. Figure 18 A cross-sectional view of a clamping device according to an embodiment of the present disclosure is schematically shown. Figure 19 A perspective view schematically shows an operating mechanism according to an embodiment of the present disclosure. Figure 20 The figure schematically shows an exploded view of a rotating device according to an embodiment of the present disclosure. Figure 21 A perspective view of a bending device according to an embodiment of the present disclosure is schematically shown. Figure 22 A three-dimensional view of a bending device according to an embodiment of the present disclosure is schematically shown from another angle. Figure 23 A side view of a bending device according to an embodiment of the present disclosure is schematically shown, wherein the movable portion is not shown. Figure 24 The figure schematically shows an exploded view of a yaw drive unit according to an embodiment of the present disclosure. Figure 25 A perspective view of a support frame according to an embodiment of the present disclosure is schematically shown. Figure 26 The figure schematically shows an exploded view of a support frame according to an embodiment of the present disclosure. Figure 27The figure schematically shows the positional relationship between the fixed part and the movable part according to an embodiment of the present disclosure. Figure 28 A perspective view of a movable base according to an embodiment of the present disclosure is schematically shown, wherein a transition piece is shown. Figure 29 A perspective view of an optical fiber delivery device according to an embodiment of the present disclosure is schematically shown. Figure 30 The figure schematically shows an exploded view of a fiber driving portion according to an embodiment of the present disclosure. Figure 31 A perspective view of a control assembly according to an embodiment of the present disclosure is schematically shown. Figure 32 Schematically shows an exploded view of a control assembly according to an embodiment of the present disclosure. Figure 33 Schematically shows an exploded view of an optical fiber delivery device according to an embodiment of the present disclosure. Figure 34 A perspective view schematically shows a first operating portion according to an embodiment of the present disclosure. Figure 35 A perspective view schematically shows a second operating portion according to an embodiment of the present disclosure. Figure 36 The figure schematically shows a perspective view of the first operating part without the control housing according to an embodiment of the present disclosure. Figure 37 The figure schematically shows a perspective view of the second operating portion without the control housing according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0009] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0010] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise," "include," etc. used herein indicate the presence of the features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0011] All terms used herein, including technical and scientific terms, have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0012] When expressions such as “at least one of A, B, and C, etc.” are used, they should generally be interpreted in accordance with the meaning commonly understood by those skilled in the art. For example, “a system having at least one of A, B, and C” should include but is not limited to systems having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, and C, etc. When expressions such as “at least one of A, B, or C, etc.” are used, they should generally be interpreted in accordance with the meaning commonly understood by those skilled in the art. For example, “a system having at least one of A, B, or C” should include but is not limited to systems having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, and C, etc.

[0013] It should also be noted that directional terms such as "upper," "lower," "front," "back," "left," and "right" mentioned in the embodiments are merely references to the directions in the accompanying drawings and are not intended to limit the scope of protection of this disclosure. Throughout the drawings, identical elements are represented by identical or similar reference numerals. Conventional structures or configurations will be omitted where they may cause confusion in understanding this disclosure.

[0014] like Figure 1-Figure 4 As shown, the embodiment of the present disclosure provides a ureteroscope surgical robot. The doctor can drive the ureteroscope 100 to perform surgical operations by controlling the ureteroscope surgical robot. The ureteroscope surgical robot may include a cantilever mechanism 200, a feeding mechanism 300, a supporting mechanism 400, and an operating mechanism A. The cantilever mechanism 200 may include a vertical adjustment device 210, a horizontal adjustment device 220, and an angle adjustment device 230. The operating mechanism A may include a first shell A10, a second shell A20, a third shell A30, a rotating device 500 (as shown below) Figure 19 The first housing A10 can accommodate the rotating device 500. The second housing A20 can accommodate the bending device 600. The third housing A30 can accommodate the optical fiber delivery device 700 and the operating end 110 of the ureteroscope 100 (as shown below). Figure 19 As shown). The first shell A10, the second shell A20 and the third shell A30 can not only reduce noise and ensure that the operation of internal components is not disturbed, but also serve as isolation plates to improve the isolation and sterility effects during surgery. Furthermore, one end of the ureteroscope surgical robot can be connected to the bedside side rail of the operating table B through the vertical adjustment device 210. The ureteroscope surgical robot can be installed with a ureteroscope 100 for surgery at the other end. The ureteroscope surgical robot can be placed above the patient through the vertical adjustment device 210, thereby making full use of the space above the patient's body position and optimizing the use of space resources. Further, as Figure 4 As shown, the ureteroscopic surgical robot can be folded to achieve miniaturization.

[0015] like Figure 5 As shown, the connecting block B20 can be fixedly connected to the vertical adjustment device 210 using screws. The connecting block B20 can be mated with the bedside side rails through its mating grooves. The connecting block B20 and the bedside side rails can be locked and released using a locking knob. Specifically, the locking knob can be threadedly connected to the connecting block B20 and the bedside side rails, and the connecting block B20 and the bedside side rails can be locked and released by tightening or loosening the locking knob.

[0016] like Figure 6 As shown, the vertical adjustment device 210 includes a support shell 211, an adjustment motor 212, a ball screw 213, a screw nut 214, an intermediate connector 215, a ball spline shaft 216 and an adjustment sleeve 217. The adjustment motor 212 can be arranged in the support shell 211 and located at the bottom of the support shell 211. The output end of the adjustment motor 212 can be connected to the ball screw 213 to drive the ball screw 213 to rotate. The ball screw 213 extends in the vertical direction and cooperates with the screw nut 214 to form a spiral pair. The screw nut 214 is connected to one end of the ball spline shaft 216 (as shown in FIG. 217 ) through the intermediate connector 215. Figure 6 The lower end of the ball spline shaft 216 shown in FIG2 is connected to the ball spline shaft 216 to drive the ball spline shaft 216 to move in the vertical direction. The adjusting sleeve 217 is fixedly connected to the support shell 211, and the ball spline shaft 216 and the adjusting sleeve 217 cooperate to play a guiding role. The other end of the ball spline shaft 216 (as shown in FIG2 Figure 6 The upper end of the ball spline shaft 216 is connected to the horizontal adjustment device 220. The vertical adjustment device 210, the horizontal adjustment device 220, the angle adjustment device 230, the feeding mechanism 300, the support mechanism 400 and the operating mechanism A can be driven to move in the vertical direction by adjusting the motor 212.

[0017] like Figure 2 As shown, the horizontal adjustment device 220 may include a first arm 221 and a second arm 222. The vertical adjustment device 210, the first arm 221, the second arm 222, and the angle adjustment device 230 may be connected via a horizontal rotation axis 223. The first arm 221 may rotate relative to the vertical adjustment device 210 about the horizontal rotation axis 223. The second arm 222 may rotate relative to the first arm 221 about the horizontal rotation axis 223. The angle adjustment device 230 may rotate relative to the second arm 222 about the horizontal rotation axis 223. The connection method of each rotation axis may be the same.

[0018] like Figure 2 、 Figure 6 and Figure 7 As shown, one end of the horizontal rotation shaft 223 (as Figure 7The lower end shown in FIG2 is connected to the ball spline shaft 216. The middle part of the horizontal rotating shaft 223 is fixedly connected to the cross roller bearing 224. The other end of the horizontal rotating shaft 223 (as shown in FIG2 Figure 7 The upper end (shown as an upper end) is connected to the brake flange 226 via a key 225. The cross-roller bearing 224 is fixedly connected to the first arm 221. The lower end of the brake body 227 is fixedly connected to the first arm 221, and the upper end of the brake body 227 is magnetically connected to the brake magnet 228. The brake flange 226 is fixedly connected to the brake magnet 228. When power is applied to the brake body 227, the magnetic force disappears, allowing the first arm 221 to rotate about the horizontal rotation axis 223, that is, the first arm 221 can rotate about the vertical adjustment device 210. The same method can be used to rotate the second arm 222 about the first arm 221, and the angle adjustment device 230 can be rotated about the second arm 222, thereby driving the angle adjustment device 230, the feed mechanism 300, the support mechanism 400, and the operating mechanism A to move horizontally. By providing the horizontal adjustment device 220 , the surgical robot can be flexibly adjusted in the horizontal direction, fully utilizing the working space above the patient and preventing the surgical robot from occupying too much space in the length direction of the operating table B.

[0019] like Figure 2 and Figure 8 , the angle adjustment device 230 includes a third arm 231 and a fourth arm 232. The third arm 231 can rotate relative to the second arm 222 around a horizontal rotation axis. The fourth arm 232 can rotate around the third arm 231 in a vertical plane. The third arm 231 includes an arm base 233, a base cover 234, an outer sleeve 235, an inner sleeve 236, a brake 237, a brake shaft 238, a brake connector 239, a harmonic reducer 240, a reduction output shaft 242 and a support bearing 241. The arm base 233 can be connected to the second arm 222 through a horizontal rotation axis 223. The horizontal rotation axis 223 connected to the arm base 233 can be provided in the second arm 222 and located at an end away from the first arm 221. One side of the arm base 233 (such as Figure 8 The left side as shown) can be fixedly connected to the outer sleeve 235 and the inner sleeve 236. The other side of the support arm base 233 (as shown) Figure 8The right side of the fourth arm 232 is fixedly connected to the base cover 234. The brake 237 can be arranged in the support arm base 233, fixedly connected to the inner sleeve 236, and cooperate with one end of the brake shaft 238. The other end of the brake shaft 238 is fixedly connected to one end of the brake connector 239. The other end of the brake connector 239 is fixedly connected to the harmonic reducer 240. The harmonic reducer 240 is fixedly connected to the inner sleeve 236. The reduction output shaft 242 of the reducer is supported by the support bearing 241 and is then fixedly connected to the fourth arm 232. After the brake 237 is energized, the fourth arm 232 can rotate around the third arm 231 in a vertical plane, thereby driving the feed mechanism 300, the support mechanism 400 and the operating mechanism A to rotate, so as to meet the usage needs of patients with different physiological structures. Furthermore, by providing the brake 237 and the reducer, the locking torque can be changed more slowly, thereby resisting the influence of gravity on the end of the surgical robot and improving the safety of the surgical robot.

[0020] like Figures 9-12 As shown, the feeding mechanism 300 includes a feeding drive device 310, an active rod 320 and a driven rod 330. The feeding drive device 310 can be arranged in the cantilever mechanism 200 of the ureteroscope surgical robot. The feeding drive device 310 can be connected to the first end of the active rod 320 (such as Figure 10 The feed drive device 310 can drive the active rod 320 to rotate relative to the cantilever mechanism 200. The first end of the driven rod 330 (as shown in FIG. Figure 10 The upper end of the driven rod 330 shown in FIG) and the second end of the active rod 320 (as shown Figure 10 The second end of the driven rod 330 (as shown in FIG. Figure 10 The lower end of the driven rod 330 shown in FIG. 3 may be connected to the ureteroscope 100 via the operating mechanism A. The active rod 320 and the driven rod 330 may have the same length. The angle between the active rod 320 and the driven rod 330 may be is the angle between the active rod 320 and the vertical direction Y 2 times, the angle between the active rod 320 and the vertical direction Y Equal to the angle between the driven rod 330 and the vertical direction Y , so as to drive the operating mechanism A and the ureteroscope 100 to move along the horizontal direction X. Figure 10-12 As shown, the feeding mechanism 300 can have a folded state and an unfolded state, and can be unfolded until the active rod 320 is parallel to the driven rod 330. Therefore, there is no waste of space, and the surgical robot can meet the large stroke requirements of ureteroscopic surgical examinations.

[0021] The principle of the feed drive device 310 driving the ureteroscope 100 to move linearly along the horizontal direction X is described below.

[0022] like Figure 12 As shown, a coordinate system can be established with the first end O of the active rod 320 as the origin of the coordinate system, and the position of the second end D of the driven rod 330 in the coordinate system is It can be expressed by the following expression (1).

[0023] (1).

[0024] in is the length of the active rod 320, is the length of the driven rod 330, 、 They are the vectors of the active rod 320 and the driven rod 330 respectively. , , , is the angle between the active rod 320 and the Y axis (i.e., the vertical direction) in the coordinate system, is the included angle between the active rod 320 and the driven rod 330 . is the horizontal coordinate of the second end D of the driven rod 330. is the ordinate of the second end D of the driven rod 330 .

[0025] The position of the second end D of the driven rod 330 can be further expressed by the following expression (2).

[0026] (2).

[0027] If the second end D of the driven rod 330 is to move linearly along the X axis, it is necessary to satisfy is 0, that is: (3).

[0028] In order to fold and align the active rod 320 and the driven rod 330, it is assumed that , it can be concluded that a constraint condition for the linear motion of the second end D of the driven rod 330 along the X-axis is: (4).

[0029] Furthermore, the above constraint conditions cannot guarantee that the movement of the second end D of the driven rod 330 is a linear motion. In order to prevent the second end D of the driven rod 330 from freely moving in the plane where the X-axis is located, a length of The auxiliary line DE is analyzed, and the unit vector of DE It can be expressed by the following expression (5).

[0030] (5).

[0031] in, = is the angle between DE and the extension line of the driven rod 330, that is, the angle between the driven rod 330 and the vertical direction. To keep the second end D of the driven rod 330 in linear motion, that is: (6).

[0032] It can be solved .

[0033] Therefore, in In this case, the second end D of the driven rod 330 can move linearly in the horizontal direction to drive the ureteroscope 100 to move linearly in the horizontal direction. This allows the ureteroscope 100 to be safely and quickly removed after the surgical examination or stone removal treatment is completed, thereby improving the efficiency and safety of the surgery. The foldability of the active rod 320 and the driven rod 330 facilitates the miniaturization of the surgical robot.

[0034] like Figure 10 As shown, in some embodiments, the feed mechanism 300 may further include a fixed large wheel 340, an output small wheel 350, a fixed small wheel 360, and an output large wheel 370. The fixed large wheel 340 is fixedly connected to the cantilever mechanism 200. The feed drive device 310 may be connected to the first end of the active rod 320 through the fixed large wheel 340. The output small wheel 350 may be in transmission connection with the fixed large wheel 340. The output small wheel 350 is rotatably connected to the second end of the active rod 320. The output small wheel 350 may be fixedly connected to the first end of the driven rod 330 to drive the driven rod 330 to move synchronously. The fixed small wheel 360 is rotatably connected to the first end of the driven rod 330. The fixed small wheel 360 is fixedly connected to the second end of the active rod 320, and the active rod 320 can drive the fixed small wheel 360 to move synchronously. The output large wheel 370 is in transmission connection with the fixed small wheel 360. The output large wheel 370 is rotatably connected to the second end of the driven rod 330. The output large wheel 370 may be fixedly connected to the operating mechanism A. The output large wheel 370 may be connected to the ureteroscope 100 through the operating mechanism A to drive the ureteroscope 100 to move synchronously.

[0035] In some embodiments, the circumference of the fixed large wheel 340 is twice that of the output small wheel 350, so that the angle at which the driven rod 330 rotates around the active rod 320 is twice the angle at which the active rod 320 rotates in the horizontal direction. The circumference of the output large wheel 370 is twice that of the fixed small wheel 360, so that the angle at which the driven rod 330 rotates around the active rod 320 is twice the angle at which the driven rod 330 rotates in the vertical direction.

[0036] In some embodiments, the second end of the active rod 320 is formed with a bent first connecting portion 321, and the first connecting portion 321 is bent in a direction away from the driven rod 330. The feeding mechanism 300 further includes a connecting shaft 380. The first end of the connecting shaft 380 (such as Figure 10The left end of the connecting shaft 380 shown in FIG. 3 is fixedly connected to the first connecting portion 321, and the second end of the connecting shaft 380 (as shown in FIG. Figure 10 The right end of the connecting shaft 380 shown in FIG. 3 passes through the output pulley 350 and the driven rod 330 in sequence and is fixedly connected to the fixed pulley 360 , that is, the fixed pulley 360 can be fixedly connected to the active rod 320 based on the connecting shaft 380 .

[0037] In some embodiments, the second end of the connecting shaft 380 is configured to be square, and the fixing wheel 360 is formed with a square hole that matches the shape of the second end of the connecting shaft 380 to achieve a fixed connection between the fixing wheel 360 and the connecting shaft 380 .

[0038] In some embodiments, a second connecting portion 331 is formed at the first end of the driven rod 330 and extends along the axial direction of the mounting hole of the driven rod 330. The second connecting portion 331 penetrates the active rod 320 and is fixedly connected to the output pulley 350.

[0039] In some embodiments, the feed drive 310 may include a feed motor 311, a first bevel gear 312, and a second bevel gear (not shown). The first bevel gear 312 may be connected to the feed motor 311. One end of the second bevel gear engages with the first bevel gear 312. The other end of the second bevel gear passes through the cantilever mechanism 200 and is connected to the active rod 320 to drive the active rod 320 to rotate.

[0040] In some embodiments, the fixed large wheel 340 and the output small wheel 350 are connected by a transmission steel belt 390. The output large wheel 370 and the fixed small wheel 360 are connected by a transmission steel belt 390.

[0041] In some embodiments, the active rod 320 and / or the driven rod 330 has a plurality of hollow areas 322 to reduce the weight of the feeding mechanism 300 and achieve lightweight surgical robot.

[0042] like Figure 3 、 Figure 13-15 As shown, the support mechanism 400 may include a telescopic device 410 and a clamping device 420. The telescopic device 410 may include a fixing member 411, a sliding member 412, and a locking portion 413. The fixing member 411 may be connected to the cantilever mechanism 200 of the ureteroscope surgical robot. The cantilever mechanism 200 may be connected to the operating end 110 of the ureteroscope 100. Furthermore, the fixing member 411 may be rotatably connected to the fourth arm 232, so that the telescopic device 410 may be rotated into the fourth arm 232 (as shown in FIG. Figure 9-10As shown). A baffle that matches the shape of the fourth arm 232 can be provided. After the telescopic device 410 rotates into the fourth arm 232, the telescopic device 410 can be accommodated in the fourth arm 232, thereby facilitating the miniaturization of the surgical robot. Figure 1-Figure 3 In the case of the state shown in the figure), accessories such as locking nuts can be used to keep the telescopic device 410 in the expanded state.

[0043] Furthermore, the sliding member 412 is slidably provided in the fixing member 411. A slide rail that allows the sliding member 412 to slide may be formed in the fixing member 411. The sliding between the fixing member 411 and the sliding member 412 may be similar to the sliding principle of a drawer. The locking portion 413 is connected to the fixing member 411 and is sleeved on the sliding member 412, that is, the sliding member 412 can slide in the locking portion 413. The sliding member 412 may be formed with a plurality of positioning holes 414. The locking portion 413 may include a locking column 415. The locking column 415 is inserted into the positioning hole 414 by operation to prevent the sliding member 412 from sliding in the fixing member 411 or the locking column 415 is disengaged from the positioning hole 414 to allow the sliding member 412 to slide in the fixing member 411. One end of the clamping device 420 (such as Figure 13 The other end of the clamping device 420 (as shown in FIG. Figure 13 The lower end shown in FIG. 1 is used to connect with the sheath 120 of the flexible ureteroscope 100. Figure 13 and Figure 14 As shown, the telescopic device 410 can be made of Figure 13 The contracted state shown is extended to Figure 14 Shown in extended state.

[0044] According to the embodiment of the present disclosure, by setting the fixing part 411 and the sliding part 412, the length of the telescopic device 410 can be adjusted, and by setting the locking part 413, the telescopic device 410 can maintain the set length, so that the clamping device 420 can be adjusted to different positions of the sheath 120 to adaptively support the sheath 120 according to the surgical situation, thereby improving the working range of the surgical robot.

[0045] like Figure 14-16 As shown, in some embodiments, the locking portion 413 further includes a locking frame 416 and a cam structure 417. The locking frame 416 is connected to the fixing member 411 and is formed with a hollow area 418 that allows the sliding member 412 to pass through. The cam structure 417 is located outside the hollow area 418 (as shown in FIG. Figure 16The locking post 415 is located between the sliding member 412 and the cam structure 417 (see the right side of the hollow area 418 shown in FIG). The locking post 415 is rotatably mounted on the locking frame 416 via a cam shaft 419. The locking post 415 is positioned between the sliding member 412 and the cam structure 417. The cam shaft 419 is parallel to the sliding direction of the sliding member 412, thereby pushing the locking post 415 to move perpendicular to the sliding direction of the sliding member 412. By rotating the cam structure 417, the locking post 415 is pushed into the positioning hole 414 or pulled out of the positioning hole 414, thereby fixing the length of the telescopic device 410 or allowing the sliding member 412 to slide freely on the fixing member 411.

[0046] In some embodiments, the cam structure 417 and the locking column 415 have opposite magnetic properties, so that there is an attractive force between the cam structure 417 and the locking column 415, so that when the edge of the cam structure 417 is away from the positioning hole 414, the cam structure 417 can drive the locking column 415 away from the positioning hole 414.

[0047] like Figure 16 As shown, in some embodiments, the sidewall 430 between the slider 412 and the cam structure 417 of the locking frame 416 further defines a support hole 431 that communicates with the hollow area 418 and is used to support the locking post 415. Furthermore, the sum of the shortest distance between the edge of the cam structure 417 and the cam shaft 419 and the length of the locking post 415 is greater than the distance from the cam shaft 419 to the support hole 431, thereby preventing the locking post 415 from losing support and falling. The sum of the shortest distance between the edge of the cam structure 417 and the cam shaft 419 and the length of the locking post 415 is less than the distance from the cam shaft 419 to the support hole 431, thereby preventing the locking post 415 from being unable to fully disengage from the support hole 431 and hindering the sliding of the slider 412 relative to the fixed member 411. Furthermore, the sum of the longest distance between the edge of the cam structure 417 and the cam shaft 419 and the length of the locking post 415 is greater than the distance from the cam shaft 419 to the slider 412, thereby ensuring that the locking post 415 can be inserted into the support hole 431.

[0048] In some embodiments, the clamping device 420 has a clamping state for clamping the mirror sheath 120 and a releasing state for releasing the mirror sheath 120. Figure 13-14 、 Figure 17-18 As shown, the clamping device 420 may include a clamping connector 421, a first clamping block 422, a second clamping block 423, a first button 424, and a second button 425. The end of the clamping connector 421 connected to the sliding member 412 may be formed with a square groove, which can be engaged with the insert block 434 on the sliding member 412 to facilitate the removal or installation of the clamping connector 421. One end of the clamping connector 421 (such as Figure 13 The upper end of the clamping connector 421 shown in FIG. 4 is connected to the sliding member 412. The other end of the clamping connector 421 (as shown in FIG. Figure 18The lower end of the clamping connector 421 is formed with a receiving groove 426. The first clamping block 422 and the second clamping block 423 are respectively arranged in the receiving groove 426 and partially extend out of the receiving groove 426. One end of the first button 424 (as shown in FIG. Figure 18 The other end of the first button 424 (as shown in FIG. Figure 18 The left end of the first button 424 shown in FIG. 4 extends out of the receiving groove 426. One end of the second button 425 (as shown in FIG. Figure 18 The left end of the second button 425 shown in FIG. 4 is connected to the first clamping block 422 through the second clamping block 423. The other end of the first button 424 (as shown in FIG. Figure 18 A receiving slot 426 extends from the right end of the second button 425 shown. Furthermore, by pushing the first and second buttons 424, 425 toward each other, the first and second clamping blocks 422, 423 move away from each other, increasing the distance between them to allow insertion of the mirror sheath 120. By pushing the first and second buttons 424, 425 away from each other, the first and second clamping blocks 422, 423 move toward each other, decreasing the distance between them to secure the mirror sheath 120.

[0049] like Figure 18 As shown, in some embodiments, an elastic member 427 is connected between the first button 424 and the first clamping block 422. An elastic member 427 is connected between the second button 425 and the second clamping block 423. Pressing the first button 424 and the second button 425 resists the elastic force of the elastic member 427, causing the first clamping block 422 and the second clamping block 423 to move away from each other. When no pressure is applied, the elastic member 427 pushes the first clamping block 422 and the second clamping block 423 toward each other due to its elasticity.

[0050] like Figure 18 As shown, in some embodiments, the first button 424 and the second button 425 are formed with a boss 428. When pressure is no longer applied, the elastic member 427 releases the force generated by the extrusion deformation, pushing the first and second buttons 424, 425 away from each other until the boss 428 abuts against the inner wall of the receiving groove 426, and pushing the first and second clamping blocks 422, 423 toward each other. Due to the presence of the boss 428, the inner wall of the receiving groove 426 prevents the first and second buttons 424, 425 from further movement, allowing the elastic member 427 to push the first and second clamping blocks 422, 423 toward each other, simplifying the operation of clamping or releasing the mirror sheath 120.

[0051] like Figure 18As shown, in some embodiments, the first clamping block 422 and / or the second clamping block 423 are formed with a recessed area, so that when the first clamping block 422 and the second clamping block 423 move toward each other and abut against each other, the first clamping block 422 and the second clamping block 423 form a clamping area 429 for clamping the mirror sheath 120. The clamping area 429 can be configured as a substantially square with rounded corners, so that the inner wall of the clamping area 429 can respectively tangentially fit with the mirror sheath 120, thereby being applicable to mirror sheaths 120 of different sizes, avoiding damage to the mirror sheath 120 while providing a good support effect.

[0052] like Figure 19 As shown, the rotating device 500 includes a rotating motor 511, a driving pulley 512, a rotating output shaft 513, a driven pulley 514, a fixing base 515, a mounting base 516, a rotating bearing 517, an elastic retaining spring 518, a bearing sleeve 519, a retaining ring 520, a countersunk screw 521, a brake bracket 522, an encoder 523, a brake flange 226, a brake shaft 238, and a brake 237. The rotating motor 511 is mounted on the fixing base 515. The rotating motor 511 is connected to the driving pulley 512. The driving pulley 512 engages with the driven pulley 514. The driven pulley 514 is fixedly connected to the rotating output shaft 513. The rotating output shaft 513 is connected to the bending device 600. The flexible ureteroscope 100 can be mounted on the bending device 600. The rotating motor 511 drives the active rotating wheel 512, which in turn drives the driven rotating wheel 514, thereby rotating the bending device 600 and the flexible ureteroscope 100. Simultaneously, during the rotation of the flexible ureteroscope 100, the sheath 120, supported by the support mechanism 400, can rotate within the clamping area 429, thereby maintaining the stability of the flexible ureteroscope 100. The rotating device 500 allows the flexible ureteroscope 100 to rotate 360°. This allows the tip 130 of the flexible ureteroscope 100 to adjust its direction if it encounters an obstacle, thereby reducing surgeon fatigue during surgery.

[0053] Further, if Figure 19As shown, the fixing seat 515 can be constructed in a double L-shape so that the driving pulley 512 and the driven pulley 514 engage in the same plane. Furthermore, the mounting seat 516 can be connected to the feed mechanism 300. The fixing seat 515 can be bolted to the mounting seat 516. The rotating sleeve of the rotating output shaft 513 can be fixedly connected to the fixing seat 515 by bolts to limit the radial position of the rotating output shaft 513. Furthermore, the axial position of the rotating output shaft 513 can be fixed by means of a groove and an elastic retaining spring 518. Furthermore, the rotating motor 511 is fixed to the right brake flange 226 by bolts. The left side of the brake shaft 238 is screwed to the rotating motor 511 through a threaded hole. The brake 237 has a square hole in the center. The square hole mates with the square shaft on the left side of the brake shaft 238. The right end of the brake shaft 238 extends into the encoder 523 and is fixed to the bolts inside the encoder 523. Counting and rotation are performed under the control of encoder 523. The brake bracket 522 is bolted to the brake 237 through three threaded holes on the outer ring for fastening. The fixed seat 515 has a through-hole through which the rotating motor 511 can pass and be fixed. The rotating motor 511 has a threaded hole on the left side, which is threadedly connected to the driving pulley 512 via screws. The stepped shaft 634 of the rotating output shaft 513 has a keyway, which is keyed to the driven pulley 514. The retaining ring 520 fits into the shoulder of the rotating output shaft 513 to limit the axial position of the driven pulley 514. At the same time, the right side of the retaining ring 520 contacts and fits with the rotating bearing 517. The left rotating bearing 517 fits into the through-hole of the fixed seat 515. The inner ends of the bearing sleeve 519 have baffles to fix the axial displacement of the bearing. At the same time, the outer wall of the left end of the bearing sleeve 519 contacts the inner wall of the through-hole of the fixed seat 515. The four corners of the central raised plate of bearing sleeve 519 have threaded through-holes that threadably connect to mounting base 515. Right-side rotary bearing 517 is mounted within the right shaft section of bearing sleeve 519. The right end of rotary output shaft 513 is secured to the right end of bearing sleeve 519 by a resilient retaining spring 518, restricting leftward axial movement of rotary output shaft 513.

[0054] like Figure 21-24 As shown, the bending device 600 may include a support frame 610 and a deflection drive unit 620. One end of the support frame 610 is connected to the cantilever mechanism 200 of the ureteroscope surgical robot. The other end of the support frame 610 is connected to the ureteroscope 100. The deflection drive unit 620 includes a drive assembly 621 and a transition piece 622. The drive assembly 621 is connected to the support frame 610. One end of the transition piece 622 (as shown in FIG. 1 ) is connected to the support frame 610. Figure 23 The lower end of the transition piece 622 shown in FIG. 6 is connected to the drive assembly 621. The other end of the transition piece 622 (as shown in FIG. Figure 23The upper end of the transition piece 622 (shown in FIG. 1 ) is connected to the bending knob 140 of the flexible ureteroscope 100. The drive assembly 621 drives the transition piece 622 to rotate the bending knob 140, thereby bending the tip 130 of the flexible ureteroscope 100. The bending knob 140 of the flexible ureteroscope 100 is a conventional structure of the flexible ureteroscope 100. In the related art, the tip 130 of the flexible ureteroscope 100 is bent by manually turning the bending knob 140.

[0055] According to an embodiment of the present disclosure, by setting a transition piece 622 to connect with the drive assembly 621 and the transition piece 622, the drive assembly 621 can be used to drive the transition piece 622 to rotate, thereby driving the bending knob 140 to rotate, thereby controlling the bending of the tip 130 of the ureteroscope 100, thereby improving surgical accuracy and alleviating doctor fatigue.

[0056] like Figure 21-24 As shown, in some embodiments, the transition piece 622 may be formed with a slot 623 that matches the shape of the bending knob 140. The transition piece 622 may drive the bending knob 140 to rotate based on the matching of the slot 623 and the bending knob 140.

[0057] like Figure 21-24 As shown, in some embodiments, the drive assembly 621 is located on the side of the support frame 610 away from the ureteroscope 100 (eg, Figure 23 The transition piece 622 passes through the support frame 610 and is connected to the flexible ureteroscope 100.

[0058] like Figure 24 As shown, the drive assembly 621 may include a motor bracket 625, a bending motor 628, a third bevel gear 629, a motor output shaft 630, a gear output shaft 632, a bending bearing 636, a retaining ring 520, and a fourth bevel gear 638. One side of the motor bracket 625 has a through hole 626 for passing the motor output shaft 630 and securing the bending motor 628. The other side of the motor bracket 625 has a rounded platform 627 for passing the gear output shaft 632 connected to the third bevel gear 629. One end of the gear output shaft 632 is connected to the third bevel gear 629, and the other end is connected to the transition piece 622. The third bevel gear meshes with the fourth bevel gear 638. The fourth bevel gear 638 is connected to the motor output shaft 630. The gear output shaft 632 has an annular recess 635 formed to accommodate the retaining ring 520. The bending bearing 636 is placed within the truncated cone 627 and sleeved around the gear output shaft 632. It cooperates with the retaining ring 520 to rotate the gear output shaft 632 about the axis of the truncated cone 627. The embedded portion 633 of the gear output shaft 632 cooperates with the rotation slot 631 of the transition piece 622 to drive the transition piece 622 to rotate. The engagement between the retaining slot 623 and the bending knob 140 also drives the bending knob 140 to rotate.

[0059] like Figures 21-28 As shown, in some embodiments, the support frame 610 includes a fixed portion 612 and a movable portion 613. The fixed portion 612 is connected to the cantilever mechanism 200. The fixed portion 612 can be constructed in an L-shape, that is, it includes a horizontal plate and a vertical plate. The horizontal plate can be used to connect with the movable portion 613. The vertical plate can be connected to the feeding mechanism 300 through the rotating device 500, and then connected to the cantilever mechanism 200. Further, the fixed portion 612 can be provided with a snap-fit part 6121. The movable portion 613 includes a movable base 6131 and a switch assembly 6132. The movable base 6131 is formed with a groove 6133. The switch assembly 6132 is arranged in the groove 6133 and on the side of the movable base 6131 (such as Figure 21 The front side of the movable base 6131 shown in the figure partially extends out of the groove 6133. The engaging member 6121 passes through the groove 6133 and the switch assembly 6132 from the fixed portion 612. The switch assembly 6132 has a locking state for engaging the engaging member 6121, and a releasing state for releasing the engaging member 6121. Thus, in the locked state, the movable portion 613 is fixed to the fixed portion 612, and in the released state, the movable base 6131 is allowed to be removed from the fixed portion 612. The ureteroscope 100 can be installed on the movable portion 613, so that the ureteroscope 100 can be removed from the surgical robot to deal with emergencies during the operation. It can also avoid direct contact between the ureteroscope 100 and other structures of the surgical robot, which is beneficial for postoperative disinfection and preoperative preparations.

[0060] like Figure 25 and Figure 26As shown, in some embodiments, the switch assembly 6132 includes a moving member 6135 and a limiting spring 6134. The moving member 6135 is movably disposed in the groove 6133 and partially extends out of the groove 6133. The limiting spring 6134 is disposed between the inner wall of the groove 6133 and the moving member 6135. By pushing the moving member 6135, pressure is applied to the limiting spring 6134. After the pressure is withdrawn, the limiting spring 6134 pushes the moving member 6135 in the opposite direction. Furthermore, the engaging member 6121 is formed with an annular groove 6122. The moving member 6135 is formed with a waist hole 6136. The engaging member 6121 passes through the waist hole 6136. The end edge of the waist hole 6136 is engaged with the annular groove 6122 based on the elastic force of the limiting spring 6134, so as to combine the movable base 6131 with the fixed portion 612. The thickness of the waist hole 6136 is the same as that of the annular groove 6122. The height of the waist hole 6136 is the same as the height of the annular groove 6122. Furthermore, by pushing the movable member 6135 out of the groove 6133 against the elastic force of the limit spring 6134, that is, pushing the movable member 6135 toward the limit spring 6134, the end edge of the waist hole 6136 can be disengaged from the annular groove 6122, allowing the movable base 6131 to be removed from the fixing portion 612, thereby making it easier to remove the ureteroscope 100 from the surgical robot.

[0061] like Figure 25 and Figure 26 As shown, in some embodiments, the movable base 6131 includes a base plate 6137 and a pressure plate 6138. The base plate 6137 and the pressure plate 6138 can be fixedly connected by bolts. The base plate 6137 is formed with a groove 6133. One side of the groove 6133 can be open to allow the movable member 6135 to partially extend out of the base plate 6137. The pressure plate 6138 is located on the side of the base plate 6137 away from the fixed portion 612 (as shown in FIG. Figure 26 The pressure plate 6138 covers the base plate 6137 and the switch assembly 6132, thereby preventing the moving member 6135 from moving in the vertical direction. The transition member 622 passes through the pressure plate 6138 and is connected to the bending knob 140.

[0062] like Figure 26 As shown, a stepped hole 637 is formed on the pressure plate 6138 to allow the transition piece 622 to pass through. The upper hole of the stepped hole 637 is the same shape as the limiting protrusion 624 of the transition piece 622. The longest width of the middle hole of the stepped hole 637 is greater than or equal to the width of the transition piece 622 at the limiting protrusion 624, allowing the limiting protrusion 624 to rotate within the middle hole. The lower hole of the stepped hole 637 has a smaller diameter than the width of the limiting protrusion 624 of the transition piece 622, thereby limiting the axial movement of the transition piece 622. When installing the transition piece 622, the transition piece 622 can enter through the upper hole of the stepped hole 637 and extend through the lower hole of the stepped hole 637.

[0063] like Figure 26 and Figure 28 As shown, in some embodiments, a limiting protrusion 624 is formed on the circumference of the transition piece 622. The pressure plate 6138 of the support frame 610 is formed with a limiting groove 611 (i.e., the center hole of the stepped hole 637 can be formed as the limiting groove 611). The support frame 610 can limit the rotation angle of the transition piece 622 based on the cooperation between the limiting protrusion 624 and the limiting groove 611. Specifically, the limiting protrusion 624 is only allowed to rotate within the limiting groove 611, thereby limiting the rotation angle of the transition piece 622 to prevent damage to the flexible ureteroscope 100 due to over-travel rotation.

[0064] like Figure 25-28 As shown, in some embodiments, the movable base 6131 further includes a first portion 6139, a second portion 6140, and a locking member 6141. The first portion 6139 is disposed on the pressure plate 6138 and is formed with a first recess 6142. The second portion 6140 is rotatably connected to the first portion 6139 via a locking shaft 6143. A second recess 6144 is formed on one side of the second portion 6140 proximal to the first recess 6142. After the second portion 6140 rotates to mate with the first portion 6139, the first recess 6142 and the second recess 6144 form a snap-fitting area 6147 for clamping the operating end 110 of the flexible ureteroscope 100. The locking member 6141 passes through the second portion 6140 and engages with the locking groove 6145 of the first portion 6139. By rotating the locking member 6141, the second portion 6140 is prevented from or allowed to rotate relative to the first portion 6139, thereby securing or removing the flexible ureteroscope 100. The shape of the engaging region 6147 can match the shape of the operating end 110. By providing the engaging region 6147, the operating end 110 can be mounted on the movable base 6131, thereby limiting the six degrees of freedom of the flexible ureteroscope 100.

[0065] like Figure 28 As shown, in some embodiments, a locking block 6146 is formed at one end of the locking member 6141 near the locking groove 6145. The locking groove 6145 is configured as a stepped groove. The lower portion of the stepped groove allows the locking block 6146 to rotate. The upper portion of the stepped groove is shaped to match the shape of the locking block 6146. The locking block 6146 can be configured to be non-centrally symmetrical so that rotation of the locking block 6146 restricts vertical movement of the locking member 6141.

[0066] like Figure 29As shown, the optical fiber delivery device 700 includes a delivery base 710, a driving wheel 720, a driven wheel 730, an optical fiber driver 740, and a control assembly 750. The delivery base 710 is connected to the cantilever mechanism 200 of the flexible ureteroscope surgical robot. The delivery base 710 can be connected to the rotation device 500 via a fixing portion 612, thereby connecting to the cantilever mechanism 200 via the feeding mechanism 300. The optical fiber driver 740 passes through the delivery base 710 and connects to the driving wheel 720 to drive the driving wheel 720 to rotate. The control assembly 750 is connected to the driven wheel 730 and is configured to move the driven wheel 730 away from or toward the driving wheel 720 by operating the control assembly 750, allowing the optical fiber 900 to freely pass between the driving wheel 720 and the driven wheel 730 to reach the flexible ureteroscope 100, or to cause the optical fiber 900 to move within the flexible ureteroscope 100 due to the friction between the driven wheel 730 and the driving wheel 720. Furthermore, when the driven wheel 730 is away from the driving wheel 720, the distance between the driven wheel 730 and the driving wheel 720 increases, thereby allowing the optical fiber 900 to pass freely. When the driven wheel 730 is close to the driving wheel 720, the friction between the driven wheel 730 and the driving wheel 720 drives the optical fiber 900 to move within the ureteroscope 100. The driving wheel 720 and the driving wheel 720 are made of a flexible material. The diameters of the driving wheel 720 and the driving wheel 720 can be the same. The optical fiber 900 can be a holmium laser optical fiber 900. The holmium laser optical fiber 900 can be provided by a holmium laser lithotripsy.

[0067] According to an embodiment of the present disclosure, the optical fiber drive unit 740 is provided to drive the driving wheel 720 to rotate. The control assembly 750 is provided to adjust the distance between the driving wheel 720 and the driven wheel 730. Thus, when it is necessary to insert the optical fiber 900 between the driven wheel 730 and the driving wheel 720, the distance between the driven wheel 730 and the driving wheel 720 is controlled to be larger. When it is necessary to control the movement of the optical fiber 900 in the ureteroscope 100, the distance between the driven wheel 730 and the driving wheel 720 is controlled to be smaller, so that the driving wheel 720 drives the driven wheel 730 to rotate, and based on the friction between the driving wheel 720 and the driven wheel 730, the optical fiber 900 is driven to move in the ureteroscope 100. This achieves the purpose of more convenient installation of the optical fiber 900 and more precise control of the movement of the optical fiber 900.

[0068] like Figure 30-Figure 32 As shown, in some embodiments, a movable groove 711 is provided on the delivery base 710. The control assembly 750 includes an adjustment rod 751, an extension member 752, and a return spring 754. The adjustment rod 751 extends along a first direction. The first direction is parallel to the line connecting the driving wheel 720 and the driven wheel 730. The adjustment rod 751 is movably installed in the movable groove 711 along the first direction and partially extends out of the delivery base 710, as shown in FIG. Figure 31As shown, the right end of the adjustment rod 751 extends beyond the delivery base 710. The driven shaft 753 of the driven wheel 730 is mounted on the extension piece 752. The driven shaft 753 engages with the mounting holes 757 on either side of the extension piece 752 via deep groove ball bearings 758 and can be secured with a retaining ring 520. The extension piece 752 extends from the adjustment rod 751 in a second direction. This second direction is perpendicular to the first direction and the axial direction of the driven wheel 730. Furthermore, mounting holes 757 are provided on both the front and side surfaces of the extension piece 752. The driven shaft 753 is configured in a stepped shape. By pressing the portion of the adjustment rod 751 extending beyond the delivery base 710 against the force of the return spring 754, the driven wheel 730 can be driven away from the driving wheel 720. Furthermore, when the adjustment rod 751 is released, the return spring 754 pushes the adjustment rod 751 outward, causing the driven wheel 730 to approach the driving wheel 720.

[0069] In some embodiments, the movable groove 711 forms a limited area 712 to allow the extension piece 752 to move in the limited area 712 along the first direction, thereby preventing the adjustment rod 751 from sliding out of the delivery base 710 and preventing the adjustment rod 751 from tilting due to excessive space when moving.

[0070] like Figure 29 As shown, in some embodiments, the optical fiber delivery device 700 further includes a first guide platform 760. The first guide platform 760 is disposed at an end of the delivery base 710 away from the ureteroscope 100. The optical fiber 900 is guided by the first guide platform 760 and then passes between the driving wheel 720 and the driven wheel 730.

[0071] like Figure 33 As shown, in some embodiments, the first guide platform 760 is formed with a first guide groove 761 and a second guide groove 762 extending obliquely from the guide platform outlet to either side. This facilitates the optical fiber 900 to pass through the first guide groove 761 or the second guide groove 762 into the optical fiber delivery device 700, thereby preventing drastic changes in the curvature radius of the optical fiber 900 and improving the service life of the optical fiber 900. Furthermore, the provision of the first guide groove 761 and the second guide groove 762 can constrain the movement trajectory of the optical fiber 900, ensuring smooth transmission. The angle between the first guide groove 761 and the second guide groove 762 and the second direction can each be 45°.

[0072] In some embodiments, the optical fiber delivery device 700 further includes a second guide platform 770. The second guide platform 770 is disposed on an end of the delivery base 710 adjacent to the flexible ureteroscope 100. The optical fiber 900 passes between the driving wheel 720 and the driven wheel 730, is guided by the second guide platform 770, and then enters the flexible ureteroscope 100.

[0073] In some embodiments, the delivery base 710 includes a support platform 713 and a support cover 714. The support platform 713 is formed with a movable groove 711. The support cover 714 covers the support platform 713. The control assembly 750 is confined between the support cover 714 and the support platform 713. The driven shaft 753 passes through the support cover 714 and is connected to the driven wheel 730. The fiber optic motor 756 of the fiber optic drive unit 740 can pass through the support platform 713, and the driving shaft 755 of the fiber optic drive unit 740 can pass through the support cover 714 and be connected to the driving wheel 720. The first guide and second guide platforms 770 can be mounted on the support cover 714 by adhesive. The fiber optic motor 756 can be mounted on the support platform 713 by screws. The driving shaft 755 can be mounted on the fiber optic motor 756 by screws.

[0074] In some embodiments, the driving wheel 720 and / or the driven wheel 730 are formed with an annular wire guide groove 780 for accommodating the optical fiber 900, so that the optical fiber 900 will not be damaged due to excessive pressure when the driving wheel 720 and the driven wheel 730 clamp the optical fiber 900. This is suitable for optical fibers 900 with smaller diameters. For example, the diameter of the optical fiber 900 can be less than 0.45 mm.

[0075] The present disclosure also provides a ureteroscopic surgical system. The ureteroscopic surgical system includes the ureteroscopic surgical robot described above and a control device 800. Furthermore, a doctor can control the ureteroscopic surgical robot through the control device 800.

[0076] like Figures 34-37As shown, the control device 800 includes a first operating unit 810, a second operating unit 820, and a control unit. The first operating unit 810 includes a rotating member 811. Operating the rotating member 811 causes the rotating member 811 to rotate to obtain a first rotation angle. The rotating member 811 may be a roller. A physician can push the rotating member 811 to rotate it. The first rotation angle may represent the angle of rotation of the rotating member 811 due to the physician's push. The second operating unit 820 includes a rolling member 821. Operating the rolling member 821 causes the rolling member 821 to rotate about a first central axis of the rolling member 821 to obtain a second rotation angle. Operating the rolling member 821 causes the rolling member 821 to rotate about a second central axis extending in a direction different from the first central axis to obtain a third rotation angle. The rolling member 821 may be spherical. A physician can push the rolling member 821 to rotate it. The second rotation angle may represent the angle of rotation of the rolling member 821 along the first central axis due to the physician's push. The third rotation angle may represent the angle of rotation of the rolling member 821 along the second central axis due to the physician's push. The first and second central axes may be perpendicular to each other. The control unit is used to control the movement of the ureteroscope 100 of the ureteroscope surgical robot in a second direction relative to the patient based on a first rotation angle. Specifically, it can control the translation of the ureteroscope 100, control the rotation of the ureteroscope 100 about an axis parallel to the second direction based on a second rotation angle, and control the bending of the ureteroscope 100 based on a third rotation angle. Specifically, the doctor can control the distance the ureteroscope moves in the second direction by pushing the rotating member 811. The second direction can be represented as the direction of horizontal linear motion of the ureteroscope 100 controlled by the feed mechanism 300. The doctor can control the rotation of the ureteroscope 100 about an axis parallel to the second direction by pushing the rolling member 821 about the first central axis, using the rotating device 500. The doctor can control the bending of the ureteroscope 100 by pushing the rolling member 821 about the second central axis, using the bending device 600.

[0077] According to the disclosed embodiment, by providing the rotating member 811 and the rolling member 821, the physician can control the flexible ureteroscope 100 to move relative to the patient in the second direction, to rotate the flexible ureteroscope 100 about an axis parallel to the second direction, and to bend the flexible ureteroscope 100 by pushing the rotating member 811 and the rolling member 821. This simple operation reduces the physician's hand fatigue.

[0078] like Figure 36As shown, in some embodiments, the first operating part 810 further includes a first base 812, a first rotating shaft 813, and a first detection unit 814. The first rotating shaft 813 is rotatably disposed on the first base 812. Both ends of the first rotating shaft 813 can be mounted on the first base 812 based on bearings to prevent the first rotating shaft 813 from moving axially. The rotating member 811 is sleeved on the first rotating shaft 813, and the rotation of the rotating member 811 can drive the first rotating shaft 813 to rotate. The first rotating shaft 813 and the rotating member 811 are rotated around the first rotating shaft 813 through operation. The first detection unit 814 is disposed on the first base 812 and is connected to the first rotating shaft 813 to obtain a first rotation angle, so that the doctor's hand movement on the rotating member 811 can be represented by the first rotation angle. The first detection unit 814 can be an encoder.

[0079] like Figure 37 As shown, in some embodiments, the second operating portion 820 further includes a second base 822, a second rotating shaft 823, and a second detection unit 824. Both ends of the second rotating shaft 823 may be mounted to the second base 822 using bearings to prevent axial movement of the second rotating shaft 823. The second rotating shaft 823 is rotatably mounted on the second base 822 and is in transmission connection with the rolling element 821. The second rotating shaft 823 may be parallel to the first central axis. Rotation of the rolling element 821 about the first central axis can drive rotation of the second rotating shaft 823. When the rolling element 821 rotates about the first central axis, the rolling element 821 drives the second rotating shaft 823 to rotate. The second detection unit 824 is connected to the second rotating shaft 823 to detect a second rotation angle, thereby representing the doctor's hand movement relative to the rolling element 821 about the first central axis using the second rotation angle. The second detection unit 824 may be an encoder.

[0080] like Figure 37 As shown, in some embodiments, the second operating unit 820 further includes a third base 825 and a third rotating shaft 826. The third rotating shaft 826 is rotatably mounted on the third base 825 and is in transmission connection with the rolling element 821. Both ends of the third rotating shaft 826 may be mounted on the third base 825 using bearings to prevent axial movement of the third rotating shaft 826. The third rotating shaft 826 may be parallel to the second central axis. Rotation of the rolling element 821 about the second central axis can drive rotation of the third rotating shaft 826. When the rolling element 821 rotates about the second central axis, the rolling element 821 drives the second rotating shaft 823 to rotate. A third detection unit 827 is connected to the third rotating shaft 826 to detect a third rotation angle, thereby representing the doctor's hand movement relative to the rolling element 821 about the second central axis as the third rotation angle. The third detection unit 827 may be an encoder. The encoder can convert the rotation angle signal into a pulse signal and transmit it to the control unit.

[0081] like Figure 37As shown, in some embodiments, the second operating portion 820 further includes a fourth base 828 and a fifth base 829. The fourth base 828 is located on the side of the rolling element 821 opposite the second base 822. The fourth base 828 is provided with a first ball 8281, which is in driving connection with the rolling element 821. The fifth base 829 is located on the side of the rolling element 821 opposite the third base 825 and is provided with a second ball 8291. The second ball 8291 is in driving connection with the rolling element 821. The first ball 8281 and the second ball 8291 may be universal ball transfers. The rolling element 821 may be tangential to the second rotating shaft 823, the third rotating shaft 826, the first ball 8281, and the second ball 8291, respectively, to prevent the rolling element 821 from moving. The fourth base 828 , the fifth base 829 , the first rolling ball 8281 and the second rolling ball 8291 support the rolling element 821 and do not restrict the rotation of the rolling element 821 .

[0082] like Figure 34-35 As shown, in some embodiments, the first operating portion 810 and / or the second operating portion 820 further includes a control housing 830. The control housing 830 is formed with an opening 831. The rotating member 811 and / or the rolling member 821 extend from the inside of the control housing 830 to the outside of the control housing 830 to improve the comfort of the doctor and isolate the components in the control housing 830 from interference from the external environment.

[0083] In some embodiments, the control device 800 is further adapted to obtain a target position of the ureteroscope 100 based on the first rotation angle and the current position of the ureteroscope 100, so as to control the feeding mechanism 300 according to the target position to move the ureteroscope 100 in a second direction relative to the patient.

[0084] According to the embodiment of the present disclosure, the target location It can be expressed by the following expression (7).

[0085] (7).

[0086] in, is the current position of the flexible ureteroscope 100. is the first rotation angle. is the proportional constant, It can be set according to the precision requirements of the surgical operation.

[0087] The control device 800 may acquire a target rotation angle of the ureteroscope 100 based on the second rotation angle and the current angle of the ureteroscope 100 , and control the rotating device to rotate the ureteroscope 100 according to the target rotation angle.

[0088] According to the embodiment of the present disclosure, the target rotation angle It can be expressed by the following expression (8).

[0089] (8).

[0090] in, is the second rotation angle. is the current angle of the ureteroscope 100. is the proportional constant.

[0091] The control device 800 may obtain a target bending angle based on the third rotation angle, and control the bending device to rotate and bend the ureteroscope 100 according to the target bending angle.

[0092] According to the embodiment of the present disclosure, the target bending angle It can be expressed by the following expression (9).

[0093] (9).

[0094] in, is the third rotation angle. is the proportional constant.

[0095] According to the embodiment of the present disclosure, the operation habits of the doctor can be adjusted 、 and To further improve control accuracy.

[0096] Furthermore, the flexible ureteroscopic surgical system may also include an image acquisition device and an endoscope. The endoscope can be mounted on the flexible ureteroscope 100, enter the human body along with the tip 130 of the flexible ureteroscope 100, and transmit in-vivo image information to the image acquisition device. The doctor can operate the control device 800 based on the image information displayed by the image acquisition device. The encoder 523 outputs a pulse signal to the control unit based on the recorded rotation angle. The control unit uses the pulse signal to control the translation, rotation, and bending of the flexible ureteroscope 100.

[0097] The embodiments of the present disclosure are described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although each embodiment has been described separately above, this does not mean that the measures in each embodiment cannot be used in combination to advantage. The scope of the present disclosure is defined by the appended claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A bending device for a ureteroscopic surgical robot, characterized in that: include: A support frame, one end of which is connected to the cantilever mechanism of the ureteroscope surgical robot, and the other end of which is connected to the ureteroscope; as well as The deflection drive unit includes: A driving assembly connected to the support frame; as well as A transition piece is connected to the drive assembly at one end and to the bending knob of the ureteroscope at the other end. The drive assembly drives the transition piece to rotate the bending knob to bend the tip of the ureteroscope.

2. The bending device according to claim 1, characterized in that The transition piece is formed with a slot that matches the shape of the bending knob, and the transition piece drives the bending knob to rotate based on the cooperation between the slot and the bending knob.

3. The bending device according to claim 1, characterized in that The driving assembly is located on a side of the support frame away from the ureteroscope, and the transition piece passes through the support frame and is connected to the ureteroscope.

4. The bending device according to claim 3, characterized in that A limiting protrusion is formed on the circumferential side of the transition piece, and a limiting groove is formed on the support frame. The support frame limits the rotation angle of the transition piece based on the cooperation between the limiting protrusion and the limiting groove.

5. The bending device according to any one of claims 1 to 4, characterized in that: The support frame comprises: A fixing portion connected to the cantilever mechanism, the fixing portion being provided with a clamping member; Activities Department, including: a movable base formed with a groove; and The switch assembly is arranged in the groove and partially extends out of the groove on the side of the movable base. The engaging member passes through the groove and the switch assembly from the fixing portion. The switch assembly has a locking state for engaging the engaging member and a releasing state for releasing the engaging member.

6. The bending device according to claim 5, characterized in that The switch assembly comprises: a moving member movably disposed in the groove and partially extending out of the groove; and a limit spring, disposed between the inner wall of the groove and the moving member; In which, the engaging part is formed with an annular groove, and the movable part is formed with a waist hole, the engaging part passes through the waist hole, and the end edge of the waist hole of the movable part is engaged with the annular groove based on the elastic force of the limit spring to combine the movable base with the fixed part; and by counteracting the elastic force of the limit spring, the movable part is pushed out of the groove, so that the end edge of the waist hole is disengaged from the annular groove, so as to allow the movable base to be removed from the fixed part.

7. The bending device according to claim 5, characterized in that The movable base comprises: a substrate having the groove formed therein; and A pressing plate is located on a side of the substrate away from the fixing portion, the pressing plate covers the substrate and the switch assembly, and the transition piece passes through the pressing plate and is connected to the bending knob.

8. The bending device according to claim 7, characterized in that The movable base further comprises: A first portion is provided on the pressing plate and is formed with a first recess; a second part, rotatably connected to the first part via a locking shaft, wherein a second recess is formed on a side of the second part close to the first recess, and the first recess and the second recess form a clamping area for clamping the ureteroscope; and A locking member passes through the second part and cooperates with the locking groove of the first part, and the second part is prevented from rotating relative to the first part by rotating the locking member.

9. The bending device according to claim 8, characterized in that A locking block is formed at one end of the locking member close to the locking groove. The locking groove is configured as a stepped groove. The shape of the upper portion of the stepped groove matches the shape of the locking block, and the lower portion of the stepped groove allows the locking block to rotate.

10. A ureteroscopic surgical robot, characterized in that: include: A bending device as claimed in any one of claims 1 to 9; as well as The ureteroscope is mounted on a support frame of the bending device, and the bending device is used to drive the tip of the ureteroscope to bend.

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