A flexible endoscope delivery robot

Abstract

This invention discloses an endoscope flexible arm delivery robot, belonging to the field of endoscope delivery technology. The invention includes a flexible moving part, whose movement along a first direction drives a driven delivery part to have a first position spaced apart from an active delivery part and a second position cooperating with the active delivery part. When the driven delivery part is in the first position, it is used to insert / remove the endoscope flexible arm. When the driven delivery part is in the second position, the endoscope flexible arm is clamped and delivered between the active and driven delivery parts through the cooperation of the active rotational movement of the active delivery part along direction A and the passive rotational movement of the driven delivery part along direction B. The two controllable clamping mechanisms of this invention ensure that at least one controllable clamping part maintains control over the tip of the endoscope flexible arm during torsion or axial extension.

Description

Technical Field

[0001] This invention relates to the field of endoscope delivery technology, and more specifically to an endoscope flexible arm delivery robot. Background Technology

[0002] Against the backdrop of a high incidence of gastrointestinal malignancies, continuously increasing surgical demands, and uneven distribution of medical resources, the emergence of surgical robots has significantly improved the challenges faced by the medical field. For example, in performing procedures such as endoscopic submucosal dissection (ESD), surgeons can remotely control the actuators inside the endoscope to perform precise tissue cutting and clamping, effectively improving surgical efficiency and reducing intraoperative risks. However, current endoscopic surgical robot systems still require medical staff to assist in adjusting the position of the flexible endoscope during surgery, including forward, backward, and circumferential rotation, to continuously adapt to changes in the field of vision of lesions caused by gastrointestinal peristalsis. This human intervention severely limits the autonomy and stability of endoscopic robotic technology, becoming a key technological bottleneck restricting the further development of this field.

[0003] Taking ESD (Extracorporeal Shock Dissection) surgery as an example, medical staff need to manually insert the endoscope through the patient's mouth into the target location in the digestive tract, and then perform delicate surgical operations by controlling the endoscope and its actuators. These delicate operations are also the common technical requirements for various endoscopic surgeries. The small size and high flexibility required of the endoscope mean that its drive system mainly relies on the rear-mounted main unit shipped as an integral part of the endoscope body. This is the practice of almost all finished endoscopes on the market. These products achieve the pitch and yaw degrees of freedom of the endoscope body by rotating two dials on the rear-mounted drive main unit. In almost all endoscopic surgeries, the axial transport degree of freedom and the circumferential rotation degree of freedom (rotation direction around the flexible arm axis, i.e., the Roll axis) of the endoscope's flexible arm are also indispensable. These are degrees of freedom that the endoscope itself cannot achieve on its own and require external devices or other methods to achieve. For these two degrees of freedom, traditional endoscopic surgery mainly relies on medical staff to manually push and move the endoscope. In recent years, some surgical research teams have proposed using electrically driven methods to automatically control the transport and circumferential rotation of the flexible endoscope arm. These methods have further improved the convenience and effectiveness of controlling the movement and posture of the endoscope body, thereby optimizing the stability and reliability of the surgical procedure. However, most transport devices cannot effectively detect or correct slippage during transport, and the entire endoscope drive system, including the transport device, cannot stabilize the flexible and easily deformable endoscope arm along the roll axis or perform circumferential fine-tuning. Furthermore, many solutions require reducing the clamping force of the transport friction wheels to achieve circumferential rotation, inevitably leading to slippage. These problems result in insufficient controllability and reliability of the endoscope transport device and even the entire endoscope drive system, consequently causing the operational convenience and control precision of endoscopic surgery to fall short of expectations. Summary of the Invention

[0004] This invention provides an endoscope flexible arm transport robot. The robot is designed with an active transport component and a driven transport component. The cooperation of the two components forms the first controllable gripper for the endoscope flexible arm, providing support for axial transport. Furthermore, a torque sensing unit and a three-jaw gripper are designed. The three-jaw gripper forms the second controllable gripper for the endoscope flexible arm. The cooperation between the torque sensing unit and the three-jaw gripper provides support for circumferential torsion and also has torque sensing capability.

[0005] The technical solution of this invention is: an endoscope flexible arm delivery robot, comprising:

[0006] An active conveying assembly 100 includes an active conveying section 101, which is rotatably disposed along direction A.

[0007] A driven transport assembly 200 includes a flexible moving part and a driven transport part 201. The driven transport part 201 is movably disposed along a first direction with the flexible moving part. The movement of the flexible moving part along the first direction causes the driven transport part 201 to have a first position spaced apart from the active transport part 101 and a second position cooperating with the active transport part 101. When the driven transport part 201 is in the first position, it is used to insert / remove the flexible endoscope arm 601. When the driven transport part 201 is in the second position, the flexible endoscope arm 601 between the active transport part 101 and the driven transport part 201 is clamped and transported by the active rotation movement of the active transport part 101 along the A direction and the passive rotation movement of the driven transport part 201 along the B direction.

[0008] Preferably, the driven conveying assembly 200 further includes a non-self-locking screw assembly 211, which includes a screw and an internally threaded flange. The screw provides rotational power to drive the internally threaded flange to move along a first direction.

[0009] Preferably, the flexible moving part includes a horizontal bearing seat 202, a driven shaft rotary encoder 203, a driven shaft fixing seat 204, a lead screw push plate 205, a compression spring push plate 206, a compression spring 207, an internal thread optical shaft 208, a second slide rail group 212, a first slide rail group 217, and a driven shaft 218; the driven conveying part 201 is fixedly installed at one end of the driven shaft 218, the driven shaft 218 is installed on the driven shaft fixing seat 204, and the driven shaft rotary encoder 203 is installed on the driven shaft 218; the lead screw push plate 205, located on one side of the driven shaft fixing seat 204 along the first direction and spaced apart from the driven shaft fixing seat 204, is fixed to the internal thread flange in the driven conveying assembly 200, and the lead screw push plate 205 is away from the driven shaft fixing seat 204. One side is equipped with a spring push plate 206 arranged at intervals via a connector, and the lead screw push plate 205 is connected to the first slide rail group 217 to guide the movement of the lead screw push plate 205 and the spring push plate 206 in the first direction through the first slide rail group 217; the second slide rail group 212 is arranged parallel to the first slide rail group 217 and is fixed to the driven shaft fixing seat 204 to guide the movement of the driven shaft fixing seat 204 in the first direction; the lead screw push plate 205 is provided with a spring 207 sleeved on the internal thread optical shaft 208 at the top and bottom, and the two ends of the spring 207 press on the driven shaft fixing seat 204 and the spring push plate 206 respectively. The two ends of the internal thread optical shaft 208 extend out from the driven shaft fixing seat 204 and the spring push plate 206 respectively and are screwed tight.

[0010] Preferably, the endoscope flexible arm transport robot further includes a sliding frame 300, a torque sensing unit 400, and a three-jaw gripping unit 500; the sliding frame 300 is used to install the active transport component 100, the driven transport component 200, the torque sensing unit 400, and the three-jaw gripping unit 500.

[0011] Preferably, the sliding frame 300 includes an upper frame 301, a lower fixed plate 302, a third slide rail group 303, and a tension / compression sensor 304; the lower fixed plate 302 includes a support plate, and a connecting plate arranged perpendicularly to the support plate is installed on the support plate by angle brackets; the upper frame 301 and the support plate of the lower fixed plate 302 are slidably connected by the third slide rail group 303, and the connecting plate is provided with light holes for bolts to pass through; the connecting plate is connected to the tension / compression sensor 304 installed on the upper frame 301 by bolts, and there is an untightened gap between the tension / compression sensor 304 and the connecting plate; the sliding direction of the third slide rail group 303 is parallel to the Roll axis conveying direction of the endoscope flexible arm; the active conveying component 100, the driven conveying component 200, the torque sensing unit 400, and the three-jaw clamping unit 500 are all installed on the upper frame 301.

[0012] Preferably, the torque sensing unit 400 includes a drive gear 401, a third encoder motor 402, a sleeve-type motor base 403, a first perforated flange bearing 404, a torque sensor sleeve 405, a static torque sensor 406, and a sensor connecting flange 407; the torque sensor sleeve 405 is fixed on the sliding frame 300, and the torque sensor sleeve 405 fixes the perforated flange edge and outer ring of the first perforated flange bearing 404, while the inner ring of the first perforated flange bearing 404 is fixed with the third encoder through a clearance fit. The sleeve-type motor base 403 of the motor 402 is fitted. The motor shaft and motor housing of the third encoder motor 402 are coaxial with the first perforated flange bearing 404. The drive gear 401 is fixedly installed at the end of the motor shaft of the third encoder motor 402. One end face of the static torque sensor 406 is fixed through the sensor connecting flange 407 at the end of the sleeve-type motor base 403 away from the motor shaft. The other end face of the static torque sensor 406 is fixed on the torque sensor sleeve 405. The torque sensor sleeve 405 is fixed on the sliding frame 300.

[0013] Preferably, the drive gear 401 transmits power to the three-jaw clamping part 500 through the meshing wide idler gear 603.

[0014] Preferably, the three-jaw clamping part 500 includes a fourth encoder motor 501, a small synchronous pulley 502, a sleeve assembly 504, a half-tooth gear disc 505, a hollow lead screw 506, a lead screw nut 507, a lead screw pusher 508, a limiting ring 509, a second perforated flange bearing 510, a large synchronous pulley 518, and a three-jaw mechanism; the fourth encoder motor 501 drives the small synchronous pulley 502, and the power is transmitted to the hollow lead screw 506 via the large synchronous pulley 518; the hollow lead screw 506 has a smooth through hole for the flexible endoscope arm to pass through; the hollow lead screw 506 has a first set of sleeve assemblies 504, a second perforated flange bearing 510, a limiting ring 509, a lead screw pusher 508, a large synchronous pulley 518, and a second set of sleeve assemblies arranged sequentially along the axial direction, and the limiting ring 509 has an axial locking function. There is a preset length interval between the small synchronous pulley 502 with axial locking function and the hollow lead screw 506. The hollow lead screw 506 adopts an external thread surface in the preset length interval area between the end face of the limiting ring 509 and the large synchronous pulley 518. The external thread surface is the moving space of the lead screw push seat 508. The lead screw push seat 508 cooperates with the hollow lead screw 506 through the lead screw nut 507. A half-tooth gear disk 505 is fixed on the end face of the lead screw push seat 508 near the large synchronous pulley 518. The half-tooth gear disk 505 is connected to the torque sensing part 400 through the wide idler wheel 603 to form the circumferential limit of the lead screw push seat 508. A three-jaw mechanism is installed on the lead screw push seat 508. The movement of the lead screw push seat 508 along the first direction drives the three-jaw mechanism to clamp / release the flexible endoscope arm 601.

[0015] Preferably, the tooth width of the wide idler wheel 603 is greater than the travel of the lead screw pusher 508.

[0016] Preferably, the three-jaw clamping part 500 further includes a linear motion bearing 515, an internally threaded long shaft 516, and ball head bolts 517; the linear motion bearing 515 is embedded in the lower part of the lead screw push seat 508, and the linear motion bearing 515 is sleeved on the internally threaded long shaft 516 with ball head bolts 517 at both ends. The balls on the outer end faces of the two ball head bolts 517 form a radial limit achieved by several line contacts with the arc-shaped ball groove opened on the upper frame.

[0017] The beneficial effects of this invention are as follows: This invention constructs a first controllable clamping mechanism for the flexible endoscope arm through the cooperation of an active delivery component and a driven delivery component; a second controllable clamping mechanism for the flexible endoscope arm is constructed through a three-jaw clamping part, and circumferential torsion is supported through the cooperation of a torque sensing part and a three-jaw clamping part; the two controllable clamping mechanisms of this invention ensure that at least one controllable clamping part maintains control over the front end of the flexible endoscope arm during torsion or axial extension, and without slippage or loss of control due to large recovery deformation of the flexible endoscope arm from a torsional or stretched taut state when the clamping is loosened, while still enabling drive control. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the active delivery component of the present invention;

[0020] Figure 3 This is a schematic diagram of the structure of the driven conveying assembly of the present invention. Figure 1 ;

[0021] Figure 4 This is a schematic diagram of the structure of the driven conveying assembly of the present invention. Figure 2 ;

[0022] Figure 5 This is a schematic diagram of the structure of the driven conveying assembly of the present invention. Figure 3 ;

[0023] Figure 6 This is a schematic diagram of the structure of the driven conveying assembly of the present invention. Figure 4 ;

[0024] Figure 7 This is a schematic diagram of the upper frame of the present invention;

[0025] Figure 8 This is a structural schematic diagram of the lower fixed plate and part of the upper frame of the present invention;

[0026] Figure 9This is a schematic diagram of the torque sensing unit of the present invention. Figure 1 ;

[0027] Figure 10 This is a schematic diagram of the torque sensing unit of the present invention. Figure 2 ;

[0028] Figure 11 This is a schematic diagram of the torque sensing unit of the present invention. Figure 3 ;

[0029] Figure 12 This is a schematic diagram of the structure of the three-jaw clamping part of the present invention. Figure 1 ;

[0030] Figure 13 This is a schematic diagram of the structure of the three-jaw clamping part of the present invention. Figure 2 ;

[0031] Figure 14 This is a schematic diagram of the three-jaw clamping part of the present invention in its open and 0° twisted state;

[0032] Figure 15 This is a schematic diagram of the clamping and 15° twisting state of the three-jaw clamping part of the present invention. Figure 1 ;

[0033] Figure 16 This is a schematic diagram of the clamping and 15° twisting state of the three-jaw clamping part of the present invention. Figure 2 ;

[0034] The labels in the diagram are as follows: 100-Active conveyor assembly, 200-Driven conveyor assembly, 300-Sliding frame, 400-Torque sensor, 500-Three-jaw gripper, 101-Active conveyor, 102-First flange bearing, 103-First encoder motor, 104-Drive shaft, 201-Driven conveyor, 202-Horizontal bearing housing, 203-Driven shaft rotary encoder, 204-Driven shaft mounting base, 205-Lead screw pusher Plate, 206-Compression spring push plate, 207-Compression spring, 208-Internal thread optical shaft, 209-First washer, 210-First bolt, 211-Non-self-locking screw assembly, 212-Second slide rail assembly, 213-Second flange bearing, 214-Flange bearing limit assembly, 215-First synchronous pulley assembly, 216-Second encoder motor, 217-First slide rail assembly, 218-Driven shaft, 301-Upper frame, 302-Lower fixed plate, 3 03-Third slide rail assembly, 304-Tension / compression sensor, 401-Driving gear, 402-Third encoder motor, 403-Sleeve-type motor mount, 404-First perforated flange bearing, 405-Torque sensor sleeve, 406-Static torque sensor, 407-Sensor connecting flange, 501-Fourth encoder motor, 502-Small synchronous pulley, 503-Bearing housing assembly, 504-Sleeve assembly, 505-Half-tooth gear disc, 50 6-Hollow lead screw, 507-Lead screw nut, 508-Lead screw push seat, 509-Limiting ring, 510-Second perforated flange bearing, 511-Connecting rod hinge disc, 512-First connecting rod, 513-Second connecting rod, 514-U-grooved wheel, 515-Linear motion bearing, 516-Internal thread long shaft, 517-Ball head bolt, 518-Large synchronous pulley, 601-Endoscope flexible arm, 602-Six-sided nut, 603-Wide idler wheel. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.

[0036] Example 1: As Figures 1-16As shown, an endoscope flexible arm delivery robot includes an active delivery assembly 100, which includes an active delivery section 101 rotatably disposed along direction A; it also includes a driven delivery assembly 200, which includes a flexible moving section and a driven delivery section 201, the driven delivery section 201 being movably disposed along a first direction with the flexible moving section; the movement of the flexible moving section along the first direction causes the driven delivery section 201 to have contact with the active delivery section. The endoscopic flexible arm 601 is provided at a first position and a second position that cooperates with the active transport section 101. When the driven transport section 201 is in the first position, it is used to insert / remove the endoscopic flexible arm 601. When the driven transport section 201 is in the second position, the endoscopic flexible arm 601 between the active transport section 101 and the driven transport section 201 is clamped and transported by the active rotational movement of the active transport section 101 along direction A and the passive rotational movement of the driven transport section 201 along direction B. In the above, direction A and direction B represent two opposite directions (e.g., if direction A is clockwise, then direction B is counterclockwise); the first direction is the radial direction of the endoscopic flexible arm 601.

[0037] Furthermore, the active conveying unit 101 adopts an active friction wheel; the driven conveying unit 201 adopts a driven friction wheel.

[0038] Furthermore, the driven conveying assembly 200 also includes a non-self-locking screw assembly 211, which includes a screw and an internally threaded flange. The screw provides rotational power to drive the internally threaded flange to move along a first direction.

[0039] Further, the flexible moving part includes a horizontal bearing seat 202, a driven shaft rotary encoder 203, a driven shaft fixing seat 204, a lead screw push plate 205, a compression spring push plate 206, a compression spring 207, an internal thread optical shaft 208, a second slide rail group 212, a first slide rail group 217, and a driven shaft 218; the driven conveying part 201 is fixedly installed at one end of the driven shaft 218, the driven shaft 218 is installed on the driven shaft fixing seat 204, and the driven shaft rotary encoder 203 is installed on the driven shaft 218; the lead screw push plate 205, located on one side of the driven shaft fixing seat 204 along the first direction and spaced apart from the driven shaft fixing seat 204, is fixed to the internal thread flange in the driven conveying assembly 200, and the lead screw push plate 205 is away from the driven shaft fixing seat 204. One side is equipped with a spring push plate 206 arranged at intervals via a connector, and the lead screw push plate 205 is connected to the first slide rail group 217 to guide the movement of the lead screw push plate 205 and the spring push plate 206 in the first direction through the first slide rail group 217; the second slide rail group 212 is arranged parallel to the first slide rail group 217 and is fixed to the driven shaft fixing seat 204 to guide the movement of the driven shaft fixing seat 204 in the first direction; the lead screw push plate 205 is provided with a spring 207 sleeved on the internal thread optical shaft 208 at the top and bottom, and the two ends of the spring 207 press on the driven shaft fixing seat 204 and the spring push plate 206 respectively. The two ends of the internal thread optical shaft 208 extend out from the driven shaft fixing seat 204 and the spring push plate 206 respectively and are screwed tight.

[0040] To meet the requirement of quick assembly and disassembly of the flexible arm, the driven friction wheel and the active friction wheel in this invention are designed with a cantilever beam type fixing, and the shaft of the active friction wheel is fixed. The first flange bearing 102 designed in this invention can resist bending moment and improve stiffness. The driven friction wheel has the characteristic of adjustable wheelbase, so it is fixed by using two horizontal bearing seats 202 with a large spacing. To achieve high system stiffness, this invention is configured with a second slide rail group 212 with matching spacing. Furthermore, considering that the flexible fixing based on the compression spring 207 occupies most of the stroke of the second slide rail group 212, and the lead screw push plate 205 cannot use the second slide rail group 212 at the same time, this invention cleverly arranges the first slide rail group 217 to utilize the additional slide rail group installation space of the non-self-locking lead screw group 211 located in the middle of the spacing of the second slide rail group 212. Therefore, the first slide rail group 217 and the second slide rail group 212 are arranged in parallel, which saves installation space and ensures good driving performance.

[0041] Furthermore, the endoscopic flexible arm transport robot also includes a sliding frame 300, a torque sensing unit 400, and a three-jaw gripping unit 500; the sliding frame 300 is used to install the active transport component 100, the driven transport component 200, the torque sensing unit 400, and the three-jaw gripping unit 500.

[0042] Further, the sliding frame 300 includes an upper frame 301, a lower fixed plate 302, a third slide rail group 303, and a tension / compression sensor 304; the lower fixed plate 302 includes a support plate, and a connecting plate arranged perpendicularly to the support plate is installed on the support plate by angle brackets; the upper frame 301 and the support plate of the lower fixed plate 302 are slidably connected by the third slide rail group 303, and the connecting plate is provided with light holes for bolts to pass through; the connecting plate is connected to the tension / compression sensor 304 installed on the upper frame 301 by bolts, and there is an untightened gap between the tension / compression sensor 304 and the connecting plate; the sliding direction of the third slide rail group 303 is parallel to the Roll axis conveying direction of the endoscope flexible arm; the active conveying component 100, the driven conveying component 200, the torque sensing unit 400, and the three-jaw clamping unit 500 are all installed on the upper frame 301.

[0043] Furthermore, the torque sensing unit 400 includes a drive gear 401, a third encoder motor 402, a sleeve-type motor base 403, a first perforated flange bearing 404, a torque sensor sleeve 405, a static torque sensor 406, and a sensor connecting flange 407. The torque sensor sleeve 405 is fixed on the sliding frame 300, and the torque sensor sleeve 405 fixes the perforated flange edge and outer ring of the first perforated flange bearing 404. The inner ring of the first perforated flange bearing 404 is fitted with the third encoder through a clearance fit. The sleeve-type motor base 403 of the motor 402 is fitted. The motor shaft and motor housing of the third encoder motor 402 are coaxial with the first perforated flange bearing 404. The drive gear 401 is fixedly installed at the end of the motor shaft of the third encoder motor 402. One end face of the static torque sensor 406 is fixed through the sensor connecting flange 407 at the end of the sleeve-type motor base 403 away from the motor shaft. The other end face of the static torque sensor 406 is fixed on the torque sensor sleeve 405. The torque sensor sleeve 405 is fixed on the sliding frame 300.

[0044] Furthermore, the drive gear 401 transmits power to the three-jaw clamping part 500 through the meshing wide idler gear 603.

[0045] Further, the three-jaw clamping part 500 includes a fourth encoder motor 501, a small synchronous pulley 502, a sleeve assembly 504, a half-tooth gear disc 505, a hollow lead screw 506, a lead screw nut 507, a lead screw pusher 508, a limiting ring 509, a second perforated flange bearing 510, a large synchronous pulley 518, and a three-jaw mechanism; the fourth encoder motor 501 drives the small synchronous pulley 502, and the power is transmitted to the hollow lead screw 506 via the large synchronous pulley 518; the hollow lead screw 506 has a smooth through hole for the flexible endoscope arm to pass through; the hollow lead screw 506 is axially arranged with the first sleeve assembly 504, the second perforated flange bearing 510, the limiting ring 509, the lead screw pusher 508, the large synchronous pulley 518, and the second sleeve assembly 504, and the limiting ring 509 has an axial locking function. There is a preset length interval between the small synchronous pulley 502 with axial locking function and the 09. The hollow lead screw 506 adopts an external thread surface in the preset length interval area between the end face of the limiting ring 509 and the large synchronous pulley 518. The external thread surface is the moving space of the lead screw push seat 508. The lead screw push seat 508 cooperates with the hollow lead screw 506 through the lead screw nut 507. A half-tooth gear disk 505 is fixed on the end face of the lead screw push seat 508 near the large synchronous pulley 518. The half-tooth gear disk 505 is connected to the torque sensing part 400 through the wide idler wheel 603 to form the circumferential limit of the lead screw push seat 508. A three-jaw mechanism is installed on the lead screw push seat 508. The movement of the lead screw push seat 508 along the first direction drives the three-jaw mechanism to clamp / release the flexible endoscope arm 601.

[0046] Furthermore, the tooth width of the wide idler wheel 603 is greater than the travel of the lead screw pusher 508.

[0047] Furthermore, the three-jaw clamping part 500 also includes a linear motion bearing 515, an internally threaded long shaft 516, and ball head bolts 517; the linear motion bearing 515 is embedded in the lower part of the lead screw push seat 508, and the linear motion bearing 515 is sleeved on the internally threaded long shaft 516 with ball head bolts 517 at both ends. The balls on the outer end faces of the two ball head bolts 517 form a radial limit achieved by several line contacts with the arc-shaped ball groove opened on the upper frame.

[0048] In this invention, the active conveying component 100 is fixed relative to the upper frame and cannot move, only providing rotation of the active friction wheel; the driven conveying component 200 can slide relative to the upper frame, clamping the flexible endoscope arm radially to control the flexible endoscope arm to achieve a conveying degree of freedom parallel to its Roll axis; the sliding frame 300 is used to support the main body of the device and provide feedback on the axial resistance of the Roll axis during conveying; the torque sensing unit 400 can sense the real-time torque of the three-jaw clamping unit 500 rotating around the Roll axis and control the drive of this degree of freedom; the Roll axis of the three-jaw clamping unit 500 is hollow inside to allow the flexible endoscope arm to pass through, and the circumferential limit of the rotation of the flexible endoscope arm around the Roll axis is controlled by the clamping and releasing of the three jaws.

[0049] As can be seen from the above technical solutions, the active delivery component 100 and the driven delivery component 200 of the present invention can achieve controllable clamping of the friction wheel and further provide effective hardware support for delivery slippage detection. The three-jaw gripper provided by the present invention can controllably grip and rotate the flexible arm of the endoscope in a small circumferential direction near the human tissue end, possessing a certain degree of circumferential freedom control capability and improving the anti-interference capability of the flexible arm in the working state. It can also be used in conjunction with other devices in the surgical robot system that perform large circumferential control of the endoscope body to achieve efficient and precise control of the circumferential degree of freedom. In addition, the torque sensing unit 400 in the present invention has torque sensing capability for the circumferential direction of the three-jaw gripper. When performing circumferential degree of freedom control in conjunction, it can determine the idle angle from the endoscope body to the three-jaw gripper mechanism by the change law of torque, thereby facilitating the operator to judge the timing of twisting and achieving convenient and precise circumferential control. These functions significantly improve the overall control convenience and clinical applicability of the endoscopic surgical robot system.

[0050] Further, the optional embodiments of the present invention are described below with reference to the accompanying drawings:

[0051] by Figure 2As shown, the active conveying assembly 100 mainly includes an active friction wheel, a first flange bearing 102, a first encoder motor 103, and an active shaft 104. The first encoder motor 103 is fixed to the upper frame 301 of the sliding frame 300 via a motor bracket. The active shaft 104 is mounted on the first encoder motor 103 via a coupling. The active shaft 104 passes sequentially through the first flange bearing 102, a gasket, and a flange mounted on the upper frame 301. The flange is fixed to the active shaft by a set screw, and the active friction wheel is fixed to the flange (the flange bearing mounted on the active shaft ensures the rigidity of the active shaft). The tangential friction force provided by the active friction wheel is the sole driving force for controlling the axial conveying of the endoscope flexible arm. The active friction wheel and the driven friction wheel in the driven conveying assembly 200 are of the same size, and both friction wheels are concave in the radial direction. The concave depth is slightly larger than the radius of the endoscope flexible arm (for example, taking the commonly available endoscope flexible arm as an example, if the radius of the endoscope flexible arm is 6mm, then the upper limit of the concave depth is 8mm. The U-shaped groove wheel 514 in the three-jaw clamping part 500 of the present invention is similarly designed, that is, the concave depth is larger than the radius of the endoscope flexible arm). This allows the deformation of the endoscope flexible arm surface when the active friction wheel and the driven friction wheel are radially clamped to transform the contact between the endoscope flexible arm and the friction wheel surface from point contact to full-fit surface contact, achieving a better clamping effect. The encoder motors involved in the endoscope flexible arm conveying robot proposed in this invention are all equipped with encoders, that is, they can all achieve stable target speed and a certain angle control through closed-loop control.

[0052] by Figures 3-6As shown, the driven conveying assembly 200 includes a driven friction wheel, a horizontal bearing seat 202, a driven shaft rotary encoder 203, a driven shaft fixing seat 204, a lead screw push plate 205, a compression spring push plate 206, a compression spring 207, an internally threaded optical shaft 208, a first gasket 209, a first bolt 210, a non-self-locking lead screw assembly 211, a second slide rail assembly 212, a second flange bearing 213, a flange bearing limiting assembly 214, a first synchronous pulley assembly 215, a second encoder motor 216, a first slide rail assembly 217, and a driven shaft 218; the non-self-locking lead screw assembly 211 includes a lead screw and an internally threaded flange; the driven friction wheel is fixedly installed at one end of the driven shaft 218, and the driven shaft is mounted on the driven shaft fixing seat 204 via the horizontal bearing seat 202 with bearings, and the driven shaft is mounted on the driven shaft 218. The rotary encoder 203 (which senses the rotation angle and speed of the driven shaft 218 via the driven shaft rotary encoder 203, and then converts this into the real-time actual conveying speed and conveyed distance of the endoscope flexible arm. After comparing the encoder data with that of the first encoder motor 103 in real time, it can determine in real time whether the endoscope flexible arm has slipped during conveying, how much slippage has occurred, etc., and then, when slippage occurs, adjust the rotation angle of the second encoder motor 216 in real time and control the compression of the compression spring 207 to increase friction to overcome slippage); the second encoder motor 216, mounted on the upper frame 301, controls the rotation of the lead screw of the non-self-locking lead screw assembly 211 through the first synchronous pulley group 215. One end of the lead screw is axially and radially limited by the second flange bearing 213 and the flange bearing limiting assembly 214 (to achieve axial and radial limiting). Figure 3From left to right, the flange bearing limiting assembly 214 includes a limiting ring, a bearing baffle with a countersunk hole, a bearing mounting plate, and a washer (the bearing mounting plate is fixed to the upper frame 301 via a copper column). The internally threaded flange inserted at the other end of the lead screw is fixed to the lead screw push plate 205. The lead screw push plate 205, located on one side of the driven shaft fixing seat 204 along the first direction and spaced apart from the driven shaft fixing seat 204, is fixed to the two first inner moving rails of the first slide rail assembly 217 (including two first inner moving rails and two first outer fixed rails) by two hexagonal nuts 602. The two first outer fixed rails are respectively fixed to the upper frame 301. The sliding direction of the first slide rail assembly 217 and the axial direction of the lead screw are both endoscopic. The radial direction of the flexible arm of the endoscope (i.e., the clamping direction of the friction wheel) can be controlled by the second encoder motor 216 to move the lead screw push plate 205 radially along the flexible arm of the endoscope. Due to the large lead of the non-self-locking lead screw assembly 211, when the lead screw push plate 205 is used as the prime mover for active sliding, the lead screw of the non-self-locking lead screw assembly 211 can also rotate passively. In the process of clamping the passive friction wheel, the reaction force of the passive friction wheel can be converted into a rotational trend through the non-self-locking characteristic of the non-self-locking lead screw assembly 211, so that the second encoder motor 216 can sense it. Therefore, when the second encoder motor 216 is a high-performance motor such as a brushless servo motor, the degree of clamping of the passive friction wheel can be sensed through the stall current and other means.

[0053] by Figures 4-6As shown, the second slide rail group 212 is arranged in parallel above and below the first slide rail group 217 (i.e., there are a total of four second slide rail groups 212, each of which includes a second outer fixed rail and a second inner moving rail). The driven shaft fixing seat 204 is fixed to the second inner moving rail by eight hexagonal nuts, and the corresponding hexagonal nuts are also used to fix the horizontal bearing seat 202. The second outer fixed rail is fixed to the upper frame 301, so that the driven shaft fixing seat 204 can also slide radially on the endoscope flexible arm. The lead screw push plate 205 has a large hollow hole at each of its upper and lower ends. A compression spring 207, fitted onto the internal threaded optical shaft 208, passes through each large hollow hole. The two ends of the compression spring 207 press against the driven shaft fixing seat 204 and the compression spring push plate 206, each with a small hollow hole (the diameter of the large hollow hole is larger than the diameter of the compression spring, and the diameter of the small hollow hole is smaller than the diameter of the compression spring but larger than the diameter of the internal threaded optical shaft 208). The compression spring push plate 206 is rigidly fixed to the lead screw push plate 205 away from the driven shaft fixing seat 204 by a copper column. On one side, the two ends of the internal thread optical shaft 208 extend from the hollow holes of the driven shaft fixing seat 204 and the compression spring push plate 206, respectively, and are tightened at both ends by the first washer 209 and the first bolt 210. By fitting the driven shaft fixing seat 204 and the compression spring push plate 206 in the middle, a one-way axial limit is formed along the axis of the internal thread optical shaft 208. This forms a flexible push-lock between the driven shaft fixing seat 204 and the lead screw push plate 205, which is achieved by two compression springs 207 along the radial clamping direction of the endoscope. Ultimately, under the rotation of the second encoder motor 216, the rigid sliding of the lead screw push plate 205 toward the driven shaft fixing seat 204 generates a flexible compression on the driven shaft fixing seat 204. This causes the driven friction wheel mounted on the driven shaft fixing seat 204 to press the endoscope flexible arm against the surface of the active friction wheel. Even after this compression, under the controllable compression of the compression spring 207, the clamping force on the endoscope flexible arm increases almost linearly, thereby increasing the maximum static friction force that needs to be overcome to prevent axial transport slippage. For example, with... Figure 5 As shown, when the lead screw push plate 205 moves to the right, the compression spring push plate 206, which is rigidly fixed by the copper column, will move synchronously and squeeze the compression spring 207 supported on the right side surface of the compression spring push plate 206. After being compressed, the compression spring 207 squeezes the left side surface of the driven shaft fixing seat 204 at its right end, thus achieving a flexible push by squeezing the driven shaft fixing seat 204 to the right only through the pressure of the compression spring 207. This allows the moving driven friction wheel and the fixed active friction wheel to flexibly clamp the flexible arm of the endoscope.

[0054] As can be seen from the above technical solution, since the non-self-locking screw assembly 211 can transmit the radial reaction force of the endoscope flexible arm on the driven friction wheel to the screw push plate 205 in parallel, the radial reaction force is converted into a resistance torque that can be transmitted to the shaft of the second encoder motor 216 in real time through the non-self-locking screw structure. The compression spring 207 further filters out the vibration and other noise during the clamping process through flexible transmission, making the resistance torque felt by the motor shaft more reliable. Therefore, the driven conveying component 200 designed in this invention is more real-time, reliable, and accurate than using linear motion sensors, encoders, etc. Finally, the maximum clamping force can be controlled by setting the stall current in the electronic control program to protect the endoscope flexible arm.

[0055] like Figures 7-8 As shown, the sliding frame 300 mainly includes an upper frame 301, a lower fixed plate 302, a third slide rail assembly 303, and a tension / compression sensor 304. The lower fixed plate 302 includes a support plate, on which a connecting plate arranged perpendicularly is mounted via angle brackets. The upper frame 301 and the support plate of the lower fixed plate 302 are slidably connected via the third slide rail assembly 303, and the connecting plate is provided with light holes for bolts to pass through. The connecting plate is connected to the tension / compression sensor 304 mounted on the upper frame 301 via bolts, and there is an untightened gap between the tension / compression sensor 304 and the connecting plate. This gap design can determine... Whether the lower fixed plate and the upper frame have overcome the maximum static friction and slid apart at the preset angle in the human tissue collision force test can be used to reliably determine whether the tension and compression sensor 304 has a reading. The sliding direction of the third slide rail group 303 is parallel to the Roll axis conveying direction of the endoscope flexible arm. The active conveying component 100, the driven conveying component 200, the torque sensing unit 400, and the three-jaw gripping unit 500 in this invention are all installed on the upper frame 301. Therefore, the main body of the conveying robot (excluding the lower fixed plate 302) can slide relative to the lower fixed plate 302 parallel to the Roll axis of the endoscope flexible arm.

[0056] The tension and compression sensor 304 provided in this invention can detect the tension and compression parallel to the Roll axis exerted on the main body of the device relative to the lower fixed plate 302. When the flexible endoscope arm is axially transported by this invention, if the working end of the endoscope comes into contact with and is squeezed by human tissue, the main body of the transport robot will tend to slide relative to the lower fixed plate. Regardless of the current placement angle of the transport robot (e.g., tilting or tilting), the axial reaction force of the human tissue on the main body of the transport robot will cause a significant change in the data of the tension and compression sensor 304. This helps medical operators determine whether the endoscope is squeezing human tissue, or can help medical operators make timely decisions such as stopping transport or reversing transport, ultimately reducing the risk of complications and secondary injuries to patients, such as trauma and bleeding.

[0057] like Figures 9-11 As shown, the torque sensing unit 400 includes a drive gear 401, a third encoder motor 402, a sleeve-type motor base 403, a first perforated flange bearing 404, a torque sensor sleeve 405, a static torque sensor 406, and a sensor connecting flange 407. The torque sensor sleeve 405 is fixed to the upper frame 301 by copper pillars and angle brackets. The torque sensor sleeve 405 is bolted to the perforated flange edge and outer ring of the first perforated flange bearing 404. The inner ring of the first perforated flange bearing 404 fits the sleeve-type motor base 403, on which the third encoder motor 402 is fixed, through a clearance fit. The motor shaft and motor housing of the third encoder motor 402 are coaxial with the first perforated flange bearing 404, enabling the third encoder motor 402 to rotate circumferentially relative to the upper frame 301, coaxial with its own motor shaft. The motor shaft of the third encoder motor 402 is fixedly mounted with the drive gear 401 via a flange. The sleeve-type motor base 403 is located away from the upper frame 301. One end of the motor shaft is fixed to one end face of the static torque sensor 406 via the sensor connecting flange 407. The other end face of the static torque sensor 406 is fixed to the torque sensor sleeve 405 by bolts. The torque sensor sleeve 405 is fixed to the upper frame. Therefore, when the motor shaft of the third encoder motor 402 outputs load, the third encoder motor 402 will preferentially generate a circumferential rotation tendency and transmit the torque 1:1 to the static torque sensor 406, causing the two end faces of the static torque sensor 406 to produce relative circumferential torsional deformation, thereby detecting the real-time torque of the third encoder motor 402 1:1. A drive gear 401 is fixed to the motor shaft of the third encoder motor 402. The torque detection and transmission output of the former will be transmitted to the three-jaw clamping part 500 through the drive gear 401 and the wide idler gear 603 meshing with the drive gear 401 (the wide idler gear 603 is fixed to the upper frame 301 in a way that retains circumferential freedom). For details, please refer to [reference needed]. Figures 14-16The torque sensing unit 400 can determine the free rotation angle and torsional intensity of the current endoscope Roll axis circumferential rotation by sensing the torque of the three-jaw clamping unit 500, providing the operator with more force sensing information and improving the efficiency and stability of the operation.

[0058] like Figures 12-16 As shown, the three-jaw clamping part 500 includes a fourth encoder motor 501, a small synchronous pulley 502, a bearing seat assembly 503, a sleeve assembly 504, a half-tooth gear disc 505, a hollow lead screw 506, a lead screw nut 507, a lead screw push seat 508, a limiting ring 509, a second perforated flange bearing 510, a connecting rod hinge disc 511, a first connecting rod 512, a second connecting rod 513, a U-shaped grooved wheel 514, a linear motion bearing 515, an internally threaded long shaft 516, and a ball head bolt 517; the inner wall of the hollow lead screw 506 is a light hole, allowing the flexible arm of an endoscope to pass through; both sets of bearing seat assemblies 503 are fixed on the upper... On the end frame 301, the hollow lead screw 506, located between two sets of bearing housing assemblies 503, is arranged axially in sequence as follows: a first set of sleeve assembly 504, a second perforated flange bearing 510, a limiting ring 509, a lead screw pusher 508, a large synchronous pulley 518, and the second set of sleeve assembly 504 (where one side of the second perforated flange bearing 510 is attached to the first set of sleeve assembly 504, and the other side of the second perforated flange bearing 510 is attached to the limiting ring 509; there is a preset length interval between the limiting ring 509 and the small synchronous pulley 502). The two ends of the hollow lead screw 506 are mounted on the inner rings of the bearings in the bearing housing assembly 503. The axial locking function of the limiting ring 509, the large synchronous pulley 518 with axial locking function, and the sleeve assembly 504 cooperate to axially limit the hollow lead screw 506 between the two sets of bearing housing assemblies 503, and axially limit the second perforated flange bearing 510 on the hollow lead screw 506. The limited hollow lead screw 506 has a first external thread surface of a preset length between the end faces of the limiting ring 509 and the large synchronous pulley 518. The first external thread surface is the moving space of the lead screw pusher 508. The lead screw pusher 508 has two lead screw nuts 507 that match the hollow lead screw embedded in its internal nut groove, so that the lead screw pusher 508 can only move by... The thread contacts the hollow lead screw 506, and a half-toothed disc 505 is fixed on one end face of the lead screw pusher 508 near the large synchronous pulley 518. The half-toothed disc 505 is connected to the torque sensing unit 400 through a wide idler wheel 603 to form a circumferential limit for the lead screw pusher. Therefore, when the small synchronous pulley 502 in the second synchronous pulley group is driven by the fourth encoder motor 501 to transmit the rotational speed to the hollow lead screw 506, the latter can make a translational motion parallel to the lead screw axis. The tooth width of the wide idler wheel 603 is greater than the travel of the lead screw pusher 508, so the circumferential limit can cover the entire travel of the lead screw pusher 508.

[0059] Furthermore, with Figures 13-14As shown, when the lead screw pusher 508 moves axially, the torque sensor 400 can drive the lead screw pusher 508 to rotate circumferentially, allowing the lead screw pusher 508 to have both Roll degree of freedom and axial extension degree of freedom. A linear motion bearing 515 is embedded in the lower part of the lead screw pusher 508. The linear motion bearing 515 is sleeved on the internally threaded long shaft 516 with ball head bolts 517 at both ends. The balls on the outer end faces of the two ball head bolts 517 form radial limiting with the arc-shaped ball grooves opened on the upper frame through several line contacts, which can help the shaft structure where the hollow lead screw 506 is located to a certain extent. Improved bending strength; the limited distribution angle of the two ball bearing grooves on the upper frame (30 degrees) helps operators limit the rotation angle when using this invention to rotate the Roll axis (rotate the lead screw pusher 508), preventing collisions with more protected parts such as the slider rocker four-bar mechanism; since the radius of the internal thread long shaft 516 relative to the Roll axis axis is large (e.g., the arc length is more than 50mm), a touch sensor can be attached to the upper frame along the ball bearing groove to read the current Roll axis angle of the lead screw pusher 508 (i.e., the Roll axis angle of the flexible arm) by real-time ball bearing pressing.

[0060] Furthermore, with Figure 13As shown, using the connecting rod hinge plate 511 as the hinge seat and the lead screw pusher 508 as the slider, combined with the first connecting rod 512 and the second connecting rod 513, a slider-rocker four-bar mechanism is formed, with the lead screw pusher 508 as the driving element and the second connecting rod 513 as the driven element rocker arm. (One end of the first connecting rod 512 is hinged to the lead screw pusher 508, the other end of the first connecting rod 512 is hinged to one end of the second connecting rod 513, and the middle part of the second connecting rod 513 is connected to the connecting rod hinge plate 511.) 1. Hinged connection, the other end of the second connecting rod 513 is the working end); Considering that the lead screw pusher 508 will rotate circumferentially, the connecting rod hinge disk 511 is fixed on the perforated flange (outer ring of the bearing) of the second perforated flange bearing 510. When the lead screw pusher 508 rotates circumferentially, the connecting rod hinge disk 511 can keep circumferentially following in real time, so that the hinge axis of the single four-bar linkage remains parallel to the hinge axis of the lead screw pusher 508; the lead screw pusher 508 and the connecting rod hinge disk 511 are provided with Three sets of fixed hinge holes at 120° intervals, together with three sets of first connecting rods 512 and second connecting rods 513, form three sets of slider-rocker four-bar linkages, thereby forming a clamping three-jaw mechanism. The front end of the second connecting rod 513 is provided with a rotating U-shaped grooved wheel 514. The axis of the U-shaped grooved wheel 514 is perpendicular to the Roll axis of the endoscope flexible arm. This allows the three-jaw mechanism to generate static friction through radial compression after clamping the endoscope flexible arm. Then, through the rotation of the lead screw push seat 508, the endoscope flexible arm is clamped and rotated circumferentially along the Roll axis. When the active conveying component 100 and the driven conveying component 200 are working to axially convey the endoscope flexible arm, the U-shaped grooved wheel 514 and the endoscope flexible arm undergo pure rolling, without interfering with the static friction of clamping, the circumferential torsional force of rotation, or motion. Ultimately, this invention ensures that the mechanical structure motion does not interfere with each other when controlling the two degrees of freedom of axial conveying and circumferential torsion of the endoscope flexible arm. For example, as shown in the figure... Figure 14 The diagram shows the state where the three-jaw gripper is released and in the 0° twist position. Figures 15-16 The diagram shows the state of the flexible arm of the endoscope held by the three-jaw gripper under two different perspectives when it is twisted by 15°.

[0061] The circumferential rotational freedom of the flexible endoscope arm mainly relies on the endoscope body drive device of the entire endoscopic surgical robot. The endoscope body drive device is another device installed at the rear end of the flexible endoscope arm delivery robot of this invention. In actual endoscopic surgery, a Roll axis rotation angle of more than 180° is necessary. However, because the distance between the endoscope body drive device and the endoscope working end is too far, and when the endoscope body is installed in a hanging manner (this is a smaller installation method for robot design), the flexible endoscope arm is flexible and easily deformed. In actual operation, it is often affected by the Roll axis idle rotation angle, resulting in problems such as sluggish Roll axis rotation control and uncontrolled angle recovery, which are inefficient. Therefore, further, while the endoscope is clamped by the three-jaw gripper 500, the current torsional state of the endoscope flexible arm can be determined from the real-time torque of the torque sensor 400. If the rear endoscope main body drive device controls the Roll angle significantly (at least ten degrees), but the torque reading of the front endoscope flexible arm delivery robot for the Roll angle does not change significantly, then it is still within the idle angle range. The operator can quickly drive the endoscope main body device to rotate until the torque reading changes significantly. Then, through program reminders or automatic control interruption, the idle angle operation can be efficiently filtered. Finally, the three-jaw gripper 500 can be released to allow the endoscope to rotate freely. The main drive unit controls the endoscope to reach a new angle. For new angles with little change, the flexible arm of the endoscope at the front end can be directly reached by the three-jaw clamping part 500, or by repeatedly re-clamping and twisting. During this process, the torque reading can be used to determine whether the rear end endoscope main drive unit needs to follow the angle. In the absence of other Roll axis control sources, the Roll degree of freedom can be controlled and stabilized by repeated twisting. When the endoscope front end is twisted to the required working angle, the clamping and circumferential limiting of the three-jaw clamping part 500 can be maintained to alleviate the problem of automatic angle recovery after the flexible arm is twisted.

[0062] It should be noted that, under normal circumstances, axial conveying and circumferential torsion operations should be performed separately to avoid unnecessary friction between the flexible endoscope arm and the active and driven friction wheels of the axial conveying mechanism during torsion, which would interfere with the torque sensor 400's judgment of the idle angle. The two controllable clamps of this invention ensure that at least one controllable clamping part maintains control over the front end of the flexible endoscope arm during torsion or axial extension, so that the drive control can be completed without slippage or loss of control due to the large recovery deformation of the flexible endoscope arm from the torsional or stretched tension state caused by the loosening of the clamps.

[0063] The application scenarios of this invention are described in detail below:

[0064] Taking a common dual-channel electronic endoscope with a flexible endoscope arm having an outer diameter of 12mm as an example, this invention belongs to a complete endoscopic surgical robot system. It is a sub-device near the working end of the flexible endoscope arm and is mainly responsible for transport control. Its main working objective is to enable the flexible endoscope arm to be quickly installed onto or quickly disassembled from the flexible endoscope arm transport robot of this invention. It can control the two degrees of freedom of the flexible endoscope arm—transportation along the Roll axis and rotation around the Roll axis—by rotating the four encoder motors of the device. Furthermore, by coordinating the four encoder motors with the driven shaft rotary encoder 203, tension and compression sensor 304, static torque sensor 406, etc., it can effectively handle or avoid problems such as slippage, loss of control, and idle rotation of the flexible endoscope arm during the operation of the device.

[0065] by Figure 1 For example, after the endoscope has been assembled with other control devices such as the endoscope body drive mechanism, the flexible arm of the endoscope is moved from... Figure 1 The hollow lead screw 506, which extends into the three-jaw clamping part on the right side of the upper right active delivery component 100, passes through the center of the three sets of U-shaped grooved wheels 514 and roughly adjusts the initial posture of the driven delivery component 200 and the three-jaw clamping part 500 to be close to the surface of the endoscope flexible arm to complete the installation. Then, the necessary preoperative human preparation work for the endoscope surgery is carried out, such as manually sending the endoscope flexible arm into the corresponding position of the patient. For different operation requirements, the present invention has different implementation methods.

[0066] When it is necessary to control the transport of the endoscope parallel to the Roll axis, the second encoder motor 216 first maintains the clamping of the driven transport assembly 200, and the fourth encoder motor 501 can also maintain the clamping of the three-jaw clamping part 500 (or it can be loosened). Then, the first encoder motor 103 drives the active friction wheel to transport the flexible arm of the endoscope. When there is a significant inconsistency between the real-time data of the driven shaft rotary encoder 203 and the encoder of the first encoder motor 103, it means that the flexible arm of the endoscope is axially slipping on the driven friction wheel. At this time, by adjusting the angle of the second encoder motor 216, the pressure of the compression spring 207 is increased, and the friction between the flexible arm of the endoscope and the transport friction wheel is increased. If necessary, the clamping force of the three-jaw clamping part 500 can be slightly loosened to reduce the axial resistance or the difference in encoder angle when slipping can be used to compensate for the slipping transport distance after clamping.

[0067] If the tension and pressure value of the tension and pressure sensor 304 suddenly changes significantly during the delivery process, it means that the working part of the endoscope tip has been squeezed or collided with the patient's internal tissues. At this time, the operator can be alerted or the delivery can be stopped or reversed directly through the electronic control program to reduce the risk of secondary injury to the patient.

[0068] When torsional control of the endoscope around the Roll axis is required, the clamping of the three-jaw gripper can be maintained first by the fourth encoder motor 501, and then the clamping of the endoscope by the driven friction wheel can be loosened by the second encoder motor 216. If the torque detected by the torque sensor 400 is close to 0 at this time, it means that the current free rotation angle is in the range. Other devices at the rear end can be quickly driven to rotate until the torque increases significantly, which means that the free rotation angle is exhausted. At this time, the three-jaw gripper 500 can be slightly loosened, and the Roll angle can be controlled almost 1:1 by other devices at the rear end. When the target angle is reached, the three-jaw gripper 500 can be clamped to maintain the working angle, realizing a fast and large adjustment of the Roll angle. This process is called conventional large angle adjustment. If the torque is close to 0 and the adjustment angle is small, the clamping of the three-jaw gripper 500 can be maintained directly and the flexible arm of the endoscope at the front end can be rotated directly by the present invention to reach the target angle, realizing a fast and small adjustment of the Roll angle. This process is called conventional small angle adjustment.

[0069] If a large non-zero torque is detected before adjusting the Roll axis angle, and the required adjustment angle is opposite to the torque direction (i.e., the twisting direction is opposite to the natural return direction of the endoscope after loosening the clamp), this is equivalent to a regular large-angle adjustment without free rotation. Alternatively, the endoscope's flexible arm can be loosened by rotating other devices behind it to reduce the torque before performing a regular small-angle adjustment. When the required adjustment angle is in the same direction as the torque, a regular small-angle adjustment can be performed directly using this invention. This will also reduce the current torque. Alternatively, the torque can be rapidly rotated using other devices behind it to undergo a "significantly -0" process, and then continue to undergo a "0-significant" process after clamping with this invention. After completing the free rotation, a regular large-angle adjustment can be performed. Unless it is a very small Roll angle fine-tuning (within a few degrees), all other adjustments should first loosen the clamping of the driven friction wheel on the endoscope. This invention can be used to quickly determine the idle angle through torque detection, so that operators no longer need to judge when the Roll axis control and Roll angle changes will be clearly responsive by visual inspection and trial and error. This task is completely replaced by straightforward torque values. Furthermore, it allows real-time, back-and-forth fine-tuning of the angle within 30° to directly control the rotation of the three-jaw clamping part by 50°, without having to repeatedly test the idle angle while bearing the deformation of a long flexible arm, which would wear down the concentration and judgment of medical operators.

[0070] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. An endoscope flexible arm delivery robot, characterized by, Comprise: The active conveying assembly (100) comprises an active conveying part (101) which is rotatably arranged along the A direction; The driven conveying assembly (200) comprises a flexible moving part, a driven conveying part (201) which is movably arranged along the first direction with the flexible moving part; the movement of the flexible moving part along the first direction drives the driven conveying part (201) to have a first position which is arranged separately from the active conveying part (101), and a second position which cooperates with the active conveying part (101); when the driven conveying part (201) is located at the first position, the endoscope flexible arm (601) is placed into or taken out; when the driven conveying part (201) is located at the second position, through the cooperation of the active rotation movement of the active conveying part (101) along the A direction and the passive rotation movement of the driven conveying part (201) along the B direction, the endoscope flexible arm (601) between the active conveying part (101) and the driven conveying part (201) is clamped and conveyed; The endoscope flexible arm conveying robot further comprises a sliding frame (300), a torque sensing part (400), and a three-jaw clamping part (500); the sliding frame (300) is used for mounting the active conveying assembly (100), the driven conveying assembly (200), the torque sensing part (400), and the three-jaw clamping part (500); The three-jaw clamping part (500) comprises a fourth encoder motor (501), a small synchronous wheel (502), a sleeve group (504), a half-toothed disc (505), a hollow screw rod (506), a screw rod nut (507), a screw rod pusher (508), a limiting ring (509), a second flange bearing with holes (510), a large synchronous wheel (518), and a three-jaw mechanism; the fourth encoder motor (501) drives the small synchronous wheel (502), and power is transmitted to the hollow screw rod (506) through the large synchronous wheel (518); the hollow screw rod (506) has a smooth through hole for the flexible arm of an endoscope to pass through; the hollow screw rod (506) is sequentially provided with a first sleeve group (504), a second flange bearing with holes (510), a limiting ring (509), a screw rod pusher (508), a large synchronous wheel (518), and a second sleeve group (504) in the axial direction, and the limiting ring (509) with axial locking function and the small synchronous wheel (502) with axial locking function have a preset length interval, the hollow screw rod (506) adopts an external thread surface in the preset length interval between the limiting ring (509) and the end face of the large synchronous wheel (518), the external thread surface is a moving space of the screw rod pusher (508), the screw rod pusher (508) is matched with the hollow screw rod (506) through the screw rod nut (507), and a half-toothed disc (505) is fixed on the side end face of the screw rod pusher (508) close to the large synchronous wheel (518), the half-toothed disc (505) is connected to the torque sensing part (400) through a wide idler (603) to form the circumferential limiting of the screw rod pusher (508); the screw rod pusher (508) is provided with a three-jaw mechanism; the screw rod pusher (508) drives the three-jaw mechanism to clamp / release the flexible arm (601) of the endoscope through the movement in the first direction.

2. The endoscopic flexible arm delivery robot of claim 1, wherein, The driven conveying assembly (200) further comprises a non-self-locking screw rod group (211) comprising a screw rod and an internally threaded flange disc, the screw rod provides rotating power to drive the internally threaded flange disc to move in the first direction.

3. The endoscopic flexible arm delivery robot of claim 1, wherein, The flexible moving part comprises a horizontal bearing seat (202), a driven shaft rotary encoder (203), a driven shaft fixing seat (204), a screw rod push plate (205), a compression spring push plate (206), a compression spring (207), an internally threaded light shaft (208), a second slide rail group (212), a first slide rail group (217), and a driven shaft (218); the driven conveying part (201) is fixedly installed at one end of the driven shaft (218), the driven shaft (218) is installed on the driven shaft fixing seat (204), and the driven shaft (218) is installed with the driven shaft rotary encoder (203); the screw rod push plate (205) is arranged in a spaced manner on the side of the driven shaft fixing seat (204) along a first direction and is fixed to the internally threaded flange disc in the driven conveying assembly (200), the compression spring push plate (206) is installed in a spaced manner on the side of the screw rod push plate (205) away from the driven shaft fixing seat (204) through a connecting piece, and the screw rod push plate (205) is connected with the first slide rail group (217) to guide the movement of the screw rod push plate (205) and the compression spring push plate (206) along the first direction through the first slide rail group (217); the second slide rail group (212) is arranged in parallel with the first slide rail group (217) and is fixed with the driven shaft fixing seat (204) to guide the movement of the driven shaft fixing seat (204) along the first direction; the compression spring (207) is arranged on the screw rod push plate (205) in a sleeved manner on the internally threaded light shaft (208), both ends of the compression spring (207) are pressed on the driven shaft fixing seat (204) and the compression spring push plate (206) respectively, and both ends of the internally threaded light shaft (208) are respectively extended from the driven shaft fixing seat (204) and the compression spring push plate (206) and are screwed.

4. The endoscopic flexible arm delivery robot of claim 1, wherein, The sliding frame (300) comprises an upper end frame (301), a lower end fixed plate (302), a third slide rail group (303), and a tension and compression force sensor (304); the lower end fixed plate (302) comprises a support plate, and a connecting plate is arranged in a vertical manner on the support plate through an angle bracket; the upper end frame (301) and the support plate of the lower end fixed plate (302) are connected in a sliding manner through the third slide rail group (303), and the connecting plate is provided with a light hole for a bolt to pass through, the connecting plate is connected with the tension and compression force sensor (304) installed on the upper end frame (301) through a bolt, and there is an interval between the tension and compression force sensor (304) and the connecting plate which is not tightened; the sliding direction of the third slide rail group (303) is parallel to the Roll shaft conveying direction of the flexible arm of the endoscope, and the active conveying assembly (100), the driven conveying assembly (200), the torque sensing part (400), and the three-jaw clamping part (500) are all installed on the upper end frame (301).

5. The endoscopic flexible arm delivery robot of claim 1, wherein, The torque sensing part (400) comprises a driving gear (401), a third encoder motor (402), a sleeve motor base (403), a first flanged bearing (404), a torque sensor sleeve (405), a static torque sensor (406), and a sensor connecting flange (407). The torque sensor sleeve (405) is fixed on the sliding frame (300), the torque sensor sleeve (405) fixes the flanged edge and the outer ring of the first flanged bearing (404), the inner ring of the first flanged bearing (404) sleeves the sleeve motor base (403) fixed with the third encoder motor (402) through a gap fit, the motor shaft and the motor housing of the third encoder motor (402) are coaxial with the first flanged bearing (404), and the motor shaft end of the third encoder motor (402) is fixedly installed with the driving gear (401). The end of the sleeve motor base (403) away from the motor shaft is fixed with one end face of the static torque sensor (406) through the sensor connecting flange (407), the other end face of the static torque sensor (406) is fixed on the torque sensor sleeve (405), and the torque sensor sleeve (405) is fixed on the sliding frame (300).

6. The endoscopic flexible arm delivery robot of claim 5, wherein, The driving gear (401) transmits power to the three-jaw clamping part (500) through the meshed wide idler (603).

7. The endoscopic flexible arm delivery robot of claim 1, wherein, The tooth width of the wide idler (603) is greater than the moving stroke of the screw rod pusher (508).

8. The endoscopic flexible arm delivery robot of claim 1, wherein, The three-jaw clamping part (500) further comprises a linear motion bearing (515), an internally threaded long shaft (516), and a ball head bolt (517). The linear motion bearing (515) is embedded in the lower part of the screw rod pusher (508), the linear motion bearing (515) is sleeved on the internally threaded long shaft (516) provided with the ball head bolt (517) at both ends, and the balls on the outer end faces of the two ball head bolts (517) form radial limiting by several linear contacts with the circular arc-shaped ball sliding grooves formed on the upper end frame.

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