Miniature high-flexibility master-slave type mechanical arm operating system for digestive endoscopy

Abstract

The invention discloses a miniature high-flexibility master-slave type mechanical arm operating system for a digestive endoscope. The miniature high-flexibility master-slave type mechanical arm operating system comprises a sheathing canal; each mechanical arm comprises a main body, a movable joint, four first driving wires and a first quick release structure; the main body is connected to the sheathing canal; the movable joint is connected to the main body and comprises a plurality of rotating parts; the four first driving wires are arranged in the circumferential direction of the rotating parts, and each first driving wire is arranged on all the rotating parts in a penetrating mode and fixedly connected with the rotating part at the foremost end. The first quick release structure comprises a first connecting part and a second connecting part which are clamped with each other, and the first connecting part is fixed on the rotating part at the foremost end; the two driving assemblies are arranged corresponding to the two mechanical arms correspondingly, each driving assembly comprises four first driving parts, and the four first driving parts are connected to the four first driving wires correspondingly; the two surgical instruments are respectively connected to the second connecting parts of the two mechanical arms. The device is high in flexibility, has multiple functions, and can improve the operation efficiency.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a miniature, highly flexible master-slave robotic arm operating system for digestive endoscopy. Background Technology

[0002] Currently, endoscopic procedures (such as early-stage cancer resection (ESD), polyp removal, hemostasis, and suturing) performed under digestive endoscopy (gastroscopy, colonoscopy) primarily rely on surgeons using specialized instruments inserted through the biopsy channel of the endoscope. The procedure involves inserting the endoscope into the patient's body along the body's cavities, then inserting surgical instruments into the biopsy channel and moving them along the channel to the lesion site before performing the surgical procedure. However, during the procedure, the instruments require frequent adjustments to their direction and angle. Existing structural designs and manual operation methods make it difficult to achieve flexible instrument movement, resulting in very low surgical efficiency. Furthermore, a single surgery often requires multiple actions, such as clamping, lifting, and cutting, but traditional instruments typically perform only one function at a time (such as cutting or clamping), making it difficult to achieve complex, continuous compound movements, further reducing surgical efficiency. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a miniature, highly flexible master-slave robotic arm operating system for digestive endoscopy, which is highly flexible and has multiple functions, thereby improving surgical efficiency.

[0004] The miniature, highly flexible master-slave robotic arm operating system for digestive endoscopy according to embodiments of this application includes: Sheath; Two robotic arms, each comprising a main body, a movable joint, four first drive wires, and a first quick-release structure; the main body is connected to the sheath and its front end protrudes from the front end of the sheath; the movable joint is connected to the front end of the main body and includes multiple rotating parts that are hinged sequentially, with any two adjacent rotating parts arranged orthogonally; the four first drive wires are evenly arranged circumferentially along the rotating parts, each first drive wire passing through all the rotating parts and fixedly connected to the foremost rotating part; the first quick-release structure includes a first connecting part and a second connecting part that interlock with each other, the first connecting part being fixed to the foremost rotating part; Two drive components are respectively set for the two robotic arms. Each drive component includes four first drive parts, which are respectively connected to four first drive wires for pushing and pulling the first drive wires to drive the movable joint to move. Two surgical instruments are respectively connected to the second connecting parts of the two robotic arms.

[0005] The miniature, highly flexible master-slave robotic arm operating system for digestive endoscopy according to embodiments of this application has at least the following beneficial effects: By setting a movable joint with multiple orthogonally hinged rotating parts at the front end of the sheath and driving it with four circumferentially evenly arranged first drive wires, the surgical instruments connected to the front end of the movable joint can flexibly adjust their posture and position in three-dimensional space, improving the flexibility and precision of surgical operations, and thus improving surgical efficiency. By setting two robotic arms to mount two surgical instruments, more surgical operations can be performed with two surgical instruments, making the functions more diverse and further improving surgical efficiency. By setting a first quick-release structure at the front end of the robotic arm, the surgical instruments can be quickly installed and removed. When multi-step surgery is required, the surgeon can quickly switch surgical instruments by disassembling and assembling the second connecting part without replacing the entire robotic arm, shortening the instrument change time and improving surgical efficiency.

[0006] According to some embodiments of this application, the front end of the first connecting part is provided with a slot, the second connecting part is provided with a plug, the plug is inserted into the slot, one of the plug and the slot has a snap-fit ​​recess on its side wall, and the other has a snap-fit ​​protrusion on its side wall to snap into the snap-fit ​​recess.

[0007] According to some embodiments of this application, one of the surgical instruments is a clamp; the robotic arm further includes a second drive wire, which is arranged along the length of the sheath and its front end is detachably connected to the clamp via a second quick-release structure; the drive assembly further includes a second drive part, which is connected to the rear end of the second drive wire and is used to push and pull the second drive wire to drive the clamp to open and close.

[0008] According to some embodiments of this application, the second quick-release structure includes: The locking ring is connected to the second drive wire and has a closed annular structure. The latch includes a hook-shaped lock body and an elastic piece. The hook-shaped lock body is connected to the clamp and has a notch. The elastic piece is disposed at the notch and closes the notch to form a locking space with the hook-shaped lock body. The locking ring is inserted into the locking space, and the elastic piece is configured to move elastically under external force to open the notch, so that the locking ring can separate from the latch through the notch.

[0009] According to some embodiments of this application, the clamps include: The sliding part is slidably disposed on the second connecting part along the push-pull direction of the second drive wire, and is connected to the second drive wire through the second quick-release structure; Two clamping parts, the middle part of the two clamping parts being rotatably connected to the second connecting part; Two connecting rods are provided, with the front ends of the two connecting rods rotatably connected to the rear ends of the two clamping parts, and the rear ends of the two connecting rods rotatably connected to the sliding part, so that the sliding part relative to the second connecting part drives the two clamping parts to open and close.

[0010] According to some embodiments of this application, two power supply components are also included, each corresponding to one of the two robotic arms, and each power supply component includes: A conductive wire, the front end of which is fixed to the corresponding first connecting part and forms a first conductive contact; A power source, connected to the rear end of the conductive wire, is used to supply power to the conductive wire.

[0011] According to some embodiments of this application, one of the surgical instruments is an electrosurgical knife, and a second conductive contact is provided on the second connecting part connected to the electrosurgical knife. The second conductive contact abuts against the first conductive contact and is electrically connected to the electrosurgical knife.

[0012] According to some embodiments of this application, the conductive wire includes: The first wire has its front end fixed to the first connecting part and forming the first conductive contact, and its rear end is provided with a male plug. The second wire has a female plug at one end and is connected to the power source at the other end; The male plug engages with the female plug to achieve electrical connection between the first wire and the second wire.

[0013] According to some embodiments of this application, the first drive wire is connected to the first drive unit via a third quick-release structure, the third quick-release structure comprising: The third connecting part is rotatably connected to the rear end of the first driving wire about the central axis of the first driving wire, and the third connecting part is provided with a threaded hole with an opening at the rear end. The fourth connecting part is connected to the first driving part at one end and has an external thread at the other end, which is threaded to the threaded hole.

[0014] According to some embodiments of this application, it also includes a transmission box, the rear end of the sheath is detachably connected to the transmission box, and the two drive components are disposed inside the transmission box.

[0015] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0016] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the structure of the miniature, highly flexible master-slave robotic arm operating system for digestive endoscopy according to an embodiment of this application; Figure 2 yes Figure 1 A cross-sectional schematic diagram; Figure 3 This is a schematic diagram of the connection structure between the robotic arm and the gripper according to an embodiment of this application; Figure 4 This is a cross-sectional view of the connection structure between the robotic arm and the gripper according to an embodiment of this application; Figure 5 This is a schematic diagram of the rotating part according to an embodiment of this application; Figure 6 This is a schematic diagram of the connection structure between the robotic arm, the drive assembly, and the power supply assembly according to an embodiment of this application; Figure 7 This is a schematic diagram of the connection structure between the electrosurgical unit and the power supply component according to an embodiment of this application; Figure 8 This is a schematic diagram of the internal structure of the transmission box according to an embodiment of this application; Figure 9 This is a schematic diagram of the structure of the third and fourth connecting parts according to an embodiment of this application.

[0017] Icon labels: Sheath 100, annular groove 101; Robotic arm 200, main body 210, movable joint 220, rotating part 221, first through hole 222, second through hole 223, first drive wire 230, third connecting part 231, threaded hole 232, fixed head 233, first connecting part 240, slot 241, second connecting part 250, insert block 251, second conductive contact 252, second drive wire 260, locking ring 270, latch 280, hook-shaped lock body 281, elastic sheet 282; Drive component 300, first drive unit 310, fourth connecting unit 311, second drive unit 320; Clamp 400, sliding part 410, clamping part 420, connecting rod 430; Power supply component 500, conductive wire 510, first conductive contact 511, first conductor 512, male plug 513, second conductor 514, female plug 515, power supply 520; Electrosurgical Unit 600; Transmission box 700, box body 701. Detailed Implementation

[0018] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0019] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0020] In the description of this application, "multiple" refers to two or more. The use of "first" and "second" is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features indicated, or the order in which the technical features are indicated.

[0021] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0022] Reference Figures 1 to 6 As shown, an embodiment of the present application describes a miniature, highly flexible master-slave robotic arm operating system for a digestive endoscope, comprising: a sheath 100, two robotic arms 200, and two drive components 300.

[0023] The sheath 100 is a hollow, flexible tube with an outer diameter that matches the inner diameter of the biopsy channel of a digestive endoscope, allowing it to pass through the biopsy channel and be inserted into the patient's body; the rear end of the sheath 100 is located outside the body.

[0024] Two robotic arms 200 are arranged side by side. Each robotic arm 200 includes a main body 210, a movable joint 220, four first drive wires 230 and a first quick-release structure.

[0025] The main body 210 is connected to the sheath 100. The front end of the main body 210 protrudes from the front end of the sheath 100, and the rear end of the main body 210 protrudes from the rear end of the sheath 100. Specifically, the front and rear ends of the sheath 100 are respectively provided with first sealing parts for sealing the front and rear ends of the sheath 100. Each first sealing part is provided with two connecting holes. The cross-sectional dimensions of the connecting holes are the same as the cross-sectional dimensions of the main body 210. The main body 210 is sequentially inserted through the connecting holes of the first sealing part at the rear end, the internal space of the sheath 100, and the connecting holes of the first sealing part at the front end, and is fixedly connected to the sheath 100 at the connecting holes. In addition, the front end of the main body 210 can adopt a rigid structure to facilitate connection with the movable joint 220, and the remaining part can adopt a flexible or semi-flexible structure to adapt to the curved channel of the digestive endoscope.

[0026] The movable joint 220 is connected to the front end of the main body 210. The movable joint 220 includes multiple rotating parts 221, which are hinged sequentially front to back, with any two adjacent rotating parts 221 arranged orthogonally. Specifically, from back to front, the first rotating part 221 is hinged to the second rotating part 221 around a first axis, and the second rotating part 221 is hinged to the third rotating part 221 around a second axis. The first axis and the second axis are perpendicular in space, and subsequent rotating parts 221 follow the same pattern. This arrangement enables the movable joint 220 to arbitrarily change its bending direction in three-dimensional space. It should be noted that the first rotating part 221 can be fixed to the front end of the main body 210 or hinged to the front end of the main body 210, for example, fixed to or hinged to the first sealing part at the front end of the main body 210.

[0027] Four first drive wires 230 are evenly arranged circumferentially along the rotating part 221, with an included angle of 90 degrees between any two adjacent first drive wires 230. Each first drive wire 230 passes through all the rotating parts 221 from front to back, and the front end of each first drive wire 230 is fixedly connected to the frontmost rotating part 221 of the movable joint 220. The first drive wires 230 can be made of superelastic nickel-titanium alloy wire. In addition, the main body 210 is also configured as a tubular structure, with second sealing parts at both the front and rear ends of the main body 210. The second sealing parts have holes for the first drive wires 230 to pass through. The first drive wires 230 enter the main body 210 from the second sealing part at the front end of the main body 210 and exit from the second sealing part at the rear end of the main body 210. This configuration provides some guiding assistance for the movement of the first drive wires 230. It should be noted that each rotating part 221 is provided with four first through holes 222 for the first drive wire 230 to pass through. The first drive wire 230 can slide within the first through holes 222 of the rotating parts 221 other than the foremost rotating part 221.

[0028] The first quick-release structure includes a first connecting part 240 and a second connecting part 250 that are interlocked with each other, and the first connecting part 240 is fixed to the rotating part 221 at the front end.

[0029] Two drive components 300 are respectively positioned corresponding to two robotic arms 200, and both are located externally. Each drive component 300 includes four first drive parts 310, which are respectively connected to four first drive wires 230 for pushing and pulling the first drive wires 230 to drive the movable joint 220 to move. Each first drive part 310 can move independently. The first drive part 310 can be a micro motor, a pneumatic micro cylinder, or a hydraulic micro cylinder.

[0030] Two surgical instruments are respectively connected to the second connecting parts 250 of the two robotic arms 200, so as to achieve detachable connection with the movable joint 220 through the snap-fit ​​cooperation between the second connecting parts 250 and the first connecting parts 240.

[0031] In this embodiment, the operator can first select a suitable surgical instrument and connect it to the first connecting part 240 via the second connecting part 250 to achieve the connection between the surgical instrument and the movable joint 220. After assembling the surgical instrument, the sheath 100 is inserted into the biopsy channel of the digestive endoscope to bring the surgical instrument to the lesion location. Then, by controlling each of the first drive parts 310 to perform corresponding push-pull actions, the movable joint 220 is controlled to move via the first drive wire 230, thereby driving the surgical instrument at the front end to adjust its posture and position. The control strategies corresponding to several movement modes of the movable joint 220 are illustrated below.

[0032] For example, when it is only necessary to make the surgical instrument move in a single direction, the two first drive wires 230 on the opposite side can be controlled to push and pull, so that the movable joint 220 bends towards the tension side. This driving method can realize the pure bending movement of the movable joint 220 in a single direction.

[0033] For example, when it is necessary to adjust the posture of surgical instruments in three-dimensional space, the four first drive wires 230 can be controlled to move according to a set displacement and action sequence, causing the bending direction of the movable joint 220 to change continuously. This, in turn, causes the rotating part 221 at the foremost end to move on a virtual conical surface, achieving spatial rotational motion. This spatial rotational motion allows the surgical instruments to reach the target position with a wider range of postures, achieving wrist-like flexibility and significantly improving the operability of surgical instruments in confined spaces.

[0034] The miniature, highly flexible master-slave robotic arm operating system for digestive endoscopy in this embodiment firstly achieves the following: Firstly, by setting a movable joint 220 with multiple orthogonally hinged rotating parts 221 at the front end of the sheath 100, and driving it with four circumferentially evenly arranged first drive wires 230, the surgical instruments connected to the front end of the movable joint 220 can flexibly adjust their posture and position in three-dimensional space, improving the flexibility and precision of surgical operations, thereby increasing surgical efficiency. Secondly, by setting two robotic arms 200 to mount two surgical instruments, more surgical operations can be performed using two surgical instruments, enriching the functionality and further improving surgical efficiency. Thirdly, by setting a first quick-release structure at the front end of the robotic arm 200, surgical instruments can be quickly installed and removed. When multi-step surgeries are required, the surgeon can quickly switch surgical instruments by disassembling and assembling the second connecting part 250 without replacing the entire robotic arm 200, shortening instrument change time and improving surgical efficiency.

[0035] Reference Figure 4 and Figure 7 As shown, in some embodiments of this application, the front end of the first connecting part 240 is provided with a slot 241, and the second connecting part 250 is provided with a plug 251. The plug 251 is inserted into the slot 241. One of the plug 251 and the slot 241 has a snap-fit ​​recess on its side wall, and the other has a snap-fit ​​protrusion on its side wall to snap into the snap-fit ​​recess. In this embodiment, after the plug 251 is inserted into the slot 241, the snap-fit ​​protrusion automatically snaps into the snap-fit ​​recess to complete the locking. When it is necessary to change the surgical instrument, only external force needs to be applied to disengage the snap-fit ​​protrusion from the snap-fit ​​recess, and the second connecting part 250 can be removed together with the surgical instrument. The whole process does not require the use of tools, and the operation is simple and quick.

[0036] Reference Figures 3 to 6As shown, in some embodiments of this application, one of the surgical instruments is a clamp 400, which is used to perform grasping, pulling, and other operations during digestive endoscopy. To achieve independent drive of the clamp 400, the robotic arm 200 also includes a second drive wire 260, which is arranged along the length of the sheath 100. The front end of the second drive wire 260 is detachably connected to the clamp 400 via a second quick-release structure. The second drive wire 260 may also be made of a super-elastic nickel-titanium alloy wire. The drive assembly 300 also includes a second drive unit 320, which is connected to the rear end of the second drive wire 260 and is used to push and pull the second drive wire 260 to drive the clamp 400 to open and close. The second drive unit 320 may be a micro motor, a pneumatic micro cylinder, or a hydraulic micro cylinder. The rotating part 221 is provided with a second through hole 223, which is located at the center of the distribution circle of the four first through holes 222. The second sealing parts at both ends of the main body 210 are provided with holes for the second drive wire 260 to pass through. From front to back, the second drive wire 260 passes through the second through hole 223 of each rotating part 221 in sequence, and then passes through the inside of the main body 210 and extends to the rear side of the main body 210 to connect with the second drive part 320.

[0037] In this embodiment, the first drive wire 230 is used to drive the movable joint 220 to bend, so that the clamp 400 reaches the target position, while the second drive wire 260 independently controls the opening and closing action of the clamp 400. The two work together to allow the doctor to control the spatial position and opening and closing state of the clamp 400 at the same time during the operation, so as to achieve precise operation on the diseased tissue.

[0038] Reference Figure 4 As shown, in some embodiments of this application, the second quick-release structure includes a locking ring 270 and a latch 280. The locking ring 270 is connected to the front end of the second drive wire 260 and is a closed annular structure. The latch 280 includes a hook-shaped locking body 281 and an elastic piece 282. The hook-shaped locking body 281 is connected to the clamp 400 and has a notch. The elastic piece 282 is disposed at the notch and closes the notch to form a locking space with the hook-shaped locking body 281. The locking ring 270 passes through the locking space, and the elastic piece 282 is configured to be able to elastically move to open the notch under the action of external force, so that the locking ring 270 can be separated from the latch 280 through the notch. By adopting the above-mentioned structural configuration, the second drive wire 260 and the clamp 400 can be quickly connected or separated, which is very convenient and can significantly improve work efficiency.

[0039] Reference Figure 3 and Figure 4As shown, in some embodiments of this application, the clamp 400 includes a sliding portion 410, two clamping portions 420, and two connecting rods 430. The sliding portion 410 is slidably disposed on the second connecting portion 250 along the push-pull direction of the second drive wire 260 and connected to the second drive wire 260 via a second quick-release structure. The middle portions of the two clamping portions 420 are rotatably connected to the second connecting portion 250 about the same axis. The front ends of the two connecting rods 430 are rotatably connected to the rear ends of the two clamping portions 420, and the rear ends of the two connecting rods 430 are rotatably connected to the sliding portion 410 about the same axis. When the second drive wire 260 is pushed or pulled, the sliding portion 410 slides relative to the second connecting portion 250, and the two clamping portions 420 are driven to rotate about their middle portions via the two connecting rods 430, thereby opening or closing the clamp 400.

[0040] In some specific embodiments, the hook-shaped lock body 281 is fixed to the rear end of the sliding part 410, one end of the elastic piece 282 is fixed to the rear end of the sliding part 410, and the other end elastically abuts against the hook-shaped lock body 281.

[0041] In some specific embodiments, a guide hole is provided at the center of the second connecting part 250, and the sliding part 410 is slidably installed in the guide hole.

[0042] It should be noted that when one of the surgical instruments is scissors, since the movement of the scissors is almost identical to that of the clamp 400, the same structure described above can be used. Simply arrange the two clamping parts 420 in an alternating manner and each have a blade. It should also be noted that both robotic arms 200 can be equipped with a second drive wire 260 and a corresponding second drive part 320. When the surgical instrument does not need to perform opening and closing movements but only needs to move synchronously with the movable joint 220, the second drive wire 260 and the second drive part 320 do not need to operate. This improves the versatility of the robotic arms 200.

[0043] Reference Figures 6 to 8 As shown, in some embodiments of this application, two power supply components 500 are also included, respectively corresponding to two robotic arms 200. Each power supply component 500 includes a conductive wire 510 and a power source 520. The front end of the conductive wire 510 is fixed to the corresponding first connecting part 240 and forms a first conductive contact 511. The rear end of the conductive wire 510 passes through the second through hole 223 of each rotating part 221 in sequence, then passes through the main body 210, and extends out from the rear end of the main body 210. The power source 520 is connected to the rear end of the conductive wire 510 and is used to supply power to the conductive wire 510. The power source 520 is disposed outside the body. It is conceivable that some types of surgical instruments require electricity to be used, and in this embodiment, by setting the power supply component 500, a hardware foundation for such surgical instruments can be provided.

[0044] Reference Figure 7As shown, in some embodiments of this application, one of the surgical instruments is an electrosurgical knife 600. A second conductive contact 252 is provided on the second connection part 250 connected to the electrosurgical knife 600. The second conductive contact 252 abuts against the first conductive contact 511 and is electrically connected to the electrosurgical knife 600, so that the electrosurgical knife 600 can be powered by the power supply component 500 to perform surgical actions such as cutting.

[0045] It should be noted that the two power supply components 500 are set in this embodiment to improve versatility. When the two surgical instruments include instruments that do not require power, the corresponding power supply component 500 can be turned off.

[0046] Reference Figure 6 and Figure 7 As shown, in some embodiments of this application, the conductive wire 510 includes a first conductor 512 and a second conductor 514; the front end of the first conductor 512 is fixed to the first connecting part 240 and forms a first conductive contact 511, and the rear end extends to the rear side of the main body 210 and is provided with a male plug 513; one end of the second conductor 514 is provided with a female plug 515, and the other end is connected to the power supply 520; wherein, the male plug 513 and the female plug 515 are snapped together to realize the electrical connection between the first conductor 512 and the second conductor 514.

[0047] It should be noted that digestive endoscopy is performed in a highly contaminated environment. To avoid cross-infection, the structures inserted into the patient's body can only be reused a limited number of times (usually only a few times), and must undergo strict sterilization before each use. Based on this, this embodiment uses a segmented structure for the conductive wire 510, with the first wire 512 inserted into the body along with the robotic arm 200, while the second wire 514 and power supply 520 are placed outside the body. When it is necessary to replace or sterilize the inserted parts, the male plug 513 and female plug 515 can be separated, and the first wire 512 along with the robotic arm 200 can be removed, while the second wire 514 and power supply 520 can be retained for continued use. This design ensures the sterilization requirements of the internal parts while avoiding the waste of repeatedly purchasing external parts, effectively reducing operating costs.

[0048] Reference Figure 6 and Figure 9As shown, in some embodiments of this application, the first drive wire 230 is connected to the first drive unit 310 via a third quick-release structure. The third quick-release structure includes a third connecting part 231 and a fourth connecting part 311. The third connecting part 231 is connected to the rear end of the first drive wire 230 and can rotate freely around the central axis of the first drive wire 230. The third connecting part 231 is provided with a threaded hole 232, the rear end of which is open. One end of the fourth connecting part 311 is connected to the output end of the first drive unit 310, and the other end is provided with an external thread, which engages with the threaded hole 232 of the third connecting part 231, thereby achieving a detachable connection between the fourth connecting part 311 and the third connecting part 231.

[0049] It should be noted that since the first drive wire 230 needs to be inserted into the body, it can only be reused a limited number of times, and must undergo strict disinfection before each use. Based on this, this embodiment provides a third quick-release structure between the first drive wire 230 and the first drive part 310. When it is necessary to replace or disinfect the part inserted into the body, the connection between the fourth connecting part 311 and the third connecting part 231 can be disconnected, and the first drive wire 230 along with the third connecting part 231 can be removed together, while the first drive part 310 can continue to be used. Similarly, this detachable design not only meets the replacement needs of easily contaminated parts but also avoids the waste of repeatedly purchasing the first drive part 310, effectively reducing usage costs. Furthermore, by providing the third connecting part 231 to rotate relative to the first drive wire 230, this embodiment prevents the first drive wire 230 from twisting during the threaded connection process, thereby preventing damage or fatigue to the first drive wire 230 due to torsional loads.

[0050] In some specific embodiments, in order to achieve the rotatable connection between the third connecting part 231 and the first driving wire 230, a cylindrical fixing head 233 is provided at the rear end of the first driving wire 230. The diameter of the fixing head 233 is larger than the diameter of the first driving wire 230. The third connecting part 231 is configured as a cylindrical structure, and the front end face of its threaded hole 232 is provided with a sleeve hole that matches the first driving wire 230 so that the first driving wire 230 can pass through. In addition, the depth of the threaded hole 232 is greater than the axial dimension of the fixing head 233 so as to accommodate the fixing head 233, so that the third connecting part 231 can be rotatably sleeved on the fixing head 233 through its threaded hole 232 and sleeve hole.

[0051] It should also be noted that the second drive wire 260 and the second drive part 320 can also be connected using the same structure as the third quick-release structure described above.

[0052] Reference Figure 1 and Figure 8As shown, in some embodiments of this application, the miniature, highly flexible master-slave robotic arm operating system for digestive endoscopy also includes a transmission box 700. The rear end of the sheath 100 is detachably connected to the transmission box 700. Two drive components 300, a power supply 520, and a second wire 514 are all disposed within the transmission box 700. The aforementioned main body 210, first drive wire 230, second drive wire 260, and first wire 512 all extend into the transmission box 700.

[0053] In this embodiment, core components such as the drive assembly 300 and power supply 520 are integrated into the transmission box 700, and the sheath 100 is detachably connected to the transmission box 700. This allows the parts inserted into the body (including the sheath 100, robotic arm 200, first drive wire 230, second drive wire 260, first wire 512, etc.) to be quickly removed from the transmission box 700 as a single module for easy disinfection or replacement. Meanwhile, higher-priced components such as the drive assembly 300 and power supply 520 can be fixed within the transmission box 700 for long-term reuse without needing to be disinfected or replaced along with the internal parts. This avoids damage to precision components from frequent disinfection and reduces consumable costs. Furthermore, the transmission box 700, as a centralized mounting carrier for the external parts, provides a unified connection basis for subsequent connection to external devices such as control terminals and multi-degree-of-freedom robotic arms, enhancing the system's scalability.

[0054] Reference Figure 8 As shown, in some embodiments of this application, the transmission box 700 includes two split-type box bodies 701, which are connected together by fasteners. The rear end of the sheath tube 100 is provided with a circumferentially extending annular groove 101. The edges of both box bodies 701 are embedded in the annular groove 101 to limit the axial relative displacement between the sheath tube 100 and the transmission box 700. The annular groove 101 of the sheath tube 100 is also provided with an anti-rotation protrusion. The box body 701 is correspondingly provided with a groove for the anti-rotation protrusion to be embedded in, thereby limiting the rotation of the sheath tube 100 relative to the transmission box 700. By adopting the above-mentioned arrangement, the sheath tube 100 and the transmission box 700 can be detachably connected. When it is necessary to disassemble the sheath tube 100, it is only necessary to open one of the box bodies 701 and disconnect the drive assembly 300 in the transmission box 700 from the robotic arm 200, so that the sheath tube 100 together with the robotic arm 200 can be removed from the transmission box 700.

[0055] In some embodiments of this application, the operating system of the miniature, highly flexible master-slave robotic arm for digestive endoscopy also includes a control terminal and a motion mechanism (not shown in the figures). The control terminal includes a control platform, an operating handle, and a controller. The operating handle is disposed on the control platform and electrically connected to the controller. The operating handle has multiple degrees of freedom and can record fine movements such as rotation and bending of the doctor's wrist, and send corresponding motion commands to the controller. The motion mechanism includes a multi-degree-of-freedom robotic arm connected to the transmission box 700 and the sheath 100. It has multiple motion joints for realizing the forward and backward movement and rotation of the sheath 100 within the biopsy channel of the digestive endoscope. The controller is electrically connected to the drive assembly 300 and the multi-degree-of-freedom robotic arm. The controller can control the movement of the first drive unit 310 and the second drive unit 320 according to the motion commands issued by the operating handle; at the same time, the controller can also control the movement of the multi-degree-of-freedom robotic arm to drive the sheath 100 to move forward, backward, and rotate within the biopsy channel. It should be noted that the specific structure and working principle of the above-mentioned control terminal and multi-degree-of-freedom robotic arm are all prior art in the field. This application does not involve improvements to their structure, and those skilled in the art can implement them based on existing technology.

[0056] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine different embodiments or examples described in this specification.

[0057] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application 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 this application.

Claims

1. A miniature, highly flexible master-slave robotic arm operating system for digestive endoscopy, characterized in that, include: Sheath; Two robotic arms, each robotic arm comprising a main body, a movable joint, four first drive wires, and a first quick-release structure; the main body is connected to the sheath, and its front end protrudes from the front end of the sheath; The movable joint is connected to the front end of the main body. The movable joint includes a plurality of rotating parts that are hinged in sequence from front to back, and any two adjacent rotating parts are orthogonally arranged. Four first drive wires are evenly arranged along the circumference of the rotating parts. Each first drive wire passes through all the rotating parts from front to back and is fixedly connected to the frontmost rotating part. The first quick-release structure includes a first connecting part and a second connecting part that are interlocked with each other. The first connecting part is fixed to the frontmost rotating part. Two drive components are respectively set for the two robotic arms. Each drive component includes four first drive parts, which are respectively connected to four first drive wires for pushing and pulling the first drive wires to drive the movable joint to move. Two surgical instruments are respectively connected to the second connecting parts of the two robotic arms.

2. The operating system for the miniature, highly flexible master-slave robotic arm for digestive endoscopy according to claim 1, characterized in that, The first connecting part has a slot at its front end, and the second connecting part has a plug. The plug is inserted into the slot. One of the plug and the slot has a snap-fit ​​recess on its side wall, and the other has a snap-fit ​​protrusion on its side wall to snap into the snap-fit ​​recess.

3. The operating system for the miniature, highly flexible master-slave robotic arm for digestive endoscopy according to claim 1, characterized in that, One of the surgical instruments is a clamp; the robotic arm also includes a second drive wire, which is arranged along the length of the sheath and its front end is detachably connected to the clamp via a second quick-release structure; the drive assembly also includes a second drive unit, which is connected to the rear end of the second drive wire and is used to push and pull the second drive wire to drive the clamp to open and close.

4. The operating system for the miniature, highly flexible master-slave robotic arm for digestive endoscopy according to claim 3, characterized in that, The second quick-release structure includes: The locking ring is connected to the second drive wire and has a closed annular structure. The latch includes a hook-shaped lock body and an elastic piece. The hook-shaped lock body is connected to the clamp and has a notch. The elastic piece is disposed at the notch and closes the notch to form a locking space with the hook-shaped lock body. The locking ring is inserted into the locking space, and the elastic piece is configured to move elastically under external force to open the notch, so that the locking ring can separate from the latch through the notch.

5. The operating system for the miniature, highly flexible master-slave robotic arm for digestive endoscopy according to claim 3, characterized in that, The clamps include: The sliding part is slidably disposed on the second connecting part along the push-pull direction of the second drive wire, and is connected to the second drive wire through the second quick-release structure; Two clamping parts, the middle part of the two clamping parts being rotatably connected to the second connecting part; Two connecting rods are provided, with the front ends of the two connecting rods rotatably connected to the rear ends of the two clamping parts, and the rear ends of the two connecting rods rotatably connected to the sliding part, so that the sliding part relative to the second connecting part drives the two clamping parts to open and close.

6. The operating system for the miniature, highly flexible master-slave robotic arm for digestive endoscopy according to claim 1, characterized in that, It also includes two power supply components, each corresponding to one of the two robotic arms, and each power supply component includes: A conductive wire, the front end of which is fixed to the corresponding first connecting part and forms a first conductive contact; A power source, connected to the rear end of the conductive wire, is used to supply power to the conductive wire.

7. The operating system for the miniature, highly flexible master-slave robotic arm for digestive endoscopy according to claim 6, characterized in that, One of the surgical instruments is an electrosurgical unit, and a second conductive contact is provided on the second connecting part connected to the electrosurgical unit. The second conductive contact abuts against the first conductive contact and is electrically connected to the electrosurgical unit.

8. The operating system for the miniature, highly flexible master-slave robotic arm for digestive endoscopy according to claim 6, characterized in that, The conductive wire includes: The first wire has its front end fixed to the first connecting part and forming the first conductive contact, and its rear end is provided with a male plug. The second wire has a female plug at one end and is connected to the power source at the other end; The male plug engages with the female plug to achieve electrical connection between the first wire and the second wire.

9. The operating system for the miniature, highly flexible master-slave robotic arm for digestive endoscopy according to claim 1, characterized in that, The first drive wire is connected to the first drive unit via a third quick-release structure, the third quick-release structure comprising: The third connecting part is rotatably connected to the rear end of the first driving wire about the central axis of the first driving wire, and the third connecting part is provided with a threaded hole with an opening at the rear end. The fourth connecting part has one end connected to the first driving part and the other end provided with an external thread and threadedly connected to the threaded hole.

10. The operating system for a miniature, highly flexible master-slave robotic arm for digestive endoscopy according to claim 1, characterized in that, It also includes a transmission box, the rear end of which is detachably connected to the transmission box, and the two drive components are disposed inside the transmission box.

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