A flexible ureteroscope robot

Abstract

This application provides a ureteroscopic robot, relating to the field of medical device technology, comprising: a base; a lifting mechanism fixedly connected to the base for driving the lifting and lowering movement of the ureteroscopic endoscope; a horizontal feeding mechanism connected to the lifting end of the lifting mechanism for driving the horizontal forward and backward movement of the ureteroscopic endoscope; a rotating mechanism connected to the horizontal feeding mechanism, wherein the ureteroscopic endoscope is mounted on the rotating mechanism, and the rotating mechanism drives the ureteroscopic endoscope to rotate; a bending mechanism connected to the rotating mechanism for driving the ureteroscopic endoscope to bend; and a fiber optic delivery mechanism connected to the robot body and positioned close to the ureteroscopic endoscope for delivering optical fibers into the fiber optic channel of the ureteroscopic endoscope. This application achieves precise lifting, forward and backward movement, rotation, and bending of the ureteroscopic endoscope, as well as stable delivery of optical fibers, improving control precision, reducing the difficulty of surgical operations, and enhancing the stability of the overall machine operation, thereby effectively ensuring clinical operational efficiency and reliability.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to a flexible ureteroscope robot. Background Technology

[0002] Ureteroscopy is an important tool in urology for the diagnosis and treatment of kidney and ureteral diseases. It has the advantages of minimally invasive surgery, such as less trauma and faster recovery, and has been widely used in clinical diagnosis and treatment. It is often combined with holmium laser fiber optics for lithotripsy.

[0003] With the increasing demand for precision in minimally invasive surgery, flexible ureteroscope robotic systems have emerged. However, existing flexible ureteroscope robots suffer from insufficient motion precision or lag in the coordinated control of multiple degrees of freedom, such as lifting, advancing, retreating, rotating, and bending of the ureteroscope, making it difficult to fully meet the requirements of precise clinical operation. Summary of the Invention

[0004] This application provides a ureteroscopic robot that enables precise lifting, advancing, retreating, rotating, and bending of the ureteroscope, as well as smooth delivery of optical fibers. This improves control precision, reduces the difficulty of surgical procedures, and enhances the stability of the entire machine, thereby effectively ensuring clinical operational efficiency and reliability.

[0005] This application provides a ureteroscopic robot, comprising: a base; a lifting mechanism fixedly connected to the base for driving the ureteroscopic endoscope to move up and down; a horizontal feeding mechanism connected to the lifting end of the lifting mechanism for driving the ureteroscopic endoscope to move horizontally forward and backward; a rotating mechanism connected to the horizontal feeding mechanism, the ureteroscopic endoscope being mounted on the rotating mechanism and the rotating mechanism driving the ureteroscopic endoscope to rotate; a bending mechanism connected to the rotating mechanism for driving the ureteroscopic endoscope to bend; and an optical fiber delivery mechanism connected to the robot body and disposed close to the ureteroscopic endoscope for delivering optical fibers into the optical fiber channel of the ureteroscopic endoscope.

[0006] In some embodiments, the lifting mechanism includes: a lifting drive assembly connected to the base; a lead screw and a nut, wherein the lead screw is driven to the lifting drive assembly and the lead screw is threaded to the nut; a lifting platform fixed to the nut; and a vertical slide rail fixed to the base for guiding the lifting platform's lifting movement.

[0007] In some embodiments, the lifting drive assembly includes a motor, a first pulley, a second pulley, and a belt. The motor is fixedly connected to the bracket, the motor and the first pulley are coaxially connected, the second pulley and the lead screw are coaxially connected, and the two ends of the belt are respectively sleeved on the first pulley and the second pulley.

[0008] In some embodiments, guide bars are fixed on both sides of the vertical slide rail, the lifting platform includes a lifting sleeve and a lifting plate, the lifting plate is fixed to the top of the lifting sleeve, the lifting sleeve is sleeved on the vertical slide rail, the inner wall of the lifting sleeve is provided with a guide groove that slides with the guide bar, and the two guide bars are respectively adapted to the sliding guide of the two guide grooves.

[0009] In some embodiments, the horizontal feeding mechanism includes: a base plate fixedly connected to the top of the lifting platform; a top plate; a guide assembly disposed between the base plate and the top plate, including a guide rail fixedly connected to the top plate and a slider fixedly connected to the base plate, the guide rail and the slider being slidably engaged; and a horizontal drive assembly disposed between the base plate and the top plate, including a drive motor, a transmission screw and a connecting nut, the drive motor being fixedly connected to the top plate, the transmission screw being coaxially connected to the drive shaft of the drive motor, and the connecting nut being fixedly connected to the base plate via a mounting platform.

[0010] In some embodiments, an intermediate plate is further provided between the base plate and the slider, the slider being fixedly connected to the intermediate plate and the intermediate plate being fixedly connected to the base plate.

[0011] In some embodiments, the guide rail is located above the slider, in a horizontal direction and close to the rotating mechanism, and the lifting platform and the intermediate plate are offset.

[0012] In some embodiments, the bending mechanism includes: a bending drive assembly fixedly connected to the rotation mechanism; and a toggle member tractably connected to the bending drive assembly to actuate the handle of the ureteroscope, wherein the toggle member is a lever or a fork.

[0013] In some embodiments, the optical fiber delivery mechanism includes: a mounting base fixedly connected to a robot body; a first guiding device fixedly connected to the mounting base, the first guiding device having a first clamping guiding surface distributed around the outer periphery of the optical fiber, the first clamping guiding surface being used to clamp at least partially on the outer periphery of the optical fiber; and a second guiding device fixedly connected to the mounting base and spaced apart from the first guiding device along a first direction, the second guiding device having a second clamping guiding surface distributed around the outer periphery of the optical fiber, the second clamping guiding surface being used to clamp at least partially on the outer periphery of the optical fiber, the first clamping guiding surface and the second clamping guiding surface being coaxially arranged.

[0014] In some embodiments, a mirror sheath frame is also included, the mirror sheath frame including a gantry frame, a cantilever rod and a clamping member, the gantry frame being fixedly connected to the front of the horizontal feed mechanism, the cantilever rod being fixedly connected to the top of the gantry frame, and the two ends of the clamping member being slidably connected to the cantilever rod and clamping the mirror sheath, respectively.

[0015] In this embodiment, by integrating a lifting mechanism, a horizontal feeding mechanism, a rotating mechanism, a bending mechanism, and a fiber optic delivery mechanism, multi-degree-of-freedom automated and precise control of the ureteroscope within the patient's body is achieved. The surgeon can manipulate the robot body to perform lifting, advancing, retreating, rotating, and bending operations of the ureteroscope, as well as precise fiber optic delivery, improving fiber optic delivery accuracy and reducing the difficulty and fatigue of surgical procedures. Furthermore, positioning the fiber optic delivery mechanism close to the ureteroscope reduces the deformation of the rotating mechanism's overhang, shortens the distance from the delivery mechanism's outlet to the ureteroscope's fiber optic channel inlet, improves the structural stability and operational reliability of the entire robot's front end, reduces resistance during fiber optic entry into the ureteroscope's fiber optic channel, makes fiber optic entry smoother, reduces the risk of fiber breakage during delivery, and ensures smooth fiber optic entry into the ureteroscope's fiber optic channel. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the flexible ureteroscope robot provided in the embodiments of this application.

[0018] Figure 2 This is an internal schematic diagram of the flexible ureteroscope robot provided in an embodiment of this application.

[0019] Figure 3 for Figure 2 Enlarged view of part I in the middle.

[0020] Figure 4 This is a schematic diagram of the fiber optic delivery mechanism in a closed state in the ureteroscopic robot provided in this embodiment of the application.

[0021] Figure 5 This is a schematic diagram of the fiber optic delivery mechanism in the open state of the flexible ureteroscope robot provided in this embodiment of the application.

[0022] Figure 6This is a schematic diagram of the connector in the flexible ureteroscope robot provided in the embodiments of this application.

[0023] The attached figures are labeled as follows:

[0024] 1-Fiber optic delivery mechanism; 2-Rotation mechanism; 3-Connector; 4-Base; 5-Lifting mechanism; 6-Horizontal feed mechanism; 7-Bending mechanism; 8-Mirror sheath holder; 9-Mirror sheath;

[0025] 11-Mounting base; 12-First guide tube; 13-Second guide tube; 14-Feeding assembly; 15-Mounting rod; 16-Locking component; 31-First connecting plate; 32-Intermediate connecting plate; 33-Second connecting plate; 41-Bracket; 51-Lifting drive assembly; 52-Lifting platform; 53-Vertical slide rail; 61-Base plate; 62-Top plate; 63-Guide assembly; 64-Horizontal drive assembly; 65-Intermediate plate; 81-Gantry frame; 82-Cantilever rod; 83-Clamping component; 84-Reinforcing component;

[0026] 111-Connecting boss; 112-Positioning groove; 141-First feed roller; 142-Second feed roller; 143-Drive component; 151-Receiving cavity; 152-Anti-detachment component; 154-Allowing structure; 161-Pull rod; 162-Locking structure; 511-First pulley; 512-Second pulley; 513-Belt; 521-Lifting sleeve; 522-Lifting plate; 531-Guide bar; 631-Slider; 632-Guide rail;

[0027] 1111-Protrusion; 1112-Connecting block; 1421-Annular groove; 1621-Clamping part. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., are used to distinguish different objects, not to describe a particular order or hierarchy.

[0030] In this application, the reference to "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments.

[0031] In this application, "multiple" means two or more (including two).

[0032] Please refer to Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of the flexible ureteroscope robot provided in the embodiments of this application. Figure 2 This is an internal schematic diagram of the flexible ureteroscope robot provided in an embodiment of this application.

[0033] This application provides a flexible ureteroscope robot, including a robot body. The robot body specifically includes a base 4, a lifting mechanism 5, a horizontal feeding mechanism 6, a rotating mechanism 2, a bending mechanism 7, and an optical fiber delivery mechanism 1.

[0034] The base 4 serves as the supporting foundation for the entire robot body, capable of bearing and securing other functional mechanisms. Casters can be installed on the bottom of the base 4 to facilitate movement and adjustment of the overall position of the robot body.

[0035] The lifting mechanism 5 is fixedly connected to the base 4. The lifting mechanism 5 is mainly used to drive the flexible ureteroscope to move up and down in the height direction, so as to adapt to the different body positions of patients or the vertical position requirements of the flexible ureteroscope during surgical operations.

[0036] The horizontal feed mechanism 6 is connected to the lifting end of the lifting mechanism 5, and the two are fixedly connected, so that the horizontal feed mechanism 6 can move up and down together with the lifting end of the lifting mechanism 5. The horizontal feed mechanism 6 can drive the flexible ureteroscope to perform horizontal advance and retreat movements, so as to make the flexible ureteroscope enter or retreat axially in the patient's body.

[0037] The rotating mechanism 2 is connected to the horizontal feed mechanism 6 and is cantilevered, allowing it to move horizontally forward and backward simultaneously with the horizontal feed mechanism 6. The rotating mechanism 2 enables the rotation of the ureteroscope. Specifically, the ureteroscope is mounted on the rotating mechanism 2, which drives the ureteroscope to rotate around its own axis, thereby adjusting the circumferential observation angle of the endoscope or the instrument exit direction. The rotating mechanism 2 can employ a motor and gear set to achieve precise rotation control. Furthermore, the rotating mechanism 2 is cantilevered, and the fiber optic delivery mechanism 1 is connected to the rotating mechanism 2 via a connector 3.

[0038] The bending mechanism 7 is connected to the rotating mechanism 2. The bending mechanism 7 can drive the end of the ureteroscope to bend. Specifically, the bending mechanism 7 can move the bending adjustment structure (e.g., handle) on the ureteroscope to achieve bending control of the end of the ureteroscope.

[0039] The fiber optic delivery mechanism 1 is connected to the robot body and positioned close to the ureteroscope. The fiber optic delivery mechanism 1 is used to deliver optical fibers, such as holmium laser fibers, into the fiber optic channel of the ureteroscope for lithotripsy. The proximity of the fiber optic delivery mechanism 1 to the ureteroscope helps shorten the path of the optical fiber before it enters the ureteroscope channel, ensuring smooth fiber delivery.

[0040] The aforementioned mechanisms work in concert. The lifting mechanism 5, the horizontal feeding mechanism 6, the rotating mechanism 2, and the bending mechanism 7 control the lifting, advancing, retreating, rotating, and bending of the flexible ureteroscope, respectively, enabling precise multi-degree-of-freedom control of the flexible endoscope within the patient's body. After the flexible endoscope is positioned, the fiber optic delivery mechanism 1 smoothly delivers the fiber optic cable to the target location to complete surgical procedures such as lithotripsy.

[0041] like Figure 2 As shown. In one specific embodiment, the lifting mechanism 5 includes a lifting drive assembly 51, a lifting platform 52, and a vertical slide rail 53. A bracket 41 is fixedly connected to the top of the base 4. The lifting drive assembly 51 is connected to the bracket 41 and is connected to a lead screw. The lifting drive assembly 51 can drive the lead screw to rotate. The lead screw is threadedly connected to a nut, and the nut is fixedly connected to the lifting platform 52. The vertical slide rail 53 guides the lifting of the lifting platform 52 and prevents the lifting platform 52 from rotating along the axis of the lead screw. When the lifting drive assembly 51 drives the lead screw to rotate, the nut causes the lifting platform 52 to move up and down along the axis of the lead screw.

[0042] Specifically, the lifting drive assembly 51 includes a motor, a first pulley 511, a second pulley 512, and a belt 513. The motor housing is fixed on the bracket 41, the motor drive shaft is coaxially connected to the first pulley 511, the second pulley 512 is coaxially connected to the lead screw, and the two ends of the belt 513 are respectively sleeved on the first pulley 511 and the second pulley 512.

[0043] When the motor's drive shaft rotates, the motor drives the first pulley 511 to rotate. The first pulley 511 drives the second pulley 512 to rotate via the belt 513. The second pulley 512 drives the lead screw to rotate. When the lead screw rotates, the nut and the lead screw rotate relative to each other, and the nut moves axially relative to the lead screw. Since the nut is fixedly connected to the lifting platform 52, the movement of the nut drives the lifting platform 52 to achieve synchronous lifting and lowering of the lifting platform 52.

[0044] Furthermore, guide bars 531 are fixed to both sides of the vertical slide rail 53. The lifting platform 52 includes a lifting sleeve 521 and a lifting plate 522, with the lifting plate 522 fixed to the top of the lifting sleeve 521. The lifting sleeve 521 is fitted onto the vertical slide rail 53, and the inner wall of the lifting sleeve 521 is provided with guide grooves that cooperate with the guide bars 531. The cooperation of the two guide bars 531 and the two guide grooves realizes the sliding guidance between the vertical slide rail 53 and the lifting sleeve 521, while preventing the relative rotation of the lifting sleeve 521 and the vertical slide rail 53.

[0045] In practical applications, to increase the uniformity of appearance and reduce the entry of external dust into the vertical slide rail 53, the vertical slide rail 53 can be shielded to prevent it from being exposed. Therefore, an outer shell is provided on the base 4, and the outer shell is fixedly installed on the base 4. The two can be fastened together by connectors, or the outer shell and the base 4 can be detachably connected by means of snap-fit, fastening, magnetic connection, etc.

[0046] By setting up an outer shell, the lifting mechanism and horizontal feeding mechanism inside the base 4 are placed inside the outer shell, forming a physical isolation. This isolates the high-speed moving parts inside from the operators and patients, avoiding the risk of collision or entanglement that may occur during robot operation and improving the safety of robot use.

[0047] The top of the outer casing is provided with a lifting port, through which the lifting plate 522 can be raised and lowered. The lifting port at the top forms a sliding fit with the lifting plate 522. This opening not only provides a channel for the up and down movement of the lifting plate 522, but also plays a role in auxiliary guidance and limiting, ensuring that the lifting plate 522 remains stable during the raising and lowering process, reducing shaking, and thus improving the vertical movement accuracy of the ureteroscope.

[0048] In one specific embodiment, the horizontal feeding mechanism 6 is connected to the top of the lifting plate 522, which can realize the horizontal feeding of the ureteroscope and can move up and down as a whole with the lifting plate 522.

[0049] Overall, the horizontal feed mechanism 6 includes a base plate 61, a top plate 62, a guide assembly 63, and a horizontal drive assembly 64. The base plate 61 is fixed to the top of the lifting plate 522. The guide assembly 63 is disposed between the top plate 62 and the base plate 61 to guide the top plate 62 and the base plate 61. The horizontal drive assembly 64 is disposed between the top plate 62 and the base plate 61 to drive the top plate 62 and the base plate 61 to slide relative to each other.

[0050] The guide assembly 63 includes a slider 631 and a guide rail 632. The guide rail 632 is fixed to the top plate 62, and the slider 631 is fixed to the bottom plate 61. The top plate 62 and the bottom plate 61 achieve relative sliding through the cooperation between the guide rail 632 and the slider 631.

[0051] The horizontal drive assembly 64 is disposed between the base plate 61 and the top plate 62. The horizontal drive assembly 64 includes a drive motor, a transmission screw and a connecting nut. The drive motor is fixedly connected to the top plate 62, the transmission screw is coaxially connected to the drive shaft of the drive motor, and the connecting nut is fixedly connected to the base plate 61 through a mounting platform.

[0052] In the prior art, the guide rail 632 is usually positioned at the bottom and the slider 631 at the top. This application adopts a layout where the guide rail 632 is positioned at the top and the slider 631 at the bottom. Since the guide rail 632 is relatively large while the slider itself is relatively small, it occupies less space. The lifting plate 522 that works with it can be designed to be more compact, thereby reducing the size of the lifting opening at the top of the shell. Reducing the size of the lifting opening helps to improve the shell's strength and enhance its resistance to external impacts, while also helping to reduce the overall size of the robot.

[0053] Furthermore, an intermediate plate 65 is provided between the base plate 61 and the slider 631. The slider 631 is fixed on the intermediate plate 65, and the intermediate plate 65 is fixed on the base plate 61. With this arrangement, the intermediate plate 65 can be adapted to the structure of the slider 631 for structural adjustment, and then the intermediate plate 65 can be connected to the base plate 61, thus realizing the universality of the base plate 61.

[0054] In existing horizontal feed mechanisms, since the slider is directly fixed to the base plate, and the mounting holes and space dimensions on the base plate are fixed, once the slider model (such as size, hole spacing, etc.) changes, or the installation height of the guide rail needs to be adjusted, the entire base plate needs to be replaced, resulting in extended cycle time and increased cost.

[0055] In view of this, this embodiment adds an intermediate plate 65 between the slider 631 and the base plate 61. When the slider 631 model is changed, only the intermediate plate 65 needs to be adjusted, and the connection hole position between the intermediate plate 65 and the base plate 61 does not need to be changed. There is no need to reprocess or replace the base plate 61, which can increase the adaptability of the horizontal feed mechanism, shorten the processing cycle, and save costs.

[0056] In addition, the intermediate plate 65 is offset relative to the base plate 61 towards the front end of the ureteroscope robot. Specifically, the lifting plate of the lifting mechanism 5 and the intermediate plate 65 are offset horizontally and towards the rotating mechanism 2, with the intermediate plate 65 closer to the front end of the outer shell, i.e., closer to the rotating mechanism 2. This arrangement brings the slider 631 closer to the rotating mechanism 2, reducing the overhang of the rotating mechanism 2 and making its operation more stable.

[0057] The horizontal drive assembly 64 includes a drive motor, a lead screw, and a connecting nut. The drive motor is fixed to the top plate 62, and the lead screw and the drive shaft of the drive motor are coaxially connected. The connecting nut is fixed to the intermediate plate 65 via a mounting platform. When the drive shaft of the drive motor rotates, the lead screw rotates, and a relative rotation occurs between the connecting nut and the lead screw. Since the connecting nut and the intermediate plate 65 are fixed, the drive motor moves along with the top plate 62.

[0058] In existing technologies, the drive motor and transmission screw are typically fixed, but in this application, both the drive motor and transmission screw are movable. In this design, the slider 631 is fixed to the intermediate plate 65, the guide rail 632 behind the slider 631 is cantilevered, and the drive motor is suspended. From the overall layout, a downward bending moment is formed with the slider 631 as the fulcrum, where the rotating mechanism 2 and the fiber optic delivery mechanism 1 together generate a downward bending moment, and the drive motor generates a downward bending moment. This arrangement of the drive motor reduces the deformation of the rotating mechanism 2, making its movement more stable.

[0059] For the rotating mechanism 2, a motor and gear set are used to drive the rotation, which will not be described in detail here.

[0060] In one specific embodiment, the bending mechanism 7 includes a bending drive assembly and a lever. The bending drive assembly is fixedly connected to the rotating mechanism 2 and generates a driving force to drive the lever. The lever is connected to the bending drive assembly and engages with the handle of the flexible ureteroscope. The lever actuates the handle of the flexible ureteroscope, causing the end of the flexible ureteroscope to bend.

[0061] The bending drive assembly can use an electric motor as a power source. The motor is fixedly mounted on the housing of the rotating mechanism 2, and the output shaft of the motor is connected to the actuating element through a transmission structure. The transmission structure may include one or more combinations of gear transmission, worm gear transmission, synchronous belt transmission, or linkage transmission, used to convert the rotational motion of the motor into the oscillating or linear motion of the actuating element to adapt to different handle operation methods.

[0062] The structure of the actuating element matches the engagement method of the handle. For example, the actuating element can be configured as a fork-shaped structure, a clamping structure, or a lever structure, with one end connected to the transmission structure. For instance, when the ureteroscope handle is equipped with a dial or lever, the actuating element can be configured as a fork-shaped structure with an opening that engages on both sides of the dial or lever of the handle. Rotation of the actuating element drives the dial or lever of the handle to rotate, thereby achieving bending control of the ureteroscope tip.

[0063] When the handle is equipped with a groove or slider, the actuating element can be set as a lever that cooperates with the groove or slider. The actuating element moves the handle through the lever and the groove to adjust the bending angle of the ureteroscope.

[0064] In one specific embodiment, the optical fiber delivery mechanism 1 includes a mounting base 11, a first guide device, a second guide device, and a twisting assembly. The mounting base 11 is fixed to the robot body, and the first guide device is fixed to the mounting base 11. The first guide device is provided with a first clamping guide surface distributed around the outer periphery of the optical fiber. The first clamping guide surface is used to clamp at least partially on the outer periphery of the optical fiber.

[0065] The second guide device is fixed to the mounting base 11 and is spaced apart from the first guide device along the first direction. The second guide device is provided with a second clamping guide surface distributed around the outer periphery of the optical fiber. The second clamping guide surface is used to clamp at least partially on the outer periphery of the optical fiber. The first clamping guide surface and the second clamping guide surface are coaxially arranged.

[0066] In one specific embodiment, the twisting assembly 14 includes a first twisting wheel 141, a second twisting wheel 142, and a driving member 143. Both the first twisting wheel 141 and the second twisting wheel 142 are rotatably connected to the mounting base 11. The first twisting wheel 141 and the second twisting wheel 142 clamp the optical fiber. The driving member 143 drives the second twisting wheel 142 to rotate. The distance between the first twisting wheel 141 and the second twisting wheel 142 is adjustable. The second twisting wheel 142 is rotatably connected to the mounting base 11 via a rotating shaft.

[0067] For example, refer to Figure 4 and Figure 5 The fiber optic delivery mechanism 1 includes a mounting base 11, a first guide tube 12, a second guide tube 13, and a twisting assembly 14. The mounting base 11 is fixedly connected to the robot body. The first guide tube 12 and the second guide tube 13 are fixedly fixed to the mounting base 11 at intervals and are coaxially arranged. The twisting assembly 14 is also connected to the mounting base 11 and is located between the first guide tube 12 and the second guide tube 13. The second guide tube 13 is arranged adjacent to the fiber optic channel of the ureteroscope, and the second guide tube 13 and the fiber optic channel are coaxially arranged.

[0068] With the above configuration, when the fiber delivery mechanism 1 delivers fiber to the fiber optic channel, the fiber is fed into the twisting assembly 14 through the first guide tube 12. After being twisted by the twisting assembly 14, the fiber is fed into the second guide tube 13. Since the first guide tube 12 and the second guide tube 13 are coaxially arranged, even if the fiber outside the first guide tube 12 is skewed, after being guided by the first guide tube 12, the axis of the fiber will be coaxial with the second guide tube 13. Then, when the fiber is fed into the twisting assembly 14, it will not be skewed. After being twisted by the twisting assembly 14, the axis of the fiber is still coaxial with the second guide tube 13 and smoothly enters the second guide tube 13. Under the guidance of the second guide tube 13, when the fiber is delivered out of the second guide tube 13, its axis is coaxial with the fiber optic channel, thus smoothly entering the fiber optic channel, greatly reducing the resistance of the fiber entering the fiber optic channel, thereby reducing the breakage that may occur during fiber delivery.

[0069] In order to achieve the connection between the first guide tube 12, the second guide tube 13 and the mounting base 11, the mounting base 11 is fixed with a connecting boss 111 relative to the position of the first guide tube 12, and the mounting base 11 is also fixed with a connecting boss 111 relative to the position of the second guide tube 13. The first guide tube 12 and the second guide tube 13 are respectively fixed on their respective connecting bosses 111.

[0070] Specifically, the connecting boss 111 includes two protrusions 1111 spaced apart along the axial direction of the first guide tube 12. The two protrusions 1111 are respectively inserted into both ends of the first guide tube 12, and the two protrusions 1111 are respectively inserted into the second guide tube 13. This structure of the connecting boss 111 ensures that both ends of the first guide tube 12 and both ends of the second guide tube 13 are fixed, guaranteeing the stability of the axis and making the coaxiality of the first guide tube 12 and the second guide tube 13 more reliable.

[0071] A connecting block 1112 is also provided between the two protrusions 1111 of the connecting boss 111, and the connecting block 1112 and the two protrusions 1111 are integrally formed. A positioning groove 112 is opened on the mounting base 11 along the axis of the first guide tube 12 or the second guide tube 13. The connecting blocks 1112 of the two connecting bosses 111 extend into the positioning groove 112, thereby facilitating the alignment of the two connecting bosses 111 and preventing the two connecting bosses 111 from being misaligned.

[0072] Since optical fibers have different sizes and different coefficients of friction, the distance between the first twisting wheel 141 and the second twisting wheel 142 can be adjusted to ensure that the optical fibers can be twisted and fed by the first twisting wheel 141 and the second twisting wheel 142, thereby meeting the above requirements.

[0073] To adjust the distance between the first twisting wheel 141 and the second twisting wheel 142, the second twisting wheel 142 is rotatably connected to the mounting base 11 via a rotating shaft, which is fixedly connected to the mounting base 11. A mounting rod 15 is rotatably connected to the mounting base 11, and the first twisting wheel 141 is rotatably connected to the mounting rod 15. When the mounting rod 15 rotates closer to the second twisting wheel 142, the first twisting wheel 141 moves closer to the second twisting wheel 142, reducing the distance between them. This accommodates smaller diameter optical fibers or increases the friction between the two twisting wheels and the optical fiber. When the mounting rod 15 rotates away from the second twisting wheel 142, the first twisting wheel 141 moves away from the second twisting wheel 142, increasing the distance between them. This accommodates larger diameter optical fibers or reduces the friction between the two twisting wheels and the optical fiber.

[0074] To fix the distance between the first twisting roller 141 and the second twisting roller 142, a locking element 16 is also provided on the mounting base 11 to lock the rotational position of the mounting rod 15. After the user adjusts the distance between the first twisting roller 141 and the second twisting roller 142, the position of the mounting rod 15 can be locked by the locking element 16.

[0075] In this design, the first twisting wheel 141 is located between the locking position of the locking member 16 and the hinged position of the mounting rod 15. With this arrangement, when the locking member 16 locks the mounting rod 15, the lever arm generated by the locking position relative to the hinged position of the mounting rod 15 is greater than the lever arm generated by the first twisting wheel 141 relative to the hinged position of the mounting rod 15. This allows the locking member 16 to lock the mounting rod 15 with a smaller locking force, thereby ensuring that the first twisting wheel 141 and the second twisting wheel 142 can stably twist and feed the optical fiber.

[0076] The mounting rod 15 is also provided with a receiving cavity 151 for accommodating the first twisting wheel 141. The first twisting wheel 141 extends out of the receiving cavity 151. In this way, the distance between the mounting rod 15 and the second twisting wheel 142 when the first twisting wheel 141 and the second twisting wheel 142 clamp the optical fiber can be reduced, thereby reducing the space occupied by the optical fiber delivery mechanism 1 and improving the compactness of the optical fiber delivery mechanism 1.

[0077] In one specific embodiment, the locking member 16 includes a pull rod 161 and a locking structure 162. One end of the pull rod 161 is connected to the mounting base 11, and the other end is connected to the locking structure 162. The locking structure 162 locks the relative position between the mounting rod 15 and the pull rod 161, thereby locking the rotational position of the mounting rod 15.

[0078] After the fiber optic delivery mechanism 1 has been used for a period of time, the first twisting wheel 141 and the second twisting wheel 142 need to be cleaned. To facilitate cleaning of the two twisting wheels, the mounting rod 15 needs to be rotated open to expose the wheel surfaces of the first twisting wheel 141 and the second twisting wheel 142. Therefore, to achieve the above requirements, after the locking structure 162 releases its lock on the mounting rod 15, the locking structure 162 should not interfere with the rotation of the mounting rod 15. The locking structure 162 needs to be located outside the rotation range of the mounting rod 15.

[0079] To ensure that the locking structure 162 does not interfere with the rotation of the mounting rod 15 after it is released from its locking position, in this design, the pull rod 161 is rotatably connected to the mounting base 11. After the locking structure 162 is released from its locking position, the pull rod 161 rotates away from the mounting rod 15, causing the locking structure 162 to move outside the rotation range of the mounting rod 15, thus preventing interference with its rotation. Alternatively, other methods can be used. For example, the end of the pull rod 161 can be detachably connected to the mounting base 11. After the locking structure 162 is released from its locking position, the pull rod 161 can be removed from the mounting base 11, also preventing interference with the rotation of the mounting rod 15.

[0080] In this design, to achieve a rotatable connection between the pull rod 161 and the mounting base 11, the pull rod 161 uses the first guide tube 12 as a pivot, thus enabling a rotatable connection between it and the mounting base 11. This allows the first guide tube 12 to serve as both a guide tube for the optical fiber and a rotating rod for the pull rod 161, eliminating the need for a separate pivot on the pull rod 161. This simplifies the structure of the optical fiber delivery mechanism 1 and improves its compactness.

[0081] Because the pull rod 161 is rotatably mounted, it may experience some movement along the axial direction of the first guide tube 12, potentially causing the locking structure 162 to deviate from its locking position on the mounting rod 15. To address this issue, the end of the pull rod 161 is located between two connecting bosses 111, which are respectively fitted against the sidewalls of the pull rod 161, thereby restricting its movement along the axial direction of the first guide tube 12. Thus, the two connecting bosses 111 not only connect the first guide tube 12 but also constrain the axial movement of the pull rod 161, further improving the compactness of the optical fiber delivery mechanism 1.

[0082] For the locking structure 162, in this solution, the locking structure 162 is a clamping member 1621. The clamping member 1621 clamps the mounting rod 15 in the direction close to the second twisting wheel 142. With the pull of the pull rod 161, the rotation position of the mounting rod 15 is locked, making the position locking of the mounting rod 15 more convenient and reliable.

[0083] Furthermore, the clamping member 1621 is elastically and movably connected to the end of the pull rod 161. After the clamping member 1621 clamps the mounting rod 15, the mounting rod 15 can move slightly away from the second twisting wheel 142. This allows the first twisting wheel 141 and the second twisting wheel 142 to move slightly away from or close to each other when twisting the optical fiber. This enables the first twisting wheel 141 and the second twisting wheel 142 to adaptively adjust during the delivery of the optical fiber, reducing damage to the optical fiber caused by the two twisting wheels.

[0084] In one specific embodiment, a connecting rod is connected to the end of the pull rod 161, and an anti-detachment member 152 is connected to the end of the connecting rod. An elastic element is provided between the anti-detachment member 152 and the clamping member 1621. With this arrangement, after the clamping member 1621 clamps the mounting rod 15, the clamping member 1621 compresses the elastic element between the anti-detachment member 152 and the clamping member 1621, thereby achieving an elastic connection between the clamping member 1621 and the mounting rod 15.

[0085] Furthermore, the elastic element is a spring, and the connecting rod passes through the elastic element. The connecting rod is connected to the pull rod 161 via a thread. When the connecting rod rotates, it can drive the anti-detachment element 152 to move closer to or further away from the clamping element 1621, thereby adjusting the clamping force of the clamping element 1621 on the mounting rod 15.

[0086] To ensure that the clamping member 1621 can clamp the mounting rod 15, in the first implementation, the size of the clamping member 1621 is set to be relatively large. This allows the clamping member 1621 to clamp the mounting rod 15 before the pull rod 161 contacts it. However, to reduce the size of the fiber optic delivery mechanism 1, in the second implementation, the size of the clamping member 1621 is smaller. Even after the pull rod 161 approaches and contacts the mounting rod 15, the clamping member 1621 still cannot clamp the mounting rod 15. Of course, considering the overall size of the fiber optic delivery mechanism 1, this solution prefers the smaller size of the clamping member 1621.

[0087] Therefore, a clearance structure 154 is provided between the pull rod 161 and the mounting rod 15. Under the action of the clearance structure 154, the pull rod 161 can move closer to the mounting rod 15 on the original basis, so that the clamping member 1621 can clamp the mounting member with a smaller size.

[0088] In this design, the clearance structure 154 is a clearance groove provided on the mounting rod 15. When the clamping member 1621 clamps the mounting rod 15, the pull rod 161 is located within the clearance groove. This method is particularly suitable for situations where the pull rod 161 rotates. When the pull rod 161 rotates away from the mounting rod 15, it directly disengages from the clearance groove, and the clamping member 1621 disengages from the mounting rod 15. When the pull rod 161 rotates closer to the mounting rod 15, it directly embeds into the clearance groove, and the clamping member 1621 clamps the mounting rod 15, making the locking and unlocking operations of the mounting rod 15 more convenient.

[0089] In one specific embodiment, the second twisting wheel 142 is provided with an annular groove 1421, through which the extended axis of the first guide tube 12 or the second guide tube 13 passes. When the two twisting wheels twist the optical fiber, the optical fiber is located within the annular groove 1421. Under the limiting effect of the annular groove 1421, the skewness generated during the twisting process of the two twisting wheels is further reduced.

[0090] Because the optical fibers used in flexible ureteroscopy are quite thin, they are easily damaged when the two feeding rollers twist them. Therefore, at least one of the first feeding roller 141 and the second feeding roller 142 is made of a flexible material, such as polyurethane or other flexible materials. In this design, the first feeding roller 141 is supported by a rigid material, while the second feeding roller 142 is made of polyurethane. When the first feeding roller 141 and the second feeding roller 142 are in contact, but the mounting rod 15 is not pressed down, a delivery channel is formed between the first feeding roller 141 and the annular groove 1421.

[0091] When installing optical fibers, workers can insert them through the first guide tube 12, then through the delivery channel, and finally through the second guide tube 13, providing three guide points for the fiber and facilitating installation. When the clamping device 1621 is used to clamp the installation rod 15, the first twisting wheel 141 presses against the second twisting wheel 142, causing the second twisting wheel 142 to deform. The two twisting wheels clamp the optical fiber, and as the second twisting wheel 142 rotates, the optical fiber is twisted and fed.

[0092] In addition, the distance between the first twisting wheel 141 and the second twisting wheel 142 can be adjusted by sliding. For example, both the first twisting wheel 141 and the second twisting wheel 142 can be slidably connected to the mounting base 11 by a slide rail or a slider.

[0093] In one specific embodiment, one end of the connector 3 is connected to the rotating mechanism 2, and the other end is connected to the mounting base 11 of the optical fiber delivery mechanism 1.

[0094] like Figure 6As shown. Specifically, connector 3 includes a first connecting plate 31, an intermediate connecting plate 32, and a second connecting plate 33. The intermediate connecting plate 32 is located between the first connecting plate 31 and the second connecting plate 33, and the three are integrally formed. The first connecting plate 31 is fixed to the rotating mechanism 2, and the second connecting plate 33 is fixed to the mounting base 11. Because the rotating mechanism 2 is cantilevered from the horizontal feeding mechanism 6, in order to minimize the cantilever deformation of the rotating mechanism 2, the fiber optic delivery mechanism 1 needs to be closer to the horizontal feeding mechanism 6. For this purpose, the second connecting plate 33 extends towards the side of the rotating mechanism 2 closer to the horizontal feeding mechanism 6, so that the fiber optic delivery mechanism 1 can be closer to the horizontal feeding mechanism 6, reducing the cantilever deformation of the rotating mechanism 2.

[0095] After the connector 3 is configured as described above, the first connecting plate 31, the intermediate connecting plate 32, and the second connecting plate 33 form a C-shape. When connecting the fiber delivery mechanism 1 to the rotating mechanism 2, the first connecting plate 31 is first fixed to the rotating mechanism 2, and then the mounting base 11 is connected to the second connecting plate 33. Because the distance between the first connecting plate 31 and the second connecting plate 33 is small, it is difficult for assemblers to install screws from the side of the second connecting plate 33. Therefore, the screw mounting hole is located on the side of the mounting base 11 facing away from the second connecting plate 33, and the screw is inserted from this side to achieve the connection between the mounting base 11 and the second connecting plate 33.

[0096] In addition, the included angle between the first connecting plate 31 and the second connecting plate 33 is equal to the included angle between the axis of the ureteroscope and the axis of the fiber optic channel. The rotating mechanism 2 is provided with a connecting surface that fits with the first connecting plate 31. The connecting surface is parallel to the axis of the ureteroscope. The axes of the first guide tube 12 and the second guide tube 13 are parallel to the mounting base 11.

[0097] When the first connecting plate 31 is in contact with the connecting surface and the mounting base 11 is connected to the second connecting plate 33, the mounting base 11 is parallel to the axis of the optical fiber channel, that is, the axes of the first guide tube 12 and the second guide tube 13 are parallel to the axis of the optical fiber channel. Simply moving the first connecting plate 31 back and forth can make the second guide tube 13 coaxial with the optical fiber channel, which facilitates the connection between the optical fiber delivery mechanism 1 and the rotating mechanism 2.

[0098] In practical use, the sheath 9 is needed to guide the guide wire. Therefore, a sheath frame 8 is provided to fix the sheath 9. Specifically, the sheath frame 8 includes a gantry frame 81, a cantilever rod 82, and a clamping member 83. The gantry frame 81 is fixed to the front of the intermediate plate 65, and the horizontal feed mechanism 6 is located below the gantry frame 81. The cantilever rod 82 is fixed to the top of the gantry frame 81, and the rotating mechanism 2 and the fiber delivery mechanism 1 are located below the cantilever rod 82. One end of the clamping member 83 is connected to the cantilever rod 82, and the other end is used to clamp the sheath 9.

[0099] The clamping member 83 and the suspension rod 82 are slidably connected. The clamping member 83 slides along the length of the suspension rod 82, thereby adjusting the distance between the endoscope sheath 9 and the flexible ureteroscope as needed.

[0100] Furthermore, a reinforcing member 84 is provided between the gantry frame 81 and the cantilever rod 82. The reinforcing member 84 is inclined upward along the horizontal direction and close to the mirror sheath 9, thereby reducing the strength at the connection between the gantry frame 81 and the cantilever rod 82 and improving the overall strength of the mirror sheath frame 8.

[0101] The ureteroscopic robot provided in this application has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. A ureteroscopic robot, comprising: The robot body comprises: a base (4); a lifting mechanism (5) fixedly connected to the base (4) and used for driving the ureteroscope to lift and lower; a horizontal feeding mechanism (6) connected to the lifting end of the lifting mechanism (5) and used for driving the ureteroscope to horizontally advance and retreat; a rotating mechanism (2) connected to the horizontal feeding mechanism (6), wherein the ureteroscope is installed on the rotating mechanism (2), and the rotating mechanism (2) is used for driving the ureteroscope to rotate; a bending mechanism (7) connected to the rotating mechanism (2) and used for driving the ureteroscope to bend; an optical fiber delivery mechanism (1) connected to the robot body and arranged close to the ureteroscope and used for delivering an optical fiber into the optical fiber channel of the ureteroscope.

2. The ureteroscopic robot of claim 1, wherein, The lifting mechanism (5) comprises: a lifting drive assembly (51) connected to the base (4); a lead screw drivingly connected to the lifting drive assembly (51) and threadedly connected to a nut; a lifting platform (52) fixedly connected to the nut; and a vertical slide rail (53) fixedly connected to the base (4) and used for guiding the lifting platform (52) to lift and lower.

3. The ureteroscopic robot of claim 2, wherein, The lifting drive assembly (51) comprises a motor fixedly connected to the base (4), a first pulley coaxially connected to the motor, a second pulley coaxially connected to the lead screw, and a belt having two ends respectively sleeved on the first pulley and the second pulley.

4. The ureteroscopic robot of claim 2, wherein, The vertical slide rail (53) is provided with a guide strip (531) on each side thereof, the lifting platform (52) comprises a lifting sleeve (521) and a lifting plate (522), the lifting plate (522) is fixedly connected to the top of the lifting sleeve (521), the lifting sleeve (521) is sleeved on the vertical slide rail (53), the inner wall of the lifting sleeve (521) is provided with a guide groove in sliding fit with the guide strip (531), and the two guide strips (531) are respectively in sliding fit with the two guide grooves.

5. The ureteroscopy robot of claim 4, wherein, The horizontal feeding mechanism (6) comprises: a bottom plate (61) fixedly connected to the top of the lifting platform (52); a top plate (62); a guide assembly (63) arranged between the bottom plate (61) and the top plate (62) and comprising a guide rail (632) fixedly connected to the top plate (62) and a sliding block (631) fixedly connected to the bottom plate (61), the guide rail (632) being in sliding fit with the sliding block (631); and a horizontal feeding drive assembly (64) fixedly connected to the top plate (62) and used for driving the guide rail (632) to horizontally advance and retreat. A horizontal driving assembly (64) is arranged between the bottom plate (61) and the top plate (62), and comprises a driving motor, a transmission screw rod and a connecting nut, the driving motor is fixedly connected to the top plate (62), the transmission screw rod is coaxially connected with a driving shaft of the driving motor, and the connecting nut is fixedly connected to the bottom plate (61) through a mounting table.

6. The ureteroscopic robot of claim 5, wherein, Further comprising an intermediate plate (65) arranged between the bottom plate (61) and the sliding block (631), the sliding block (631) is fixedly connected to the intermediate plate (65), and the intermediate plate (65) is fixedly connected to the bottom plate (61).

7. The ureteroscopic robot of claim 6, wherein, The guide rail (632) is located above the sliding block (631) and is arranged in a horizontal direction and close to the rotating mechanism (2), and the lifting platform (52) and the intermediate plate (65) are arranged in a staggered manner.

8. The ureteroscopic robot according to any one of claims 1-7, wherein, The bending mechanism (7) comprises: A bending driving assembly fixedly connected to the rotating mechanism (2); A poking member in transmission connection with the bending driving assembly for poking a handle of the ureteral flexible scope, and the poking member is specifically a poking rod or a poking fork.

9. The ureteroscopy robot of claim 1, wherein, The optical fiber delivery mechanism (1) comprises: A mounting seat (11) fixedly connected to a robot body; A first guide device fixedly connected to the mounting seat (11), the first guide device is provided with a first clamping guide surface distributed around an outer periphery of an optical fiber, and the first clamping guide surface is used for being at least partially clamped to an outer peripheral surface of the optical fiber; A second guide device fixedly connected to the mounting seat (11) and arranged in a spaced manner with the first guide device in a first direction, the second guide device is provided with a second clamping guide surface distributed around the outer periphery of the optical fiber, and the second clamping guide surface is used for being at least partially clamped to the outer peripheral surface of the optical fiber, and the first clamping guide surface and the second clamping guide surface are coaxially arranged.

10. The ureteroscopy robot of claim 1, wherein, Further comprising a mirror sheath frame (8), the mirror sheath frame (8) comprises a gantry (81), an overhanging rod (82) and a clamping piece (83), the gantry (81) is fixedly connected to a front portion of the horizontal feeding mechanism (6), the overhanging rod (82) is fixedly connected to a top portion of the gantry (81), and two ends of the clamping piece (83) are respectively in sliding connection with the overhanging rod (82) and in clamping connection with a mirror sheath (9).

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