A ureteroscopic robot

Abstract

The application belongs to the technical field of medical devices, and discloses a ureter flexible mirror robot, which comprises a mounting plate, a screw nut pair, a guide assembly, a horizontal delivery plate, a rotating assembly, a bending assembly, a first stepping motor, a first transmission rod and a second transmission rod; one side of the horizontal delivery plate is fixed to the nut, and the other side of the horizontal delivery plate is connected to the guide assembly; the rotating assembly is connected to the horizontal delivery plate, and the ureter flexible mirror is connected to the rotating assembly; a first power transmission assembly is connected between one end of the rotating assembly and the guide assembly, and is used for transmitting the rotating power of the guide assembly to the rotating assembly; one end of the bending assembly is connected to the rotating assembly, and the other end of the bending assembly is connected to the ureter flexible mirror; the first stepping motor is fixed to the mounting plate; one end of the first transmission rod is coaxially fixed to the output end of the first stepping motor. The ureter flexible mirror robot can reduce the number of stepping motors under the premise of realizing the pushing, rotating and bending of the ureter flexible mirror.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a flexible ureteroscope robot. Background Technology

[0002] Flexible ureteroscopy is commonly used in urology for the examination and treatment of kidney and ureteral diseases. It offers advantages such as minimal invasiveness, less pain, and faster recovery, and has been widely adopted in urological diagnosis and treatment, becoming a primary clinical method. Furthermore, with the development of robotic surgical systems, the application of surgical robots in the field of flexible ureteroscopy is becoming increasingly widespread.

[0003] Existing flexible ureteroscope robots include a pushing module, a rotating module, and a bending module. The pushing module is used to push the flexible ureteroscope horizontally, the rotating module is used for the rotational movement of the flexible ureteroscope, and the bending module is used for bending the tip of the flexible ureteroscope. However, the pushing, rotating, and bending modules are all driven by stepper motors, requiring three stepper motors to achieve the three actions. This results in a large number of stepper motors being used in the flexible ureteroscope robot, which is not conducive to cost reduction. Summary of the Invention

[0004] The purpose of this invention is to provide a ureteroscope robot that can reduce the number of stepper motors used while achieving the pushing, rotating and bending of the ureteroscope, thereby helping to reduce costs.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A flexible ureteroscope robot includes a mounting plate, a lead screw and nut pair, a guide assembly, a horizontal delivery plate, a rotating assembly, a bending assembly, a first stepper motor, a first transmission rod, and a second transmission rod.

[0007] The lead screw in the lead screw and nut assembly is arranged in the horizontal direction, and both ends of the lead screw are rotatably mounted on the mounting plate. The nut in the lead screw and nut assembly is threadedly connected to the lead screw.

[0008] Both ends of the guide assembly are rotatably connected to the mounting plate, and the guide assembly and the lead screw are arranged in parallel.

[0009] One side of the horizontal delivery plate is fixed to the nut, and the other side of the horizontal delivery plate is connected to the guide assembly, which is configured to guide the movement of the horizontal delivery plate.

[0010] The rotating assembly is connected to the horizontal delivery plate, and the flexible ureteroscope is connected to the rotating assembly. The rotating assembly is configured to rotate the flexible ureteroscope. One end of the rotating assembly is connected to the guide assembly to transmit the rotational power of the guide assembly to the first power transmission assembly of the rotating assembly.

[0011] One end of the bending assembly is connected to the rotating assembly, and the other end of the bending assembly is connected to the flexible ureteroscope. The bending assembly is configured to bend the tip of the flexible ureteroscope.

[0012] The first stepper motor is fixed to the mounting plate;

[0013] The first transmission rod and the second transmission rod are arranged in parallel. One end of the first transmission rod is coaxially fixed with the output end of the first stepper motor, and the other end of the first transmission rod is connected to the end of the lead screw through a first clutch.

[0014] One end of the second transmission rod is connected to the end of the guide assembly via a second clutch, and the other end of the second transmission rod is connected to the first transmission rod via a second power transmission assembly.

[0015] Optionally, two support seats are fixedly connected at intervals along the length of the top of the mounting plate, and the two ends of the lead screw are rotatably connected to the two support seats through bearings respectively. The end of the lead screw near the first stepper motor extends out of the support seat and is connected to the first clutch.

[0016] The bottom of the horizontal delivery plate has an integrally formed connecting protrusion at the position corresponding to the nut. The connecting protrusion is sleeved on the nut and is fixed to the nut by screws.

[0017] Optionally, the guide assembly includes two connecting plates, two guide posts, and a guide block;

[0018] The two connecting plates are spaced apart along the axial direction of the lead screw, and each connecting plate is fixed with a rotating column. The connecting plates are rotatably connected to the support base through the rotating column, and the rotation axis of the rotating column is parallel to the axis of the lead screw.

[0019] The two guide posts are connected between the two connecting plates, and the guide posts are eccentrically positioned relative to the connecting plates, with the eccentric distances of the two guide posts being equal.

[0020] The guide block is slidably sleeved on the two guide posts, and the guide block is concentrically arranged with the connecting plate. The horizontal delivery plate is fixed with a connecting post at the position corresponding to the guide block. The connecting post is concentrically arranged with the connecting plate. The guide block is concentrically rotatably sleeved on the connecting post. The connecting post and the guide block are anti-detached connected.

[0021] Optionally, a rotational damper is provided on the rotating column located away from the first stepper motor.

[0022] Optionally, the first power transmission assembly includes a first pulley and a first belt;

[0023] The first pulley is connected to the rotating end of the rotating assembly;

[0024] One end of the first belt is fitted onto the first pulley, and the other end of the first belt is fitted onto the guide block.

[0025] Optionally, the rotating assembly includes a rotating plate and a fixing component for fixing the flexible ureteroscope;

[0026] Both ends of the rotating plate are provided with support plates, the support plates are fixed to the horizontal delivery plate, both ends of the rotating plate are fixed with rotating shafts, the two rotating shafts are respectively rotatably connected to the support plates, and the end of the rotating shaft near the first power transmission assembly extends out of the support plate and is coaxially fixed to the first pulley;

[0027] The fixing component is positioned above the rotating plate.

[0028] Optionally, the fixing component includes a fixing clip and a rubber sheet;

[0029] The fixing clip is shaped like a "Z", with its opening facing the rotating plate. The fixing clip is fitted with the flexible ureteroscope, and both ends of the fixing clip are fixed to the rotating plate by screws.

[0030] The rubber sheet is disposed between the flexible ureteroscope and the rotating plate.

[0031] Optionally, the bending assembly includes a motor connecting plate and a second stepper motor;

[0032] One end of the motor connecting plate is fixed to the rotating plate;

[0033] The second stepper motor is fixed to the other end of the motor connecting plate, and the rotating end of the second stepper motor is connected to the bending adjustment shaft of the ureteroscope.

[0034] Optionally, the second power transmission assembly includes a second pulley, a third pulley, and a second belt;

[0035] The second pulley is coaxially fixed to the first transmission rod;

[0036] The third pulley is coaxially fixed to the second transmission rod;

[0037] One end of the second belt is fitted onto the second pulley, and the other end of the second belt is fitted onto the third pulley.

[0038] Optionally, the bottom of the mounting plate is also provided with a lifting device, which includes a base, a lifting component and several telescopic shafts;

[0039] The base is located below the mounting plate;

[0040] One end of the lifting component is connected to the base, and the telescopic end of the lifting component is connected to the mounting plate;

[0041] One end of the telescopic shaft is connected to the base, and the other end of the telescopic shaft is connected to the mounting plate.

[0042] The beneficial effects of this invention are:

[0043] The ureteroscope robot provided by this invention, when the ureteroscope needs to be delivered horizontally and the rotational and bending movements stop, the first clutch is engaged, the second clutch is disengaged, the first stepper motor operates, the lead screw rotates, and the nut moves along the axis of the lead screw. Under the action of the guide assembly, the horizontal delivery plate delivers the ureteroscope horizontally. When the ureteroscope needs to be rotated and the horizontal delivery and bending movements stop, the first clutch disengages, the second clutch engages, the first stepper motor operates, and the power is transmitted to the second transmission rod through the second power transmission assembly. The second transmission rod drives the guide assembly to rotate, thereby transmitting power to the rotation assembly through the first power transmission assembly to realize the rotational movement of the ureteroscope. When the ureteroscope needs to bend at the tip, the first stepper motor does not operate, and the bending assembly operates to bend the tip of the ureteroscope. When the ureteroscope needs to achieve a coupling of rotation and bending, the first stepper motor operates, the first clutch disengages, the second clutch closes, and the bending assembly operates, thereby achieving the coupling of rotation and bending movements. This flexible ureteroscope robot can reduce the number of stepper motors used while achieving the pushing, rotating and bending of the flexible ureteroscope, thus helping to reduce costs. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the structure of the flexible ureteroscope robot provided by the present invention;

[0046] Figure 2 This is a schematic diagram showing the cooperation of the guide assembly, the rotating assembly, and the horizontal delivery plate in this invention.

[0047] In the picture:

[0048] 1. Mounting plate; 11. Lead screw and nut pair; 111. Lead screw; 112. Nut; 12. Support base; 13. Motor base; 2. Guide assembly; 21. Connecting plate; 211. Rotating column; 22. Guide column; 23. Guide block; 24. First power transmission assembly; 241. First pulley; 242. First belt; 25. Rotation damper; 3. Horizontal delivery plate; 31. Connecting protrusion; 32. Connecting column; 4. Rotating assembly; 41. Rotating plate; 411. Support plate; 412. Rotating... 42. Shaft; 421. Fixing component; 422. Fixing clamp; 423. Rubber sheet; 5. Bending assembly; 51. Motor connecting plate; 52. Second stepper motor; 6. First stepper motor; 7. First transmission rod; 71. First clutch; 72. Second power transmission assembly; 721. Second pulley; 722. Third pulley; 723. Second belt; 8. Second transmission rod; 81. Second clutch; 9. Lifting device; 91. Base; 92. Lifting component; 93. Telescopic shaft; 10. Flexible ureteroscope. Detailed Implementation

[0049] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0050] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0051] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0052] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0053] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated 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 intended to explain the present invention, and should not be construed as limiting the present invention.

[0054] like Figure 1 and Figure 2As shown, this invention provides a flexible ureteroscope robot, including a mounting plate 1, a screw and nut assembly 11, a guide assembly 2, a horizontal delivery plate 3, a rotating assembly 4, a bending assembly 5, a first stepper motor 6, a first transmission rod 7, and a second transmission rod 8. The screw 111 in the screw and nut assembly 11 is horizontally oriented, with both ends rotatably mounted on the mounting plate 1. A nut 112 in the screw and nut assembly 11 is threadedly connected to the screw 111. Both ends of the guide assembly 2 are rotatably connected to the mounting plate 1, and the guide assembly 2 is parallel to the screw 111. One side of the horizontal delivery plate 3 is fixed to the nut 112, and the other side of the horizontal delivery plate 3 is connected to the guide assembly 2. The guide assembly 2 is configured to guide the movement of the horizontal delivery plate 3. The rotating assembly 4 is connected to the horizontal delivery plate 3, and the flexible ureteroscope 10 is connected to the rotating assembly 4. The rotating assembly 4 is configured to rotate the flexible ureteroscope 10, and one end of the rotating assembly 4 is connected to the guide assembly 2 for guiding the movement of the flexible ureteroscope 10. The rotational power of component 2 is transmitted to the first power transmission component 24 of the rotating component 4; one end of the bending component 5 is connected to the rotating component 4, and the other end of the bending component 5 is connected to the flexible ureteroscope 10. The bending component 5 is configured to bend the front end of the flexible ureteroscope 10; the first stepper motor 6 is fixed to the mounting plate 1; the first transmission rod 7 and the second transmission rod 8 are arranged in parallel. One end of the first transmission rod 7 is coaxially fixed with the output end of the first stepper motor 6, and the other end of the first transmission rod 7 is connected to the end of the lead screw 111 through the first clutch 71; one end of the second transmission rod 8 is connected to the end of the guide component 2 through the second clutch 81, and the other end of the second transmission rod 8 is connected to the first transmission rod 7 through the second power transmission component 72.

[0055] The ureteroscope robot provided by this invention, when the ureteroscope 10 needs to be delivered horizontally and the rotational and bending movements stop, the first clutch 71 is engaged, the second clutch 81 is disengaged, the first stepper motor 6 operates, the lead screw 111 rotates, and the nut 112 moves along the axis of the lead screw 111. Under the action of the guide assembly 2, the horizontal delivery plate 3 delivers the ureteroscope 10 horizontally. When the ureteroscope 10 needs to be rotated and the horizontal delivery and bending movements stop, the first clutch 71 is disengaged, the second clutch 81 is engaged, the first stepper motor 6 operates, and the second power... The transmission assembly 72 transmits power to the second transmission rod 8, which drives the guide assembly 2 to rotate. This power is then transmitted to the rotation assembly 4 via the first power transmission assembly 24, enabling the rotation of the ureteroscope 10. When the ureteroscope 10 needs to bend at its tip, the first stepper motor 6 is inactive, and the bending assembly 5 is activated to bend the tip of the ureteroscope 10. When the ureteroscope 10 needs to achieve a coupling of rotation and bending, the first stepper motor 6 is activated, the first clutch 71 is disengaged, the second clutch 81 is closed, and the bending assembly 5 is activated, thus achieving the coupling of rotation and bending actions. This ureteroscope robot, while achieving the pushing, rotating, and bending of the ureteroscope, can reduce the number of stepper motors used, thereby helping to reduce costs.

[0056] In some embodiments, two support seats 12 are fixedly connected at intervals along the length of the top of the mounting plate 1. The two ends of the lead screw 111 are rotatably connected to the two support seats 12 via bearings. The end of the lead screw 111 near the first stepper motor 6 extends out of the support seat 12 and is connected to the first clutch 71. A connecting protrusion 31 is integrally formed at the bottom of the horizontal delivery plate 3 corresponding to the position of the nut 112. The connecting protrusion 31 is sleeved on the nut 112, and the connecting protrusion 31 and the nut 112 are fixed together by screws. To facilitate the connection of the connecting protrusion 31 to the nut 112, an opening is provided at the bottom of the connecting protrusion 31.

[0057] In some embodiments, the guide assembly 2 includes two connecting plates 21, two guide posts 22, and a guide block 23. The two connecting plates 21 are spaced apart along the axial direction of the lead screw 111. Each connecting plate 21 is fixed with a rotating post 211. The connecting plates 21 are rotatably connected to the support base 12 through the rotating posts 211, and the rotation axis of the rotating posts 211 is parallel to the axis of the lead screw 111. The two guide posts 22 are connected between the two connecting plates 21, and the guide posts 22 are eccentrically arranged with the connecting plates 21. The eccentric distance between the two guide posts 22 is equal. The guide block 23 is slidably sleeved on the two guide posts 22, and the guide block 23 is concentrically arranged with the connecting plates 21. A connecting post 32 is fixed at the position of the horizontal delivery plate 3 corresponding to the guide block 23. The connecting post 32 is concentrically arranged with the connecting plates 21. The guide block 23 is concentrically rotatably sleeved on the connecting post 32, and the connecting post 32 and the guide block 23 are anti-detached. When the lead screw 111 rotates, the cooperation between the guide post 22 and the guide block 23 can restrict the horizontal delivery plate 3 from rotating along the axis of the lead screw 111, so that when the lead screw 111 rotates, the nut 112 can rotate stably relative to the lead screw 111, thereby realizing the movement of the horizontal delivery plate 3. On the other hand, the guide block 23 slides along the guide post 22, realizing the guidance of the movement of the horizontal delivery plate 3.

[0058] As described above, the rotational power of the guide component 2 is transmitted to the rotating component 4. In this embodiment, after the guide block 23 rotates, the rotation is transmitted to the rotating component 4 through the first power transmission component 24. Specifically, in this embodiment, the first power transmission component 24 includes a first pulley 241 and a first belt 242; the first pulley 241 is connected to the rotating end of the rotating component 4; one end of the first belt 242 is sleeved on the first pulley 241, and the other end of the first belt 242 is sleeved on the guide block 23. Of course, in other embodiments, the first power transmission component 24 can also be implemented by gear meshing. Otherwise, it is sufficient as long as the power between the guide block 23 and the rotating component 4 can be transmitted.

[0059] When the connecting plate 21 rotates, the two guide posts 22 rotate, which in turn drives the guide block 23 to rotate. The guide block 23 transmits power to the first pulley 241 via the first belt 242. The first pulley 241 drives the rotating end of the rotating assembly 4 to rotate, thereby driving the flexible ureteroscope 10 to rotate. As can be seen from the foregoing, the guide block 23 and the connecting plate 21 are concentrically arranged, and the eccentric distances of the two guide posts 22 are equal. Therefore, when the connecting plate 21 rotates, the height of the guide block 23 will not change, and it will not cause the horizontal delivery plate 3 to fluctuate up and down. This ensures that when the guide block 23 transmits the rotational power to the rotating assembly 4, the horizontal delivery plate 3 will not fluctuate up and down, thus ensuring the stability of the flexible ureteroscope 10.

[0060] It should be noted that in this embodiment, the outer diameter of the guide block 23 is larger than the outer diameter of the first pulley 241. Preferably, the outer diameter of the guide block 23 is 2 to 3 times the outer diameter of the first pulley 241. This is because when the connecting plate 21 rotates and the guide post 22 follows, the presence of the connecting post 32 restricts the rotation range of the two guide posts 22 of the connecting plate 21, thus limiting the rotation range of the guide block 23. Therefore, this may result in insufficient rotation range of the ureteroscope 10. Through the above arrangement, the rotation angle of the guide block 23 can be magnified by a factor of two, thereby expanding the rotation angle of the first pulley 241 and meeting the rotation requirements of the ureteroscope 10.

[0061] When the second clutch 81 is disengaged, the rotation of the rotating column 211 is unrestricted, which may cause the ureteroscope 10 to rotate erroneously. Therefore, a rotation damper 25 is provided on the rotating column 211, which is far away from the first step motor 6. The rotation damper 25 can make the rotation of the rotating column 211 have a certain resistance, thereby restricting the rotation of the two guide columns 22 and the rotation of the guide block 23, and preventing the ureteroscope 10 from rotating erroneously.

[0062] In some embodiments, the rotating assembly 4 includes a rotating plate 41 and a fixing component 42 for fixing the flexible ureteroscope 10. Support plates 411 are provided at both ends of the rotating plate 41, and the support plates 411 are fixed to the horizontal delivery plate 3. Rotating shafts 412 are fixed at both ends of the rotating plate 41, and the two rotating shafts 412 are rotatably connected to the support plates 411 respectively. The end of the rotating shaft 412 closest to the first power transmission assembly 24 extends out of the support plate 411 and is coaxially fixed to the first pulley 241. The fixing component 42 is disposed above the rotating plate 41. When the first pulley 241 rotates, it drives the rotating shaft 412 to rotate relative to the support plate 411, and the rotating shaft 412 drives the rotating plate 41 to rotate. Since the flexible ureteroscope 10 is fixed to the rotating plate 41 by the fixing component 42, the flexible ureteroscope 10 rotates with the rotating plate 41.

[0063] In some embodiments, the fixing component 42 includes a fixing clip 421 and a rubber sheet 422. The fixing clip 421 is shaped like a "Z", with its opening facing the rotating plate 41. The fixing clip 421 is fitted with the flexible ureteroscope 10, and both ends of the fixing clip 421 are fixed to the rotating plate 41 by screws. The rubber sheet 422 is disposed between the flexible ureteroscope 10 and the rotating plate 41. By providing the rubber sheet 422 between the flexible ureteroscope 10 and the rotating plate 41, the stability of the flexible ureteroscope 10 can be ensured. Of course, in other embodiments, a rubber sheet 422 can also be provided between the flexible ureteroscope 10 and the fixing clip 421 to ensure sufficient clamping.

[0064] Optionally, a motor mount 13 is fixed to the mounting plate 1 at the position corresponding to the first stepper motor 6, and the first stepper motor 6 is fixed to the motor mount 13. The rotating end of the first stepper motor 6 and the first transmission rod 7 are connected by a coupling.

[0065] In some embodiments, the second power transmission assembly 72 includes a second pulley 721, a third pulley 722, and a second belt 723. The second pulley 721 is coaxially fixed to the first transmission rod 7; the third pulley 722 is coaxially fixed to the second transmission rod 8; one end of the second belt 723 is sleeved on the second pulley 721, and the other end of the second belt 723 is sleeved on the third pulley 722. When the first stepper motor 6 drives the first transmission rod 7 to rotate, power is transmitted to the second transmission rod 8 through the second pulley 721, the second belt 723, and the third pulley 722. Of course, in other embodiments, the second power transmission assembly 72 can also be implemented using gear meshing; otherwise, it is sufficient as long as the power between the first transmission rod 7 and the second transmission rod 8 can be transmitted.

[0066] In some embodiments, the bending assembly 5 includes a motor connecting plate 51 and a second stepper motor 52; one end of the motor connecting plate 51 is fixed to the rotating plate 41; the second stepper motor 52 is fixed to the other end of the motor connecting plate 51, and the rotating end of the second stepper motor 52 is connected to the bending adjustment shaft of the ureteroscope 10. When the second stepper motor 52 rotates, the bending adjustment shaft of the ureteroscope 10 rotates, thereby bending the tip of the ureteroscope 10.

[0067] To facilitate the operation of the flexible ureteroscope 10, a lifting device 9 is provided at the bottom of the mounting plate 1. Specifically, the lifting device 9 includes a base 91, a lifting member 92, and several telescopic shafts 93. The base 91 is located below the mounting plate 1. One end of the lifting member 92 is connected to the base 91, and the telescopic end of the lifting member 92 is connected to the mounting plate 1. One end of the telescopic shafts 93 is connected to the base 91, and the other end of the telescopic shafts 93 is connected to the mounting plate 1. When the telescopic end of the lifting member 92 extends or retracts, the mounting plate 1 rises or falls, thereby completing the raising and lowering of the flexible ureteroscope 10. Exemplarily, the lifting member 92 can be an electric push rod. Of course, in other embodiments, the lifting member 92 can also be a cylinder or other mechanism capable of achieving the raising and lowering function.

[0068] The ureteroscopic robot provided by this invention has at least the following advantages:

[0069] 1. The horizontal delivery and rotational movements of the flexible ureteroscope robot can be achieved through a single stepper motor, which reduces the number of stepper motors used compared to existing technologies, thus helping to reduce costs;

[0070] 2. The combination of guide block 23 and guide post 22 can both guide the horizontal delivery plate 3 and serve as the power input for the rotating assembly 4;

[0071] 3. The outer diameter of the guide block 23 is larger than the outer diameter of the first pulley 241, which can overcome the defect of the connecting column 32 restricting the rotation of the guide column 22 and ensure the rotation range of the ureteroscope 10.

[0072] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A flexible ureteroscope robot, characterized in that, It includes a mounting plate (1), a lead screw and nut pair (11), a guide assembly (2), a horizontal delivery plate (3), a rotating assembly (4), a bending assembly (5), a first stepper motor (6), a first transmission rod (7), and a second transmission rod (8); The lead screw (111) in the lead screw nut pair (11) is arranged in the horizontal direction, and both ends of the lead screw (111) are rotatably mounted on the mounting plate (1). The nut (112) in the lead screw nut pair (11) is threadedly connected to the lead screw (111). Both ends of the guide assembly (2) are rotatably connected to the mounting plate (1), and the guide assembly (2) and the lead screw (111) are arranged in parallel. One side of the horizontal delivery plate (3) is fixed to the nut (112), and the other side of the horizontal delivery plate (3) is connected to the guide assembly (2), which is configured to guide the movement of the horizontal delivery plate (3). The rotating assembly (4) is connected to the horizontal delivery plate (3), and the flexible ureteroscope (10) is connected to the rotating assembly (4). The rotating assembly (4) is configured to rotate the flexible ureteroscope (10). A first power transmission assembly (24) for transmitting the rotational power of the guide assembly (2) to the rotating assembly (4) is connected between one end of the rotating assembly (4) and the guide assembly (2). One end of the bending component (5) is connected to the rotating component (4), and the other end of the bending component (5) is connected to the flexible ureteroscope (10). The bending component (5) is configured to bend the front end of the flexible ureteroscope (10). The first stepper motor (6) is fixed to the mounting plate (1); The first transmission rod (7) and the second transmission rod (8) are arranged in parallel. One end of the first transmission rod (7) is coaxially fixed with the output end of the first stepper motor (6). The other end of the first transmission rod (7) is connected to the end of the lead screw (111) through the first clutch (71). One end of the second transmission rod (8) is connected to the end of the guide assembly (2) via the second clutch (81), and the other end of the second transmission rod (8) is connected to the first transmission rod (7) via the second power transmission assembly (72).

2. The flexible ureteroscope robot according to claim 1, characterized in that, The top of the mounting plate (1) is fixedly connected to two support seats (12) at intervals along its length. The two ends of the lead screw (111) are rotatably connected to the two support seats (12) through bearings. The end of the lead screw (111) near the first stepper motor (6) extends out of the support seat (12) and is connected to the first clutch (71). The bottom of the horizontal delivery plate (3) is integrally formed with a connecting protrusion (31) at the position corresponding to the nut (112). The connecting protrusion (31) is sleeved on the nut (112), and the connecting protrusion (31) and the nut (112) are fixed together by screws.

3. The flexible ureteroscope robot according to claim 2, characterized in that, The guide assembly (2) includes two connecting plates (21), two guide posts (22), and a guide block (23); The two connecting plates (21) are spaced apart along the axial direction of the lead screw (111). Each of the two connecting plates (21) is fixed with a rotating column (211). The connecting plates (21) are rotatably connected to the support base (12) through the rotating column (211), and the rotation axis of the rotating column (211) is parallel to the axis of the lead screw (111). The two guide posts (22) are connected between the two connecting plates (21), and the guide posts (22) and the connecting plates (21) are eccentrically arranged, with the eccentric distances of the two guide posts (22) being equal; The guide block (23) is slidably sleeved on the two guide posts (22), and the guide block (23) is concentrically arranged with the connecting plate (21). The horizontal delivery plate (3) is fixed with a connecting post (32) at the position corresponding to the guide block (23). The connecting post (32) is concentrically arranged with the connecting plate (21). The guide block (23) is concentrically rotated and sleeved on the connecting post (32). The connecting post (32) and the guide block (23) are anti-detached connected.

4. The flexible ureteroscope robot according to claim 3, characterized in that, A rotation damper (25) is provided on the rotating column (211) located away from the first stepper motor (6).

5. The flexible ureteroscope robot according to claim 3, characterized in that, The first power transmission assembly (24) includes a first pulley (241) and a first belt (242); The first pulley (241) is connected to the rotating end of the rotating assembly (4); One end of the first belt (242) is fitted onto the first pulley (241), and the other end of the first belt (242) is fitted onto the guide block (23).

6. The flexible ureteroscope robot according to claim 5, characterized in that, The rotating assembly (4) includes a rotating plate (41) and a fixing component (42) for fixing the flexible ureteroscope (10); Both ends of the rotating plate (41) are provided with support plates (411), the support plates (411) are fixed to the horizontal delivery plate (3), both ends of the rotating plate (41) are fixed with rotating shafts (412), the two rotating shafts (412) are respectively rotatably connected to the support plates (411), the end of the rotating shaft (412) near the first power transmission assembly (24) extends out of the support plate (411) and is coaxially fixed to the first pulley (241); The fixing component (42) is positioned above the rotating plate (41).

7. The flexible ureteroscope robot according to claim 6, characterized in that, The fixing component (42) includes a fixing clip (421) and a rubber sheet (422); The fixing clip (421) is shaped like a "Z", with the opening of the fixing clip (421) facing the rotating plate (41). The fixing clip (421) is fitted with the flexible ureteroscope (10), and both ends of the fixing clip (421) are fixed to the rotating plate (41) by screws. The rubber sheet (422) is disposed between the flexible ureteroscope (10) and the rotating plate (41).

8. The flexible ureteroscope robot according to claim 6, characterized in that, The bending assembly (5) includes a motor connecting plate (51) and a second stepper motor (52); One end of the motor connecting plate (51) is fixed to the rotating plate (41); The second stepper motor (52) is fixed to the other end of the motor connecting plate (51), and the rotating end of the second stepper motor (52) is connected to the bending adjustment shaft of the ureteroscope (10).

9. The flexible ureteroscope robot according to claim 1, characterized in that, The second power transmission assembly (72) includes a second pulley (721), a third pulley (722), and a second belt (723); The second pulley (721) is coaxially fixed to the first transmission rod (7); The third pulley (722) is coaxially fixed to the second transmission rod (8); One end of the second belt (723) is fitted onto the second pulley (721), and the other end of the second belt (723) is fitted onto the third pulley (722).

10. The flexible ureteroscope robot according to any one of claims 1-9, characterized in that, The bottom of the mounting plate (1) is also provided with a lifting device (9), which includes a base (91), a lifting component (92) and several telescopic shafts (93); The base (91) is located below the mounting plate (1); One end of the lifting component (92) is connected to the base (91), and the telescopic end of the lifting component (92) is connected to the mounting plate (1); One end of the telescopic shaft (93) is connected to the base (91), and the other end of the telescopic shaft (93) is connected to the mounting plate (1).

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