Flexible instrument conveying device and surgical robot system

Abstract

The utility model discloses a flexible instrument conveying device and a surgical robot system.The flexible instrument conveying device is used for containing flexible instruments and comprises an instrument containing device and an instrument protection device, and the instrument containing device comprises a rotary disc containing device; the rotating disc storage device can rotate forwards and backwards to output and spirally wind and store the guide pipe of the flexible instrument. The instrument protection device comprises a flexible protection sleeve, and the flexible protection sleeve is arranged on the periphery of the guide pipe which is wound in a vortex mode in a sleeving mode. The guide pipe of the flexible instrument can be arranged in a vortex coiling mode through the rotary disc storage device, when the guide pipe is in the vortex coiling state, the periphery of the vortex coiling guide pipe is sleeved with the flexible protection sleeve, and therefore the guide pipe can be stored when not used. When the flexible device is used, output and storage of the guiding pipe can be achieved by controlling the rotating disc storage rotating device to rotate, cooperation of multiple medical workers is not needed, and therefore the use convenience of the flexible device is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, and in particular to a flexible instrument conveying device and a surgical robot system. Background Art

[0002] When treating natural cavity diseases such as digestion, urination, and respiratory diseases, flexible endoscopes are usually used in conjunction with related surgical instruments for diagnosis and treatment as the mainstream treatment method.

[0003] Unlike conventional large incision surgery, transcavitary interventional surgery often leaves medical staff with a relatively narrow operating space, so most procedures rely on flexible instruments for diagnosis and treatment.

[0004] Most of the current surgical instruments are designed for manual operation, which have certain limitations under the existing operation mode. In order to meet the needs of cavity intervention, flexible instruments are designed as flexible and slender instruments. The use process requires the cooperation of medical staff and the operation is complicated. Most of the current surgical instruments are designed for manual operation, which have certain limitations under the existing operation mode. In order to meet the needs of cavity intervention, flexible instruments are designed as flexible and slender instruments. The use process requires the cooperation of medical staff and the operation is complicated. At the same time, the flexible and slender guide tubes in flexible instruments are easily contacted with foreign objects and pose a risk of contamination. Such instruments also have the risk of cross-infection during the recycling process, which reduces the safety of flexible instruments.

[0005] Therefore, how to improve the safety of flexible devices is a technical problem that needs to be solved urgently by technical personnel. Utility Model Content

[0006] In view of this, the utility model provides a flexible instrument delivery device to improve the use safety of the flexible instrument. The utility model also provides a surgical robot system including the flexible instrument delivery device.

[0007] The flexible instrument delivery device provided in the present application is used for storing flexible instruments, and includes:

[0008] An instrument storage device, the instrument storage device can rotate forward and reverse to output and spirally coil the guide tube that stores the flexible instrument;

[0009] The device protection device comprises a flexible protective sleeve, and the flexible protective sleeve is sleeved on the outer periphery of the spirally wound guide tube.

[0010] Optionally, in the above-mentioned flexible instrument delivery device, the instrument protection device further comprises a separation block and a sheath separation and storage device;

[0011] The flexible protective sleeve is a flexible sheath tube, and the flexible sheath tube includes two flexible belts, and the flexible belts are provided with zipper teeth, and the two flexible belts are buckled by the zipper teeth; after the zipper teeth are buckled, a device accommodating hole for accommodating the guide tube is formed in the middle, and the buckled ends of the two flexible belts are fixed to the device storage device;

[0012] The separation block includes a zipper head, and the zipper head is used for fastening and separating the two flexible belts;

[0013] The sheath separation and storage device is connected to one end of the separated flexible belt for winding the flexible belt. Two sheath separation and storage devices are provided, and the two sheath separation and storage devices are connected one-to-one with one end of the two separated flexible belts.

[0014] Optionally, in the above-mentioned flexible instrument delivery device, the sheath separation and storage device comprises:

[0015] a flexible belt storage tray, the flexible belt storage tray being provided with a first storage position for winding the guide tube;

[0016] A storage tray driving device is used to drive the flexible belt storage tray to rotate around the central axis of the first storage position.

[0017] Optionally, in the above-mentioned flexible instrument conveying device, the storage tray driving device includes:

[0018] First motor;

[0019] A first synchronous pulley, wherein the first synchronous pulley is fixedly connected to a central axis of one of the flexible belt receiving trays;

[0020] A second synchronous pulley, the second synchronous pulley being fixedly connected to the central axis of another of the flexible belt receiving trays;

[0021] A synchronous belt, wherein the output shaft of the first motor, the first synchronous pulley and the second synchronous pulley are connected through the synchronous belt transmission, the synchronous belt is a double-sided toothed synchronous belt, and the first synchronous pulley and the second synchronous pulley cooperate with opposite sides of the synchronous belt.

[0022] Optionally, in the above-mentioned flexible instrument conveying device, the separation block also includes an outer frame, which is fixedly connected to the outer periphery of the zipper head, and a mounting block is provided at the center position of the zipper head, and a first through hole is formed in the mounting block for the flexible belt to pass through, and the flexible belt has the zipper teeth on both the upper and lower sides.

[0023] Optionally, in the above-mentioned flexible instrument delivery device, the instrument storage device comprises:

[0024] A rotating mounting plate, wherein the upper surface of the rotating mounting plate is provided with a second storage position for supporting the flexible protective sleeve in a buckled position;

[0025] A guide stopper, wherein the guide stopper is a plate structure arranged in a spiral line, and the guide stopper is installed at the second storage position and is used for guiding and positioning the spiral position of the inner ring of the flexible protective sleeve;

[0026] A rotating disk driving device is used to drive the rotating mounting disk to rotate so as to enable the guide tube vortex to spiral around the second storage position.

[0027] Optionally, in the above-mentioned flexible instrument delivery device, a restraining disk is further included, and the rotating disk driving device includes:

[0028] Second motor;

[0029] A gear set, wherein the input end of the gear set is connected to the output shaft of the second motor, the output shaft of the output end of the gear set is fixedly connected to the rotating shaft of the rotating mounting disk, and the rotating shafts of the second motor and the gear set are both mounted on the restraining disk;

[0030] A bearing assembly, wherein the rotatable mounting plate is rotatably mounted on the restraining plate through the bearing assembly.

[0031] Optionally, in the above-mentioned flexible instrument delivery device, a handle fixing device is further included, and the handle fixing device includes:

[0032] An end inflatable airbag, wherein the end inflatable airbag is used to limit the opposite ends of the flexible instrument handle of the flexible instrument;

[0033] An intermediate inflatable airbag, wherein the intermediate inflatable airbag comprises at least two intermediate inflatable airbags, which are arranged on opposite sides of a flexible instrument handle of the flexible instrument and are used to abut against and limit the flexible instrument handle;

[0034] Airbag inflation and deflation device; the airbag inflation and deflation device is used for inflating and deflation of the end inflatable airbags and the middle inflatable airbags.

[0035] Optionally, in the above-mentioned flexible instrument delivery device, an airbag adjustment device is also included, and the airbag adjustment device includes:

[0036] An airbag support frame, the end inflatable airbags are fixedly mounted on the airbag support frame, and the middle inflatable airbags are slidably mounted on the airbag support frame through an airbag connector;

[0037] A position adjustment device, the position adjustment device is connected to the airbag connector to adjust the relative position of the middle inflatable airbag and the end inflatable airbag;

[0038] The end inflatable airbag and the middle inflatable airbag are connected to the air outlet of the vent pipe, the end inflatable airbag and the middle inflatable airbag are respectively connected to the vent pipe, and the airbag inflation and deflation device is connected to the air inlet of the vent pipe.

[0039] A surgical robot system comprises a flexible instrument conveying device and a flexible instrument mounted on the flexible instrument conveying device, wherein the flexible instrument conveying device is any one of the flexible instrument conveying devices described above.

[0040] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0041] In a first aspect, the present application provides a flexible instrument delivery device for storing flexible instruments, including an instrument storage device and an instrument protection device, wherein the instrument storage device can rotate forward and reverse to output and spirally coil a guide tube for storing flexible instruments. The instrument protection device includes a flexible protective sleeve, which is sleeved on the outer periphery of the spirally coiled guide tube.

[0042] It can be seen from the above content that the guide tube of the flexible instrument can be spirally arranged through the instrument storage device, and when the guide tube is in the spirally arranged state, the flexible protective sleeve is sleeved on the outer circumference of the spirally arranged guide tube, thereby realizing the storage of the guide tube when not in use. When in use, the output and storage of the guide tube can be realized by controlling the rotation of the turntable storage rotating device, without the need for the cooperation of multiple medical staff, and the guide tube is protected by the flexible protective sleeve, thereby improving the safety of the use of the flexible instrument.

[0043] In a second aspect, the present application provides a robot system including a flexible instrument storage device, and the flexible instrument storage device is any one of the flexible instrument storage devices described above.

[0044] It can be seen from the above content that the robot system provided in this application improves the convenience of using flexible devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 This is a usage state diagram of the surgical robot system disclosed in the embodiment of the utility model;

[0047] Figure 2 A three-dimensional structural diagram of a surgical robot system disclosed in an embodiment of the utility model;

[0048] Figure 3 A three-dimensional layout diagram of the flexible protective sleeve, the flexible device and the separation block disclosed in the embodiment of the utility model;

[0049] Figure 4 It is a top view of the layout of the flexible protective sleeve, the flexible device and the separation block disclosed in the embodiment of the utility model;

[0050] Figure 5 It is a top view of the layout of the flexible protective sleeve and the separation block disclosed in the embodiment of the utility model;

[0051] Figure 6 for Figure 5 A cross-sectional view of the flexible protective sleeve and the separation block along the AA direction;

[0052] Figure 7 It is a side view of the matching position of the flexible protective sleeve and the separation block disclosed in the embodiment of the utility model;

[0053] Figure 8 It is a schematic diagram of the three-dimensional structure of the separation block disclosed in the embodiment of the utility model;

[0054] Fig. 9 A schematic diagram of a three-dimensional structure of a separation block disclosed in an embodiment of the utility model from another perspective;

[0055] Fig.10 It is a front view of the separation block disclosed in the embodiment of the utility model;

[0056] Fig.11 It is a schematic diagram of the three-dimensional structure of the flexible device disclosed in the embodiment of the utility model;

[0057] Fig.12 It is a three-dimensional layout diagram of the flexible instrument and sheath separation and storage device disclosed in the embodiment of the utility model;

[0058] Fig.13 It is a bottom view of the layout of the sheath tube separation and storage device disclosed in the embodiment of the utility model;

[0059] Fig.14 It is a schematic diagram of the three-dimensional structure of the layout of the sheath tube separation and storage device disclosed in the embodiment of the utility model;

[0060] Fig.15 A top view of the layout position of the device storage device disclosed in the embodiment of the utility model;

[0061] Fig.16 for Fig.15 The schematic diagram of the structure of the device storage device shown is along the BB direction;

[0062] Fig.17It is a side view of the layout of the instrument storage device disclosed in the embodiment of the utility model;

[0063] Fig.18 A bottom view of the arrangement position of the gear set in the instrument storage device disclosed in the embodiment of the utility model;

[0064] Fig.19 It is a schematic diagram of the three-dimensional layout of the instrument storage device disclosed in the embodiment of the utility model;

[0065] Fig. 20 It is a schematic diagram of the three-dimensional layout of the guide and limiter disclosed in the embodiment of the utility model;

[0066] Fig.21 It is a top view of the layout position of the guide limiter and the rotating mounting plate disclosed in the embodiment of the utility model;

[0067] Fig. 22 for Fig.21 Schematic diagram of the structure along CC direction;

[0068] Fig.23 It is a schematic diagram of the arrangement position of the mounting holes disclosed in the embodiment of the utility model;

[0069] Fig.24 It is a side view of the layout position of the guide limiter and the rotating mounting plate disclosed in the embodiment of the utility model;

[0070] Fig.25 It is a schematic diagram of the three-dimensional layout of the airbag adjustment device and the handle fixing device disclosed in the embodiment of the utility model;

[0071] Fig.26 It is a schematic diagram of the three-dimensional layout of the airbag adjustment device, the flexible device and the handle fixing device disclosed in the embodiment of the utility model;

[0072] Fig. 27 It is a schematic diagram of the three-dimensional layout of the airbag adjustment device, the flexible device and the handle fixing device disclosed in the embodiment of the utility model from another perspective;

[0073] Fig.28 It is a schematic diagram of the three-dimensional layout of the flexible device and the airbag adjustment device disclosed in the embodiment of the utility model;

[0074] Fig.29 It is a schematic diagram of the three-dimensional layout of the flexible instrument and the handle fixing device disclosed in the embodiment of the utility model;

[0075] Fig.30 It is a schematic diagram of the three-dimensional structure of the control handle disclosed in the embodiment of the utility model;

[0076] Fig.31It is a front view of the vent pipe disclosed in the embodiment of the utility model;

[0077] Fig.32 for Fig.31 Schematic diagram of the structure of the ventilation pipe along the DD direction.

[0078] in Figure 1-32 middle:

[0079] A1-patients, A2-medical staff;

[0080] 1-surgical robot system, 11-robot body;

[0081] 12-control handle, 121-clamping part, 122-operation button, 123-dial button;

[0082] 13-flexible protective cover, 131-flexible belt, 132-zipper teeth, 133-device accommodating hole;

[0083] 14-sheath separation and storage device, 141-flexible belt storage tray, 142-storage tray bracket, 143-first motor bracket, 144-first motor, 145-motor shaft sleeve, 146-synchronous belt, 147-second synchronous pulley, 148-first synchronous pulley, 149-tensioning wheel assembly, 1491-tensioning wheel bracket, 1492-tensioning wheel, 1493-tensioning shaft;

[0084] 15-flexible instrument, 151-guide tube, 152-actuator, 153-flexible instrument handle;

[0085] 16- instrument storage device, 161- rotating mounting plate, 162- bearing end cover, 163- second motor, 164- second motor bracket, 165- gear set, 166- discharge guide plate, 167- cross roller bearing, 168- guide limiter, 169- mounting hole, 1691- circular hole, 1692- waist hole;

[0086] 17-handle fixing device, 171-ventilation pipe, 1711-air outlet, 1712-air inlet, 172-end inflatable airbag, 173-middle inflatable airbag;

[0087] 18-airbag adjustment device, 181-third motor, 182-third motor bracket, 183-intermediate gear, 184-rack;

[0088] 19-separation block, 191-zipper head, 192-installation block, 193-first through hole, 194-outer frame;

[0089] 100-constraint disk;

[0090] 2-Endoscopy workstation, 3-patient beds. DETAILED DESCRIPTION

[0091] The utility model discloses a flexible instrument conveying device to improve the use safety of the flexible instrument. The utility model also discloses a surgical robot system comprising the flexible instrument conveying device.

[0092] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0093] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0094] Please refer to Figures 1 to 32 .

[0095] In a specific embodiment, the flexible instrument delivery device provided by the present application is used to receive a flexible instrument 15, and the flexible instrument delivery device includes an instrument receiving device 16 and an instrument protection device. Fig.11 As shown, the flexible instrument 15 includes a flexible instrument handle 153, an actuator 152, and a guide tube 151 connecting the flexible instrument handle 153 and the actuator 152. The flexible instrument 15 can be specifically a flexible instrument based on conventional use through a flexible endoscope.

[0096] The instrument storage device 16 includes a turntable storage device, which can rotate forward and reverse to output and store the guide tube 151. For example, when the turntable storage device rotates forward, the guide tube 151 performs an output action, that is, the actuator 152 at the end of the guide tube 151 moves away from the turntable storage device. When the turntable storage device reverses, the guide tube 151 performs a storage action, that is, the guide tube 151 gradually spirals around the turntable storage device. The flexible instrument handle 153 is installed on the turntable storage device, and the turntable storage device can rotate to store the spirally spiraled guide tube 151.

[0097] like Figure 3 and Figure 5 As shown, the instrument protection device includes a flexible protective sleeve 13, which is sleeved on the outer periphery of the spirally wound guide tube 151. The flexible protective sleeve 13 can be a flexible member with an upper opening for the guide tube 151 to enter and exit.

[0098] It can be seen from the above description that in the flexible instrument delivery device provided by the present application, the guide tube 151 of the flexible instrument 15 can be arranged in a spiral coil through the turntable storage device, and when the guide tube 151 is in the spiral coiled state, the flexible protective sleeve 13 is sleeved on the outer periphery of the spirally coiled guide tube 151, thereby realizing the storage of the guide tube 151 when not in use. When in use, the output and storage of the guide tube 151 can be realized by controlling the rotation of the turntable storage rotating device, without the need for the cooperation of multiple medical staff, thereby improving the convenience of using the flexible device.

[0099] like Figures 4 to 6 As shown, in a specific embodiment, the device protection device includes a flexible sheath, a separation block 19 and a sheath separation storage device 14, the flexible sheath includes two flexible belts 131, the flexible belts 131 are provided with zipper teeth 132, the two flexible belts 131 are buckled by the zipper teeth 132, and a device accommodating hole 133 for accommodating the guide tube 151 is formed in the middle, and the buckled ends of the two flexible belts 131 are fixed to the turntable storage device. Of course, the flexible sheath as a whole can be bent with a very small bending radius, and the present application constrains the guide tube 151 to spirally coil through the flexible sheath.

[0100] like Figures 7 to 10 As shown, the separation block 19 includes a zipper head 191, which is used for fastening and separating the two flexible belts 131. Specifically, the flexible belt 131 has zipper teeth 132 on both the upper and lower sides, and the device receiving hole 133 can be a complete rectangular through hole to form a closed constraint on the guide tube 151. Specifically, the opening and closing principle of the flexible sheath tube and the zipper head 191 is the same as that of a traditional zipper. Specifically, the device receiving hole 133 can be a cylindrical hole body that is gap-matched with the guide tube 151.

[0101] The sheath separation and storage device 14 is connected to one end of the flexible belt 131 and is used for winding the flexible belt 131. Two sheath separation and storage devices 14 are provided. The two sheath separation and storage devices 14 are connected one-to-one with one end of the two separated flexible belts 131, that is, one end of the two separated flexible belts 131 is respectively and respectively wound on a sheath separation device. Specifically, after the assembly is completed, the zipper teeth 132 at the first ends of the two flexible belts 131 are buckled, the two flexible belts 131 are fixedly connected and tightly fit with the flexible instrument handle 153, and the second ends of the two flexible belts 131 are respectively connected to the corresponding sheath separation and storage devices 14, and the sheath separation and storage devices 14 are rotated to realize the winding and storage of the two flexible belts 131 at the separated position.

[0102] like Fig.12As shown, in a specific embodiment, the sheath tube separation and storage device 14 includes a flexible belt storage tray 141 and a storage tray driving device, and the upper surface of the flexible belt storage tray 141 is provided with a first storage position for winding the guide tube 151. Specifically, the first storage position can be a storage groove arranged in an annular shape for winding the guide tube 151.

[0103] Preferably, the two flexible belt storage trays 141 are symmetrically distributed on opposite sides of the separation block 19 .

[0104] The storage tray driving device is used to drive the flexible belt storage tray 141 to rotate around the central axis of the first storage position. Specifically, in a specific implementation, each storage tray driving device is driven by an independently arranged motor. Specifically, when the two storage tray driving devices are working, the rotation speed of the flexible belt storage tray 141 is the same to ensure that the two flexible belts 131 are evenly wound.

[0105] like Fig.13 and Fig.14 As shown, in another specific embodiment, in order to realize the synchronous rotation of the two flexible belt storage trays 141, the storage tray driving device includes a first motor 144, a first synchronous pulley 148, a second synchronous pulley 147 and a synchronous belt 146, and the first synchronous pulley 148 is fixedly connected to the central axis of one flexible belt storage tray 141. The second synchronous pulley 147 is fixedly connected to the central axis of the other flexible belt storage tray 141. The output shaft of the first motor 144, the first synchronous pulley 148 and the second synchronous pulley 147 are connected through the synchronous belt 146.

[0106] Specifically, the output end of the first motor 144 is connected to the output shaft through a motor sleeve 145 .

[0107] The synchronous belt 146 is a double-sided toothed synchronous belt, and the first synchronous pulley 148 and the second synchronous pulley 147 cooperate with the opposite sides of the synchronous belt 146. The synchronous belt 146 is a double-sided toothed synchronous belt, which can realize the synchronous reverse rotation of the two storage trays. That is, when the first motor 144 is working, the first motor 144 drives the synchronous belt 146 to move, and the synchronous belt 146 drives the first synchronous pulley 148 and the second synchronous pulley 147 to rotate in the opposite direction, thereby driving the two storage trays to rotate in the opposite direction, so as to realize the synchronous winding of the two flexible belts 131.

[0108] In order to improve the performance of use, the storage tray drive device also includes a tensioning wheel assembly 149, wherein the tensioning wheel assembly 149 includes a tensioning wheel 1492, a tensioning wheel bracket 1491, and a tensioning shaft 1493. The tensioning wheel 1492 is installed on the tensioning shaft 1493, and the tensioning shaft 1493 is installed on the tensioning wheel bracket 1491. The position of the tensioning wheel bracket 1491 is adjustable, thereby driving the tensioning wheel 1492 to move relative to the first synchronous pulley 148 and the second synchronous pulley 147 to achieve tension adjustment.

[0109] The separation block 19 also includes an outer frame 194, which is fixedly connected to the outer periphery of the zipper head 191. A mounting block 192 is provided at the center of the zipper head 191. A first through hole 193 is formed in the mounting block 192 for the flexible belt 131 to pass through. Specifically, the outer surface of the outer frame 194 can be a rectangular structure.

[0110] In order to improve assembly efficiency, preferably, the outer frame 194 and the zipper head 191 are integrally formed.

[0111] In order to improve assembly efficiency, preferably, the flexible instrument delivery device includes a restraining tray 100 , and the outer frame 194 and the receiving tray driving device are both mounted on the restraining tray 100 .

[0112] The instrument storage device 16 includes a rotating mounting plate 161 and a rotating plate driving device. The upper surface of the rotating mounting plate 161 is provided with a second storage position for supporting the flexible protective sleeve 13 buckled with the guide tube 151. Preferably, the rotating plate driving device is installed on the restraining plate 100, thereby realizing overall integrated installation. Specifically, the first storage position and the second storage position are both arranged in a plane, and preferably, the planes of the first storage position and the second storage position are arranged parallel to each other.

[0113] Specifically, the first motor 144 is mounted on the restraint plate 100 via a first motor bracket 143 .

[0114] like Fig.15 As shown, for the convenience of storage, preferably, the instrument storage device 16 further includes a guide stopper 168, which is a plate structure arranged in a spiral line, and the guide stopper 168 is installed in the second storage position, and is used for guiding and positioning the inner spiral position of the flexible protective sleeve 13. The guide stopper 168 is a plate structure arranged in a spiral line.

[0115] The rotating disk driving device is used to drive the rotating mounting disk 161 to rotate, so as to realize the spiral winding of the guide tube 151 around the rotating mounting disk 161. In specific use, the lower edge of the flexible sheath tube is constrained to complete the initial winding along the constraint strip by the guide limiter 168 which is like an annular constraint strip.

[0116] like Figures 16 to 19As shown, the rotating disk driving device includes a second motor 163, a gear set 165 and a bearing assembly. The input end of the gear set 165 is connected to the output shaft of the second motor 163, and the output shaft of the output end of the gear set 165 is fixedly connected to the rotating shaft of the rotating mounting disk 161. The present application realizes the reduction of the speed of the second motor 163 transmitted to the rotating mounting disk 161 through the gear set 165. The rotating shafts of the second motor 163 and the gear set 165 are both installed on the constraint disk 100. Specifically, the second motor 163 is installed on the constraint disk 100 through the second motor bracket 164. The rotating mounting disk 161 can be rotatably installed on the constraint disk 100 through the bearing assembly. Specifically, the bearing assembly includes a bearing end cover 162 and a bearing. The specific bearing can be a cross roller bearing 167. Specifically, the bearing end cover 162 is installed on the constraint disk 100, the bearing is installed on the bearing end cover 162, and the rotating mounting disk 161 is installed on the bearing. By setting the bearing assembly, it is convenient for the rotating mounting disk 161 to rotate around its own axis, and then it is convenient for the flexible protective sleeve 13 to coil.

[0117] Preferably, two arc-shaped discharge guide plates 166 are provided on the restraint disk 100, and the arc-shaped protruding positions of the two discharge guide plates 166 are directly opposite and fit one-to-one with the two separated flexible belts 131 to guide the flexible belts 131. One end of the discharge guide plate 166 is respectively facing the corresponding flexible belt storage disk 141, so that the flexible belt 131 can be smoothly moved to the position of the flexible belt storage disk 141.

[0118] like Figure 20 to Figure 24 As shown, in order to facilitate the movement of the rotating mounting disk 161 and the flexible belt storage disk 141 along the preset speed, preferably, the first motor 144 and the second motor 163 are controlled by the controller in terms of the movement direction and speed. Specifically, the rotating mounting disk 161 and the flexible belt storage disk 141 have the same speed. The flexible belt storage disk 141 is provided with a guide stopper 168 for constraining the innermost circle shape of the flexible belt 131. Specifically, the flexible belt 131 is wound around the outer periphery of the guide stopper 168.

[0119] In specific use, the flexible belt receiving tray 141 is rotatably mounted on the restraining tray 100 through the receiving tray bracket 142. The flexible belt receiving tray 141 is rotatably connected to the receiving tray bracket 142, and the receiving tray bracket 142 is fixedly connected to the restraining tray 100.

[0120] like Fig.25 , Fig.26 and Fig.29As shown, in a specific embodiment, the flexible instrument delivery device further includes a handle fixing device 17, the handle fixing device 17 includes an end inflatable airbag 172, a middle inflatable airbag 173 and an airbag inflation and deflation device, and the end inflatable airbag 172 is used to limit the opposite ends of the flexible instrument handle 153. Specifically, the number of the end inflatable airbags 172 at the opposite ends of the flexible instrument handle 153 is determined according to needs, and this application does not make specific limitations.

[0121] The middle inflatable airbags 173 include at least two, which are arranged on opposite sides of the flexible instrument handle 153 and are used to abut against the flexible instrument handle 153 to limit the position. The airbag inflation and deflation device is used to inflate and deflate the end inflatable airbags 172 and the middle inflatable airbags 173.

[0122] like Fig.25 , Fig.31 and Fig.32 As shown, in order to facilitate inflation and deflation, preferably, the handle fixing device 17 further includes a vent pipe 171, the end inflatable airbag 172 and the middle inflatable airbag 173 are connected to the air outlet 1711 of the vent pipe 171, the end inflatable airbag 172 and the middle inflatable airbag 173 are respectively connected to the vent pipe 171, and the airbag inflation and deflation device is connected to the air inlet 1712 of the vent pipe 171. The size of the end inflatable airbag 172 and the middle inflatable airbag 173 is adjusted by the air intake size of the vent pipe 171, so as to realize the flexible clamping of the flexible instrument handle 153, and can adapt to flexible instruments 15 of different sizes and models on the market.

[0123] like Fig. 27 and Fig.28 As shown, the flexible instrument delivery device also includes an airbag adjustment device 18, which includes an airbag support frame and a position adjustment device, the end inflatable airbag 172 is fixedly mounted on the airbag support frame, and the middle inflatable airbag 173 is slidably mounted on the airbag support frame through an airbag connector. At this time, the airbag support frame serves as a guide rail for the airbag connector to slide along a preset path.

[0124] The position adjustment device is connected to the airbag connector to adjust the relative position of the middle inflatable airbag 173 and the end inflatable airbag 172. In a specific embodiment, the position adjustment device includes a telescopic rod, and the telescopic end of the telescopic rod is connected to the airbag connector to drive the airbag connector to slide.

[0125] In order to improve the accuracy of airbag position adjustment, preferably, the position adjustment device includes a third motor 181, an intermediate gear 183 and a rack 184 meshing with the intermediate gear 183, the rack 184 is connected to the airbag connector, the output shaft of the third motor 181 is connected to the intermediate gear 183, and the airbag connector is driven to move along a preset path by the third motor 181. During specific operation, the movement of the airbag connector is achieved by the forward and reverse rotation of the third motor 181. During specific assembly, the third motor 181 can be installed on the restraint disk 100 through the third motor bracket 183.

[0126] like Fig.23 As shown, for easy installation, the restraint plate 100 is provided with a mounting hole 169 for the vent pipe 171, and the mounting hole 169 includes a plurality of waist holes 1692 and a circular hole 1691. Specifically, the waist hole is for the vent pipe 171 connected to the middle inflatable airbag 173 to pass through, so as to slide with the middle inflatable airbag 173. The vent pipe 171 connected to the end inflatable airbag 172 is connected to the circular hole position, and is fixedly connected to the restraint plate 100.

[0127] The flexible instrument delivery device provided in the present application can realize the efficient storage of the flexible instrument 15 and cooperate with the robot to complete the delivery of the flexible instrument 15. Specifically, it can realize the storage and restraint of the long and soft flexible instrument 15 for the soft endoscope, and can better cooperate with the robot to complete the delivery of the flexible instrument 15, avoiding the situation that the flexible instrument 15 is easy to be contaminated during use.

[0128] The surgical robot system 1 provided in the present application includes a robot 11, a flexible instrument 15 and a flexible instrument delivery device, wherein the flexible instrument delivery device is any of the above-mentioned flexible instrument delivery devices. The above-mentioned specific structure of the flexible instrument delivery device is described, and the present application includes the above-mentioned flexible instrument delivery device, and also has the above-mentioned technical effects.

[0129] The flexible instrument 15 includes a flexible instrument handle 153, an actuator 152, and a guide tube 151 connecting the flexible instrument handle 153 and the actuator 152. The flexible instrument 15 can be specifically a flexible instrument body based on conventional flexible endoscopes.

[0130] like Fig.30 As shown, the control handle 12 provided in the present application includes an operation button 122, a dial button 123 and a clamping portion 121, which can control the robot system 1 while clamping the flexible endoscope.

[0131] Specifically, in a specific setting, the first motor 144 , the second motor 163 and the third motor 181 are connected to the operation button 122 , and the operation of the first motor 144 , the second motor 163 and the third motor 181 is controlled by the operation button 122 .

[0132] like Figure 1 As shown, the surgical robot system 1 provided in the present application is a robot system that can be used to assist in manipulating flexible instruments in soft endoscopic diagnosis and treatment procedures. Specifically, the doctor and medical staff A2 treats the patient A1 on the bed 3 through the surgical robot system 1 and the endoscopic workstation 2.

[0133] like Figure 1 , Figure 2 , Fig.11 , Fig. 20 , Fig.25 and Fig.28 As shown, for ease of understanding, the following is a description in conjunction with a specific implementation method. When medical staff A2 needs to use the flexible instrument 15 during the process of soft endoscopy diagnosis and treatment for patients, he takes out the vortex-coiled flexible instrument 15 that has been constrained by the flexible protective cover 13 from the sterile package and installs it on the rotating installation disk 161. The head end of the flexible belt is separated and guided along the constraint strip and coiled on the flexible belt storage disk. At this time, the airbag adjustment device 18 starts to work, slides the middle inflatable airbag 173 to the preset position, and inflates the airbag to constrain the flexible instrument handle 153. Finally, the guide tube is inserted into the entrance of the soft endoscope forceps channel tube to complete the installation of the flexible instrument 15. At this time, medical staff A2 holds the soft endoscope handle with his left hand and the control handle 12 with his right hand. The control handle 12 can be used to enable the medical staff A2 to clamp, transport and rotate the endoscope with his right hand. At the same time, the dials and buttons on the control handle 12 can be used to control the surgical robot, including the transport of the flexible instrument 15, the opening and closing of the front actuator, etc., to assist the medical staff A2 to independently complete the soft endoscopic diagnosis and treatment procedure.

Claims

1. A flexible instrument delivery device, It is characterized in that Used for storing flexible instruments (15), including: An instrument storage device (16), wherein the instrument storage device (16) is capable of rotating forward and reversely to output and spirally coil the guide tube (151) that stores the flexible instrument (15); An instrument protection device, comprising a flexible protection sleeve (13), wherein the flexible protection sleeve (13) is sleeved on the outer circumference of a spirally wound guide tube (151).

2. The flexible instrument delivery device according to claim 1, It is characterized in that The instrument protection device also includes a separation block (19) and a sheath separation and storage device (14); The flexible protective sleeve (13) is a flexible sheath tube, and the flexible sheath tube comprises two flexible belts (131), and the flexible belts (131) are provided with zipper teeth (132), and the two flexible belts (131) are buckled together by the zipper teeth (132); after the zipper teeth (132) are buckled together, a device accommodating hole (133) for accommodating the guide tube (151) is formed in the middle, and the buckled ends of the two flexible belts (131) are fixed to the device storage device (16); The separation block (19) comprises a zipper head (191), and the zipper head (191) is used for fastening and separating the two flexible belts (131); The sheath tube separation and storage device (14) is connected to one end of the separated flexible belt (131) and is used for winding the flexible belt (131). Two sheath tube separation and storage devices (14) are provided, and the two sheath tube separation and storage devices (14) are connected one-to-one to one end of the two separated flexible belts (131).

3. The flexible instrument delivery device according to claim 2, It is characterized in that The sheath tube separation and storage device (14) comprises: A flexible belt storage tray (141), wherein the flexible belt storage tray (141) is provided with a first storage position for winding the guide tube (151); A storage tray driving device, the storage tray driving device is used to drive the flexible belt storage tray (141) to rotate around the central axis of the first storage position.

4. The flexible instrument delivery device according to claim 3, It is characterized in that The storage tray driving device comprises: A first motor (144); A first synchronous belt pulley (148), the first synchronous belt pulley (148) being fixedly connected to a central axis of one of the flexible belt storage trays (141); A second synchronous belt pulley (147), the second synchronous belt pulley (147) being fixedly connected to the central axis of another flexible belt storage tray (141); A synchronous belt (146), wherein the output shaft of the first motor (144), the first synchronous pulley (148) and the second synchronous pulley (147) are connected in transmission via the synchronous belt (146); the synchronous belt (146) is a double-sided toothed synchronous belt; the first synchronous pulley (148) and the second synchronous pulley (147) cooperate with opposite sides of the synchronous belt (146).

5. The flexible instrument delivery device according to claim 2, It is characterized in that The separation block (19) further comprises an outer frame (194), wherein the outer frame (194) is fixedly connected to the outer periphery of the zipper head (191), and a mounting block (192) is provided at the center of the zipper head (191), wherein a first through hole (193) is formed in the mounting block (192) for the flexible belt (131) to pass through, and the flexible belt (131) is provided with the zipper teeth (132) on both the upper and lower sides.

6. The flexible instrument delivery device according to claim 1, It is characterized in that The instrument storage device (16) comprises: A rotating mounting plate (161), wherein the upper surface of the rotating mounting plate (161) is provided with a second storage position for supporting the flexible protective sleeve (13) in a spirally coiled arrangement; A guide stopper (168), the guide stopper (168) being a plate structure arranged in a spiral line, the guide stopper (168) being installed at the second storage position and used for guiding and positioning the inner spiral position of the flexible protective sleeve (13); A rotating disk driving device, the rotating disk driving device is used to drive the rotating mounting disk (161) to rotate, so as to enable the guide tube (151) to spiral around the second storage position.

7. The flexible instrument delivery device according to claim 6, It is characterized in that It also includes a restraining disk (100), and the rotating disk driving device includes: Second motor (163); a gear set (165), wherein an input end of the gear set (165) is connected to an output shaft of the second motor (163), an output shaft of an output end of the gear set (165) is fixedly connected to a rotating shaft of the rotating mounting disk (161), and the rotating shafts of the second motor (163) and the gear set (165) are both mounted on the restraining disk (100); A bearing assembly, wherein the rotating mounting disk (161) is rotatably mounted on the restraining disk (100) via the bearing assembly.

8. The flexible instrument delivery device according to claim 1, It is characterized in that It also includes a handle fixing device (17), wherein the handle fixing device (17) includes: An end inflatable airbag (172), wherein the end inflatable airbag (172) is used to limit the opposite ends of a flexible instrument handle (153) of the flexible instrument (15); an intermediate inflatable airbag (173), the intermediate inflatable airbag (173) comprising at least two intermediate inflatable airbags (173), the intermediate inflatable airbags (173) being arranged on opposite sides of a flexible instrument handle (153) of the flexible instrument (15), and being used to abut against and limit the flexible instrument handle (153); An airbag inflation and deflation device; the airbag inflation and deflation device is used for inflating and deflation of the end inflatable airbag (172) and the middle inflatable airbag (173).

9. The flexible instrument delivery device according to claim 8, It is characterized in that Also included is an airbag adjustment device (18), the airbag adjustment device (18) comprising: An airbag support frame, the end inflatable airbag (172) being fixedly mounted on the airbag support frame, and the middle inflatable airbag (173) being slidably mounted on the airbag support frame via an airbag connector; A position adjustment device, the position adjustment device being connected to the airbag connecting piece to adjust the relative position of the middle inflatable airbag (173) and the end inflatable airbag (172); The ventilation pipe (171) is provided with a gas-filled airbag (172) at the end and a gas-filled airbag (173) at the middle, which are connected to the gas outlet (1711) of the ventilation pipe (171). The gas-filled airbag (172) at the end and the gas-filled airbag (173) at the middle are connected to the ventilation pipe (171) respectively. The gas-filled airbag inflation and deflation device is connected to the gas inlet (1712) of the ventilation pipe (171).

10. A surgical robot system, It is characterized in that It comprises a flexible instrument conveying device and a flexible instrument (15) mounted on the flexible instrument conveying device, wherein the flexible instrument conveying device is the flexible instrument conveying device according to any one of claims 1 to 9.

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