Nasal endoscope robot

Abstract

The utility model discloses a nasal endoscope robot and belongs to the technical field of medical robots. The tail end operation tool comprises a robot platform, the end of the robot platform is fixedly connected with a tail end operation tool whole, one side of the tail end operation tool whole is connected with a controllable bent nose endoscope, and the other side of the tail end operation tool whole is connected with a tail end execution instrument. The tail end executing instrument comprises a feeding driving mechanism, a rotating driving mechanism, a clamping driving mechanism and tail end endoscope operating forceps, the feeding driving mechanism is connected to the whole tail end operating tool, and the rotating driving mechanism and the clamping driving mechanism are connected to the feeding driving mechanism. According to the nasal endoscope robot, the entering angle of the nasal endoscope robot can be adjusted according to different use scenes, the applicability is better, meanwhile, fatigue shaking caused by long-time instrument holding of a doctor can be avoided, a stable visual field can be provided, positioning is accurate, the treatment time is shortened, and serious secondary trauma is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical robots, and specifically relates to a nasal endoscope robot. Background Art

[0002] Endoscopic nasal surgery is an effective method for treating the nasal cavity, completely removing nasal and sinus lesions, and improving and reconstructing the ventilation and drainage function of the nasal cavity and sinus. In addition, due to the special location of the nasal cavity, which is adjacent to structures such as the human eye socket and the brain, endoscopic nasal surgery is also a convenient way for some nasal and eye surgeries and skull base surgeries. Endoscopic nasal surgery is a modern high-tech treatment method that uses professional instruments and endoscopes to reach the lesions and achieve diagnosis and treatment. It is a minimally invasive surgery with less trauma and high safety. Existing endoscopic nasal surgery requires doctors to hold the endoscope in one hand and operate the instrument in the other hand to perform the surgery. There are many limitations. When encountering complex surgical problems, multiple doctors are required to operate multiple instruments in coordination during the entire operation. Due to the problem of diagnosis time, doctors cannot ensure the stability of the endoscope in real time, which can cause secondary trauma to patients. At the same time, rigid instruments are not easy to bend during surgery and the field of view provided by the endoscope is limited. It is difficult to enter the accurate position of the slender and narrow channel, which obstructs the observation line of sight of the attending doctor and is not conducive to the smooth progress of the operation. Utility Model Content

[0003] The present invention aims to solve the above-mentioned problems, make up for the deficiencies of the prior art, and provide a nasal endoscope robot. The present invention can adjust the entry angle of the nasal endoscope robot according to different usage scenarios, has better applicability, and can avoid fatigue and shaking caused by doctors holding the instrument for a long time. It can provide a stable field of view, enable accurate positioning, shorten treatment time, and avoid serious secondary trauma.

[0004] To achieve the above purpose, the utility model adopts the following technical solutions.

[0005] The utility model provides a nasal endoscope robot, comprising a robot platform, characterized in that an end portion of the robot platform is connected and fixed with an end operating tool as a whole, one side of the end operating tool as a whole is connected with a controllable bending nasal endoscope, and the other side of the end operating tool as a whole is connected with an end executing instrument, the end executing instrument comprises a feeding drive mechanism, a rotating drive mechanism, a clamping drive mechanism and an end endoscopic surgical forceps, the feeding drive mechanism is connected to the end operating tool as a whole, the rotating drive mechanism and the clamping drive mechanism are connected to the feeding drive mechanism, the feeding drive mechanism can drive the rotating drive mechanism and the clamping drive mechanism to perform feeding movement relative to the end operating tool as a whole, the end endoscopic surgical forceps are connected to the rotating drive mechanism, and the rotating drive mechanism can drive the end endoscopic surgical forceps to perform rotational movement.

[0006] Furthermore, the end working tool as a whole includes a first shell component, a second shell component, a third shell component and a connecting flange that together form a frame shape, the first shell component is opposite to the second shell component, the third shell component is opposite to the connecting flange, the connecting flange is connected and fixed to the robot platform, the feed drive mechanism is connected to the first shell component, and the controllable bending nasal endoscope is simultaneously connected to the second shell component and the third shell component.

[0007] Furthermore, the controllable bending nasal endoscope includes a bending drive mechanism and a quick-release module, the bending drive mechanism is connected to the second shell assembly, the quick-release module is connected to the third shell assembly, and the bending drive mechanism is further connected to the quick-release module to achieve the overall connection and fixation of the controllable bending nasal endoscope and the terminal working tool.

[0008] Furthermore, the bending drive mechanism includes a bending drive motor, a motor fixed left plate, a nasal endoscope linear slider, a motor fixed right plate, a nasal endoscope lead screw, a mechanism connector, a force sensing module, a docking connector, a double slider, a slider connector, a nasal endoscope profile, a nasal endoscope guide rail, a pin block, a sliding pin, a nickel-titanium sheet, a right shell, a top shell, a nasal endoscope steel pipe, a sheath tube, a snake bone joint, a bottom mounting seat, and a left shell. The nasal endoscope profile is connected to the second shell assembly, the motor fixed left plate and the motor fixed right plate are respectively connected to the two ends of the nasal endoscope profile, the bending drive motor is fixed to the motor fixed right plate, the output end of the bending drive motor is connected to the nasal endoscope lead screw, and the end of the nasal endoscope lead screw is further fixed to the motor fixed left plate, the thread on the nasal endoscope lead screw is connected to the nasal endoscope linear slider, the nasal endoscope profile is connected to the nasal endoscope guide rail, and the nasal endoscope linear slider One side can be stuck on the nasal endoscope guide rail and move along the nasal endoscope guide rail, and the other side of the nasal endoscope linear slider is connected to the mechanism connector, and the mechanism connector is connected to the force sensing module, the docking connector, and the pin block in sequence, the pin block is connected to the bottom mounting seat through the double sliders and the slider connector at the bottom, and the pin block is connected to the sliding pin at the top, and the sliding pin is connected to one end of the nickel-titanium sheet, and the nickel-titanium sheet passes through the nasal endoscope steel pipe and is connected to the snake bone joint at the other end, and the sheath is detachably sleeved on the outside of the snake bone joint to protect the snake bone joint, and the left shell, the right shell and the top shell are connected to each other and to the bottom mounting seat, and together wrap the docking connector, the double sliders, the slider connector, the nasal endoscope profile, the nasal endoscope guide rail, the pin block, the sliding pin, and the nickel-titanium sheet as a whole.

[0009] Furthermore, the quick-release module includes a button cap, a latch cover plate, a wedge block, a spring cover plate, a spring, a latch, and a quick-release base, the spring cover plate being fixed on the quick-release base, a plurality of springs being connected between the spring cover plate and one end of the latch for rebounding, the bottom mounting seat being embedded in the quick-release base, and the other end of the latch being capable of being inserted into the jack on the bottom mounting seat to lock the quick-release base with the bottom mounting seat, the latch cover plate being covered on the latch and connected to the quick-release base to radially limit the latch, the button cap being connected to the wedge block after passing through the latch cover plate, an oblique cone pin being provided at the bottom of the wedge block, and an oblique cone groove cooperating with the oblique cone pin being provided on the latch, and after the wedge block is pressed by the button cap, the oblique cone pin pushes the latch to move away from the bottom mounting seat, so that the quick-release base is unlocked from the bottom mounting seat.

[0010] Furthermore, the feed drive mechanism includes a feed drive motor, a feed mechanism lead screw, a feed mechanism guide rail, a feed mechanism slider, an instrument connector, a feed mechanism profile and a motor fixing plate, the feed drive motor is fixed on the motor fixing plate, the output end of the feed drive motor is connected to the feed mechanism lead screw, the motor fixing plate is connected to the feed mechanism profile, the feed mechanism profile is fixed on the first housing assembly, the feed mechanism lead screw is threadedly connected to the feed mechanism slider, the feed mechanism profile is also connected to the feed mechanism guide rail, one side of the feed mechanism slider can be clamped on the feed mechanism guide rail and move along the feed mechanism guide rail, and the other side of the feed mechanism slider is connected to the instrument connector.

[0011] Furthermore, the rotary drive mechanism includes a connecting steel pipe, a rotary drive motor, a driving gear, a driven gear, a gear pressure plate, a gear cover, a flange, and a rotary mechanism connecting piece. The rotary drive motor is fixed on the gear cover, the driving gear is connected to the output end of the rotary drive motor, the driven gear is meshed with the driving gear, the driving gear and the driven gear are pressed into the gear pressure plate through the gear cover, the gear pressure plate and the gear cover are detachably connected, the gear pressure plate is connected to the instrument connecting piece, the external flange passes through the gear cover and is connected to the driven gear, the bayonet of the flange is fixed to the rotary mechanism connecting piece, the connecting steel pipe is fixed to the end of the rotary mechanism connecting piece, and the terminal endoscopic surgical forceps are connected to the connecting steel pipe.

[0012] Furthermore, the clamping drive mechanism includes a clamping drive motor, a screw nut, a stabilizer, a linkage, a clamping mechanism screw, a nickel-titanium wire, and a coupling. The clamping drive motor is connected to the instrument connecting part, and the output end of the clamping drive motor is connected to the clamping mechanism screw through the coupling. The screw nut is engaged with the clamping mechanism screw, and the screw nut is fixed to the linkage. When the clamping mechanism screw rotates with the clamping drive motor, the linkage can move along the clamping mechanism screw through the screw nut. The stabilizer is arranged outside the linkage, and the stabilizer is connected to the instrument connecting part. The nickel-titanium wire is fixed on the linkage, and the nickel-titanium wire passes through the gear pressure plate, the driven gear, the gear cover plate, the flange, the connector, and the connecting steel pipe of the rotary drive mechanism in sequence, and is connected to the end endoscopic surgical forceps at the end of the connecting steel pipe.

[0013] Furthermore, the clamping drive mechanism also includes two support rods and two bearings matching the support rods, the bearings are installed on the linkage, one end of the two support rods is fixed to the instrument connecting piece, and they pass through the linkage through the two bearings and are then connected and fixed to the stabilizing piece.

[0014] The beneficial effects of the utility model.

[0015] The utility model adjusts the posture of the endoscopic robot by adjusting the robot platform to meet the posture requirements during the operation during endoscopic surgery, and can realize the angle adjustment and position fixation of the endoscopic robot, thereby realizing the adjustment of the entry angle of the endoscopic robot according to different usage scenarios, and has better applicability; at the same time, it can avoid the fatigue jitter caused by the doctor holding the instrument for a long time, and can provide a stable field of view, so that the positioning is accurate, the treatment time is shortened, and serious secondary trauma is avoided. The controllable curved nasal endoscope in the utility model has fine adjustment, can broaden the field of view, is small in size and light in weight, and can also be quickly disassembled and installed. It has good applicability and is easy for the operator to use through the quick-release module installation. The utility model can improve the flexibility of the terminal endoscopic surgical forceps through the cooperation of the feeding mechanism, the rotating mechanism and the clamping mechanism of the terminal actuator, so that the terminal endoscopic surgical forceps can be used for diagnosis and treatment in some deep and narrow cavities. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to make the technical problems, technical solutions and beneficial effects solved by the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the specific implementation methods described here are only used to explain the utility model and are not used to limit the utility model.

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0018] Figure 2 It is a schematic diagram of the overall disassembled structure of the terminal working tool of the utility model.

[0019] Figure 3 It is a structural schematic diagram of the controllable bending nasal endoscope of the utility model.

[0020] Figure 4 It is a schematic diagram of the disassembled structure of the controllable bending nasal endoscope of the utility model.

[0021] Figure 5 It is a structural schematic diagram of the feed drive mechanism of the end effector of the utility model.

[0022] Figure 6 It is a schematic diagram of the disassembled structure of the feed drive mechanism of the end effector of the utility model.

[0023] Figure 7 It is a structural schematic diagram of the rotary drive mechanism of the end effector of the utility model.

[0024] Figure 8 It is a schematic diagram of the disassembled structure of the rotary drive mechanism of the end effector of the utility model.

[0025] Fig. 9 It is a structural schematic diagram of the clamping drive mechanism of the end effector of the utility model.

[0026] Fig.10 It is a schematic diagram of the disassembled structure of the clamping drive mechanism of the end effector of the utility model.

[0027] Markings in the figure: 1 is the robot platform, 2 is the end operating tool as a whole, 3 is the controllable bending nasal endoscope, 4 is the end effector, 21 is the first shell component, 22 is the connecting flange, 23 is the second shell component, 24 is the third shell component, 31 is the bending drive mechanism, 32 is the quick release module, 41 is the feeding drive mechanism, 42 is the rotating drive mechanism, 43 is the clamping drive mechanism, 44 is the end endoscope surgical forceps, 3101 is the bending drive motor, 3102 is the motor fixing left plate, 3103 is the endoscope 3104 is the motor fixing right plate, 3105 is the endoscope lead screw, 3106 is the mechanism connector, 3107 is the force sensing module, 3108 is the docking connector, 3109 is the double slider, 3110 is the slider connector, 3111 is the endoscope profile, 3112 is the endoscope guide rail, 3113 is the pin block, 3114 is the sliding pin, 3115 is the nickel-titanium sheet, 3116 is the right shell, 3117 is the top shell, 3118 is the endoscope steel tube, 3119 is the sheath tube, 3120 is the endoscope guide rail, 3121 is the endoscope guide rail, 3122 is the endoscope guide rail, 3123 is the endoscope guide rail, 3124 is the endoscope guide rail, 3125 is the endoscope guide rail, 3126 is the endoscope guide rail, 3127 is the endoscope guide rail, 3128 is the endoscope guide rail, 3129 is the endoscope guide rail, 3130 is the endoscope guide rail, 3131 is the endoscope guide rail, 3132 is the endoscope guide rail, 3133 is the endoscope guide rail, 3134 is the endoscope guide rail, 3135 is the endoscope guide rail, 3136 is the endoscope guide rail, 3137 is the endoscope guide rail, 3138 is the endoscope guide rail, 3139 is the endoscope guide rail, 3140 is the endoscope guide rail, 3141 is the endoscope guide rail, 3142 is the endoscope guide rail, 3143 is the endoscope guide rail, 3144 is the endoscope guide rail, 3145 is the endoscope guide rail, 3146 is the endoscope guide rail, 3147 is the endoscope guide rail 3121 is the bottom mounting seat, 3122 is the left housing, 3201 is the button cap, 3202 is the latch cover, 3203 is the spring cover, 3204 is the spring, 3205 is the latch, 3206 is the quick-release base, 3207 is the wedge block, 4101 is the feed drive motor, 4102 is the instrument connector, 4103 is the feed mechanism slider, 4104 is the feed mechanism profile, 4105 is the feed mechanism guide rail, 4106 is the motor fixing plate, 4107 is the feed mechanism screw , 4201 is a rotating drive motor, 4202 is a gear cover, 4203 is a driving gear, 4204 is a gear pressure plate, 4205 is a driven gear, 4206 is a flange, 4207 is a rotating mechanism connector, 4208 is a connecting steel pipe, 4301 is a clamping drive motor, 4302 is a support rod, 4303 is a bearing, 4304 is a screw nut, 4305 is a stabilizing part, 4306 is a linkage, 4307 is a clamping mechanism screw, 4308 is a nickel-titanium wire, and 4309 is a coupling. DETAILED DESCRIPTION

[0028] As shown in the accompanying drawings, this embodiment provides a nasal endoscopic robot, including a robot platform 1. The robot platform 1 is a common manipulator structure and is a prior art. The posture of the nasal endoscopic robot is adjusted by controlling the robot platform 1 to meet the requirements for the posture of the nasal endoscopic robot during surgery.

[0029] The end of the robot platform 1 is connected and fixed with an end working tool as a whole 2, and the end working tool as a whole 2 includes a first shell component 21, a second shell component 23, a third shell component 24 and a connecting flange 22 which together form a frame shape. The first shell component 21 is opposite to the second shell component 23, and the third shell component 24 is opposite to the connecting flange 22. The connecting flange 22 is connected and fixed to the robot platform 1.

[0030] A controllable bending nasal endoscope 3 is connected to one side of the end operating tool body 2 . A bending driving mechanism 31 is connected to the second housing component 23 . The controllable bending nasal endoscope 3 includes a bending driving mechanism 31 and a quick-release module 32 .

[0031] The bending drive mechanism 31 includes a bending drive motor 3101, a motor fixed left plate 3102, a nasal endoscope linear slider 3103, a motor fixed right plate 3104, a nasal endoscope screw 3105, a mechanism connector 3106, a force sensing module 3107, a docking connector 3108, a double slider 3109, a slider connector 3110, a nasal endoscope profile 3111, a nasal endoscope guide rail 3112, a pin block 3113, a sliding pin 3114, a nickel-titanium sheet 3115, a right shell 3116, a top shell 3117, a nasal endoscope steel tube 3118, a sheath 3119, a snake bone joint 3120, a bottom mounting seat 3121, and a left shell 3122.

[0032] The nasal endoscope profile 3111 is connected to the second housing component 23, the motor fixed left plate 3102 and the motor fixed right plate 3104 are respectively connected to the two ends of the nasal endoscope profile 3111, the bending drive motor 3101 is fixed to the motor fixed right plate 3104, the output end of the bending drive motor 3101 is connected to the nasal endoscope lead screw 3105, and the end of the nasal endoscope lead screw 3105 is fixed to the motor fixed left plate 3102, the thread on the nasal endoscope lead screw 3105 is connected to the nasal endoscope linear slider 3103, the nasal endoscope profile 3111 is connected to the nasal endoscope guide rail 3112, and one side of the nasal endoscope linear slider 3103 can be stuck on the nasal endoscope guide rail 3112 and move along The endoscopic guide rail 3112 moves, and the other side of the endoscopic linear slider 3103 is connected to the mechanism connector 3106. The mechanism connector 3106 is connected to the force sensing module 3107, the docking connector 3108, and the pin block 3113 in sequence. The endoscopic lead screw 3105 converts the rotational motion output by the curved endoscopic drive motor into the required linear motion through the endoscopic linear slider 3103 on the endoscopic guide rail 3112. The endoscopic linear slider 3103 transmits the linear motion to the mechanism connector 3106, the force sensing module 3107, and the docking connector 3108 in sequence. The docking connector 3108 transmits the linear motion to the pin block 3113.

[0033] The pin block 3113 is connected to the bottom mounting seat 3121 through the double sliders 3109 and the slider connector 3110 at the bottom, and is connected to the sliding pin 3114 at the top. The sliding pin 3114 is connected to one end of the nickel-titanium sheet 3115. The nickel-titanium sheet 3115 passes through the endoscopic steel tube 3118 and is connected to the serpentine joint 3120 at the other end. The nickel-titanium sheet 3115 is subjected to the movement transmitted by the sliding pin 3114, so that the serpentine joint 3120 at the distal end of the endoscopic steel tube 3118 performs bending movement.

[0034] The sheath 3119 can be detachably put on the outside of the serpentine joint 3120 to protect the serpentine joint 3120. The left shell 3122, the right shell 3116 and the top shell 3117 are interconnected and connected to the bottom mounting seat 3121, and together wrap the docking connector 3108, the double slider 3109, the slider connector 3110, the nasal endoscope profile 3111, the nasal endoscope guide rail 3112, the pin block 3113, the sliding pin 3114, and the nickel-titanium sheet 3115.

[0035] The quick-release module 32 is connected to the third housing component 24 , and the bending drive mechanism 31 is further connected to the quick-release module 32 , so as to realize the connection and fixation between the controllable bending nasal endoscope 3 and the terminal operating tool as a whole 2 .

[0036] The quick release module 32 includes a button cap 3201, a latch cover 3202, a wedge block 3207, a spring cover 3203, a spring 3204, a latch 3205, and a quick release base 3206. The spring cover 3203 is fixed on the quick release base 3206. A plurality of springs 3204 are connected between the spring cover 3203 and one end of the latch 3205 for rebound. The bottom mounting seat 3121 is embedded in the quick release base 3206. The other end of the latch 3205 can be inserted into the jack on the bottom mounting seat 3121 to lock the quick release base 3206 with the bottom mounting seat 3121. The latch cover 3202 covers the latch 3205 and is connected to the quick release base 3206. The quick-release base 3206 is connected to radially limit the latch 3205, and the button cap 3201 passes through the latch cover plate 3202 and is connected to the wedge block 3207. An oblique cone pin is arranged at the bottom of the wedge block 3207, and an oblique cone groove cooperating with the oblique cone pin is arranged on the latch 3205. After the wedge block 3207 is pressed by the button cap 3201, the oblique cone pin pushes the latch 3205 to move away from the bottom mounting seat 3121, so that the quick-release base 3206 and the bottom mounting seat 3121 are unlocked. When the button cap 3201 is released, the latch 3205 rebounds through the thrust of the spring 3204 to lock the quick-release base 3206 and the bottom mounting seat 3121 again.

[0037] The other side of the end working tool as a whole 2 is connected to the end effector 4, which includes a feed drive mechanism 41, a rotation drive mechanism 42, a clamping drive mechanism 43 and an end endoscopic surgical forceps 44. The feed drive mechanism 41 is connected to the end working tool as a whole 2, the rotation drive mechanism 42 and the clamping drive mechanism 43 are connected to the feed drive mechanism 41, and the feed drive mechanism 41 can drive the rotation drive mechanism 42 and the clamping drive mechanism 43 to perform feeding movement relative to the end working tool as a whole 2, and the end endoscopic surgical forceps 44 are connected to the rotation drive mechanism 42, and the rotation drive mechanism 42 can drive the end endoscopic surgical forceps 44 to perform rotational movement.

[0038] The feed drive mechanism 41 includes a feed drive motor 4101, a feed mechanism lead screw 4107, a feed mechanism guide rail 4105, a feed mechanism slider 4103, an instrument connector 4102, a feed mechanism profile 4104 and a motor fixing plate 4106.

[0039] The feed drive motor 4101 is fixed on the motor fixing plate 4106, the output end of the feed drive motor 4101 is connected to the feed mechanism screw 4107, the motor fixing plate 4106 is connected to the feed mechanism profile 4104, the feed mechanism profile 4104 is fixed on the first housing assembly 21, the feed mechanism screw 4107 is threadedly connected to the feed mechanism slider 4103, the feed mechanism profile 4104 is also connected to the feed mechanism guide rail 4105, one side of the feed mechanism slider 4103 can be stuck on the feed mechanism guide rail 4105 and move along the feed mechanism guide rail 4105, and the other side of the feed mechanism slider 4103 is connected to the instrument connector 4102. The feed mechanism lead screw 4107 converts the rotational motion output by the feed drive motor 4101 into the required linear motion through the feed mechanism slider 4103 on the feed mechanism guide rail 4105. The feed mechanism slider 4103 transmits the linear motion to the instrument connector 4102, which drives the rotation drive mechanism 42 and the clamping drive mechanism 43 of the connected end effector 4 to perform feeding motion relative to the end working tool as a whole 2 through the instrument connector 4102.

[0040] The rotary drive mechanism 42 includes a connecting steel pipe 4208 , a rotary drive motor 4201 , a driving gear 4203 , a driven gear 4205 , a gear pressure plate 4204 , a gear cover plate 4202 , a flange 4206 , and a rotary mechanism connector 4207 .

[0041] The rotary drive motor 4201 is fixed on the gear cover 4202, the driving gear 4203 is connected to the output end of the rotary drive motor 4201, the driven gear 4205 is meshed with the driving gear 4203, the driving gear 4203 and the driven gear 4205 are pressed into the gear pressure plate 4204 through the gear cover 4202, the gear pressure plate 4204 is detachably connected to the gear cover 4202, the gear pressure plate 4204 is connected to the instrument connector 4102, the external flange 4206 passes through the gear cover 4202 and is connected to the driven gear 4205, the bayonet of the flange 42064206 is fixed to the rotary mechanism connector 4207, the connecting steel pipe 4208 is fixed to the end of the rotary mechanism connector 4207, and the terminal endoscopic surgical forceps 44 are connected to the connecting steel pipe 4208. The motion output by the rotary drive motor 4201 is transmitted to the driven gear 4205 through the driving gear 4203, and the driven gear 4205 transmits it to the flange 4206. The flange 4206 transmits the rotary motion to the rotary mechanism connector 4207, and drives the clamping drive mechanism 43 to rotate through the rotary mechanism connector 4207 and the connecting steel pipe 4208.

[0042] The clamping drive mechanism 43 includes a clamping drive motor 4301 , a lead screw nut 4304 , a stabilizer 4305 , a linkage 4306 , a clamping mechanism lead screw 4307 , a nickel-titanium wire 4308 , and a coupling 4309 .

[0043] The clamping drive motor 4301 is connected to the instrument connector 4102. The output end of the clamping drive motor 4301 is connected to the clamping mechanism lead screw 4307 through a coupling 4309. The lead screw nut 4304 is engaged with the clamping mechanism lead screw 4307. The lead screw nut 4304 is fixed to the linkage 4306. When the clamping mechanism lead screw 4307 rotates with the clamping drive motor 4301, the linkage 4306 can pass through the lead screw nut 4304 along the clamping mechanism lead screw 4307. Movement, a stabilizing member 4305 is arranged outside the linkage 4306, and the stabilizing member 4305 is connected to the instrument connecting member 4102. The clamping drive mechanism 43 also includes two supporting rods 4302 and two bearings 4303 matching the supporting rods 4302. The bearings 4303 are installed on the linkage 4306, and one end of the two supporting rods 4302 are fixed to the instrument connecting member 4102, and pass through the linkage 4306 through two bearings 4303 respectively and then are connected and fixed to the stabilizing member 4305.

[0044] A nickel-titanium wire 4308 is fixed on the linkage 4306 , and the nickel-titanium wire 4308 passes through the gear pressure plate 4204 , the driven gear 4205 , the gear cover 4202 , the flange 4206 , the connector, and the connecting steel pipe 4208 of the rotary drive mechanism 42 in sequence, and is connected to the end endoscopic surgical forceps 44 at the end of the connecting steel pipe 4208 .

[0045] The end endoscope surgical forceps 44 adopts a quadrilateral clamping structure. The quadrilateral clamping structure of the endoscope surgical forceps is a very common medical component, and its structure is open, and is composed of a control tube, a sealing tube, an instrument housing, a movable part, and a clamp handle through a quadrilateral structure. The other end of the nickel-titanium wire 4308 is passed through the sealing tube and connected to the control tube to control the end endoscope surgical forceps 44 to complete the clamping movement.

[0046] The nasal endoscope robot can be used not only for nasal and nasopharyngeal surgery, but also for diagnosis and treatment of other deep and narrow cavities.

[0047] It can be understood that the above specific description of the utility model is only used to illustrate the utility model and is not limited to the technical solution described in the implementation mode of the utility model. Ordinary technicians in the field should understand that the utility model can still be modified or replaced by equivalents to achieve the same technical effect; as long as the use requirements are met, they are within the protection scope of the utility model.

Claims

1. A nasal endoscopic robot, comprising a robot platform (1), characterized in that: An end working tool as a whole (2) is connected and fixed to the end of the robot platform (1); a controllable bending nasal endoscope (3) is connected to one side of the end working tool as a whole (2); and an end effector (4) is connected to the other side of the end working tool as a whole (2); the end effector (4) comprises a feeding drive mechanism (41), a rotating drive mechanism (42), a clamping drive mechanism (43) and an end endoscope surgical forceps (44); the feeding drive mechanism (41) is connected to the end working tool as a whole (2); the rotating drive mechanism (42) and the clamping drive mechanism (43) are connected to the feeding drive mechanism (41); the feeding drive mechanism (41) can drive the rotating drive mechanism (42) and the clamping drive mechanism (43) to perform feeding motion relative to the end working tool as a whole (2); and the end endoscope surgical forceps (44) are connected to the rotating drive mechanism (42); and the rotating drive mechanism (42) can drive the end endoscope surgical forceps (44) to perform rotational motion.

2. A nasal endoscope robot according to claim 1, characterized in that: The end operating tool as a whole (2) comprises a first housing component (21), a second housing component (23), a third housing component (24) and a connecting flange (22) which together form a frame shape; the first housing component (21) is opposite to the second housing component (23); the third housing component (24) is opposite to the connecting flange (22); the connecting flange (22) is connected and fixed to the robot platform (1); the feed drive mechanism (41) is connected to the first housing component (21); and the controllable bending nasal endoscope (3) is simultaneously connected to the second housing component (23) and the third housing component (24).

3. A nasal endoscope robot according to claim 2, characterized in that: The controllable bending nasal endoscope (3) comprises a bending drive mechanism (31) and a quick-release module (32); the bending drive mechanism (31) is connected to the second housing component (23); the quick-release module (32) is connected to the third housing component (24); the bending drive mechanism (31) is further connected to the quick-release module (32), so as to achieve connection and fixation between the controllable bending nasal endoscope (3) and the terminal operating tool as a whole (2).

4. A nasal endoscopic robot according to claim 3, characterized in that: The bending drive mechanism (31) comprises a bending drive motor (3101), a motor fixed left plate (3102), a nasal endoscope linear slider (3103), a motor fixed right plate (3104), a nasal endoscope lead screw (3105), a mechanism connector (3106), a force sensing module (3107), a docking connector (3108), a double slider (3109), a slider connector (3110), a nasal endoscope profile (3111), a nasal endoscope guide rail (3112), a pin block (3113), a sliding pin (3114), a nickel-titanium sheet (3115), a right shell (3116), a top shell (3117), a nasal endoscope steel tube (3118), and a sheath tube (3119). , a snake-bone joint (3120), a bottom mounting seat (3121), and a left shell (3122); the nasal endoscope profile (3111) is connected to the second shell component (23); the motor-fixed left plate (3102) and the motor-fixed right plate (3104) are respectively connected to two ends of the nasal endoscope profile (3111); the bending drive motor (3101) is fixed to the motor-fixed right plate (3104); the output end of the bending drive motor (3101) is connected to the nasal endoscope lead screw (3105); the end of the nasal endoscope lead screw (3105) is further fixed to the motor-fixed left plate (3102); the nasal endoscope lead screw (3105) is connected to the motor-fixed right plate (3104); The endoscopic linear slider (3103) is connected to the endoscopic profile (3111) by threaded connection. The endoscopic guide rail (3112) is connected to the endoscopic linear slider (3103). One side of the endoscopic linear slider (3103) can be stuck on the endoscopic guide rail (3112) and move along the endoscopic guide rail (3112). The other side of the endoscopic linear slider (3103) is connected to the mechanism connector (3106). The mechanism connector (3106) is connected to the force sensing module (3107), the docking connector (3108), and the pin block (3113) in sequence. The pin block (3113) is connected to the double slider (3109) and the The slider connector (3110) is connected to the bottom mounting seat (3121), the top of the pin block (3113) is connected to the sliding pin (3114), the sliding pin (3114) is connected to one end of the nickel-titanium sheet (3115), the nickel-titanium sheet (3115) passes through the nasal endoscope steel tube (3118) and the other end is connected to the snake bone joint (3120), the sheath tube (3119) is detachably sleeved on the outside of the snake bone joint (3120) to protect the snake bone joint (3120), the left shell (3122), the right shell (3116) and the top shell (3117) are connected to each other and connected to the bottom mounting seat (3121),The butt connector (3108), the double slider (3109), the slider connector (3110), the nasal endoscope profile (3111), the nasal endoscope guide rail (3112), the column pin block (3113), the sliding pin (3114), and the nickel-titanium sheet (3115) are integrally wrapped therein.

5. A nasal endoscope robot according to claim 4, characterized in that: The quick-release module (32) comprises a button cap (3201), a latch cover (3202), a wedge block (3207), a spring cover (3203), a spring (3204), a latch (3205), and a quick-release base (3206); the spring cover (3203) is fixed to the quick-release base (3206); a plurality of springs (3204) are connected between the spring cover (3203) and one end of the latch (3205) for rebound; the bottom mounting seat (3121) is embedded in the quick-release base (3206); the other end of the latch (3205) can be inserted into a socket on the bottom mounting seat (3121) so as to connect the quick-release base (3206) to the bottom mounting seat (3121). The mounting seat (3121) is locked, the latch cover plate (3202) covers the latch (3205) and is connected to the quick-release base (3206) to limit the latch (3205) in radial direction, the button cap (3201) passes through the latch cover plate (3202) and is connected to the wedge block (3207), an oblique cone pin is provided at the bottom of the wedge block (3207), and an oblique cone groove matching the oblique cone pin is provided on the latch (3205), after the wedge block (3207) is pressed by the button cap (3201), the oblique cone pin pushes the latch (3205) to move away from the bottom mounting seat (3121), so that the quick-release base (3206) and the bottom mounting seat (3121) are unlocked.

6. A nasal endoscope robot according to claim 2, characterized in that: The feed drive mechanism (41) comprises a feed drive motor (4101), a feed mechanism lead screw (4107), a feed mechanism guide rail (4105), a feed mechanism slider (4103), an instrument connector (4102), a feed mechanism profile (4104) and a motor fixing plate (4106); the feed drive motor (4101) is fixed to the motor fixing plate (4106); an output end of the feed drive motor (4101) is connected to the feed mechanism lead screw (4107); the motor fixing plate (4106) is connected to the feed mechanism profile (4106); 04), the feed mechanism profile (4104) is fixed on the first housing component (21), the feed mechanism lead screw (4107) is threadedly connected to the feed mechanism slider (4103), the feed mechanism profile (4104) is also connected to the feed mechanism guide rail (4105), one side of the feed mechanism slider (4103) can be clamped on the feed mechanism guide rail (4105) and move along the feed mechanism guide rail (4105), and the other side of the feed mechanism slider (4103) is connected to the instrument connector (4102).

7. A nasal endoscopic robot according to claim 6, characterized in that: The rotary drive mechanism (42) comprises a connecting steel pipe (4208), a rotary drive motor (4201), a driving gear (4203), a driven gear (4205), a gear pressure plate (4204), a gear cover plate (4202), a flange (4206), and a rotary mechanism connecting piece (4207). The rotary drive motor (4201) is fixed on the gear cover plate (4202). The driving gear (4203) is connected to the output end of the rotary drive motor (4201). The driven gear (4205) meshes with the driving gear (4203). The driving gear (4203) meshes with the driven gear (4205). 5) The gear cover plate (4202) is pressed into the gear pressure plate (4204), the gear pressure plate (4204) is detachably connected to the gear cover plate (4202), the gear pressure plate (4204) is connected to the instrument connector (4102), the external flange (4206) passes through the gear cover plate (4202) and is connected to the driven gear (4205), the bayonet of the flange (4206) is fixed to the rotating mechanism connector (4207), the connecting steel pipe (4208) is fixed to the end of the rotating mechanism connector (4207), and the terminal endoscopic surgical forceps (44) are connected to the connecting steel pipe (4208).

8. The nasal endoscopic robot according to claim 7, characterized in that: The clamping drive mechanism (43) comprises a clamping drive motor (4301), a lead screw nut (4304), a stabilizing member (4305), a linkage (4306), a clamping mechanism lead screw (4307), a nickel-titanium wire (4308), and a coupling (4309). The clamping drive motor (4301) is connected to the instrument connecting member (4102). The output end of the clamping drive motor (4301) is connected to the clamping mechanism lead screw (4307) via the coupling (4309). The lead screw nut (4304) is engaged with the clamping mechanism lead screw (4307). The lead screw nut (4304) is fixed to the linkage (4306). When the clamping mechanism lead screw (4307) moves along with the clamping drive motor (4301), the clamping mechanism lead screw (4307) moves along with the clamping drive motor (4301). ) rotates, the linkage (4306) can move along the clamping mechanism lead screw (4307) through the lead screw nut (4304), the stabilizing member (4305) is arranged outside the linkage (4306), the stabilizing member (4305) is connected to the instrument connector (4102), the nickel-titanium wire (4308) is fixed on the linkage (4306), the nickel-titanium wire (4308) passes through the gear pressure plate (4204), the driven gear (4205), the gear cover plate (4202), the flange (4206), the connector, the connecting steel pipe (4208) of the rotary drive mechanism (42) in sequence, and is connected to the end endoscopic surgical forceps (44) at the end of the connecting steel pipe (4208).

9. The nasal endoscopic robot according to claim 8, characterized in that: The clamping drive mechanism (43) further includes two support rods (4302) and two bearings (4303) matched with the support rods (4302), wherein the bearings (4303) are mounted on the linkage (4306), and one end of the two support rods (4302) is fixed to the instrument connector (4102), and passes through the linkage (4306) through the two bearings (4303) and is then connected and fixed to the stabilizing member (4305).

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