Parallel detachable concentric tube robot for minimally invasive surgery

Abstract

The utility model discloses a parallel detachable concentric tube robot for minimally invasive surgery. The parallel detachable concentric tube robot comprises an abdominal sheathing canal, a plurality of single-arm driving systems and flexible instrument arms, the multiple single-arm driving systems are connected in parallel, the single-arm driving systems are connected with the flexible instrument arms, the multiple flexible instrument arms are arranged in instrument arm channels formed in the abdomen entering sheathing canal respectively, and each flexible instrument arm comprises a plurality of concentric tubes; the single-arm driving system comprises a single-tube driving module, a guiding device and a concentric tube are arranged in the single-tube driving module, a driving mechanism, a linear transmission mechanism and a rotary transmission mechanism are arranged in the guiding device, the linear transmission mechanism and the rotary transmission mechanism are both connected with a driver in the driving mechanism, and the linear transmission mechanism is connected with the rotary transmission mechanism. The concentric pipe is installed on the rotary transmission mechanism, and the anti-collision device is arranged on the rotary transmission mechanism. The parallel type design is adopted, each guide device independently controls the corresponding concentric tube, and surgical instruments are convenient to replace.

Description

Technical Field

[0001] The utility model belongs to the field of minimally invasive laparoscopic surgery, in particular to a parallel detachable concentric tube robot used for minimally invasive surgery. Background Art

[0002] Laparoscopic surgery, as an alternative to open surgery, aims to reduce surgical trauma, lower infection rates, and accelerate postoperative recovery. However, traditional laparoscopic surgery presents several challenges that need to be addressed. For example, the direction of movement of the surgical instrument tip does not align with the surgeon's perceived hand movement, making it difficult to achieve intuitive hand-eye coordination. Long surgical procedures can also fatigue the surgeon, and fatigue and hand tremors can affect surgical effectiveness.

[0003] The development of surgical robots has fundamentally transformed laparoscopic surgery. Combining robotic technology with laparoscopic techniques can fundamentally avoid the operational drawbacks of conventional laparoscopic surgery. Robotic laparoscopic surgery utilizes modern high-tech medical technology to perform procedures within the closed abdominal cavity. Using a laparoscope, guided by a high-tech display, surgical instruments are manipulated externally to perform procedures such as exploration of lesions, electrocoagulation, hemostasis, tissue separation, incision, and suturing. Its emergence has expanded surgeons' surgical capabilities, effectively reducing fatigue associated with prolonged surgical procedures and improving surgical quality. Robots enhance the surgeon's hand-eye coordination, making surgical procedures more flexible and accurate. The robot's precise field of view and flexible movements significantly extend the surgeon's surgical capabilities, enabling the smooth execution of traditionally challenging procedures involving difficult exposure and dissection. Multi-port laparoscopic robotic surgery involves making three to four 5-10 mm incisions on the patient's surface to allow for insertion of an endoscope, where the surgeon manipulates the instruments under visual guidance. Single-port laparoscopic surgical robotics, developed from multi-port techniques, involves making a single 3-4 cm incision on the patient's surface. Single-port laparoscopic surgical robots are trending towards high precision, miniaturization, and high integration. However, the design and integration of single-port laparoscopic surgical robots are becoming increasingly challenging, inevitably requiring innovative designs in the robot's control and drive methods, joint configuration, and transmission structure. However, limited workspace, complex surroundings, and loss of depth perception complicate the operation of single-port laparoscopic surgical robots.

[0004] Currently, medical robots are gradually developing towards greater flexibility and adaptability, leading to the rapid development of continuous surgical robots. Continuous robots are inspired by biological processes in nature and are highly flexible. Therefore, compared to the laparoscopic surgical robots mentioned earlier, continuous surgical robots offer improved flexibility and adaptability, and can adapt to diverse environments, making them suitable for laparoscopic surgery. Continuous robots are primarily used in interventional medicine. Unlike rigid joint robots, which have mechanical rigidity and limited degrees of freedom, they possess near-infinite degrees of freedom and offer greater flexibility. As a representative example of continuous surgical robots, concentric tube robots offer advantages such as small size, high flexibility, and independence from the surrounding environment, enabling excellent obstacle avoidance during movement. The diameter of concentric tube robots can be comparable to that of catheters and end effectors. Their inherent actuation capabilities, potential for miniaturization, and controllable mechanical properties make them suitable for laparoscopic surgery.

[0005] A single-port laparoscopic surgical robot is essentially an operating console. The surgeon operates the console, controlling the movement of the robotic arm through a master-slave mapping relationship. In existing technologies, the robotic arm of both multi-port and single-port laparoscopic surgical robots is rigid. The robotic arm consists of a rigid shaft and an end effector, with four degrees of freedom: axial insertion, axial rotation, and rotation about the insertion point in two perpendicular planes. Currently, laparoscopic robots have an insufficient number of degrees of freedom. Furthermore, the end instruments are generally driven by a wire-pulley mechanism. The hysteresis of the wire drive makes instrument movement difficult, resulting in reduced control accuracy and poor flexibility, making it difficult to achieve high-quality surgery. With the advancement of surgical robot technology and the pursuit of less invasive procedures, the inherent defects of rigid structures and their limited degrees of freedom are no longer sufficient. Therefore, the design of a single-port laparoscopic surgical robot that allows the robot to access difficult-to-reach surgical sites without relying on the surrounding environment or body tissue to reach the desired location holds great promise.

[0006] The tandem concentric tube robot consists of a set of actuator blocks that ensure the rotation and translation of each tube. These actuator blocks are arranged in a configuration where one actuator block is followed by another. This arrangement results in a long distance between the bottom of the innermost tube and the bottom of the outermost tube, necessitating a very long inner tube. Because the torsional deformation of a tube is proportional to its length, the innermost tube is more susceptible to deformation, and the motion of the tubes is also prone to coupling. Summary of the Invention

[0007] The purpose of the present utility model is to solve the problems in the prior art and provide a parallel detachable concentric tube robot for minimally invasive surgery, so as to solve the problems in the prior art of the robot having poor control accuracy and flexibility and easy coupling between tubes.

[0008] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0009] A parallel detachable concentric tube robot for minimally invasive surgery, comprising an abdominal sheath, several single-arm drive systems, and a flexible instrument arm;

[0010] Several of the single-arm drive systems are connected in parallel, and the single-arm drive systems are connected to flexible instrument arms. The flexible instrument arms are respectively arranged in instrument arm channels opened on the abdominal sheath, and the flexible instrument arms include several concentric tubes.

[0011] The single-arm drive system includes a single-tube drive module, which is provided with a guide device and a concentric tube. The guide device is provided with a drive mechanism, a linear transmission mechanism and a rotary transmission mechanism. The linear transmission mechanism and the rotary transmission mechanism are both connected to the driver in the drive mechanism. The linear transmission mechanism is connected to the rotary transmission mechanism. The concentric tube is installed on the rotary transmission mechanism, and the rotary transmission mechanism is provided with an anti-collision device.

[0012] Furthermore, the concentric tubes include an outer tube, a middle tube and an inner tube, the adjacent outer tubes, middle tubes and inner tubes are nested with each other, and the axes of the outer tubes, middle tubes and inner tubes coincide.

[0013] Furthermore, the single-tube driving module includes an outer-tube single-tube driving unit, a middle-tube single-tube driving unit and an inner-tube single-tube driving unit, the outer tube is arranged on the outer-tube single-tube driving unit, the middle tube is arranged on the middle-tube single-tube driving unit, and the inner tube is arranged on the inner-tube single-tube driving unit.

[0014] Furthermore, the guiding device includes a carrier plate, a front cover is installed on one side of the carrier plate by bolts, and a rear cover is installed on the other side of the carrier plate by bolts, the driving mechanism is installed in the rear cover, the linear transmission mechanism and the rotary transmission mechanism are both installed in the front cover, a radiator and a buzzer are installed on one end surface of the rear cover, and a pin-shaped socket is provided on one side surface of the rear cover.

[0015] Furthermore, the driving mechanism includes a first support plate, a second support plate and a voltage distribution adapter, the first support plate, the second support plate and the voltage distribution adapter are all fixedly mounted on the carrier plate, the driver is mounted on the first support plate, a power supply is mounted on the second support plate, and the power supply is connected to the voltage distribution adapter.

[0016] Furthermore, the linear transmission mechanism includes a slide, on which a first stepper motor and a guide rail are fixedly mounted, a slider is slidably mounted on the guide rail, and a second stepper motor is fixedly mounted on the slider via a motor bracket, and both the first stepper motor and the second stepper motor are connected to the driver.

[0017] Furthermore, the rotating transmission mechanism includes a synchronous belt, one end of the synchronous belt is connected to a large pulley, and the other end of the synchronous belt is connected to a small pulley, the large pulley is fixedly mounted on the motor shaft of the second stepper motor, the small pulley is mounted on a small pulley base, the small pulley base is connected to the motor bracket through a connecting plate, the connecting plate is connected to a voltage distribution adapter, a clamping device fixing seat is installed on the small pulley, a clamping device is installed on the clamping device fixing seat, and the concentric tube is fixed to the clamping device by bolts.

[0018] Furthermore, the anti-collision device includes a sensor holder, which is mounted on the housing of the rotary transmission mechanism. A proximity sensor is mounted on the sensor holder, and the proximity sensor is connected to a buzzer.

[0019] Furthermore, the abdominal sheath is also provided with a water injection channel, an endoscope channel and several auxiliary channels.

[0020] Furthermore, the concentric tube robot is mounted on a chassis via bolts, the chassis is fixedly connected to a lifting device, and the concentric tube robot is mounted on a passive robotic arm via the lifting device.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The present invention provides a parallel, detachable concentric tube robot for minimally invasive surgery. By placing multiple flexible instrument arms within instrument arm channels defined by an abdominal sheath, the robot is designed from bottom to top, aligning the instrument channels of the abdominal sheath. This allows for greater range of motion for each flexible instrument arm, reduces the likelihood of conflict or interference between the flexible instrument arms during coordinated movement, and enhances operational flexibility. The present invention employs a parallel design, interconnecting multiple single-arm drive systems. The single-arm drive system comprises a single-tube drive module, which includes a guide device and concentric tubes. The guide device includes a drive mechanism, a linear transmission mechanism, and a rotary transmission mechanism. The linear transmission mechanism and the rotary transmission mechanism are both connected to a driver within the drive mechanism. The linear transmission mechanism is connected to the rotary transmission mechanism, and the concentric tubes are mounted on the rotary transmission mechanism. Each guide device is independently designed, integrating control, drive, transmission, and execution. The guide device controls the corresponding concentric tube, similar to the transmission box of a laparoscopic surgical robot. The guide device can be removed from the robot to facilitate replacement of surgical instruments.

[0023] The guiding device of the present invention is arranged in parallel and driven by parallel blocks instead of serial blocks. The movement of the tubes is decoupled, and each driver is arranged in parallel. Each motor only creates one movement for one tube: linear translation or axial rotation. Another advantage of this mechanism is that it reduces the length of the inner tube, thereby reducing the size of its guiding device, making it more suitable for laparoscopic surgery. At the same time, the rotational movement of the concentric tubes will accumulate energy during the movement. When multiple tubes move in coordination, this effect will be amplified, thereby increasing the instability of the flexible instrument arm. The reduction in the length of the inner tube can reduce the impact of its torsional deformation, thereby reducing the instability of the flexible instrument arm. The concentric tube robot designed by the present invention is used in laparoscopic surgery, and its target operating space is the inverted cone space below the abdominal sheath.

[0024] Furthermore, the proximity sensor on the housing of the rotating transmission mechanism will flash when the distance between it and the housing of the adjacent rotating transmission mechanism is less than 5mm. The proximity sensor is connected to a buzzer, which will emit a buzzer sound reminder at the same time to prevent the moving parts of adjacent guiding devices from colliding during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 This is a schematic diagram of the overall structure of the single-port laparoscopic surgical robot of the present invention.

[0027] Figure 2 This is a structural diagram of the concentric tube robot of the present utility model.

[0028] Figure 3 This is a structural diagram of the single-arm drive module of the present utility model.

[0029] Figure 4 This is a structural diagram of a single-tube driver module of the present invention.

[0030] Figure 5 It is a structural schematic diagram of the linear transmission mechanism of the present utility model.

[0031] Figure 6 It is a structural schematic diagram of the rotary transmission mechanism of the present utility model.

[0032] Figure 7 This is a schematic structural diagram of the anti-collision device based on proximity sensor of the present utility model.

[0033] Figure 8 This is a schematic structural diagram of the abdominal sheath tube of the present invention.

[0034] Figure 9 It is a structural schematic diagram of the guiding device of the present utility model.

[0035] Figure 10 The utility model is a structural diagram of the back cover.

[0036] Figure 11 This is a structural diagram of the flexible arm of the present utility model.

[0037] Among them: 1-passive manipulator, 2-concentric tube robot, 3-lifting device, 4-chassis, 6-outer tube single tube drive unit, 7-middle tube single tube drive unit, 8-inner tube single tube drive unit, 9-rear cover, 10-carrier plate, 11-front cover, 12-concentric tube, 13-stepping motor, 14-slider, 15-guide rail, 16-stepping motor, 17-motor bracket, 18-slide, 19-large pulley, 20-synchronous belt, 21-connecting plate, 22-small pulley, 23-small pulley base, 24-clamping device, 25-clamping device Fixed seat, 26- proximity sensor, 27- housing, 28- sensor holder, 29- first instrument arm channel, 30- second instrument arm channel, 31- third instrument arm channel, 32- water injection channel, 33- first auxiliary channel, 34- second auxiliary channel, 35- endoscope channel, 36- first support plate, 37- driver, 38- second support plate, 39- power supply, 40- voltage distribution adapter, 41- radiator, 42- buzzer, 43- pinned socket, 44- outer tube, 45- middle tube, 46- inner tube. DETAILED DESCRIPTION

[0038] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0040] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0041] In the description of the embodiments of the present invention, it should be noted that if the terms "upper," "lower," "horizontal," "inner," etc. appear to indicate an orientation or positional relationship, they are based on the orientation or positional relationship shown in the accompanying drawings, or are the orientation or positional relationship in which the product of the present invention is typically placed when in use. These terms are used solely to facilitate the description of the present invention and to simplify the description. They do not indicate or imply that the device or component referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first," "second," etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0042] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0043] In the description of the embodiments of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0044] The present invention is described in further detail below with reference to the accompanying drawings:

[0045] See also Figure 2 The utility model provides a parallel detachable concentric tube robot for minimally invasive surgery, comprising an abdominal sheath and a plurality of parallel single-arm drive systems connected to a flexible instrument arm.

[0046] The laparoscopic surgical robot operates with the abdominal sheath as a fulcrum. The abdominal sheath is provided with several instrument arm channels, a water injection channel 32, an endoscope channel 35, and several auxiliary channels. Similarly, during operation, rigid instruments enter the body through the instrument arm channels, while the end effector moves around the sheath as a fulcrum to reach the corresponding position for operation. In the closed state, the flexible instrument arm of the concentric tube robot is placed in the instrument arm channel of the abdominal sheath. During operation, the multiple concentric tubes 12 that make up the flexible instrument arm move relative to each other according to actual needs, extending from the abdominal sheath to a predetermined position, ready for the next operation.

[0047] like Figure 1 and Figure 2 As shown, the concentric tube robot 2 is mounted on a frame, enabling its spatial position and posture adjustment during surgery. The frame comprises a passive robotic arm 1 and a chassis 4. Multiple parallel single-arm drive systems are bolted to the chassis 4. A lifting mechanism 3, comprising a ball screw slide module, is located at the junction of the passive robotic arm 1 and chassis 4. This mechanism primarily enables the lifting and lowering of the concentric tube robot 2, adjusting the distance between the robot and the patient. The chassis 4 is bolted to the slides of the ball screw slide module, securing the concentric tube robot 2 to the lifting mechanism 3.

[0048] The single-arm drive system includes a single-tube drive module, and each single-tube drive module includes a guide device and a concentric tube 12. The guide device components are the same, but the parameters of the concentric tube 12 are different. Each flexible instrument arm includes three Nitinol alloy superelastic concentric tubes 12, namely an outer tube 44, a middle tube 45 and an inner tube 46. Figure 11 As shown, the outer tube 44, middle tube 45, and inner tube 46 are nested with each other, increasing in length and decreasing in stiffness, with the outer tube 44 having the greatest stiffness and the inner tube 46 having the least stiffness. Each concentric tube 12 is connected to its guide device to form a single tube drive module.

[0049] like Figure 3 As shown, the single-tube drive module includes an outer single-tube drive unit 6, a middle single-tube drive unit 7, and an inner single-tube drive unit 8. The single-tube drive module is equipped with concentric tubes 12, arranged in order of length from the proximal end to the distal end of the chassis 4: the outer tube 44 is mounted on the outer single-tube drive unit 6, the middle tube 45 is mounted on the middle single-tube drive unit 7, and the inner tube 46 is mounted on the inner single-tube drive unit 8. The inner tube 46 is the longest, followed by the middle tube 45, and the outer tube 44 is the shortest. The axes of the outer tube 44, middle tube 45, and inner tube 46 coincide and pass through the axis of the abdominal access channel.

[0050] The single-tube drive module is provided with a guide device, and the guide device is provided with a drive mechanism, a linear transmission mechanism and a rotary transmission mechanism. The linear transmission mechanism and the rotary transmission mechanism are both connected to the drive mechanism, and the linear transmission mechanism is connected to the rotary transmission mechanism.

[0051] like Figure 4 As shown, the guide device includes a front cover 11, a carrier plate 10 and a rear cover 9. One side of the carrier plate 10 is fixed to the front cover 11 by bolts, and the other side of the carrier plate 10 is fixed to the rear cover 9 by bolts. The drive mechanism is installed in the rear cover 9, and the linear transmission mechanism and the rotary transmission mechanism are both installed in the front cover 11. Figure 10 As shown, a radiator 41 and a buzzer 42 are installed on one end surface of the back cover 9. The radiator 41 is used to dissipate heat for components. The buzzer 42 can receive signals generated by the proximity sensor 26. A chevron socket 43 is provided on one side surface of the back cover 9. The chevron socket 43 can be connected to a 220V standard voltage.

[0052] like Figure 5 As shown, the linear transmission mechanism realizes the translational motion of the concentric tube 12 and includes a first stepper motor 13, a slider 14, a guide rail 15, a second stepper motor 16, a motor bracket 17, and a slide 18. The first stepper motor 13 and the guide rail 15 are both fixed to the slide 18, and the slider 14 is slidably mounted on the guide rail 15. One end of the motor bracket 17 is connected to the second stepper motor 16, and the other end is fixed to the slider 14 with a bolt.

[0053] like Figure 6 As shown, the rotary transmission mechanism realizes the rotational motion of the concentric tube 12 and includes a large pulley 19, a synchronous belt 20, a connecting plate 21, a small pulley 22, a small pulley base 23, a clamping device 24, and a clamping device fixing seat 25. The large pulley 19 is fixed to the motor shaft of the second stepper motor 16 with a set screw. The synchronous belt 20 is connected to the large pulley 19 at one end and to the small pulley 22 at the other end. The connecting plate 21 is connected to the motor bracket 17 and the small pulley base 23 by bolts. The clamping device 24 fixes the concentric tube 12 with bolts. The clamping device 24 is fixed to the clamping device fixing seat 25 by bolts. The clamping device fixing seat 25 is fixed to the small pulley 22 by a set screw.

[0054] like Figure 7 As shown, the anti-collision device is installed on the rotating transmission mechanism. The anti-collision device includes a proximity sensor 26 and a sensor holder 28. The proximity sensor 26 is set on the sensor holder 28, and the sensor holder 28 is installed on the housing 27 of the rotating transmission mechanism. When the distance between the proximity sensor 26 and the housing 27 of the adjacent rotating transmission mechanism is less than 5 mm, the proximity sensor 26 will flash. The proximity sensor 26 is connected to the buzzer 42, and the buzzer 42 starts working at the same time, emitting a buzzing sound to remind.

[0055] like Figure 9 As shown, the drive mechanism includes a first support plate 36, a driver 37, a second support plate 38, a power supply 39, and a voltage distribution adapter 40. The first support plate 36, the second support plate 38, and the voltage distribution adapter 40 are all fixedly mounted on the carrier plate 10. The voltage distribution adapter 40 has multiple interfaces that can distribute the stepped-down voltage to multiple components for use. The driver 37 is mounted on the first support plate 36. The driver 37 is connected to the first stepper motor 13 and the second stepper motor 16. The driver 37 can simultaneously control the movement of the two stepper motors. The power supply 39 is mounted on the second support plate 38. The voltage distribution adapter 40 is connected to the power supply 39. The voltage distribution adapter 40 and the connecting plate 21 are connected by bolts. The power supply 39 can reduce the standard voltage of 220V to the standard voltage of 12V.

[0056] In a specific embodiment of the present invention, Figure 2 As shown, the concentric tube robot 2 is provided with three sets of parallel single-arm drive systems, and the three sets of single-arm drive systems are all connected to flexible instrument arms, such as Figure 8 As shown, the abdominal sheath is provided with three instrument arm channels, a water injection channel (32), an endoscope channel (35) and two auxiliary channels. The three flexible instrument arms of the concentric tube robot 2 pass through the first instrument arm channel 29, the second instrument arm channel 30 and the third instrument arm channel 31 respectively; the water injection channel 32 is used to introduce liquid into the body; the first auxiliary channel 33 and the second auxiliary channel 34 can be used to place auxiliary instruments; the endoscope channel 35 is used to provide visual information to the robot through an endoscope.

[0057] The working method of the parallel detachable concentric tube robot for minimally invasive surgery of the present invention is as follows:

[0058] The movement of the concentric tube robot 2 is primarily achieved through two transmission mechanisms: a linear transmission mechanism and a rotary transmission mechanism. A driver 37 controls the rotation of the first stepper motor 13, which in turn controls the linear motion of the slider 14 on the guide rail 15. The motor bracket 17 and the rotary transmission mechanism are fixedly connected to the slider 14, thereby achieving the linear motion of the concentric tube 12. The driver 37 controls the rotation of the second stepper motor 16, which in turn controls the rotation of the large pulley 19. The large pulley 19 drives the small pulley 22 via the synchronous belt 20, thereby achieving the rotational motion of the concentric tube 12. The concentric tubes 12 move relative to each other. When the distance between the proximity sensor 26 of the outer tube 44 and the small pulley base 23 of the middle tube 45 is less than 5mm, the proximity sensor 26 flashes, and the buzzer 42 on the rear cover 9 of the outer tube 44 starts to sound. The same applies to the middle tube 45 and the inner tube 46. The linear transmission mechanism and the rotary transmission mechanism achieve the desired movement of the concentric tube 12, and the proximity sensor 26 prevents the moving parts of the adjacent guide devices from colliding during the movement.

[0059] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A parallel detachable concentric tube robot for minimally invasive surgery, characterized in that: It includes an abdominal sheath, several single-arm drive systems and a flexible instrument arm; Several of the single-arm drive systems are connected in parallel, and the single-arm drive systems are connected to flexible instrument arms. The flexible instrument arms are respectively arranged in instrument arm channels opened on the abdominal sheath tube, and the flexible instrument arms include several concentric tubes (12); The single-arm drive system comprises a single-tube drive module, wherein a guide device and a concentric tube (12) are provided in the single-tube drive module, wherein a drive mechanism, a linear transmission mechanism and a rotary transmission mechanism are provided in the guide device, wherein both the linear transmission mechanism and the rotary transmission mechanism are connected to a driver (37) in the drive mechanism, wherein the linear transmission mechanism is connected to the rotary transmission mechanism, wherein the concentric tube (12) is mounted on the rotary transmission mechanism, and wherein an anti-collision device is provided on the rotary transmission mechanism.

2. The parallel detachable concentric tube robot for minimally invasive surgery according to claim 1, characterized in that: The concentric tubes (12) include an outer tube (44), a middle tube (45) and an inner tube (46). The adjacent outer tubes (44), middle tubes (45) and inner tubes (46) are nested with each other, and the axes of the outer tubes (44), middle tubes (45) and inner tubes (46) coincide.

3. The parallel detachable concentric tube robot for minimally invasive surgery according to claim 2, characterized in that: The single-tube drive module comprises an outer-tube single-tube drive unit (6), a middle-tube single-tube drive unit (7), and an inner-tube single-tube drive unit (8); the outer tube (44) is arranged on the outer-tube single-tube drive unit (6); the middle tube (45) is arranged on the middle-tube single-tube drive unit (7); and the inner tube (46) is arranged on the inner-tube single-tube drive unit (8).

4. The parallel detachable concentric tube robot for minimally invasive surgery according to claim 1, characterized in that: The guiding device comprises a carrier plate (10), a front cover (11) is mounted on one side of the carrier plate (10) via bolts, a rear cover (9) is mounted on the other side of the carrier plate (10) via bolts, the driving mechanism is mounted in the rear cover (9), the linear transmission mechanism and the rotary transmission mechanism are both mounted in the front cover (11), a radiator (41) and a buzzer (42) are mounted on one end surface of the rear cover (9), and a pin socket (43) is provided on one side surface of the rear cover (9).

5. The parallel detachable concentric tube robot for minimally invasive surgery according to claim 1, characterized in that: The driving mechanism comprises a first support plate (36), a second support plate (38) and a voltage distribution adapter (40); the first support plate (36), the second support plate (38) and the voltage distribution adapter (40) are all fixedly mounted on the carrier plate (10); the driver (37) is mounted on the first support plate (36); a power supply (39) is mounted on the second support plate (38); and the power supply (39) is connected to the voltage distribution adapter (40).

6. The parallel detachable concentric tube robot for minimally invasive surgery according to claim 1, characterized in that: The linear transmission mechanism comprises a slide (18), a first stepper motor (13) and a guide rail (15) are fixedly mounted on the slide (18), a slider (14) is slidably mounted on the guide rail (15), a second stepper motor (16) is fixedly mounted on the slider (14) via a motor bracket (17), and both the first stepper motor (13) and the second stepper motor (16) are connected to a driver (37).

7. The parallel detachable concentric tube robot for minimally invasive surgery according to claim 1, characterized in that: The rotary transmission mechanism comprises a synchronous belt (20), one end of the synchronous belt (20) is connected to a large pulley (19), the other end of the synchronous belt (20) is connected to a small pulley (22), the large pulley (19) is fixedly mounted on the motor shaft of the second stepping motor (16), the small pulley (22) is mounted on a small pulley base (23), the small pulley base (23) is connected to the motor bracket (17) via a connecting plate (21), the connecting plate (21) is connected to a voltage distribution adapter (40), a clamping device fixing seat (25) is mounted on the small pulley (22), a clamping device (24) is mounted on the clamping device fixing seat (25), and the concentric tube (12) is fixed to the clamping device (24) via bolts.

8. The parallel detachable concentric tube robot for minimally invasive surgery according to claim 1, characterized in that: The anti-collision device comprises a sensor holder (28), the sensor holder (28) is mounted on a housing (27) of a rotary transmission mechanism, a proximity sensor (26) is mounted on the sensor holder (28), and the proximity sensor (26) is connected to a buzzer (42).

9. The parallel detachable concentric tube robot for minimally invasive surgery according to claim 1, characterized in that: The abdominal sheath is also provided with a water injection channel (32), an endoscope channel (35) and several auxiliary channels.

10. The parallel detachable concentric tube robot for minimally invasive surgery according to claim 1, characterized in that: The concentric tube robot is mounted on a chassis (4) via bolts; the chassis (4) is fixedly connected to a lifting device (3); and the concentric tube robot is mounted on a passive robotic arm (1) via the lifting device (3).

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