ESD (Electro-Static Discharge) operation auxiliary manipulator based on double channels

Abstract

The utility model belongs to the technical field of ESD operation auxiliary instruments, and particularly relates to an ESD operation auxiliary manipulator based on two channels. The utility model discloses an ESD (Electro-Static Discharge) operation auxiliary manipulator based on two channels. The ESD operation auxiliary manipulator comprises a handle assembly, a connecting assembly and a tong head assembly, the connecting assembly comprises a hollow connecting pipe, a first connecting rope and a snake bone. The two ends of the hollow connecting pipe are connected with the handle assembly and the snake bone respectively. Two ends of the first connecting rope are respectively connected with the handle assembly and the snake bone. The forceps head assembly comprises a hollow pipeline, a second connecting rope and a forceps holder, the hollow pipeline is arranged in the hollow connecting pipe in a sleeved mode, and the second connecting rope is located in the hollow pipeline. An annular channel is formed between the hollow pipeline and the hollow connecting pipe, and the first connecting rope is located in the annular channel. The first connecting rope and the second connecting rope are separated in different channels through the hollow pipeline, winding of the first connecting rope and the second connecting rope in the using process is avoided, and the problem that in the prior art, due to winding of steel wires, diseased mucosa cannot be normally stripped through a mechanical arm is solved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of ESD operation auxiliary instrument, concretely relates to a kind of ESD operation auxiliary manipulator based on double channel. BACKGROUND

[0002] ESD is endoscopic submucosal dissection, mainly for digestive tract precancerous lesions and early cancer a kind of standard minimally invasive treatment.Surgery is usually through endoscopic observation lesion area affected by shooting, then through the mechanical hand inside the shaft of endoscope extends out the front end of endoscope to the lesion and is stripped.This kind of auxiliary mechanical hand generally includes snake bone and clamp, and snake bone is also controlled by steel wire when bending, and clamp is also controlled by steel wire when clamping lesion mucosa, and the steel wire for controlling snake bone bending and the steel wire for controlling clamp stripping are located in the same pipeline, so that the steel wire for controlling snake bone and the steel wire for controlling clamp are easy to entangle in actual operation process, so that the two steel wires cannot be well controlled respectively, so that it will affect the normal operation of mechanical hand stripping. Even if the steel wire for controlling snake bone and the steel wire for controlling clamp are seriously entangled, the whole mechanical hand will be stuck, so that the mechanical hand cannot strip lesion mucosa. SUMMARY

[0003] In order to solve the problem that the steel wire for controlling snake bone and the steel wire for controlling clamp in mechanical hand are easy to entangle in the same channel, so that mechanical hand cannot normally strip lesion mucosa in prior art, the utility model provides a kind of ESD operation auxiliary manipulator based on double channel.

[0004] The utility model discloses the following technical scheme realizes: a kind of ESD operation auxiliary manipulator based on double channel, it includes handle assembly, connecting assembly and tongs head assembly, one end of connecting assembly is connected with handle assembly, the other end of connecting assembly is connected with tongs head assembly;Connecting assembly includes hollow connecting pipe, connecting rope one and snake bone, one end of hollow connecting pipe is connected with handle assembly, the other end of hollow connecting pipe is connected with snake bone, one end of connecting rope one is connected with handle assembly, the other end of connecting rope one passes through hollow connecting pipe and is connected with snake bone, handle assembly is bent by the connecting rope one control snake bone;Tongs head assembly includes hollow pipe, connecting rope two and clamp, hollow pipe is sleeved in hollow connecting pipe, the outer diameter of hollow pipe is less than the inner diameter of hollow connecting pipe, so that annular passage is formed between the hollow pipe and the hollow connecting pipe, and connecting rope one is located in the annular passage;One end of hollow pipe is connected with handle assembly, the other end of hollow pipe is connected with clamp and extends out of snake bone, connecting rope two is installed in hollow pipe, and the hollow pipe is flexible tube, the hollow pipe is bent along with the bending of snake bone, so as to drive the bending of clamp;One end of connecting rope two is connected with handle assembly, the other end of connecting rope two is connected with clamp, and handle assembly controls clamp to open or clamp by connecting rope two.

[0005] As further improvement of the utility model, the snake bone includes a plurality of snake bone segments, the plurality of snake bone segments are sequentially arranged along the axial direction of the hollow connecting pipe, and the adjacent two snake bone segments are rotationally connected; at least one arc-shaped plate one is arranged on each snake bone segment, the arc-shaped plate one is integrally recessed from the outer surface of the snake bone segment to the center direction of the arc-shaped plate one, and the arc-shaped plate one and the snake bone segment form a channel one; one side of the channel one of one of the snake bone segments is aligned with the channel one of the previous snake bone segment connected thereto, and the other side of the channel one is aligned with the channel one of the next snake bone segment connected thereto; the connecting rope one sequentially passes through the channel one and the annular passage, and is connected with the handle assembly.

[0006] As further improvement of the utility model, at least one arc-shaped plate two is further arranged on the snake bone segment close to the clamp side, the arc-shaped plate two is fixedly installed on the inner wall of the snake bone segment, the arc-shaped plate two is aligned with the arc-shaped plate one, and the arc length of the arc-shaped plate two is the same as the arc length of the arc-shaped plate one; a through hole one is arranged on the arc-shaped plate two, the through hole one is aligned with the channel one, and the area of the through hole one is smaller than the area of the channel one; a cap is arranged on one end of the connecting rope one connected with the snake bone, the hole diameter of the cap is larger than the hole diameter of the through hole one, and the through hole one is used for limiting the connecting rope one.

[0007] As a further improvement of the utility model, the number of the arc-shaped plates one is multiple, the multiple arc-shaped plates one are distributed along the central axis of the snake bone joint at equal intervals, and the diameter of the circumscribed circle surrounded by the multiple arc-shaped plates one is greater than or equal to the diameter of the hollow pipeline.

[0008] As a further improvement of the utility model, the number of the arc-shaped plates two is the same as that of the arc-shaped plates one, and each arc-shaped plate two is aligned with each arc-shaped plate one.

[0009] As a further improvement of the utility model, the clamp comprises a mounting piece, a connecting piece, a clamping arm one and a clamping arm two, the mounting piece is connected to the hollow pipeline, the mounting piece is provided with a mounting groove, a rotating shaft one is installed in the mounting groove, the clamping arm one and the clamping arm two are rotatably installed on the rotating shaft one, the connecting piece is installed in the mounting groove, one end of the connecting piece is connected to the connecting rope two through the mounting piece, and the other end of the connecting piece is connected to the clamping arm one and the clamping arm two respectively.

[0010] As a further improvement of the utility model, the connecting piece comprises a connecting piece body and two connecting rods, one end of the connecting piece body is connected to the connecting rope two through the mounting piece, and the other end of the connecting piece body away from the connecting rope two is provided with a rotating shaft two; one end of one of the connecting rods is rotatably installed on the rotating shaft two, and the other end is rotatably connected to the clamping arm one; one end of the other connecting rod is rotatably installed on the rotating shaft two, and the other end is rotatably connected to the clamping arm two; the clamping arm one, the clamping arm two and the two connecting rods form a parallelogram structure.

[0011] As a further improvement of the utility model, the clamping arm one and the clamping arm two are provided with clamping teeth that mesh with each other, and the clamping teeth are used to peel the diseased mucosa.

[0012] As a further improvement of the utility model, at least one hook tooth is arranged on the clamping arm one, the hook tooth is integrally formed from one end of the clamping arm one away from the rotating shaft one to the side close to the clamping arm two, the hook tooth is in an arc shape, and the center of the hook tooth is located on the side of the clamping arm one provided with the clamping teeth.

[0013] As a further improvement of the utility model, a hose is further arranged on the outer side of the snake bone.

[0014] As a further improvement of the utility model, the connecting rope one and the connecting rope two are both steel wires.

[0015] The technical scheme provided by the utility model has the following beneficial effects:

[0016] (1) The present invention separates the connecting rope 1 and the connecting rope 2 by providing a hollow channel, so that the connecting rope 1 and the connecting rope 2 are located in different channels. As a result, the connecting rope 1 and the connecting rope 2 will not interfere with each other during use, thus preventing them from getting entangled. This solves the problem in the prior art that the steel wire controlling the snake bone and the steel wire controlling the clamp are easily entangled, which results in the inability of the manipulator to properly peel off the diseased mucosa. At the same time, this dual-channel design can also improve the stability of the entire ESD surgical auxiliary manipulator during use.

[0017] (2) The utility model provides hook teeth, and the end of the hook teeth away from the clamping arm is a sharp structure, which can peel off some diseased mucosa that is difficult to peel off, thereby improving the peeling effect of the clamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a structural schematic diagram of a dual-channel ESD surgical auxiliary manipulator provided by the present invention without drawing the handle assembly.

[0019] Figure 2 For this utility model Figure 1 Enlarged schematic diagram of the middle edge AA.

[0020] Figure 3 This is an enlarged schematic diagram of part of the structure of the dual-channel ESD surgery auxiliary manipulator of the present invention.

[0021] Figure 4 It is an enlarged partial cross-sectional view of the hollow connecting pipe along the axial direction of the hollow connecting pipe of the present invention.

[0022] Figure 5 For this utility model Figure 3 A magnified view from above.

[0023] Figure 6 For this utility model Figure 5 Cross-sectional view along BB.

[0024] Figure 7 This is an enlarged partial cross-sectional view of the connection between the snake bone and the hollow connecting tube along the axial direction of the hollow connecting tube of the present invention.

[0025] Figure 8 This is an enlarged view of the structure of the snake bone joint of the utility model.

[0026] Figure 9 It is a partial enlarged schematic diagram of the structure of the clamp head assembly of the present invention.

[0027] Hollow connecting pipe 11, connecting rope 12 and snake bone 13, one end of hollow connecting pipe 11 connects handle assembly, the other end of hollow connecting pipe 11 connects snake bone 13. One end of connecting rope 12 connects snake bone 13, the other end of connecting rope passes through hollow connecting pipe 11 and connects control assembly one, and the winding and unwinding of connecting rope are controlled by control assembly one to realize the bending or resetting of snake bone 13. In the embodiment, connecting rope 12 can be steel wire, control assembly one can be a dial, and connecting rope 12 and the dial can be fixedly connected. When it is needed to control the bending of snake bone 13, the dial can be rotated to tighten connecting rope 12 by the dial, so that the bending of snake bone 13 is controlled by connecting rope 12. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and advantages of the utility model more clear, the utility model is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the utility model and not used to limit the utility model.

[0029] Please refer to Figures 1 to 4 The embodiment provides an ESD surgical auxiliary manipulator based on a double-channel, which comprises a handle assembly, a connecting assembly and a clamp head assembly. One end of the connecting assembly is connected to the handle assembly, and the other end of the connecting assembly is connected to the clamp head assembly. The bending of the clamp head assembly is controlled by the handle assembly controlling the connecting assembly. The clamp head assembly is controlled by the handle assembly to realize clamping.

[0030] In the embodiment, the handle assembly can be a commonly used handle assembly in the existing ESD surgical auxiliary manipulator, which can comprise a shell, a control assembly one and a control assembly two. The control assembly one and the control assembly two are respectively installed in the shell. The control assembly one is used to control the bending of the connecting assembly, so as to adjust the position of the clamp head assembly. The control assembly two is used to control the opening or clamping of the clamp head assembly, so as to realize the stripping of the lesion mucosa in the ESD surgery by the clamp head assembly.

[0031] Please refer to Figures 2 to 4 As shown in the figure, the connecting assembly comprises a hollow connecting pipe 11, a connecting rope 12 and a snake bone 13. One end of the hollow connecting pipe 11 connects the handle assembly, and the other end of the hollow connecting pipe 11 connects the snake bone 13. One end of the connecting rope 12 connects the snake bone 13, and the other end of the connecting rope passes through the hollow connecting pipe 11 and connects the control assembly one. The winding and unwinding of the connecting rope are controlled by the control assembly one to realize the bending or resetting of the snake bone 13. In the embodiment, the connecting rope 12 can be steel wire, and the control assembly one can be a dial. The connecting rope 12 and the dial can be fixedly connected. When it is needed to control the bending of the snake bone 13, the dial can be rotated to tighten the connecting rope 12 by the dial, so that the bending of the snake bone 13 is controlled by the connecting rope 12.

[0032] Please refer to Figures 4 to 7, the head assembly comprises a hollow pipe 21, a connecting rope 22 and a clamp 23. The hollow pipe 21 is sleeved in the hollow connecting pipe 11, and the hollow pipe 21 and the hollow connecting pipe 11 are concentric pipes. The outer diameter of the hollow pipe 21 is smaller than the inner diameter of the hollow connecting pipe 11, so that the annular channel 3 is formed between the hollow pipe 21 and the hollow connecting pipe 11, and the connecting rope 12 is located in the annular channel 3. One end of the hollow pipe 21 is connected to the handle assembly, and the other end of the hollow pipe 21 extends out of the snake bone 13 and is connected to the clamp 23. The connecting rope 22 is installed in the hollow pipe 21. One end of the connecting rope 22 is connected to the control assembly 2, and the other end of the connecting rope 22 is connected to the clamp 23. The control assembly 2 controls the clamp 23 to open or clamp through the connecting rope 22. In this embodiment, please refer to Figure 2 、 Figure 4 and Figure 7 By arranging the hollow pipe 21, the connecting rope 12 and the connecting rope 22 are separated, so that the connecting rope 12 and the connecting rope 22 are located in different channels. Thus, the connecting rope 12 and the connecting rope 22 do not interfere with each other during use, avoiding entanglement, solving the problem that the steel wire for controlling the snake bone 13 and the steel wire for controlling the clamp 23 are prone to entanglement, and the mechanical hand cannot normally peel the diseased mucosa. At the same time, the design of the double channels can also improve the stability of the entire ESD operation auxiliary mechanical hand during use. When the control assembly 1 controls the snake bone 13 to bend through the connecting rope 12, the connecting rope 22 does not interfere with the control process, improving the control of the control assembly 1 through the connecting rope 12 to control the snake bone 13. At the same time, when the control assembly 2 controls the clamp 23 to open or clamp through the connecting rope 22, the connecting rope 12 does not interfere with the control process, thereby ensuring the stability of the control of the clamp 23 through the connecting rope 22.

[0033] In this embodiment, the control assembly 2 can be a turntable, and the connection between the turntable and the connecting rope 22 can also be fixed. In actual operation, the connecting rope 22 can be tightened or elongated by counterclockwise or clockwise rotation. When the turntable rotates clockwise, the connecting rope 22 is tightened, and the clamp 23 performs clamping operation. When the turntable rotates counterclockwise, the connecting rope 22 is elongated, and the clamp 23 is in an open state. Through the above operation, the diseased mucosa can be peeled off by the clamp 23.

[0034] Please refer to Figure 8, the snake bone 13 comprises a plurality of snake bone joints 131, which are sequentially arranged along the axial direction of the hollow connecting pipe 11. The snake bone joint 131 can be a circular structure. Adjacent two snake bone joints 131 are rotationally connected. Specifically, the snake bone joint 131 comprises a snake bone joint 131 body and four hinge pieces, two of which are located on the upper end face of the snake bone joint 131 body, and the other two are located on the lower end face of the snake bone joint 131 body. With the upper end face of the snake bone joint 131 body as a horizontal plane, the straight line where the two hinge pieces located on the upper end face of the snake bone joint 131 body are located is perpendicular to the straight line where the two hinge pieces located on the lower end face of the snake bone joint 131 body are located. Through this arrangement, the snake bone 13 can be bent in any direction when it is bent, thereby improving its flexibility during use.

[0035] Please refer to Figure 8 Each snake bone joint 131 is provided with at least one arc-shaped plate 132 which is recessed from the outer surface of the snake bone joint 131 to the center direction of the circle. The arc-shaped plate 132 and the snake bone joint 131 form a channel 133. After the plurality of snake bone joints 131 are connected, one side of the channel 133 of one snake bone joint 131 is aligned with the channel 133 of the last snake bone joint 131 connected thereto, and the other side is aligned with the channel 133 of the next snake bone joint 131 connected thereto, so that the channel 133 of each snake bone joint 131 is one-to-one corresponding. The connecting rope 12 passes through the channel 133 and the annular channel 3 in turn and is connected with the control assembly 1. The channel 133 is used for guiding the connecting rope 12 and improving the stability of the connecting rope 12 during winding and unwinding.

[0036] In the embodiment, the snake bone joint 131 closest to the clamp 23 is further provided with at least one arc-shaped plate two, which is fixedly installed on the inner wall of the snake bone joint 131. In the axial direction of the snake bone joint 131, the arc-shaped plate two is aligned with the arc-shaped plate one 132, and the arc length of the arc-shaped plate two is the same as that of the arc-shaped plate one 132. The arc-shaped plate two is provided with a through hole one, which is aligned with the channel one 133 and has an area smaller than that of the channel one 133; one end of the connecting rope one 12 connected with the snake bone 13 is provided with a cap, and the hole diameter of the cap is larger than that of the through hole one, and the through hole one is used for limiting the connecting rope one 12. In actual operation, the other end of the connecting rope one 12 without the cap is sequentially threaded through a plurality of snake bone joints 131, and then threaded through the hollow connecting pipe 11 and connected with the control assembly one in the handle assembly, so that the cap abuts against the arc-shaped plate two of the snake bone joint 131 closest to the clamp 23. In the embodiment, the cap can limit one end of the connecting rope one 12 on the snake bone joint 131 closest to the clamp 23, and the other end of the connecting rope is threaded through the channel one 133 and the hollow connecting pipe 11 and connected with the control assembly one. Under the cooperation of the cap and the control assembly one, the snake bone 13 is controlled to bend through the connecting rope one 12.

[0037] The number of the arc-shaped plates one 132 is multiple, the multiple arc-shaped plates one 132 are equally spaced along the central axis of the snake bone joint 131, and the diameter of the circumscribed circle surrounded by the multiple arc-shaped plates one 132 is greater than or equal to the diameter of the hollow pipeline 21.

[0038] In the embodiment, the hollow pipeline 21 is a flexible pipe, the number of the arc-shaped plates one 132 is four, the four arc-shaped plates one 132 are equally spaced along the central axis of the snake bone joint 131, and the diameter of the circumscribed circle surrounded by the four arc-shaped plates one 132 is slightly greater than the diameter of the hollow pipeline 21. When the snake bone 13 bends, the hollow pipeline 21 can also bend under the action of the multiple arc-shaped plates one 132, thereby realizing the bending of the clamp 23 to the appropriate position.

[0039] In the embodiment, the hollow pipeline 21 can be a flexible pipe, so that the hollow pipeline 21 bends along with the bending of the snake bone 13, thereby realizing the bending of the clamp 23 driven by the cooperation of the connecting rope one 12 and the snake bone 13. In actual operation, the position of the lesion can be observed through an endoscope first, then the snake bone 13 is driven to bend the clamp 23 to the position required for stripping the lesion through the adjustment of the control assembly one, and then the clamp 23 is used to strip the diseased mucosa on the lesion through the adjustment of the control assembly two.

[0040] The connecting rope two 22 can be a steel wire.

[0041] Please refer to Figure 6 and Figure 9The clamp 23 comprises a mounting member 231, a connecting member, a first clamping arm 233 and a second clamping arm 234. The mounting member 231 is provided with a mounting groove, the connecting member is mounted in the mounting groove, the mounting groove is provided with a rotating shaft 235, and the first clamping arm 233 and the second clamping arm 234 are respectively rotatably mounted on the rotating shaft 235. Specifically, the connecting member comprises a connecting member body 232 and two connecting rods 236, one end of the connecting member body 232 is connected with the connecting rope 22, the connecting member body 232 is provided with a rotating shaft 2, one end of one of the two connecting rods 236 is rotatably mounted on the rotating shaft 2, and the other end is rotatably connected with the first clamping arm 233. One end of the other connecting rod 236 is rotatably mounted on the rotating shaft 2, and the other end is rotatably connected with the second clamping arm 234. The first clamping arm 233, the second clamping arm 234 and the two connecting rods 236 can form a parallelogram structure. Under the action of the connecting rope 22, the first clamping arm 233 and the second clamping arm 234 are controlled to be opened or clamped by pushing and pulling the connecting member body 232 through the two connecting rods 236, so as to realize the stripping operation on the lesion mucosa of the lesion position.

[0042] The first clamping arm 233 and the second clamping arm 234 are provided with clamping teeth that mesh with each other. When the first clamping arm 233 and the second clamping arm 234 are clamped, the clamping teeth can increase the contact area between the first clamping arm 233, the second clamping arm 234 and the lesion mucosa, so that the first clamping arm 233 and the second clamping arm 234 can effectively strip the clamped lesion mucosa. In addition, the clamping teeth can also increase the tightness of the first clamping arm 233 and the second clamping arm 234 clamping the lesion mucosa, so that the first clamping arm 233 and the second clamping arm 234 can tightly clamp the lesion mucosa, thereby improving the stripping speed of the clamp 23.

[0043] Please refer to Figure 6 and Figure 9 The first clamping arm 233 is provided with at least one hook tooth 237, which is integrally bent from one end of the first clamping arm 233 away from the rotating shaft 1 to the side close to the second clamping arm 234, and the hook tooth 237 is in an arc structure, and the center of the arc structure is located on the side of the first clamping arm 233 provided with the clamping teeth. The hook tooth 237 is arranged in an arc structure, so that when the top of the arc surface of the hook tooth 237 (the top here is when the axis direction of the hollow connecting pipe 11 is vertical) contacts the lesion, the sharp end of the hook tooth 237 is away from the lesion, thereby avoiding unnecessary damage to the lesion caused by the hook tooth 237 during use. When the axis direction of the hollow connecting pipe 11 is vertical, the distance from the center of the arc structure to the upper end surface of the hollow connecting pipe 11 is less than the distance from the highest point of the arc length of the hook tooth 237 to the upper end surface of the hollow connecting pipe 11. The end of the hook tooth 237 (i.e. the end of the hook tooth 237 away from the rotating shaft 1) is relatively sharp, which is convenient for lifting the lesion mucosa on the lesion, and then the lifted lesion mucosa is clamped and stripped by the first clamping arm 233 and the second clamping arm 234.

[0044] It can be understood that the hook tooth 237 in the embodiment can be used to perform the following operation on some lesions of mucosa which are not easy to be peeled, and the operation can be specifically as follows: the hook tooth 237 can first hook up the lesions of mucosa, and then the lesions of mucosa can be peeled off under the cooperation of the first clamping arm 233 and the second clamping arm 234, so that the peeling speed and the peeling effect are improved.

[0045] In the embodiment, please refer to Figure 9 The number of the hook tooth 237 can be two, the two hook teeth 237 are arranged in parallel, and a gap is arranged between the two hook teeth 237. By arranging the two hook teeth 237, the lesions of mucosa can be quickly lifted from the lesions by the hook tooth 237, so that the peeling speed and the efficiency of the lesions of mucosa are improved.

[0046] The above is only a preferred embodiment of the utility model, and is not used to limit the utility model, and any modification, equivalent replacement and improvement within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A dual-channel ESD surgical assist manipulator, characterized in that: It includes: handle assembly, A connecting assembly, comprising a hollow connecting tube (11), a connecting rope (12) and a snake bone (13), wherein one end of the hollow connecting tube (11) is connected to the handle assembly, and the other end of the hollow connecting tube (11) is connected to the snake bone (13); one end of the connecting rope (12) is connected to the handle assembly, and the other end of the connecting rope (12) passes through the hollow connecting tube (11) and is connected to the snake bone (13), and the handle assembly controls the bending of the snake bone (13) through the connecting rope (12); A clamp head assembly, comprising a hollow pipe (21), a second connecting rope (22) and a clamp (23), wherein the hollow pipe (21) is sleeved in the hollow connecting pipe (11), the outer diameter of the hollow pipe (21) is smaller than the inner diameter of the hollow connecting pipe (11), so that an annular channel (3) is formed between the hollow pipe (21) and the hollow connecting pipe (11), and the first connecting rope (12) is located in the annular channel (3); one end of the hollow pipe (21) is connected to the inner diameter of the hollow connecting pipe (11), and the inner diameter of the hollow connecting pipe (11) is smaller than the inner diameter of the hollow connecting pipe (11), so that an annular channel (3) is formed between the hollow pipe (21) and the hollow connecting pipe (11), and the first connecting rope (12) is located in the annular channel (3); one end of the hollow pipe (21) is connected to the inner diameter of the hollow connecting pipe (11), and the outer diameter of the hollow pipe (2 ... and the outer diameter of the hollow pipe (21) is smaller than the inner diameter of the hollow connecting pipe (11), and the outer diameter of the hollow pipe (21) is smaller than the inner diameter of the hollow connecting pipe (11), and the outer diameter of the hollow pipe (21) is smaller than the inner diameter of the hollow connecting pipe (11), and the outer diameter of the hollow pipe (21) is smaller than the inner diameter of the hollow connecting pipe (11), The handle assembly is connected, the other end of the hollow pipe (21) extends out of the snake bone (13) and is connected to the clamp (23), the second connecting rope (22) is installed in the hollow pipe (21), and the hollow pipe (21) is a flexible tube; one end of the second connecting rope (22) is connected to the handle assembly, and the other end of the second connecting rope (22) is connected to the clamp (23), and the handle assembly controls the opening or clamping of the clamp (23) through the second connecting rope (22).

2. The dual-channel ESD surgical assisting manipulator according to claim 1, characterized in that: The snake bone (13) comprises a plurality of snake bone (13) sections, which are sequentially arranged along the axial direction of the hollow connecting tube (11), and two adjacent snake bone (13) sections are rotatably connected; each snake bone (13) section is provided with at least one arcuate plate (132), which is integrally formed by being recessed from the outer surface of the snake bone (13) section toward its center, and a channel (133) is formed between the arcuate plate (132) and the snake bone (13) section, wherein one side of the channel (133) on one of the snake bone (13) sections is aligned with the channel (133) of the previous snake bone (13) section connected thereto, and the other side is aligned with the channel (133) of the next snake bone (13) section connected thereto; the connecting rope (12) sequentially passes through the channel (133) and the annular channel (3), and is connected to the handle assembly.

3. The dual-channel ESD surgical assisting manipulator according to claim 2, characterized in that: At least one arc plate 2 is further provided on the snake bone (13) section near the side of the clamp (23), and the arc plate 2 is fixedly installed on the inner wall of the snake bone (13) section, and the arc plate 2 is aligned with the arc plate 1 (132), and the arc length of the arc plate 2 is the same as the arc length of the arc plate 1 (132); a through hole 1 is provided on the arc plate 2, and the through hole 1 is aligned with the channel 1 (133) and the area of ​​the through hole 1 is smaller than the area of ​​the channel 1 (133); a cap is provided on the end of the connecting rope 1 (12) connected to the snake bone (13), and the aperture of the cap is larger than the aperture of the through hole 1, and the through hole 1 is used to limit the connecting rope 1 (12).

4. The dual-channel ESD surgical assisting manipulator according to claim 3, characterized in that: The number of the arc-shaped plates (132) is multiple, and the multiple arc-shaped plates (132) are distributed at equal intervals along the central axis of the snake bone (13) section, and the diameter of the circumscribed circle surrounded by the multiple arc-shaped plates (132) is greater than or equal to the diameter of the hollow pipe (21).

5. The dual-channel ESD surgical assisting manipulator according to claim 4, characterized in that: The number of the arc-shaped plates 2 is the same as the number of the arc-shaped plates 1 (132), and each of the arc-shaped plates 2 is aligned with each of the arc-shaped plates 1 (132).

6. The dual-channel ESD surgical assisting manipulator according to claim 1, characterized in that: The clamp (23) includes a mounting member (231), a connecting member, a clamp arm 1 (233) and a clamp arm 2 (234), wherein the mounting member (231) is connected to the hollow pipe (21), and a mounting groove is provided on the mounting member (231), wherein a rotating shaft 1 (235) is installed in the mounting groove, and the clamp arm 1 (233) and the clamp arm 2 (234) are respectively rotatably installed on the rotating shaft 1 (235), and the connecting member is installed in the mounting groove, wherein one end of the connecting member passes through the mounting member (231) and is connected to the connecting rope 2 (22), and the other end of the connecting member is respectively connected to the clamp arm 1 (233) and the clamp arm 2 (234).

7. The dual-channel ESD surgical assisting manipulator according to claim 6, characterized in that: The connecting member includes a connecting member body (232) and two connecting rods (236), one end of the connecting member body (232) passes through the mounting member (231) and is connected to the second connecting rope (22), and a rotating shaft 2 is provided on the end of the connecting member body (232) away from the second connecting rope (22); one end of one of the connecting rods (236) is rotatably mounted on the second rotating shaft, and the other end is rotatably connected to the first clamping arm (233); one end of the other connecting rod (236) is rotatably mounted on the second rotating shaft, and the other end is rotatably connected to the second clamping arm (234); the first clamping arm (233), the second clamping arm (234) and the two connecting rods (236) are able to form a parallelogram structure.

8. The dual-channel ESD surgical assisting manipulator according to claim 6, characterized in that: The clamping arm 1 (233) and the clamping arm 2 (234) are provided with clamping teeth that mesh with each other.

9. The dual-channel ESD surgical assisting manipulator according to claim 6, characterized in that: At least one hook tooth (237) is provided on the clamping arm (233), and the hook tooth (237) is formed by bending from one end of the clamping arm (233) away from the rotating shaft (235) to the side close to the clamping arm (234). The hook tooth (237) is an arc-shaped structure, and the center of the hook tooth (237) is located on the side of the clamping arm (233) where the clamping tooth is provided.

10. The dual-channel ESD surgical assisting manipulator according to claim 1, characterized in that: A hose (14) is further provided on the outside of the snake bone (13), and the hose (14) is sleeved on the outside of the snake bone (13); And / or, the connecting rope 1 (12) and the connecting rope 2 (22) are both steel wires.

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