Flexible endoscope combined type dual-purpose control robot

Abstract

The utility model discloses a flexible endoscope combined type dual-purpose control robot which comprises a steering device and a control system, the steering device comprises a support supporting plate, the support supporting plate is rotatably connected with a steering guide part, the steering guide part is connected with a flexible endoscope elbow, the flexible endoscope elbow is connected with an endoscope, and the endoscope is connected with a control system. The support supporting plate is connected with a driving mechanism, the output end of the driving mechanism is in power connection with the steering guiding piece, and the steering guiding piece plays a role in guiding the flexible endoscope elbow through power of the driving mechanism. According to the flexible ureteroscope operation robot, manual operation is replaced by the mechanical arm, the remote control handle and the switching platform are combined, the functions of accurate control, labor-saving operation, soft rope lifting, posture locking and remote surgery are achieved, the surgery threshold is lowered, safety is improved, and the flexible ureteroscope operation robot can be expanded to be used in collaborative surgery, remote surgery and surgery teaching scenes.

Description

Technical Field

[0001] This utility model relates to the field of endoscope technology, and in particular to a flexible endoscope-combined dual-purpose control robot. Background Technology

[0002] Flexible endoscopic robots are widely used in clinical surgical procedures, especially in ureteroscopic surgery, gastroscopy, and bronchoscopy. The flexible endoscopic robot passes through the urethra, ureter, or other parts of the body to reach the surgical area, and then the surgical procedure is performed through the flexible endoscope. This surgical method is less invasive, faster, and facilitates postoperative recovery.

[0003] Currently, doctors can only operate flexible endoscopes standing up, holding the handle with one hand and supporting the flexible cable with the other. During operation, the long axis of the handle is basically perpendicular to the ground or forms a certain angle with the ground. To find a favorable viewing angle for the endoscope head inside the body, the hand holding the handle needs to constantly adjust the wrist angle and rotate the wrist to control the position of the flexible endoscope. Furthermore, the doctor needs to maintain this holding position for a long time during surgery and cannot put it down, which easily leads to fatigue.

[0004] Furthermore, the bending of the flexible endoscope is adjusted by flicking the control ring on the handle with the thumb. Prolonged flicking of the thumb can easily lead to thumb fatigue, damage to the thumb joint, and even muscle paralysis, resulting in operational errors.

[0005] At the same time, this flexible endoscope operation requires doctors to have certain experience and skills in order to enable the flexible endoscope to successfully reach the designated lesion site, or to find the lesion in the body by constantly changing its position.

[0006] Therefore, improvements are needed to optimize the way doctors operate. Utility Model Content

[0007] The purpose of this invention is to provide a flexible endoscope-integrated dual-purpose control robot to overcome the shortcomings of the prior art.

[0008] To achieve the above objectives, this utility model provides the following technical solution:

[0009] This application discloses a flexible endoscope-integrated dual-purpose control robot, including a steering device and a control system. The steering device includes a support plate, a steering guide is rotatably connected to the support plate, a flexible endoscope bend is connected to the steering guide, an endoscope is connected to the flexible endoscope bend, a drive mechanism is connected to the support plate, and the output end of the drive mechanism is poweredly connected to the steering guide. The steering guide guides the flexible endoscope bend through the power of the drive mechanism, controlling its steering.

[0010] The drive mechanism includes a rotation adjustment unit and a direction adjustment unit, which respectively control the rotation of the bracket plate and the rotation of the steering guide. The rotation adjustment unit includes a rotating shaft, the output end of which is fixedly connected to the bracket plate. The rotation of the rotating shaft drives the bracket plate to rotate, thereby cooperating with the rotation of the steering guide to achieve omnidirectional steering.

[0011] Preferably, the direction adjustment part includes a movable groove on the rotating shaft, a central tooth slidably connected in the movable groove, a connecting rod rotatably connected to the central tooth, and the other end of the connecting rod rotatably connected to a non-rotating center on the steering guide. The rotation of the steering guide is controlled by the sliding of the central tooth in the movable groove.

[0012] Preferably, a first mating rod is rotatably connected to the center tooth, and a second mating rod is rotatably connected to the steering guide. The first and second mating rods are located on the same side of the bracket plate, and one end of the connecting rod is connected to each of the first and second mating rods.

[0013] Preferably, a propulsion member is connected to the rotating shaft, and the propulsion member is provided with a propulsion connector that is slidably connected to the rotating shaft. The propulsion connector is connected to the center tooth.

[0014] Preferably, a push rod is fixedly connected to the rotating shaft, an operating ring is rotatably connected to the push rod, and a push connecting member is connected to the operating ring. The two ends of the push connecting member are rotatably connected to the operating ring and the center tooth, respectively. The rotation of the operating ring drives the push connecting member to move along the rotation direction.

[0015] Preferably, a conversion shaft is connected to the rotating shaft. The conversion shaft can be connected to a robotic arm or manually, and the conversion shaft can provide power support to the drive mechanism through both robotic arm and manual methods.

[0016] Preferably, the robotic arm power connection of the conversion shaft includes a power output end of the robotic arm connected to the conversion shaft. The robotic arm includes several joint arms and joint motors installed inside the joint arms. One of the joint arms is connected to the power output end of the robotic arm. The joint arms are movably connected to each other. The joint motors drive the joint arms to achieve changes in the direction of the robotic arm, and the robotic arm provides power drive for the steering guide.

[0017] Preferably, the manual power connection of the conversion shaft includes a rotating disk connected to the conversion shaft, the rotating disk being poweredly connected to the conversion shaft, and the rotation of the rotating disk driving the rotation of the conversion shaft.

[0018] Preferably, the manual power connection of the conversion shaft further includes a connecting seat rotatably connected to the conversion shaft, a displacement adjustment device connected to the connecting seat, the displacement adjustment device including a rotating seat connected to the connecting seat, the rotating seat being rotatably connected to the connecting seat, the rotating seat being provided with a rotation mechanism for supporting the connecting seat to rotate around the rotating seat, and a sliding seat and a slide rail for planar movement connected to the bottom of the rotating seat.

[0019] Preferably, the steering guide is rotatably connected to the support plate, and a rotating inner disk is fixedly connected to the steering guide. A fixing caliper is provided on the side of the steering guide away from the support plate, and the flexible endoscope bend is located in the fixing caliper.

[0020] Preferably, the control system includes a base, in which a control terminal is provided, and the control terminal is electrically connected to the drive mechanism via wires.

[0021] The beneficial effects of this utility model are:

[0022] (1) This application provides a flexible endoscope-combined dual-purpose control robot, which replaces human hand operation with a robotic arm, and combines a remote control handle and a support plate to achieve precise control, labor-saving operation, soft cable lifting, posture locking and remote surgery functions, thereby reducing the surgical threshold and improving safety, and can be extended to collaborative surgery, remote surgery and surgical teaching scenarios.

[0023] (2) Through the structural design of the rotating shaft and the central tooth, rotation and axial movement can be realized. Axial movement can be transmitted through the connecting rod and then drive the steering guide to rotate, so as to realize the omnidirectional rotation of the flexible endoscope tube.

[0024] The features and advantages of this utility model will be described in detail through embodiments and accompanying drawings. Attached Figure Description

[0025] Figure 1This is a three-dimensional structural schematic diagram of an embodiment of a flexible endoscope-combined dual-purpose control robot of this utility model;

[0026] Figure 2 This is a three-dimensional structural schematic diagram of the steering device according to Embodiment 1 of this utility model;

[0027] Figure 3 This is a three-dimensional structural diagram of a portion of the structure of Embodiment 1 of this utility model;

[0028] Figure 4 This is a planar structural schematic diagram of a portion of the structure of Embodiment 1 of this utility model;

[0029] Figure 5 This is Embodiment 1 of the present invention. Figure 4 A three-dimensional sectional view of the structure at point AA;

[0030] Figure 6 This is a three-dimensional structural diagram of a portion of the structure of Embodiment 1 of this utility model;

[0031] Figure 7 This is Embodiment 1 of the present invention. Figure 2 Enlarged schematic diagram of the structure at point B;

[0032] Figure 8 This is a three-dimensional structural schematic diagram of Embodiment 2 of this utility model;

[0033] Figure 9 This is a schematic diagram of the planar structure of Embodiment 2 of this utility model;

[0034] Figure 10 This is a cross-sectional view of the internal structure of Embodiment 2 of this utility model;

[0035] Figure 11 This is Embodiment Two of this utility model. Figure 10 Enlarged schematic diagram of the structure at point C;

[0036] In the diagram: 1. Steering device; 101. Bracket plate; 102. Steering guide; 103. Drive mechanism; 104. Rotation adjustment part; 105. Direction adjustment part; 106. Rotating shaft; 107. Center gear; 108. Connecting rod; 1081. Matching rod one; 1082. Matching rod two; 1083. Matching groove; 109. Push rod; 110. Operating ring; 1101. Pushing connector; 111. Fixing point; 112. Pad block; 113. Fixed caliper; 2. Control system; 201. Operating lever; 3. Moving lens; 4. Robotic arm; 401. Telescopic rod; 5. Moving trolley; 601. Connecting seat; 602. Rotating disk; 603. Support plate; 604. Rotating seat; 6041. Threaded rod; 6042. Threaded seat; 6043. Threaded slider; 6044. Handle; 6045. Threaded hole; 6046. Traction rod; 605. Sliding seat; 606. Slide rail. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit its scope. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the present utility model.

[0038] See Figure 1 , 2 This utility model provides a flexible endoscope-combined dual-purpose control robot, including a steering device 1 and a control system 2. The steering device 1 includes a support plate 101, a steering guide 102 rotatably connected to the support plate 101, a flexible endoscope bend connected to the steering guide 102, an endoscope connected to the flexible endoscope bend, and a drive mechanism 103 connected to the support plate 101. The output end of the drive mechanism 103 is poweredly connected to the steering guide 102. The steering guide 102 guides the flexible endoscope bend through the power of the drive mechanism 103, controlling its steering.

[0039] The drive mechanism 103 includes a rotation adjustment part 104 and a direction adjustment part 105, which respectively control the rotation of the support plate 101 and the rotation of the steering guide 102. The rotation adjustment part 104 includes a rotating shaft 106, the output end of which is fixedly connected to the support plate 101. The rotation of the rotating shaft 106 drives the support plate 101 to rotate, thereby cooperating with the rotation of the steering guide 102 to achieve omnidirectional steering.

[0040] The thickness of the steering guide 102 is adjusted according to the handle of the flexible endoscope tube, thereby supporting and balancing the handle. A pad 112 is connected to the bracket plate 101. The pad 112 and the steering guide 102 work together to support and stabilize the handle of the flexible endoscope tube.

[0041] See Figures 3-6 The bracket plate 101 has a fixing point 111 at one end and a U-shaped groove. A flexible endoscope bend is connected in the U-shaped groove and is kept horizontal and stable by the support of the pad 112 and the steering guide 102.

[0042] The bracket plate 101 is fixedly connected to the rotating shaft 106. Specifically, the rotating shaft 106 has a fixing hole, and a fixing bracket is connected to the fixing hole by bolts. The fixing bracket is fixedly connected to the bracket plate 101, thereby realizing the fixed connection between the rotating shaft 106 and the bracket plate 101.

[0043] The direction adjustment unit 105 includes a movable groove on the rotating shaft 106. A center tooth 107 is slidably connected in the movable groove. A connecting rod 108 is rotatably connected to the center tooth 107. The other end of the connecting rod 108 is rotatably connected to the non-rotation center of the steering guide 102. The rotation of the steering guide 102 is controlled by the sliding of the center tooth 107 in the movable groove.

[0044] A steering guide 102 is rotatably connected to the support plate 101. A matching rod 1082 is provided on the steering guide 102 at a non-rotation center. An arc-shaped matching groove 1083 is provided on the support plate 101. A matching rod 1081 is connected to the center tooth 107. Matching rod 1081 and matching rod 1082 face the same side and are respectively connected to one end of the connecting rod 108. The two ends of the connecting rod 108 are rotatably connected to matching rod 1081 and matching rod 1082. When the center tooth 107 moves, it will drive matching rod 1081 to move, which in turn drives matching rod 1082 to move through the connecting rod 108, thereby realizing the rotation of the steering guide 102.

[0045] A propulsion member is connected to the rotating shaft 106. The propulsion member is provided with a propulsion connector 1101 that is slidably connected to the rotating shaft 106. The propulsion connector 1101 is connected to the center tooth 107.

[0046] A push rod 109 is fixedly connected to the rotating shaft 106. An operating ring 110 is rotatably connected to the push rod 109. The push connecting member 1101 is connected to the operating ring 110. The two ends of the push connecting member 1101 are rotatably connected to the operating ring 110 and the center tooth 107, respectively.

[0047] After rotating the operating ring 110, the push connector 1101 will be pushed and pulled axially in the tangential direction of rotation, resulting in displacement, thereby driving the pusher and the center tooth 107 to move through the push connector 1101.

[0048] A conversion shaft is connected to the rotating shaft 106. The conversion shaft has two modes: power connection with the robotic arm 4 and manual power connection. The conversion shaft provides power support to the drive mechanism 103 through both the robotic arm 4 and manual connection.

[0049] The power connection of the robotic arm 4 on the conversion shaft includes the power output end of the robotic arm 4 connected to the conversion shaft. The robotic arm 4 includes several articulated arms and articulated motors installed inside the articulated arms. The power output end of the robotic arm 4 is connected to one of the articulated arms. The articulated arms are movably connected to each other. The articulated motors drive the articulated arms to achieve the change of direction of the robotic arm 4, and the robotic arm 4 drives the steering guide 102.

[0050] The manual power connection of the conversion shaft includes a rotating disk connected to the conversion shaft. The rotating disk is powered to the conversion shaft, and the rotation of the rotating disk drives the rotation of the rotating shaft 106.

[0051] The steering guide 102 is rotatably connected to the support plate 101. A rotating inner disk is fixedly connected to the steering guide 102. A fixing clamp 113 is provided on the side of the steering guide 102 away from the support plate 101. The flexible endoscope bend is located in the fixing clamp 113.

[0052] The fixing clamp 113 is equipped with a wedge block. Different sizes of the wedge block can be used to fit flexible endoscope tubes of different thicknesses, materials and sizes. The appropriate thickness of the wedge block is selected according to the different ring shapes and thicknesses, and the friction force is used to clamp it.

[0053] The control system 2 includes a base, in which a control terminal is provided. The control terminal is electrically connected to the drive mechanism 103 via a wire.

[0054] The output end of the robotic arm 4 is connected to a conversion shaft, and a rotating shaft 106 is connected to the conversion shaft. The rotating shaft 106 has a movable groove, and a central tooth 107 is slidably connected inside. At the same time, a push rod 109 is also slidably connected to the rotating shaft 106. Both ends of the push rod 109 are rotatably connected to an operating ring 110. The operating ring 110 is provided with a push connector 1101, and the push connector 1101 is connected to the central tooth 107.

[0055] See Figure 7The robotic arm 4 is equipped with a telescopic rod 401. The telescopic end of the telescopic rod 401 is connected to the operating ring 110. The telescopic rod 401 controls the angle change of the operating ring 110, thereby realizing the movement of the center tooth 107.

[0056] The robotic arm 4 controls the height and position of the entire support plate 101, and further adjusts it through the rotating shaft 106 and the center gear 107.

[0057] The bottom of the robotic arm 4 is connected to a mobile cart 5, which facilitates the movement of the robotic arm 4.

[0058] Example 1:

[0059] Includes the following: 6-axis robotic arm 4: The end of the arm is equipped with a support plate 101 for fixing the flexible endoscope handle. The robotic arm 4 is controlled by a joystick to realize the tilt, advance, retreat and rotation of the flexible endoscope; such as the Yuejiang Robotics CR3 type six-axis robotic arm 4.

[0060] 4-axis integration of robotic arm: The core functions of the manual control device (such as steering wheel and translation mechanism) are transformed into multi-axis motion of the robotic arm, improving operation accuracy and stability;

[0061] The robotic arm 4 controls the mobile carriage 5, which has three connection structures with the support plate 101: the central axis of the support plate 101 and both ends of the operating ring 110 (at the 3 o'clock and 9 o'clock directions). The robotic arm 4 controls the central axis of the support plate 101, driving the flexible endoscope handle to move back and forth, tilt, and rotate. Two drive motors on both sides of the end of the robotic arm 4 drive two connecting rods at both ends of the operating ring 110, pushing and pulling the operating ring 110 (moving in the opposite direction along the X-axis at the 3 o'clock and 9 o'clock directions). The movement of the soft cable head control ring of the handle is controlled by a bending control structure (rotating guide 102 + fixing clamp 113 + operating ring 110). A motion camera 3 is installed at the end of the robotic arm 4 to monitor the movement of the support plate 101 and provide feedback to the display screen of the remote control console. The mobile carriage 5 at the base of the robotic arm 4 is equipped with wheels and a locking device. The characteristics and performance of the robotic arm 4 are described according to the parameters of a medical-grade 6-axis robotic arm 4.

[0062] Support plate 101: The extension structure of support plate 101 solves the problem of insufficient rigidity of the flexible cable, eliminating the need to manually support the flexible cable of the flexible endoscope during surgery;

[0063] Compatibility design: The adjustable clamp is compatible with most mainstream soft lens handles on the market;

[0064] Soft cable support structure: Extended support brackets support the root of the soft cable, enhancing rigidity and reducing the need for manual support;

[0065] Bending control conversion mechanism: converts the bending control ring action of the soft lens into a remote control handle button signal (mechanical linkage or electronic signal transmission).

[0066] Remote control joystick 201: integrates soft lens motion control buttons (forward, backward, rotation, tilt) and soft lens bending button; equipped with damping adjustment knob for precise operation; supports one-button locking function to freeze the robotic arm in 4 postures; simplifies traditional thumb push-pull operation to joystick button control;

[0067] The control lever 201 includes a handle and a steering wheel-shaped control lever, which precisely controls the direction and displacement, and can achieve rapid adjustment response through rotation and forward / backward pushing and pulling.

[0068] The image from the flexible endoscope is displayed on the screen. Remote control operation is similar to an aircraft joystick; pushing and pulling the joystick 201 controls the robotic arm 4 to move the transfer platform forward and backward. The joystick can move up and down along the Y-axis, controlling the robotic arm 4 to tilt the transfer platform. Rotating the joystick 201 controls the robotic arm 4 to rotate the transfer platform. Custom buttons on the joystick 201 control the drive motor to bend the flexible cable head. The control system of the 6-axis robotic arm 4 is optimized according to the above motion trajectory requirements, and physical function buttons for locking the robotic arm 4's attitude are located on the joystick 201.

[0069] Control System 2: Closed-loop control is achieved based on sensor feedback (such as position encoders and pressure sensors);

[0070] It has an expandable remote operation module, which supports doctors to collaborate or perform remote surgery through terminal devices.

[0071] Moving camera 3: Attached to robotic arm 4 to capture images and transmit them to terminal devices via network or wires;

[0072] In special circumstances, the flexible endoscope can be removed from the support plate 101 and operated directly by hand.

[0073] See Figures 8-11 Example 2:

[0074] The manual power connection of the conversion shaft includes a rotating disk 602 connected to the conversion shaft. The rotating disk 602 is powered to the conversion shaft. The rotation of the rotating disk 602 drives the rotation of the rotating shaft 106. The rotation of the rotating disk 602 drives the rotating shaft 106 to rotate via the conversion shaft, thereby realizing the rotation of the bracket plate 101.

[0075] By flicking and pulling the operating ring 110 with a finger, the operating ring 110 can be rotated, thereby achieving axial movement of the center tooth 107. Through the cooperation rod 1081, connecting rod 108, and cooperation rod 2 1082, the rotating guide can be rotated to achieve directional adjustment of the flexible endoscope tube.

[0076] A connecting seat 601 is connected to the rotating shaft 106 via a bearing. A support plate 603 is fixedly connected to the bottom of the connecting seat 601. A rotating seat 604 is hinged to one side of the support plate 603. The rotating seat 604 drives the support plate 603 to rotate, thereby supporting the angle adjustment of the connecting seat 601 and other structures.

[0077] The rotating seat 604 is provided with a threaded seat 6042, and a threaded rod 6041 is rotatably connected to the threaded seat 6042. The threaded rod 6041 is provided with a threaded slider 6043 with a threaded hole 6045 that cooperates with it. The threaded slider 6043 is slidably connected to the rotating seat 604. When the threaded rod 6041 rotates, the threaded slider 6043 will slide horizontally. The threaded rod 6041 is provided with a handle 6044 that drives the threaded rod 6041 to rotate. When the handle 6044 rotates, it will drive the threaded rod 6041 to rotate, thereby realizing the movement of the threaded slider 6043.

[0078] A traction rod 6046 is rotatably connected to the threaded slider 6043. One end of the traction rod 6046 is connected to the threaded slider 6043, and the other end is rotatably connected to the support plate 603. The movement of the threaded slider 6043 drives the traction rod 6046 to push and pull the support plate 603, thereby adjusting the angle.

[0079] The bottom of the rotating seat 604 is provided with a sliding seat 605 and a slide rail 606. The sliding seat 605 moves on the slide rail 606, thereby driving the movement of the entire mechanism.

[0080] Example 3

[0081] Electric and manual dual-mode switching: In case of emergency, the electric control mode of the robotic arm 4 can be downgraded to manual mode. The method is to loosen the connecting device of the robotic arm 4, loosen the angle adjustment motor connection, and install the handwheel outer ring-rotating disk 602 and the manual base bracket-connecting seat 601. At this time, relying on the pure manual operation of the double ring (rotating disk 602 and operating ring 110) structure, in conjunction with the adjustment functions of the connecting seat 601, rotating seat 604, and sliding seat 605, the rotation, forward and backward movement, and tilt angle adjustment of the flexible endoscope tube, as well as the bending of the cable head, can be completed.

[0082] In special circumstances, the flexible endoscope support plate 101 can be removed from the robotic arm trolley and the manual rotating disk 602 structure (outer ring) and the manual support base with rollers and locking function can be installed, at which point it can be switched to a purely manual control device.

[0083] The working process of this utility model:

[0084] This utility model discloses a flexible endoscope combined dual-purpose control robot. In use, the steering device 1 is moved to a suitable position by the moving trolley 5, and then adjusted by the mechanical arm 4. The six-axis mechanical arm 4 achieves rapid positioning. After that, the handle of the flexible endoscope bend is installed on the steering guide 102, and the flexible endoscope bend is installed at the fixed point 111, with the spacer 112 supporting the horizontal position.

[0085] The rotary motor on the robotic arm 4 is started, which drives the rotating shaft 106 to rotate via the conversion shaft, thereby adjusting the angle of the support plate 101. The telescopic rod 401 extends and retracts, thereby adjusting the operating ring 110. The push rod 109 rotates, and the push connecting piece 1101 on it drives the center tooth 107 to move, allowing the center tooth 107 to slide. After the center tooth 107 moves, the first mating rod 1081 connected to it drives the connecting rod 108 to move, which in turn drives the steering guide 102 to rotate via the second mating rod 1082, thereby adjusting the angle. The fixing clamp 113 on it drives the flexible endoscope tube to move, completing the angle adjustment of the flexible endoscope tube.

[0086] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A flexible endoscope-integrated dual-purpose control robot, characterized in that: The system includes a steering device (1) and a control system (2). The steering device (1) includes a support plate (101), a steering guide (102) is rotatably connected to the support plate (101), a flexible endoscope bend is connected to the steering guide (102), an endoscope is connected to the flexible endoscope bend, a drive mechanism (103) is connected to the support plate (101), and the output end of the drive mechanism (103) is poweredly connected to the steering guide (102). The drive mechanism (103) includes a rotation adjustment part (104) and a direction adjustment part (105). The rotation adjustment part (104) includes a rotating shaft (106). The output end of the rotating shaft (106) is fixedly connected to the bracket plate (101). The steering guide (102) includes an operating ring (110) and a center tooth (107). The operating ring (110) is poweredly connected to the center tooth (107).

2. The flexible endoscope-combined dual-purpose control robot as described in claim 1, characterized in that: The direction adjustment part (105) includes a movable groove on the rotating shaft (106), a center tooth (107) is slidably connected in the movable groove, a connecting rod (108) is rotatably connected on the center tooth (107), and the other end of the connecting rod (108) is rotatably connected to the non-rotation center on the steering guide (102). The rotation of the steering guide (102) is controlled by the sliding of the center tooth (107) in the movable groove.

3. The flexible endoscope-combined dual-purpose control robot as described in claim 2, characterized in that: A first mating rod (1081) is rotatably connected to the center tooth (107), and a second mating rod (1082) is rotatably connected to the steering guide (102). The first mating rod (1081) and the second mating rod (1082) are located on the same side of the bracket plate (101), and one end of the connecting rod (108) is connected to the first mating rod (1081) and the second mating rod (1082) respectively.

4. The flexible endoscope-combined dual-purpose control robot as described in claim 2, characterized in that: The rotating shaft (106) is connected to a propulsion component that drives the central tooth (107) to move. The propulsion component is provided with a propulsion connector (1101) that is slidably connected to the rotating shaft (106). The propulsion connector (1101) is connected to the central tooth (107) and drives it to move.

5. The flexible endoscope-combined dual-purpose control robot as described in claim 4, characterized in that: A push rod (109) is fixedly connected to the rotating shaft (106), and an operating ring (110) is rotatably connected to the push rod (109). The push connecting piece (1101) is connected to the operating ring (110), and the two ends of the push connecting piece (1101) are rotatably connected to the operating ring (110) and the center tooth (107) respectively.

6. The flexible endoscope-combined dual-purpose control robot as described in claim 1, characterized in that: A conversion shaft is connected to the rotating shaft (106). The conversion shaft has two modes: a power connection via a robotic arm (4) and a manual power connection. The conversion shaft provides power support to the drive mechanism (103) through both the robotic arm (4) and manual connection.

7. The flexible endoscope-combined dual-purpose control robot as described in claim 6, characterized in that: The power connection of the mechanical arm (4) of the conversion shaft includes the power output end of the mechanical arm (4) connected to the conversion shaft. The mechanical arm (4) includes several joint arms and joint motors provided in the joint arms. The power output end of the mechanical arm (4) is connected to one of the joint arms. The joint arms are movably connected to each other. The joint motor drives the joint arm to realize the direction change of the mechanical arm (4). The mechanical arm (4) also drives the steering guide (102).

8. The flexible endoscope-combined dual-purpose control robot as described in claim 6, characterized in that: The manual power connection of the conversion shaft includes a rotating disk (602) connected to the conversion shaft. The rotating disk (602) is powered to the conversion shaft, and the rotation of the rotating disk (602) drives the rotation of the rotating shaft (106).

9. The flexible endoscope-combined dual-purpose control robot as described in claim 8, characterized in that: The manual power connection of the conversion shaft also includes a connecting seat (601) rotatably connected to the conversion shaft. A displacement adjustment device is connected to the connecting seat (601). The displacement adjustment device includes a rotating seat (604) connected to the connecting seat (601). The rotating seat (604) is rotatably connected to the connecting seat (601). The rotating seat (604) is provided with a rotation mechanism that supports the connecting seat (601) to rotate around the rotating seat (604). A sliding seat (605) and a slide rail (606) for planar movement are connected to the bottom of the rotating seat (604).

10. The flexible endoscope-combined dual-purpose control robot as described in claim 1, characterized in that: The steering guide (102) is rotatably connected to the bracket plate (101). A fixing clamp (113) is provided on the side of the steering guide (102) away from the bracket plate (101), and the flexible endoscope bend is located in the fixing clamp (113).

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