CN103315781A - Endoscope noninvasive surgery system - Google Patents

Abstract

The invention discloses an endoscope non-invasive operation system. The system includes a functional end and a control end. The functional end includes an endoscope mirror body, a flexible sleeve, a camera lighting module and a functional mechanical arm, and a section of rigid tube is provided at the front end of the endoscope mirror body. The control terminal includes a control terminal base, an endoscope mirror body control module, a camera lighting module control module and a functional manipulator control module. Wherein, the endoscope mirror body control module, the camera lighting module control module and the functional manipulator control module respectively control the expansion and/or bending of the endoscope mirror body, the camera lighting module and the functional manipulator, so that the functional manipulator The carried surgical instrument can enter the operation site under the attitude of being retracted into the rigid tube body, and after reaching the operation site, the endoscope body, camera and lighting module, and functional mechanical arm can be extended and/or bent. The endoscope non-invasive operation system of the present invention has the advantages of small volume, convenient use and the like.

Description

Endoscopic non-invasive surgery system

technical field

The invention relates to the technical field of medical instruments, in particular to an endoscope non-invasive operation system.

Background technique

Minimally invasive surgery has been rapidly developed in clinical surgery due to its many advantages such as small trauma, short operation time and recovery time, and low probability of postoperative complications. At present, multi-port laparoscopic surgery has been widely carried out in many domestic hospitals and has achieved unanimous praise. However, when the object of the operation is obese patients, the introduction of multiple body surface wounds is still highly invasive to the human body, and it is impossible to achieve minimally invasive in the true sense. However, natural orifice trans-luminal endoscopic surgery (NOTES) utilizes the natural lumen of the human body for endoscopic surgery without openings on the human body surface, and can achieve minimally invasive surgery to the greatest extent. However, due to the high technical difficulty of NOTES, the surgical instruments need to pass through a long and narrow and complicated human cavity and then carry out operations such as clamping and suturing. Satisfying the technical requirements of endoscopic suture surgery has led to the fact that this type of device has not been widely used clinically.

Contents of the invention

The purpose of the present invention is to provide an endoscopic non-invasive surgery system, which is mainly used in endoscopic surgery through the natural orifice of the human body, and the functional end of the system integrates the camera lighting and clips required in the endoscopic surgery process. Support puncture and other functions. The system can pass through the narrow natural cavity of the human body to reach the operation site in the posture of the endoscope tube body in a closed posture.

According to the purpose of the present invention, a kind of endoscopic non-invasive operation system is provided, this system can enter the surgical site through the narrow human body natural cavity with a closed endoscopic body posture, and its functional end can be extended to A working posture for performing surgical procedures. The functional end of the system integrates the camera and lighting functions required in endoscopic surgery and two surgical forceps with clamping and puncture functions. The camera and lighting module and the surgical forceps are carried and controlled by three flexible continuum robotic arms , the flexible continuum manipulator can be controlled by the control flexible continuum corresponding to the control end.

The functional end of the endoscope non-invasive surgery system of the present invention is composed of an endoscope body, a camera and lighting module, a camera and lighting module mechanical arm and two symmetrical functional mechanical arms.

In the present invention, the mirror body of the endoscope is a tubular structure with an outer diameter of 10 to 12 millimeters. The front end of the endoscope mirror body is a section of rigid tube, which is used to accommodate the functional mechanical arm, and the main body is a flexible continuum structure with a length of half a meter. The rigid body is preferably about 20 mm, or other dimensions are possible. The flexible continuum structure is composed of structural bones, spacers and terminal locking pieces. In the structure of the rigid tube at the front end of the endoscope body and the flexible continuum of the main body, there are passages for the passage of the imaging and lighting module mechanical arm and the functional mechanical arm and the passage of the air supply and drug supply pipelines. By controlling the length of the main flexible continuum structural bone, the endoscope body and the flexible continuum manipulator in the endoscope body can realize two-degree-of-freedom bending motion. The endoscope body is covered with a flexible sleeve similar to the overtube produced by the American Obex company to ensure that the endoscope can be smoothly inserted into the human body.

In the present invention, the main body of the imaging and lighting module is a group of camera heads packaged with LED lighting, and the camera heads are installed in the casing. Preferably, the casing has an outer diameter of 12 mm and a length of 10 mm. The camera and lighting module is carried by a flexible continuum mechanical arm with a bow-shaped section. The arcuate section flexible continuum manipulator is composed of two flexible continuum structures, and the flexible continuum manipulator is also composed of structural bones, spacers and terminal locking plates. The bow-shaped section flexible continuum manipulator can realize the bending motion of four degrees of freedom in space. At the same time, it can expand and contract in the channel provided by the above-mentioned endoscope body. The bow-shaped cross-section flexible continuum mechanical arm has channels for the power supply lines and signal lines of the front-end camera module to pass through.

The main body of the functional manipulator in the present invention is a flexible continuum manipulator similar to a trapezoidal section, and its front end can carry tools such as surgical forceps or surgical clips. The flexible continuum manipulator also has a two-section structure, and a single section can realize bending with two degrees of freedom in space. Like the camera and lighting module manipulator, the flexible continuum manipulator is composed of structural bones, spacers and terminal locking plates, and can be stretched and contracted in the channel provided by the endoscope body. In the closed state of the endoscope system, the surgical tool carried by the flexible continuum mechanical arm can be completely retracted into the endoscope body. In the flexible continuum manipulator, there is a channel that provides the front-end surgical tool control line or pipeline to pass through.

The above-mentioned structure is the functional end of the endoscopic non-invasive surgery system, and the camera lighting module and the functional mechanical arm must be carried by the endoscopic mirror body to the human surgical site. The control ends of the endoscope non-invasive operation system are located outside the patient's body. According to the functional end, the control end can be modularized into the control module of the endoscope mirror body, the control module of the camera lighting module and the control module of the functional manipulator. The endoscope mirror body control module is located at the front end of the entire control end, and is fixedly connected to the base of the control end. The control module of the camera and lighting module and the control modules of the two sets of functional manipulators are located behind the control module of the endoscope body. Telescopic control of the robotic arm.

The front end of the endoscope body control module is a flexible continuum structure bone receiving plate of the endoscope body, on which there are receiving holes corresponding to the distribution of the bones of the flexible continuum structure, and transition stainless steel pipes are connected behind the receiving holes. The structural bone of the flexible continuum structure passes through the receiving holes into these transitional stainless steel tubes. These transitional stainless steel tubes will guide the enlargement of the structural bone from a smaller size to a structural bone enlargement plate with the same distribution shape but a larger size. After the structural bone protrudes from the magnifying plate, it forms a control flexible continuum structure relative to the enlargement of the flexible continuum of the endoscope body with a series of spacers and locking plates. At the same time, the enlarged flexible continuum spacer and locking piece form a flexible continuum structure with the other four structural bones again, becoming a driving flexible continuum. The bone distribution size of the driven flexible continuum structure is slightly larger than that of the enlarged flexible continuum structure. The other ends of the four structural bones driving the flexible continuum structure are connected to the chucks of the four differential heads. By rotating the differential head, the structural bone length of the driven flexible continuum can be controlled, thereby controlling the turning direction of the locking piece at the end of the driven flexible continuum. The locking piece controlling the flexible continuum and the end locking piece of the enlarged flexible continuum are shared, so the enlarged flexible continuum will move accordingly, and its structural bones will elongate and shorten according to a certain rule, and these structural bones It is also the flexible continuum structural bone of the endoscope body, and its length will change in opposite length due to the length change of the enlarged flexible continuum structural bone. And the length change of the structural bone will cause the corresponding bending motion of the flexible continuum of the endoscope. According to the structural relationship, the bending motion of two degrees of freedom in space of the flexible continuum of the endoscope body controlled by the four differential heads can be realized.

The camera lighting module control module is similar to the endoscope mirror body control module. The bow-shaped cross-section flexible continuum mechanical arm of the camera and lighting module is connected to the camera and lighting module control module through the endoscope mirror body and the endoscope mirror body control module. The bow-shaped cross-section flexible continuum structure bone passes through a receiving plate and stainless steel tube to reach the amplifying plate, and then forms an enlarged two-section flexible continuum structure. There is also a driving flexible continuum outside the enlarged flexible continuum structure. The driving flexible continuum structure bone is connected to the end of the differential head after being redirected by the stainless steel tube. Eight differential heads control the four-degree-of-freedom bending motion of the bow-shaped section flexible continuum. At the same time, the camera lighting module control module can move linearly along the two optical axes, and its drive is a screw rod. This motion controls the overall feed of the camera and lighting modules.

The control modules of the two functional manipulators are basically the same as the control modules of the camera and lighting modules, the difference lies in the cross-sectional shape. At the same time, the control lines of surgical tools such as mechanical forceps at the functional end can also be exported from the corresponding position of the receiving plate to the end of the differential head with stainless steel tubes to realize manual control.

According to a preferred embodiment of the present invention, an endoscopic non-invasive surgery system is provided, the system comprising:

Functional end, the functional end includes an endoscope mirror body, a flexible sleeve sleeved on the endoscope mirror body, a camera lighting module and a functional mechanical arm, and a section of rigid tube is provided at the front end of the endoscope mirror body body;

Control terminal, the control terminal includes a control terminal base, an endoscope mirror body control module, a camera lighting module control module and a functional manipulator control module, the endoscope mirror body control module, the camera lighting module control module and the functional manipulator control module are installed on the base of the control end; wherein,

The endoscope body control module, the imaging and lighting module control module and the functional manipulator control module respectively control the expansion and/or extension of the endoscope body, the imaging and lighting module and the functional manipulator Or bend, so that the surgical instrument carried by the functional mechanical arm can enter the surgical site under the attitude of retracting into the rigid tube body, and after reaching the surgical site, the endoscope body, the The camera lighting module and the functional manipulator can be extended and/or turned.

In the above embodiment, preferably, the base of the control end is provided with a screw and a support shaft, the camera and lighting module and the functional mechanical arm can move linearly along the support shaft, and the linear movement is controlled by the Screw drive.

Preferably, the main body of the endoscope body is an endoscope flexible continuum structure, and the endoscope flexible continuum structure is composed of an endoscope flexible continuum structure bone, an endoscope flexible continuum spacer and an endoscope Endoscope flexible continuum end locking piece, one end of the endoscope flexible continuum structural bone is fixed to the endoscope flexible continuum end locking piece, and the other end passes through the endoscope flexible continuum spacer , and connected to the endoscope scope control module, so that the bending of the endoscope scope main body can be controlled by adjusting the length of the endoscope flexible continuum structural bone.

Preferably, the imaging and lighting module includes a camera, an illuminating device, and a flexible continuum manipulator with an arcuate section, the flexible continuum manipulator having an arcuate section flexible continuum spacer, a flexible continuum first segment structure with an arcuate section Bone, the second structural bone of the flexible continuum with arcuate section, the first locking piece and the second locking piece of the flexible continuum with arcuate section, wherein, one end of the first structural bone of the flexible continuum with arcuate section is connected to the camera The lighting module is connected to the control module, and the other end passes through a plurality of arcuate section flexible continuum spacers, and is fixed to the first locking piece of the arcuate section flexible continuum; one end of the arcuate section flexible continuum second structural bone is connected to the camera lighting The module control module is connected, and the other end passes through a plurality of spacers of the arcuate section flexible continuum, and passes through the first locking piece of the arcuate section flexible continuum, and is fixed to the second locking piece of the arcuate section flexible continuum.

Preferably, the main body of the functional manipulator is a two-section flexible continuum manipulator with a trapezoidal cross section, and the flexible continuum manipulator with a trapezoidal cross section includes a spacer for a flexible continuum with a trapezoidal cross section, a first segment of a flexible continuum with a trapezoidal cross section Structural bone, flexible continuum with quasi-trapezoidal cross-section second structural bone, first-section locking piece and second-section locking piece of flexible continuum with quasi-trapezoidal cross-section, wherein one end of the first structural bone is connected to the functional manipulator control module connected, the other end passes through a plurality of spacers of the flexible continuum with trapezoidal cross-section, and then fixed to the first locking piece of the flexible continuum with trapezoidal cross-section; one end of the second structural bone of the flexible continuum with trapezoidal cross-section The functional manipulator control module is connected, and the other end passes through a plurality of spacers of the trapezoidal cross-section flexible continuum, and passes through the first locking piece of the trapezoidal cross-section flexible continuum, and then is fixed on the trapezoidal cross-section Flexible continuum second locking piece.

Preferably, the endoscope mirror body control module is provided with an endoscope flexible continuum structural bone receiving plate, a transitional stainless steel pipe, an endoscope flexible continuum magnifying plate, an endoscope magnifying flexible continuum, and an endoscope mirror Body driving structure bone and endoscope mirror body differential head, wherein, the endoscope magnifying flexible continuum is provided with an endoscope magnifying flexible continuum spacer and an endoscope magnifying flexible continuum locking piece, and the The endoscope flexible continuum structure bone passes through the endoscope flexible continuum structure bone receiving plate, the transition stainless steel tube and extends to the endoscope flexible continuum magnifying plate; the endoscope flexible continuum After the structural bone passes through the magnifying plate of the endoscope flexible continuum, it passes through the spacer of the magnifying flexible continuum of the endoscope and is fixed on the locking piece of the magnifying flexible continuum of the endoscope; One end of the endoscope lens body driving mechanism bone is fixed to the locking piece of the endoscope magnifying flexible continuum, and the other end passes through the spacer of the magnifying flexible continuum and the magnifying plate of the endoscope flexible continuum in sequence, and is connected with the The endoscope scope differential head is connected so that the bending of the endoscope scope body can be controlled by rotating the endoscope scope differential head.

Preferably, the camera and lighting module control module is provided with a camera and lighting module flexible continuum structure bone receiving plate, a transitional stainless steel tube, a camera and lighting module flexible continuum amplification plate, a two-section camera and lighting module amplifying flexible continuum, and a camera and lighting module drive Structural bone and imaging and lighting module differential head, wherein the imaging and lighting module enlargement flexible continuum is provided with imaging and lighting module amplification flexible continuum spacers and imaging and lighting module amplification flexible continuum locking pieces, and the imaging and lighting module is flexible The continuum structural bone sequentially passes through the flexible continuum structural bone receiving plate of the imaging and lighting module, the transitional stainless steel tube and extends to the flexible continuum amplifying plate of the imaging and lighting module; the flexible continuum structural bone of the imaging and lighting module starts from the After the amplifying board of the flexible continuum of the imaging and lighting module passes through, pass through the spacer of the amplifying flexible continuum of the imaging and lighting module, and fix it on the locking piece of the amplifying flexible continuum of the imaging and lighting module; the driving mechanism of the imaging and lighting module One end of the bone is fixed to the locking piece of the amplifying flexible continuum of the imaging and lighting module, and the other end passes through the spacer of the amplifying flexible continuum of the imaging and lighting module and the amplifying plate of the flexible continuum of the imaging and lighting module in sequence, and is connected with the imaging and lighting module. The differential head of the lighting module is connected so that the bending of the mirror body of the camera and lighting module is controlled by rotating the differential head of the camera and lighting module.

Preferably, the functional manipulator control module is provided with a functional manipulator flexible continuum structural bone receiving plate, a transitional stainless steel tube, a functional manipulator flexible continuum amplification plate, a two-section functional manipulator amplifying flexible continuum, and a functional manipulator drive Structural bone and functional mechanical arm differential head, wherein, the functional mechanical arm magnifying flexible continuum is provided with a functional mechanical arm magnifying flexible continuum spacer and a functional mechanical arm magnifying flexible continuum locking piece, and the functional The continuum structural bone sequentially passes through the functional manipulator flexible continuum structural bone receiving plate, the transitional stainless steel tube and extends to the functional manipulator flexible continuum amplifying plate; the functional manipulator flexible continuum structural bone passes through the After the amplifying plate of the flexible continuum of the functional manipulator passes through, pass through the spacer of the amplifying flexible continuum of the functional manipulator, and fix it on the locking piece of the amplifying flexible continuum of the functional manipulator; the driving mechanism of the functional manipulator One end of the bone is fixed to the locking piece of the enlarged flexible continuum of the functional manipulator, and the other end passes through the spacer piece of the enlarged flexible continuum of the functional manipulator and the amplifying plate of the flexible continuum of the functional manipulator in sequence, and is connected with the functional manipulator. The differential head of the mechanical arm is connected, so that the bending of the mirror body of the functional mechanical arm is controlled by rotating the differential head of the functional mechanical arm.

In the endoscopic non-invasive surgery system of the present invention, the outer diameter of the endoscopic body is about 12 mm, even as small as 10 mm, which is much smaller than the diameter of the existing endoscopic body, which generally exceeds 15 mm. Therefore, the system can enter the operation site through the narrow natural cavity of the human body in a closed endoscope tube body posture, and then its functional end can be extended to a working posture for surgical operation. Moreover, the functional end of the present invention can flexibly expand and contract and bend in various directions, so that the operator can conveniently use the system to perform non-invasive surgery. That is, the present invention has the advantages of small volume and convenient use.

Description of drawings

Fig. 1 is the perspective view of the overall structure of the endoscope non-invasive surgery system of the present invention;

Fig. 2A is a perspective view of the structure of the endoscope body of the present invention;

Fig. 2B is a front view of the rigid accommodating cavity of the endoscope body of Fig. 2A;

3A is a perspective view of the endoscope imaging and lighting module of the present invention;

3B is a front view of a spacer plate of the flexible continuum structure of the lighting module of FIG. 3A;

Fig. 4A is a perspective view of the structure of the functional manipulator of the present invention;

Figure 4B is a front view of the spacer disc of the functional manipulator of Figure 4A;

5 is a structural perspective view of the base of the control end of the endoscopic non-invasive surgery system of the present invention;

Fig. 6A is a structural perspective view of the endoscope mirror body driving module of the present invention;

6B is a front view of the spacer disc of the endoscope scope drive module of FIG. 6A;

Fig. 7A is a structural perspective view of the drive module of the imaging and lighting module of the present invention;

Fig. 7B is a front view of the spacer plate of the driving module of the imaging and lighting module of Fig. 7A;

Fig. 8A is a structural perspective view of the functional manipulator driving module of the present invention;

8B is a plan view of the functional manipulator drive module of FIG. 8A; and

9A and 9B are perspective views of the structure of the endoscopic non-invasive surgery system of the present invention when the functional end is closed and unfolded (working state), respectively.

Detailed ways

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so as to better understand the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but only to illustrate the essence of the technical solutions of the present invention.

As shown in FIG. 1 , the endoscopic non-invasive surgery system of the present invention consists of two parts: a functional terminal 1 and a control terminal 2 . The functional end 1 is composed of an endoscope body 3 and its flexible sleeve 4 , a camera and lighting module 5 and two functional mechanical arms 6 , 7 . The control terminal 2 is composed of a control terminal base 8 , an endoscope body control module 9 , a camera and lighting module control module 10 and two functional manipulator control modules 11 and 12 . Of course, although not indicated, the system of the present invention may also contain more than two functional manipulators according to actual needs, for example, may contain three or four or more manipulators.

As shown in FIG. 2A , the front end of the endoscope body 3 of the present invention is a rigid accommodating cavity 13 for accommodating various surgical instruments located at the front end of the endoscope body when the functional end is closed. The main body of the endoscope mirror body 3 is an endoscope flexible continuum structure 14, which is composed of an endoscope flexible continuum structure bone 15, an endoscope flexible continuum spacer 16 and an endoscope flexible continuum structure 14. Mirror flexible continuum locking piece 17 is formed. The endoscope mirror body 3 provides corresponding channels for the mechanical arm of the imaging and lighting module 5 , the functional mechanical arms 6 , 7 and the air and medicine supply pipelines. Wherein, as shown in Figure 2B, arcuate channel 18 is the channel for the mechanical arm of camera and lighting module 5 to pass through; Quasi-trapezoidal channel 19,20 is the channel for passing functional mechanical arm 6,7; Class triangular and circular channel 21 It is a channel for the passage of the ventilation tube and the drug delivery tube; the circular hole 22 around the cross section is the channel or distribution position for the passage of the endoscope flexible continuum structure bone 15 .

As shown in FIG. 3A , the imaging and lighting module at the functional end of the endoscopic noninvasive surgery system of the present invention integrates a camera 22 illuminated by LEDs, and the camera 22 is installed in a shell 23 with the same outer diameter as the body of the endoscope. The shell 23 and the camera 22 are carried by a two-section flexible continuum manipulator 24 with an arcuate section. The flexible continuum manipulator 24 can realize the bending motion of four degrees of freedom in space and the overall telescopic motion. The main components of the arcuate section flexible continuum manipulator include the arcuate section flexible continuum spacer 25, the arcuate section flexible continuum first section structural bone 26, the arcuate section flexible continuum second section structural bone 27, the arcuate section flexible continuum The first locking piece 28 and the second locking piece 29, wherein one end of the first structural bone 26 is connected to the control end (will be described in more detail below), and the other end passes through a plurality of flexible continuous body spacers 25, and then It is fixed on the first locking piece 28 . Similarly, one end of the second structural bone 27 is connected to the control end (will be described in more detail below), and the other end passes through a plurality of flexible continuous body spacers 25, and passes through the first locking piece 28, and then is fixed to the second lock Tight film29. A channel 30 is left on the arcuate section flexible continuum manipulator for the passage of camera, lighting, power supply and signal lines, as shown in FIG. 3B .

As shown in FIG. 4A , the main bodies of the functional manipulators 6 and 7 of the endoscopic non-invasive surgery system of the present invention are two-section flexible continuum manipulators 31 similar to a trapezoidal section. The flexible continuum manipulator 31 can realize the bending motion of four degrees of freedom in space and the overall telescopic motion. Similar to the arcuate cross-section flexible continuum manipulator 24, the main components of the flexible continuum manipulator 31 include a trapezoidal cross-section flexible continuum spacer 32, a trapezoidal cross-section flexible continuum first segment structural bone 33, a trapezoidal cross-section flexible continuous body The second structural bone 34 of the body, the first locking piece 35 and the second locking piece 36 of the flexible continuous body with a trapezoidal cross-section, wherein one end of the first structural bone 33 is connected to the control end (will be described in more detail below), The other end passes through a plurality of flexible continuous body spacers 32 and is then fixed to the first locking piece 35 . Similarly, one end of the second structural bone 34 is connected to the control end (will be described in more detail below), and the other end passes through a plurality of flexible continuous body spacers 25, passes through the first locking piece 35, and then is fixed to the second lock Tight film 36. The front ends of the trapezoidal section flexible continuum mechanical arms 6 and 7 can carry surgical forceps 37 and suture needles 38 that can protrude from the surgical forceps. Channels 39 and 40 for the sewing needle 38 and the driving wire of the mechanical forceps are left on the flexible continuum mechanical arm with a trapezoidal cross-section, as shown in FIG. 4B . Here, the quasi-trapezoid refers to a shape similar to a trapezoidal shape, but not exactly a trapezoidal shape.

FIG. 5 is a schematic structural view of the base 8 of the control end of the endoscopic non-invasive surgery system of the present invention. As shown in Figure 5, the control end base 8 is mainly composed of a structural base 41, a support shaft 42, and a screw rod 43, and is used for installing an endoscope mirror body control module, a camera lighting module control module, and a functional manipulator control module, as follows It will be described in further detail.

6A and 6B are structural schematic diagrams of the endoscope scope control (drive) module 9 of the present invention. As shown in Figures 6A and 6B, in the endoscope mirror body control module 9 of the present invention, an endoscope flexible continuum structure bone receiving plate 44, a transitional stainless steel tube 45, an endoscope flexible continuum magnifying plate 46, and an endoscope flexible continuum structure are provided. The sight glass magnifies the flexible continuum as well as the differential head 49 . The endoscope flexible continuum structure bone 15 passes through the endoscope flexible continuum structure bone receiving plate 44 , the transition stainless steel tube 45 in sequence, and extends to the endoscope flexible continuum magnifying plate 46 . After passing through the magnifying plate 46, the structural bone 15 forms an endoscope magnifying flexible continuum together with the spacer 47 and the locking piece 48 of the endoscope magnifying flexible continuum. At the same time, the enlarged flexible continuum spacer 47 and locking piece 48 together with four structural bones 50 whose length is controlled by the differential head 49 form an endoscope driving flexible continuum. The endoscope enlarges the distribution of the flexible continuum structure bone 15 and drives the flexible continuum structure bone 50. The endoscope magnifies the flexible continuum structure bone hole 51 and drives the flexible continuum structure bone hole 52 on the spacer shared by the two flexible continuums. Indicated, as shown in Figure 6B. By rotating the differential head 49, the length of the endoscope-driven flexible continuum structure bone 50 can be controlled to control the posture of the driven flexible continuum. Because the endoscope magnifying flexible continuum and the driving flexible continuum share the same locking plate, the magnifying flexible continuum follows the driving flexible continuum to undergo a corresponding bending movement, and the length of the structural bone 15 at one end of the magnifying flexible continuum will be correspondingly elongated or shorten. Since the structural bone 15 is also the structural bone of the flexible continuum of the endoscope body, its length change in the magnifying flexible continuum will cause an opposite change in the length of a section of the flexible continuum of the endoscope body. Thus, amplifying the bending motion of the flexible continuum results in a corresponding bending motion of the flexible continuum of the endoscope body. According to the above structural relationship, the bending control of the flexible continuum of the endoscope mirror body can be realized by rotating the differential head 49 .

7A and 7B are schematic structural diagrams of the camera and lighting module control (drive) module 10 of the present invention. As shown in FIGS. 7A and 7B , the camera and lighting module control module in the endoscopic noninvasive surgery system can move linearly along the support shaft 42 in the base 8 of the control end to control the overall expansion and contraction of the camera and lighting module. This linear movement can be driven by a screw 43 . In the control module of the camera lighting module, the first structural bone 26 and the second structural bone 27 of the arcuate section flexible continuum mechanical arm 24 pass through the receiving plate 53, the transitional stainless steel tube 54 and the amplifying plate 55, and are combined with a series of enlarged spacers. 56 and the locking piece 57 respectively constitute two enlarged arcuate flexible continuum structures. The enlarged flexible continuum spacer 56 and the locking piece 57 together with the 8 structural bones 59 controlled by the differential head 58 form a two-section arcuate drive flexible continuum structure again. When the driving bow-shaped flexible continuum structure bone 59 is connected to the differential head 58, the stainless steel tube 60 transitions and changes direction to rationally arrange the space. Similar to the driving principle of the flexible continuum of the endoscope body, the control of the four degrees of freedom of the two-section arcuate flexible continuum manipulator 24 can be realized by controlling the differential head 58 . As shown in FIG. 7B , the small hole 61 on the spacer 56 is used to enlarge the structural bone position of the flexible continuum, and the hole 62 is used to drive the structural bone position of the flexible continuum.

8A and 8B are structural schematic diagrams of the functional manipulator control module. The structural principle of the functional manipulator control module is basically the same as that of the camera lighting module control module. Its whole can be driven by the screw rod 43 to move linearly along the support shaft 42 . Similar to the camera lighting module control module, in the functional manipulator control module, the structural bones 33 and 34 in the two-section trapezoidal cross-section flexible continuum manipulator 31 are transitioned by the stainless steel tube 63 to form a trapezoidal enlarged flexible continuum again. The enlarged flexible continuum is equipped with a driving flexible continuum, and the length of the driving flexible continuum structural bone 65 is controlled by the differential head 64 to finally realize the bending control of the four degrees of freedom in space of the two-section trapezoidal cross-section flexible continuum manipulator. The bone distribution of the enlarged flexible continuum and the driving flexible continuum structure can be seen from the distribution of holes on the common spacer 66 . The control line of the mechanical clamp 37 at the front end of the functional manipulator and the control line of the sewing needle 38 can also be connected to the differential head through a stainless steel tube, thereby realizing manual control.

During the working process, the functional end of the endoscopic non-invasive surgery system must first be in the initial closed position, that is, the functional mechanical arms 6 and 7 are completely retracted into the endoscopic mirror body 3, and the camera and lighting modules are retracted into the shell 23 and the endoscopic mirror. The rigid body 13 at the front end of the body is completely fitted, and the functional end of the entire surgical system forms a closed cylinder posture. In this posture, adjust the posture of the endoscope mirror body 3, and extend the functional end of the surgical system into the surgical site. After that, the camera and lighting module 5 is driven forward and its posture is adjusted, and the functional mechanical arms 6 and 7 are stretched out to perform surgery-related operations. After the operation is completed, the functional end returns to the closed posture and is withdrawn from the patient's body. 9A and 9B are schematic views of the closed posture and the working posture of the endoscopic non-invasive surgery system.

In the endoscopic non-invasive surgery system of the present invention, the outer diameter of the endoscopic body is about 12 mm, even as small as 10 mm, which is much smaller than the diameter of the existing endoscopic body, which generally exceeds 15 mm. Therefore, the system can enter the operation site through the narrow natural cavity of the human body in a closed endoscope tube body posture, and then its functional end can be extended to a working posture for surgical operation. Moreover, the functional end of the present invention can flexibly expand and contract and bend in various directions, so that the operator can conveniently use the system to perform non-invasive surgery.

The preferred embodiments of the present invention have been described in detail above, but it should be understood that those skilled in the art can make various changes or modifications to the present invention after reading the above teaching content of the present invention. These equivalent forms also fall within the scope defined by the appended claims of this application.

Claims (10)

1. An endoscopic non-invasive surgery system, characterized in that the system comprises: Functional end, the functional end includes an endoscope mirror body, a flexible sleeve sleeved on the endoscope mirror body, a camera lighting module and a functional mechanical arm, and a section of rigid tube is provided at the front end of the endoscope mirror body body; Control terminal, the control terminal includes a control terminal base, an endoscope mirror body control module, a camera lighting module control module and a functional manipulator control module, the endoscope mirror body control module, the camera lighting module control module and the functional manipulator control module are installed on the base of the control end; wherein, The endoscope body control module, the imaging and lighting module control module and the functional manipulator control module respectively control the expansion and/or extension of the endoscope body, the imaging and lighting module and the functional manipulator Or turn, so that the surgical instrument carried by the functional mechanical arm can enter the surgical site under the posture of retracting into the rigid tube body, and after reaching the surgical site, the endoscope body, the The camera lighting module and the functional manipulator can be extended and/or turned. 2. The endoscopic non-invasive surgery system according to claim 1, wherein a screw and a support shaft are provided on the base of the control end, and the camera and lighting module and the functional manipulator can move along the support shaft. The axis moves linearly, and the linear movement is driven by the screw. 3. The endoscopic non-invasive surgery system according to claim 1, wherein the outer diameter of the endoscopic body is 10mm-12mm. 4. The endoscopic non-invasive surgery system according to claim 1, wherein the surgical instrument is a mechanical forceps and a suture needle arranged at the front end of the surgical function mechanical arm. 5. The endoscope non-invasive surgery system according to claim 1, characterized in that, the main body of the endoscope body is an endoscope flexible continuum structure, and the endoscope flexible continuum structure is composed of an endoscope The flexible continuum structure bone, the endoscope flexible continuum spacer and the endoscope flexible continuum end locking piece, one end of the endoscope flexible continuum structure bone is fixed to the endoscope flexible continuum end lock The other end passes through the spacer of the flexible continuum of the endoscope and is connected to the control module of the endoscope body, thereby controlling the length of the structural bone of the flexible continuum of the endoscope. Describe the bending of the endoscope body. 6. The endoscope non-invasive surgery system according to claim 1, wherein the imaging and lighting module includes a camera, an illumination device, and a flexible continuum mechanical arm with an arcuate section, and the flexible continuum mechanical arm with an arcuate section has The arcuate section flexible continuum spacer, the arcuate section flexible continuum first section structural bone, the arcuate section flexible continuum second section structural bone, the arcuate section flexible continuum first section locking piece and the second section locking piece, wherein One end of the first structural bone of the arcuate section flexible continuum is connected to the control module of the camera and lighting module, and the other end passes through a plurality of arcuate section flexible continuum spacers, and is fixed to the first locking member of the arcuate section flexible continuum One end of the second structural bone of the arcuate section flexible continuum is connected to the control module of the camera and lighting module, and the other end passes through a plurality of arcuate section flexible continuum spacers, and passes through the arcuate section flexible continuum first locking The piece is fixed to the second locking piece of the arcuate section flexible continuum. 7. The endoscopic non-invasive surgery system according to claim 1, wherein the main body of the functional manipulator is a two-section trapezoidal cross section flexible continuum manipulator, and the trapezoidal cross section flexible continuum manipulator includes a trapezoidal cross section flexible continuum manipulator Trapezoidal cross-section flexible continuum spacer, trapezoidal cross-section flexible continuum first segment structural bone, trapezoidal cross-section flexible continuum second segment structural bone, trapezoidal cross-section flexible continuum first segment locking piece and second segment locking One end of the first structural bone is connected to the control module of the functional manipulator, and the other end passes through a plurality of spacers of the trapezoidal cross-section flexible continuum, and then fixed to the first lock of the trapezoidal cross-section flexible continuum Tight sheet; one end of the second structural bone of the trapezoidal cross-section flexible continuum is connected to the functional manipulator control module, and the other end passes through a plurality of trapezoidal cross section flexible continuum spacers, and passes through the trapezoidal cross section The first locking piece of the flexible continuous body is then fixed to the second locking piece of the flexible continuous body with a similar trapezoidal cross-section. 8. The endoscope non-invasive surgery system according to claim 5, characterized in that, The endoscope body control module is provided with an endoscope flexible continuum structure bone receiving plate, a transitional stainless steel tube, an endoscope flexible continuum magnifying plate, an endoscope magnifying flexible continuum, and an endoscope body driving structure bone and endoscope body differential head, where, The endoscope magnifying flexible continuum is provided with an endoscope magnifying flexible continuum spacer and an endoscope magnifying flexible continuum locking piece, and the structure bones of the endoscope flexible continuum pass through the endoscope sequentially. The flexible continuum structural bone receiving plate, the transition stainless steel tube and extending to the endoscope flexible continuum magnifying plate, After the structural bone of the endoscope flexible continuum passes through the magnifying plate of the endoscope flexible continuum, it passes through the spacer of the endoscope magnifying flexible continuum and is fixed on the endoscope magnifying flexible continuum body lock, One end of the drive mechanism bone of the endoscope lens body is fixed to the locking piece of the endoscope magnifying flexible continuum, and the other end passes through the spacer of the magnifying flexible continuum and the magnifying plate of the endoscope flexible continuum in sequence. , and connected with the micrometer head of the endoscope body, so as to control the bending of the endoscope body by rotating the body micrometer head of the endoscope. 9. The endoscopic non-invasive surgery system according to claim 6, wherein the control module of the imaging and lighting module is provided with a flexible continuum structure bone receiving plate of the imaging and lighting module, a transitional stainless steel pipe, a flexible continuum of the imaging and lighting module Amplifying plate, two sections of imaging and lighting modules amplifying the flexible continuum, driving structure bone of imaging and lighting modules and differential head of imaging and lighting modules, wherein, The imaging and lighting module magnifying flexible continuum is provided with the imaging and lighting module magnifying flexible continuum spacer and the imaging and lighting module magnifying flexible continuum locking piece, and the imaging and lighting module flexible continuum structural bones pass through the imaging and lighting module sequentially The bone receiving plate of the flexible continuum structure, the transitional stainless steel tube and the flexible continuum amplification plate extending to the imaging and lighting module, After the structural bone of the flexible continuum of the imaging and lighting module passes through the amplifying plate of the flexible continuum of the imaging and lighting module, it passes through the spacer of the amplifying flexible continuum of the imaging and lighting module, and is fixed on the amplifying flexible continuous body of the imaging and lighting module. body lock, One end of the driving mechanism bone of the imaging and lighting module is fixed to the locking piece of the enlarged flexible continuum of the imaging and lighting module; board, and is connected with the differential head of the imaging and lighting module, so that the bending of the mirror body of the imaging and lighting module is controlled by rotating the differential head of the imaging and lighting module. 10. The endoscope non-invasive surgery system according to claim 7, characterized in that, The functional manipulator control module is provided with a functional manipulator flexible continuum structural bone receiving plate, a transitional stainless steel tube, a functional manipulator flexible continuum amplification plate, two functional manipulator amplifying flexible continuums, and a functional manipulator driving structural bone and Functional manipulator differential head, where, The functional manipulator magnifying flexible continuum is provided with a functional manipulator magnifying flexible continuum spacer and a functional manipulator magnifying flexible continuum locking piece, and the functional manipulator flexible continuum structural bones sequentially pass through the functional manipulator The flexible continuum structural bone receiving plate, the transition stainless steel tube and extending to the flexible continuum amplification plate of the functional manipulator, After the functional manipulator flexible continuum structure bone passes through the functional manipulator flexible continuum amplifying plate, passes through the functional manipulator enlarging flexible continuum spacer, and is fixed on the functional manipulator enlarging flexible continuum body lock, One end of the functional manipulator drive mechanism bone is fixed to the functional manipulator magnifying flexible continuum locking piece, and the other end sequentially passes through the functional manipulator magnifying flexible continuum spacer and the functional manipulator flexible continuum magnifying plate, and is connected with the differential head of the functional manipulator, so as to control the bending of the mirror body of the functional manipulator by rotating the micrometer head of the functional manipulator.

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