CN112353496A - Soft endoscope operation and control robot - Google Patents
Soft endoscope operation and control robot Download PDFInfo
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- CN112353496A CN112353496A CN202011370492.5A CN202011370492A CN112353496A CN 112353496 A CN112353496 A CN 112353496A CN 202011370492 A CN202011370492 A CN 202011370492A CN 112353496 A CN112353496 A CN 112353496A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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Abstract
The invention relates to a medical robot, in particular to a flexible endoscope operation and control robot. The flexible endoscope main operation robot comprises a flexible endoscope positioning unit, a flexible endoscope conveying unit, a flexible endoscope operation unit and a flexible endoscope following unit, wherein the flexible endoscope positioning unit is connected with the flexible endoscope supporting unit, and the flexible endoscope operation unit is connected with the flexible endoscope positioning unit through the flexible endoscope following unit; the soft endoscope operation unit is used for being connected with the soft endoscope and controlling the action of the soft endoscope; the soft endoscope conveying unit is arranged on the soft endoscope positioning unit and used for clamping and conveying the soft endoscope. According to the invention, through precise control of the soft endoscope and remote operation, radiation of X-rays to doctors is avoided, sensing information is fused, and intelligent robot intervention is realized.
Description
Technical Field
The invention relates to a medical robot, in particular to a flexible endoscope operation and control robot.
Background
Natural orifice diseases such as digestive tract diseases, urinary tract diseases, respiratory diseases and the like seriously harm the health of people, for example, the morbidity and the mortality of the diseases such as gastric cancer, cholangiocarcinoma, lung cancer, bladder cancer and the like tend to rise year by year, and the interventional therapy of flexible endoscopes such as gastroscopes, bronchoscopes, urinary tract flexible endoscopes, ultrasonic endoscopes, duodenoscopes and the like becomes the most main treatment mode of the diseases of the natural orifice or the natural orifice.
Because the operation space of the natural cavity is narrow and closed, and the operation process is delicate and complex, the surgical instrument needs very high dexterity to conform to the anatomical structure of the cavity and needs fine control to point to a target point, but the surgical instrument for the soft endoscope in the prior art lacks independent degree of freedom, realizes the motion of the instrument only by the bending of the endoscope, needs doctors and nurses to coordinate and complete the manual control of the instrument, has low control precision and high labor intensity, and is very easy to cause physiological fatigue. When the surgical instrument is used in a narrow space, a large amount of time is wasted for adjusting the position and the direction of the surgical instrument due to the insufficient dexterity of the surgical instrument, so that the efficiency and the safety of the surgery are reduced. In some complicated operations such as Endoscopic Retrograde Cholangiopancreatography (ERCP), since many kinds of surgical instruments are involved and many instruments are needed to operate cooperatively, many medical staff are needed to cooperate, which also greatly increases the medical cost and the uncontrollable effect of the operation. In addition, the visual feedback of the existing instrument is only limited to a camera integrated at the front end of the soft endoscope, the instrument does not have force sensing, conveying force information cannot be accurately acquired after the instrument enters a narrow cavity, the over-selected intubation tube completely depends on experience to perform tentative operation, very high complication risks are brought to the operation, the soft endoscope operation and holding are completed by doctors, and the long-time operation process can cause the fatigue of the doctors and influence the operation effect. The technical obstacles directly influence the development of the soft endoscopic surgery and the popularization and application in clinic.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a flexible endoscope operation and control robot, so as to solve the problems in the prior art that a surgeon needs to cooperate with a plurality of users to operate a surgical instrument, the operation is fatigued for a long time, the intervention force information of the flexible endoscope cannot be accurately acquired, and the flexible endoscope operation and control robot can be irradiated by X-rays.
In order to achieve the purpose, the invention adopts the following technical scheme:
a soft endoscope operation and control robot comprises a soft endoscope supporting unit and a soft endoscope main operation robot arranged on the soft endoscope supporting unit, wherein the soft endoscope main operation robot comprises a soft endoscope positioning unit, a soft endoscope conveying unit, a soft endoscope operation unit and a soft endoscope following unit, the soft endoscope positioning unit is connected with the soft endoscope supporting unit, and the soft endoscope operation unit is connected with the soft endoscope positioning unit through the soft endoscope following unit; the soft endoscope operation unit is used for being connected with the soft endoscope and controlling the action of the soft endoscope; the flexible endoscope conveying unit is arranged on the flexible endoscope positioning unit and used for clamping and conveying the flexible endoscope.
The soft endoscope positioning unit comprises a first joint, a flange, a first connecting rod, an adapter plate and a endoscope holding arm, wherein the first joint and the flange are arranged at one end of the first connecting rod, the other end of the first connecting rod is connected with the endoscope holding arm through the adapter plate, and the endoscope holding arm is connected with the soft endoscope conveying unit.
The flexible endoscope following unit comprises a following unit second connecting rod, a following unit second joint, a following unit third connecting rod, a following unit third joint, a following unit fourth connecting rod, a following unit fourth joint, a joint connecting piece and a transition connecting rod which are sequentially connected, wherein the following unit second connecting rod is connected with the flexible endoscope positioning unit, and the transition connecting rod is connected with the flexible endoscope operation unit.
The flexible endoscope operation unit comprises an installation bottom plate, and a flexible endoscope fixing mechanism, a switching fixing plate, a large wave wheel operator, a small wave wheel operator, a forceps lifting operator, a first rotary driving mechanism, a second rotary driving mechanism and a third rotary driving mechanism which are arranged on the installation bottom plate, wherein the small wave wheel operator, the large wave wheel operator and the forceps lifting operator are coaxially installed from inside to outside and can rotate, and the first rotary driving mechanism, the second rotary driving mechanism and the third rotary driving mechanism are respectively in transmission connection with the forceps lifting operator, the large wave wheel operator and the small wave wheel operator; the flexible endoscope fixing mechanism is connected with the mounting base plate through a switching fixing plate; the flexible endoscope fixing mechanism is used for fixing a flexible endoscope, and the flexible endoscope is connected with a forceps lifting device operator, a large wave wheel operator and a small wave wheel operator.
The first rotary driving mechanism comprises a first motor, a pinion, a gearwheel and a motor mounting plate, wherein the motor mounting plate is connected with the mounting bottom plate, the first motor is mounted on the motor mounting plate, and the output end of the first motor is connected with the pinion; the bull gear is coupled to the jawset operator and is in mesh with the pinion gear.
The second rotary driving mechanism comprises a second motor and a small synchronous belt, and the output end of the second motor is in transmission connection with the large wave wheel operator through the small synchronous belt;
the third rotary driving mechanism comprises a third motor and a large synchronous belt, and the output end of the third motor is in transmission connection with the small wave wheel manipulator through the large synchronous belt.
The flexible endoscope conveying unit comprises a conveying unit frame, a first-stage synchronous belt, a sensor fixing flange, a torque sensor, a motor I, a driving wheel, a driven wheel, a second-stage synchronous belt and a clamping mechanism, wherein the first-stage synchronous belt, the sensor fixing flange, the torque sensor, the motor I, the driving wheel, the driven wheel, the second-stage synchronous belt and the clamping mechanism are mounted on the conveying unit frame; and two driven wheels are arranged on the clamping mechanism and respectively realize clamping and conveying of the flexible endoscope under the synergistic action of the two driven wheels and the two driving wheels.
The clamping mechanism comprises a motor II, a rack, a gear, a movable plate and a linear sliding block, wherein the movable plate is connected with the conveying unit frame through the linear sliding block; the rack is arranged on the movable plate and is parallel to the linear sliding block; the motor II is arranged on the conveying unit frame, the output end of the motor II is connected with a gear, and the gear is meshed with the rack; the two driven wheels are rotatably arranged on the movable plate.
The flexible endoscope supporting unit comprises a chassis, a chassis shell, a lifting sliding table, an upright post, a first supporting arm and a second supporting arm, wherein wheels are arranged at the bottom of the chassis, and the chassis shell is covered on the outer side of the chassis; the lifting sliding table is arranged at the top of the chassis shell, the stand column is connected with the lifting sliding table, one end of the first supporting arm is connected with the stand column, and the other end of the first supporting arm is connected with the second supporting arm in a rotating mode.
The flexible endoscope operation and control robot also comprises a flexible endoscope coaxial instrument operation unit, wherein the flexible endoscope coaxial instrument operation unit comprises a bendable sheath tube driving mechanism, a driver motor box, a bendable sheath tube, a guide wire conveying and clamping mechanism and a guide wire, the bendable sheath tube driving mechanism and the guide wire conveying and clamping mechanism are arranged on the driver motor box, and the bendable sheath tube driving mechanism is connected with the flexible endoscope through a flexible endoscope operation and control robot connecting unit; one end of the bendable sheath tube is connected with a bendable sheath tube driving mechanism, the other end of the bendable sheath tube penetrates through the flexible endoscope operation control robot connecting unit and then is inserted into the flexible endoscope, and the bendable sheath tube driving mechanism is used for driving the bendable sheath tube to bend; the guide wire conveying and clamping mechanism is used for conveying a guide wire, and the guide wire is inserted into the bendable sheath.
The invention has the advantages and positive effects that:
according to the invention, the flexible endoscope main operation robot is matched with the flexible endoscope coaxial instrument operation robot, and the master-slave operation of the robot can assist a doctor in remote operation, so that the probability of the doctor being irradiated by X rays is reduced.
According to the invention, the flexible endoscope is flexibly intervened by designing the flexible endoscope following unit and cooperating with the flexible endoscope positioning and conveying unit, and meanwhile, the flexible endoscope control unit can flexibly control the flexible endoscope, so that a doctor is assisted to accurately and efficiently complete operation.
The invention combines visual image information to make a doctor more intuitive in the operation process, under the condition of image guidance, the doctor is directed to the operation, and the operation is more convenient, and the operation safety can be improved through the increase of perception.
According to the invention, the torque sensor and the length sensor are introduced, so that quantized operation data can be extracted, the operation of a person can be standardized more intuitively, and the operation safety is improved.
The robot system designed by the invention replaces manual operation of doctors, greatly reduces the operation risk by sensor information fusion, and is expected to improve the intelligent degree of soft endoscope intervention.
Drawings
FIG. 1 is an isometric view of a flexible endoscope manipulator robot of the present invention;
FIG. 2 is a front view of the flexible endoscope manipulator robot of the present invention;
FIG. 3 is a schematic structural view of a supporting unit according to the present invention;
FIG. 4 is a schematic structural diagram of a positioning, conveying and following unit according to the present invention;
FIG. 5 is a schematic view of the positioning unit of the flexible endoscope of the present invention;
FIG. 6 is a schematic structural view of a flexible endoscope follower unit of the present invention;
FIG. 7 is a schematic structural view of a flexible endoscope operation unit according to the present invention;
FIG. 8 is a schematic view showing the construction of a flexible endoscope according to the present invention;
FIG. 9 is a schematic view showing the construction of a flexible endoscope delivery unit according to the present invention;
FIG. 10 is a second schematic view of the flexible endoscope delivery unit according to the present invention;
FIG. 11 is a third schematic view of the flexible endoscope delivery unit of the present invention;
FIG. 12 is a view showing one of the structures of a flexible endoscope coaxial instrument operating unit in the present invention;
FIG. 13 is a second schematic view of the structure of the operating unit of the coaxial instrument of the flexible endoscope of the present invention.
In the figure: 100 is a patient, 200 is a hospital bed, 300 is a soft endoscope positioning unit, 301 is a first joint, 302 is a flange, 303 is a first connecting rod, 304 is an adapter plate, 305 is a scope holding arm, 400 is a soft endoscope conveying unit, 401 is a first-stage synchronous belt, 402 is a sensor fixing flange, 403 is a torque sensor, 404 is a motor I, 405 is a motor II, 406 is an output shaft, 407 is a driving wheel, 408 is a driven wheel, 409 is a second-stage synchronous belt, 410 is a clamping mechanism, 411 is a rack, 412 is a gear, 413 is a movable plate, 414 is a linear slider, 450 is a soft endoscope, 500 is a soft endoscope operating unit, 501 is a soft endoscope fixing mechanism, 502 is an adapter fixing plate, 503 is a mounting base plate, 504 is a pinion, 505 is a large wave wheel operator, 506 is a small wave wheel operator, 507 is a lifting pincer operator, 508 is a first motor, 509 is a second motor, 510 is a small synchronous belt, 511 is a bull gear, 512 is a motor mounting plate, 513 is a third motor, 514 is a large synchronous belt, 600 is a flexible endoscope following unit, 601 is a following unit second connecting rod, 602 is a following unit second joint, 603 is a following unit third connecting rod, 604 is a following unit third joint, 605 is a following unit fourth connecting rod, 606 is a following unit fourth joint, 607 is a joint connecting piece, 608 is a transition connecting rod, 700 is a flexible endoscope supporting unit, 701 is a wheel, 702 is a chassis, 703 is a chassis housing, 704 is a lifting sliding table, 705 is a column, 706 is a first supporting arm, 707 is a second supporting arm 707, 800 is a flexible endoscope manipulator connecting unit, 900 is a flexible endoscope coaxial instrument operating unit, 901 is a flexible sheath tube driving mechanism, 902 is a driver motor box, 903 is a flexible sheath tube, 904 is a guide wire conveying clamping mechanism, 905 is a guide wire, 907 is a winding wheel, 908 is a fixed bottom plate, 909 is a flexible sheath tube fixing piece, 910 is a spring tube pressing piece, 911 is a winding wheel shaft fixing mechanism, 913 is a conveying clamping mechanism fixed bottom plate, 914 is a guide wire conveying wheel, 915 is a guide wire clamping mechanism, and 916 is a spiral inching knob.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the present invention provides a flexible endoscope operation robot, which comprises a flexible endoscope supporting unit 700 and a flexible endoscope main operation robot disposed on the flexible endoscope supporting unit 700, wherein the flexible endoscope main operation robot comprises a flexible endoscope positioning unit 300, a flexible endoscope conveying unit 400, a flexible endoscope operation unit 500 and a flexible endoscope following unit 600, the flexible endoscope positioning unit 300 is connected to the flexible endoscope supporting unit 700, and the flexible endoscope operation unit 500 is connected to the flexible endoscope positioning unit 300 through the flexible endoscope following unit 600; the flexible endoscope operation unit 500 is used for connecting with the flexible endoscope 450 and controlling the action of the flexible endoscope 450; the flexible endoscope delivery unit 400 is provided on the flexible endoscope positioning unit 300 for gripping and delivering the flexible endoscope 450.
As shown in fig. 3, in the embodiment of the present invention, the flexible endoscope support unit 700 includes a chassis 702, a chassis housing 703, a lifting slide 704, a column 705, a first support arm 706, and a second support arm 707, wherein wheels 701 are disposed at the bottom of the chassis 702, and the chassis housing 703 covers the outer side of the chassis 702; the lifting slipway 704 is arranged on the top of the chassis shell 703, and the upright 705 is connected with the lifting slipway 704, so that the upright 705 and the components above the upright 705 can move up and down. One end of the first support arm 706 is connected to the column 705, and the other end is rotatably connected to the second support arm 707 via a rotary joint.
As shown in fig. 4, in the embodiment of the present invention, the flexible endoscope positioning unit 300, the flexible endoscope conveying unit 400, the flexible endoscope operation unit 500, and the flexible endoscope following unit 600 constitute a flexible endoscope main operation robot.
As shown in fig. 5, in the embodiment of the present invention, the flexible endoscope positioning unit 300 includes a first joint 301, a flange 302, a first link 303, an adapter plate 304, and a scope holding arm 305, where the first joint 301 and the flange 302 are disposed at one end of the first link 303, the first joint 301 is connected to a second support arm 707 of the support unit 700 as a base, the other end of the first link 303 is connected to the scope holding arm 305 through the adapter plate 304, and the scope holding arm 305 is connected to the flexible endoscope conveying unit 400.
As shown in fig. 6, in the embodiment of the present invention, the flexible endoscope following unit 600 includes a following unit second link 601, a following unit second joint 602, a following unit third link 603, a following unit third joint 604, a following unit fourth link 605, a following unit fourth joint 606, a joint connector 607, and a transition link 608, which are connected in sequence, wherein the following unit second link 601 is connected to the flange 302 of the flexible endoscope positioning unit 300, and the transition link 608 is connected to the flexible endoscope operation unit 500.
The soft endoscope following unit 600 can also achieve the purpose of following and conveying the soft endoscope by changing the composition sequence of each part.
As shown in fig. 7, in the embodiment of the present invention, the flexible endoscope operation unit 500 includes an installation base plate 503, and a flexible endoscope fixing mechanism 501, a connection fixing plate 502, a large wave wheel manipulator 505, a small wave wheel manipulator 506, a forceps raising manipulator 507, a first rotation driving mechanism, a second rotation driving mechanism and a third rotation driving mechanism which are arranged on the installation base plate 503, wherein the small wave wheel manipulator 506, the large wave wheel manipulator 505 and the forceps raising manipulator 507 are coaxially installed from inside to outside and can rotate, and the first rotation driving mechanism, the second rotation driving mechanism and the third rotation driving mechanism are respectively in transmission connection with the forceps raising manipulator 507, the large wave wheel manipulator 505 and the small wave wheel manipulator 506; the flexible endoscope fixing mechanism 501 is connected with the installation bottom plate 503 through a switching fixing plate 502; the flexible endoscope fixing mechanism 501 is used for fixing a flexible endoscope 450, and the flexible endoscope 450 is connected with a forceps raising manipulator 507, a large wave wheel manipulator 505 and a small wave wheel manipulator 506.
In this embodiment, the first rotary driving mechanism includes a first motor 508, a pinion 504, a gearwheel 511 and a motor mounting plate 512, wherein the motor mounting plate 512 is connected with the mounting base plate 503, the first motor 508 is mounted on the motor mounting plate 512 and the output end is connected with the pinion 504; the bull gear 511 is connected to the jawset operator 507 and meshes with the pinion gear 504. The second rotary driving mechanism comprises a second motor 509 and a small synchronous belt 510, and the output end of the second motor 509 is in transmission connection with the large wave wheel operator 505 through the small synchronous belt 510; the third rotary driving mechanism comprises a third motor 513 and a large synchronous belt 514, and the output end of the third motor 513 is in transmission connection with the small-wave wheel manipulator 506 through the large synchronous belt 514.
As shown in fig. 8, in the embodiment of the present invention, a flexible endoscope 450 is a manipulation object of the mechanism. The flexible endoscope 450 is a commercially available product, and the model is Olympus TJF-Q190V, and the structure of the flexible endoscope comprises a forceps lifting device 451, a large thumb wheel 452, a small thumb wheel 453, a surgical instrument cavity 454 and an endoscope body 455. The flexible endoscope operation and control robot uses a flexible endoscope as an operation and control object, positions the flexible endoscope through a flexible endoscope fixing mechanism 501, then controls a forceps lifting device 451, a large poking wheel 452 and a small poking wheel 453 respectively through a large impeller operator 505, a small impeller operator 506 and a forceps lifting device operator 507, realizes the bending of the front end of the endoscope, and realizes the conveying of the endoscope body 455 through friction force by the flexible endoscope conveying unit 400.
As shown in fig. 9 and 10, in an embodiment of the present invention, a flexible endoscope delivery unit 400 includes a delivery unit frame, a primary synchronous belt 401, a sensor fixing flange 402, a torque sensor 403, a motor i 404, a driving wheel 407, a driven wheel 408, a secondary synchronous belt 409 and a clamping mechanism 410, which are mounted on the delivery unit frame, wherein an output end of the motor i 404 is connected to the primary synchronous belt 401, the primary synchronous belt 401 is connected to an input end of the torque sensor 403, the torque sensor 403 is mounted on the delivery unit frame through the sensor fixing flange 402, an output end of the torque sensor 403 is connected to a driving wheel 407, the driving wheel 407 is connected to another driving wheel 407 through the secondary synchronous belt 409, and synchronous rotation of the two driving wheels 407 is realized through the secondary synchronous belt 409; the clamping mechanism 410 is provided with two driven wheels 408, and the two driven wheels 408 respectively cooperate with the two driving wheels 407 to clamp and convey the flexible endoscope 450. In this embodiment, the primary timing belt 401 and the secondary timing belt 409 are disposed in parallel at both ends of the conveying unit frame.
As shown in fig. 10 and 11, in the embodiment of the present invention, the clamping mechanism 410 includes a motor ii 405, a rack 411, a gear 412, a movable plate 413 and a linear slider 414, wherein the movable plate 413 is connected to the conveying unit frame through the linear slider 414; the rack 411 is disposed on the movable plate 413 and parallel to the linear slider 414; the motor II 405 is arranged on the conveying unit frame, the output end of the motor II is connected with the gear 412, and the gear 412 is meshed with the rack 411; two driven wheels 408 are rotatably disposed on the movable plate 413. The motor ii 405 is connected with the gear 412, the movable plate 413 is driven to move up and down by the mutual matching of the rack 411 and the gear 412, and the movable plate 413 is fixedly connected with the driven wheel 408, so that the clamping movement is realized.
As shown in fig. 1, on the basis of the above embodiment, the flexible endoscope operation robot of the present invention further includes a flexible endoscope coaxial instrument operation unit 900, the flexible endoscope coaxial instrument operation unit 900 is disposed on another flexible endoscope support unit 700, and the flexible endoscope main operation robot and the coaxial auxiliary instrument operation robot cooperate with each other to complete the implantation intervention operation.
As shown in fig. 12, in the embodiment of the present invention, the flexible endoscope coaxial instrument operation unit 900 includes a flexible sheath driving mechanism 901, a driver motor box 902, a flexible sheath 903, a guide wire feeding and clamping mechanism 904, and a guide wire 905, wherein the flexible sheath driving mechanism 901 and the guide wire feeding and clamping mechanism 904 are disposed on the driver motor box 902, and the flexible sheath driving mechanism 901 is connected to the flexible endoscope 450 through the flexible endoscope manipulator robot connection unit 800; one end of the bendable sheath 903 is connected with a bendable sheath driving mechanism 901, the other end of the bendable sheath is inserted into the flexible endoscope 450 after passing through the flexible endoscope manipulator robot connecting unit 800, and the bendable sheath driving mechanism 901 is used for driving the bendable sheath 903 to bend; the guide wire delivery clamping mechanism 904 is used to deliver a guide wire 905, the guide wire 905 being inserted within the flexible sheath 903.
The soft endoscope operation and control robot connecting unit 800 achieves the purpose of limiting through arranging a middle cavity, the starting end of the middle cavity is connected with the instrument insertion end of the soft endoscope, and the other end of the middle cavity is connected with the soft endoscope operation and control robot coaxial instrument operation unit.
As shown in fig. 13, in the embodiment of the present invention, the flexible sheath driving mechanism 901 includes a fixed base plate 908, and a reel 907, a flexible sheath fixing member 909, a spring tube pressing member 910, and a winding reel shaft fixing mechanism 911, which are provided on the fixed base plate 908, wherein the reel 907 is provided between the winding reel shaft fixing mechanism 911 and the fixed base plate 908, for winding the driving tendon of the flexible sheath 903; a flexible sheath holder 909 and a spring tube pressing member 910 are provided at the front end of the reel 907, the flexible sheath holder 909 is used to hold the flexible sheath 903, and the spring tube pressing member 910 is used to press the spring tube outside the driving tendon of the flexible sheath 903. The driver motor case 902 drives the reel 907 to rotate, the reel 907 rotates to wind or release the driving tendon, and the bending action of the bendable sheath 903 is realized by the pulling of the driving tendon.
In this embodiment, the guide wire delivering and clamping mechanism 904 includes a delivering and clamping mechanism fixing base plate 913, a guide wire delivering wheel 914, a guide wire clamping mechanism 915 and a screw fine-moving knob 916, wherein the guide wire clamping mechanism 915 can move in a direction close to or away from the guide wire delivering wheel 914, and the screw fine-moving knob 916 is connected to the guide wire clamping mechanism 915 for adjusting the position of the guide wire clamping mechanism 915. Specifically, the guide wire clamping mechanism 915 includes a guide wire clamping wheel that clamps the guide wire 905 with the guide wire delivery wheel 914 and effects delivery of the guide wire 905 by rotation.
According to the invention, the flexible endoscope main operation robot is matched with the flexible endoscope coaxial instrument operation robot, and the master-slave operation of the robot can assist a doctor in remote operation, so that the probability of the doctor being irradiated by X rays is reduced. The invention changes the operation mode from 'relying on experience and trial operation' to 'fine robot operation guided according to visual information', greatly reduces the operation risk, and improves the intelligent degree of soft endoscope intervention through the fusion of visual and sensor information.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The soft endoscope operation and control robot is characterized by comprising a soft endoscope supporting unit (700) and a soft endoscope main operation robot arranged on the soft endoscope supporting unit (700), wherein the soft endoscope main operation robot comprises a soft endoscope positioning unit (300), a soft endoscope conveying unit (400), a soft endoscope operation unit (500) and a soft endoscope following unit (600), the soft endoscope positioning unit (300) is connected with the soft endoscope supporting unit (700), and the soft endoscope operation unit (500) is connected with the soft endoscope positioning unit (300) through the soft endoscope following unit (600); the soft endoscope operation unit (500) is used for being connected with the soft endoscope (450) and controlling the action of the soft endoscope (450); the flexible endoscope conveying unit (400) is arranged on the flexible endoscope positioning unit (300) and is used for clamping and conveying the flexible endoscope (450).
2. The robot of claim 1, wherein the flexible endoscope positioning unit (300) comprises a first joint (301), a flange (302), a first connecting rod (303), an adapter plate (304) and a scope holding arm (305), wherein the first joint (301) and the flange (302) are arranged at one end of the first connecting rod (303), the other end of the first connecting rod (303) is connected with the scope holding arm (305) through the adapter plate (304), and the scope holding arm (305) is connected with the flexible endoscope conveying unit (400).
3. The flexible endoscope manipulator robot according to claim 1, characterized in that the flexible endoscope following unit (600) comprises a following unit second connecting rod (601), a following unit second joint (602), a following unit third connecting rod (603), a following unit third joint (604), a following unit fourth connecting rod (605), a following unit fourth joint (606), a joint connector (607) and a transition connecting rod (608) which are connected in sequence, wherein the following unit second connecting rod (601) is connected with the flexible endoscope positioning unit (300), and the transition connecting rod (608) is connected with the flexible endoscope operating unit (500).
4. The flexible endoscope operation control robot according to claim 1, wherein the flexible endoscope operation unit (500) comprises a mounting base plate (503), and a flexible endoscope fixing mechanism (501), a transfer fixing plate (502), a large wave wheel operator (505), a small wave wheel operator (506), a forceps operator (507), a first rotation driving mechanism, a second rotation driving mechanism and a third rotation driving mechanism which are arranged on the mounting base plate (503), wherein the small wave wheel operator (506), the large wave wheel operator (505) and the forceps lifting operator (507) are coaxially arranged from inside to outside and can rotate, the first rotary driving mechanism, the second rotary driving mechanism and the third rotary driving mechanism are respectively in transmission connection with a forceps lifting manipulator (507), a large wave wheel manipulator (505) and a small wave wheel manipulator (506); the flexible endoscope fixing mechanism (501) is connected with the mounting base plate (503) through a switching fixing plate (502); the flexible endoscope fixing mechanism (501) is used for fixing a flexible endoscope (450), and the flexible endoscope (450) is connected with a forceps raising operator (507), a large wave wheel operator (505) and a small wave wheel operator (506).
5. The flexible endoscope manipulation robot of claim 4, wherein the first rotary drive mechanism comprises a first motor (508), a pinion (504), a bull gear (511) and a motor mounting plate (512), wherein the motor mounting plate (512) is connected to the mounting base plate (503), the first motor (508) is mounted on the motor mounting plate (512) and an output end is connected to the pinion (504); the gearwheel (511) is connected to the gripper actuator (507) and meshes with the pinion (504).
6. The flexible endoscope operation and control robot according to claim 4, characterized in that the second rotary driving mechanism comprises a second motor (509) and a small synchronous belt (510), and the output end of the second motor (509) is in transmission connection with the big pulsator manipulator (505) through the small synchronous belt (510);
the third rotary driving mechanism comprises a third motor (513) and a large synchronous belt (514), and the output end of the third motor (513) is in transmission connection with the small impeller manipulator (506) through the large synchronous belt (514).
7. The flexible endoscope operation and control robot according to claim 1, characterized in that the flexible endoscope conveying unit (400) comprises a conveying unit frame, a first-stage synchronous belt (401), a sensor fixing flange (402), a torque sensor (403), a motor I (404), a driving wheel (407), a driven wheel (408), a second-stage synchronous belt (409) and a clamping mechanism (410), wherein the first-stage synchronous belt (401) is arranged on the conveying unit frame, the output end of the motor I (404) is connected with the sensor fixing flange (402), the sensor fixing flange (402) is connected with one end of the torque sensor (403), the other end of the torque sensor (403) is connected with one driving wheel (407), and the driving wheel (407) is connected with the other driving wheel (407) through the second-stage synchronous belt (409); two driven wheels (408) are arranged on the clamping mechanism (410), and the two driven wheels (408) respectively realize clamping and conveying of the flexible endoscope (450) under the synergistic action of the two driving wheels (407).
8. The flexible endoscope manipulation robot according to claim 7, wherein the clamping mechanism (410) comprises a motor II (405), a rack (411), a gear (412), a movable plate (413) and a linear slider (414), wherein the movable plate (413) is connected with the conveying unit frame through the linear slider (414); the rack (411) is arranged on the movable plate (413) and is parallel to the linear sliding block (414); the motor II (405) is arranged on the conveying unit frame, the output end of the motor II is connected with a gear (412), and the gear (412) is meshed with the rack (411); the two driven wheels (408) are rotatably arranged on the movable plate (413).
9. The flexible endoscope operation control robot according to claim 1, characterized in that the flexible endoscope supporting unit (700) comprises a chassis (702), a chassis housing (703), a lifting sliding table (704), a column (705), a first supporting arm (706) and a second supporting arm (707), wherein wheels (701) are arranged at the bottom of the chassis (702), and the chassis housing (703) is covered on the outer side of the chassis (702); the lifting sliding table (704) is arranged at the top of the chassis shell (703), the upright column (705) is connected with the lifting sliding table (704), one end of the first support arm (706) is connected with the upright column (705), and the other end of the first support arm is rotatably connected with the second support arm (707).
10. The flexible endoscope manipulator robot according to claim 1, further comprising a flexible endoscope coaxial instrument operation unit (900), wherein the flexible endoscope coaxial instrument operation unit (900) comprises a flexible sheath driving mechanism (901), a driver motor box (902), a flexible sheath (903), a guide wire conveying clamping mechanism (904) and a guide wire (905), wherein the flexible sheath driving mechanism (901) and the guide wire conveying clamping mechanism (904) are arranged on the driver motor box (902), and the flexible sheath driving mechanism (901) is connected with the flexible endoscope (450) through a flexible endoscope manipulator robot connection unit (800); one end of the bendable sheath tube (903) is connected with a bendable sheath tube driving mechanism (901), the other end of the bendable sheath tube (903) penetrates through the flexible endoscope operation control robot connecting unit (800) and then is inserted into the flexible endoscope (450), and the bendable sheath tube driving mechanism (901) is used for driving the bendable sheath tube (903) to bend; the guide wire conveying and clamping mechanism (904) is used for conveying a guide wire (905), and the guide wire (905) is inserted into the bendable sheath tube (903).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011370492.5A CN112353496A (en) | 2020-11-30 | 2020-11-30 | Soft endoscope operation and control robot |
| PCT/CN2020/135100 WO2022110312A1 (en) | 2020-11-30 | 2020-12-10 | Flexible endoscope control robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011370492.5A CN112353496A (en) | 2020-11-30 | 2020-11-30 | Soft endoscope operation and control robot |
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| CN112353496A true CN112353496A (en) | 2021-02-12 |
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| CN202011370492.5A Pending CN112353496A (en) | 2020-11-30 | 2020-11-30 | Soft endoscope operation and control robot |
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| WO (1) | WO2022110312A1 (en) |
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