CN113243947A - Bronchus intervention continuum robot for small nodules of lung - Google Patents
Bronchus intervention continuum robot for small nodules of lung Download PDFInfo
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- CN113243947A CN113243947A CN202110546058.6A CN202110546058A CN113243947A CN 113243947 A CN113243947 A CN 113243947A CN 202110546058 A CN202110546058 A CN 202110546058A CN 113243947 A CN113243947 A CN 113243947A
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Abstract
The invention provides a universal bronchial interventional continuum robot facing pulmonary nodules, which comprises: a concentric continuous external catheter and a driving structure thereof, a concentric continuous internal catheter and a driving structure thereof, a medical instrument channel and a driving structure thereof. The concentric continuous in-vitro catheter can realize front and back feeding single-degree-of-freedom and bending double-degree-of-freedom movement through the motor set module, the concentric continuous in-vivo catheter can realize telescopic single-degree-of-freedom and bending double-degree-of-freedom movement relative to the outer catheter through the motor set module, global flexible active navigation of the lung can be realized through the movement of the concentric continuous in-vivo catheter and the concentric continuous outer catheter, and the lung can reach the periphery of a tiny nodule. The concentric continuous internal catheter is provided with an endoscopic camera to provide images of lung bronchi. The medical instrument delivery module can realize the delivery and fixation of the medical instrument and finish the extraction work of the diagnosis sample of the pulmonary micro-segment. The disassembly button is arranged, and the disinfection and sterilization operation before the operation can be supported by the quick disassembly and replacement function.
Description
Technical Field
The application relates to the field of medical equipment, in particular to a bronchus intervention continuum robot facing small pulmonary nodules.
Background
Lung cancer is the most prevalent tumor with increased morbidity and mortality. Early diagnosis of lung is therefore critical for lung cancer treatment. In the early diagnosis of lung cancer, the existence of pulmonary micro-nodules can be diagnosed by combining CT images, but the pathological change of the pulmonary micro-nodules into lung cancer needs to be determined by lung bronchial biopsy. The biopsy mode comprises two modes of lung bronchus interventional biopsy and percutaneous puncture. Percutaneous aspiration biopsy is to determine the location of a lesion in the lung by CT or X-ray scanning, and to obtain a biopsy tissue by passing a puncture needle through the skin of the chest into the lesion in the lung, but percutaneous aspiration biopsy is not suitable for a micronode. Meanwhile, the lung cancer cannot be completely eliminated without detecting cancer cells by taking materials in percutaneous aspiration biopsy, and the risk of false negative exists. Meanwhile, complications such as pneumothorax are also likely to occur. For the lung bronchus interventional biopsy mode, for the central lesion at the lung portal part, the diagnosis accuracy rate of the lung bronchus interventional biopsy is higher, and for the lung nodule outside the air passage, the focus is difficult to reach by the traditional bronchoscope. The lung has numerous bronchial branches and a narrow lumen.
At present, in the biopsy confirmation, the clinical difficulty of accurately extending the interventional lung biopsy exists, and the development of a lung interventional robot is hindered.
Patent application number CN109846448A discloses a snake-shaped robot for disease diagnosis and interventional therapy in an airway, which comprises a robot main body and an operation panel, wherein the robot main body is in wireless connection with the operation panel, the robot main body comprises a head part, a tail part, a middle section and a flexible connecting section, the head part, the middle section and the tail part are connected through the flexible connecting section, the head part, the middle section and the tail part are provided with operation channels, rollers are fixed on the outer sides of the head part, the middle section and the tail part, and a camera and an ultrasonic probe are fixed at the center of the front end of the head part; the tail shell is fixedly provided with an ultrasonic ranging sensor and a driving motor, the operating panel comprises a shell, the shell is provided with a liquid crystal display screen and an operating button, a storage battery b, a micro-processing chip b and a wireless communication module b are arranged in the shell, the storage battery b is connected with the micro-processing chip b, and the micro-processing chip b is connected with the wireless communication module b. The robot can automatically crawl along the airway without manual insertion, thereby simplifying the operation.
Patent number CN110338741B relates to the medical instrument field, and specifically speaking is a visual flexible operation arm, including multicavity cap, multicavity hose, deformation skeleton, spring tube, drive tendon, actuating mechanism and outer tube set spare, be equipped with the multicavity hose of taking a plurality of hose chamber ways in the deformation skeleton, the multicavity cap is located deformation skeleton front end, and is equipped with a plurality of cap chamber ways in the multicavity cap, cap chamber way with hose chamber way one-to-one, the deformation skeleton outside has set firmly a plurality of spring tubes, and a plurality of drive tendons penetrate respectively in the spring tube that corresponds and the front end is fixed on the deformation skeleton, are equipped with briquetting and pivot in the actuating mechanism, and the spring tube rear end extends into actuating mechanism and is fixed through corresponding briquetting, and the drive tendon stretches out and around in corresponding pivot in by the spring tube that corresponds, and deformation skeleton, spring tube and drive tendon all locate in the outer tube set spare. The invention has flexible deformation capability, can be implanted into a human body along with a biopsy cavity of the soft endoscope, and can guide a camera, auxiliary instruments and the like and convey water vapor.
Therefore, it is needed to provide a robot for endobronchial intervention continuum facing to pulmonary nodules, which can reach the pulmonary lesion more accurately and deeply, obtain biopsy tissue and complete diagnosis. In the future, the bronchus interventional continuum robot can become a lung interventional platform, and different treatment tools are carried on to carry out lung minimally invasive interventional treatment.
Disclosure of Invention
In view of the above, the present invention provides a robot for endobronchial intervention of pulmonary nodules, comprising: a concentric continuous extracorporeal catheter 130, an external catheter linear drive module 110, an external catheter bending drive module 120, a concentric continuous intracorporeal catheter 230, an internal catheter linear drive module 210, an internal catheter bending drive module 220, a medical instrument drive module 300, and a robot housing structure 400;
the outer catheter linear driving module 110 and the outer catheter bending driving module 120 are mounted on the robot housing structure 400, and the concentric continuous outer catheter 130 is fixed on the robot housing structure 400; the concentric continuous extracorporeal catheter 130 realizes the front and back feeding single-degree-of-freedom motion through the external catheter linear driving module 110, a through hole is formed in the wall of the concentric continuous extracorporeal catheter 130, a driving wire is arranged in the through hole, and the concentric continuous extracorporeal catheter 130 is connected with the external catheter bending driving module 120 through the through hole built-in driving wire to realize the bending two-degree-of-freedom motion;
the inner catheter linear drive module 210 and the inner catheter bending drive module 220 are mounted on the upper drive module mounting plate 405, and the concentric continuous inner catheter 230 is mounted on a flange on the inner catheter bending drive module 220; the concentric continuous internal catheter 230 realizes telescopic single-degree-of-freedom motion relative to the concentric continuous external catheter 130 through the internal catheter linear driving module 210, a through hole is formed in the wall of the concentric continuous internal catheter 230, a driving wire is arranged in the through hole, and the concentric continuous internal catheter 230 is connected with the internal catheter bending driving module 220 through the through hole built-in driving wire to realize bending two-degree-of-freedom motion; the medical device drive structure 300 is fixedly mounted on the upper drive module mounting plate 405 of the robot.
Preferably, the concentric continuous extracorporeal catheter 130 comprises, in single or multiple stages, in series; the concentric continuous intracorporeal catheter 230 comprises, in single or multiple stages, in series; at least 4 through holes are arranged on the wall of each stage of the concentric continuous extracorporeal catheter 130; at least 4 through holes are arranged on the wall of each stage of the concentric continuous intracorporeal catheter 230.
Preferably, the front end sections 131, 132 of the concentric continuous extracorporeal catheter and the front end sections 231, 232 of the concentric continuous intracorporeal catheter are made of super-elastic nickel-titanium alloy material; the front end section of the concentric continuous extracorporeal catheter and the front end section of the concentric continuous intracorporeal catheter both form a superelastic hinge with a series of staggered hollowed-out structures, the hollowed-out structures are designed to be rectangular, elliptical and hyperbolic, and the staggered hollowed-out structures are arranged at staggered angles of 180 degrees, 120 degrees and 60 degrees.
Preferably, the end section 133 of the concentric continuous body outer catheter and the end section 233 of the concentric continuous body inner catheter both adopt a combination of a mesh stainless steel wire skeleton and a polyethylene tube.
Preferably, the outer catheter bending drive module 120 includes: an outer guide tube lead screw stepping motor 121, an outer guide tube motor support frame 122, an outer guide tube motor mounting plate 123, an outer guide tube driving wire coiling wheel 124 and an outer guide tube driving wire coiling column 125; outer pipe lead screw step motor 121 fixed mounting be in on the outer pipe motor mounting panel 123, outer pipe motor mounting panel 123 is fixed on the outer pipe motor support frame 122, outer pipe motor support frame 122 with upper portion drive module fixed plate 405 fixed connection, outer pipe drive wire winding post 125 fixed mounting be in on the outer pipe motor mounting panel 123, outer pipe drive wire wheel 124 is installed on outer pipe lead screw step motor 121.
Preferably, one end of the outer conduit driving wire 141-.
Preferably, the outer conduit drive wires 141 and 148 are arranged 180 degrees from each other in pairs, and are wound on the outer conduit drive wire winding wheel 124 through the outer conduit drive wire winding post 125; the lead screw lead of the outer catheter lead screw stepper motor 121 is consistent with the lead of the outer catheter driving wire winding wheel 124 structure.
Preferably, the inner catheter bending driving module 220 includes: an inner catheter lead screw stepper motor 221, an inner catheter lead screw stepper motor mounting plate 222, an inner catheter motor support frame 223, a pulley clamping plate 224, an inner catheter drive wire winding wheel 225, a medical device channel fixing flange 226, a concentric tandem inner catheter fixing flange 227 and an inner catheter drive wire winding post 228; the inner guide tube lead screw stepping motor 221 is fixedly mounted on the inner guide tube lead screw stepping motor mounting plate 222, the inner guide tube motor support frame 223 is fixedly connected with the inner guide tube lead screw stepping motor mounting plate 222, the inner guide tube driving wire wheel 225 is mounted on the inner guide tube lead screw stepping motor 221, the inner guide tube lead screw stepping motor mounting plate 222 is fixedly connected with the concentric tandem inner guide tube fixing flange 227, the concentric tandem inner guide tube fixing flange 227 is fixedly connected with the concentric continuous inner guide tube 230, the medical instrument channel fixing flange 226 is fixedly mounted on the inner guide tube lead screw stepping motor mounting plate 222, and the inner guide tube driving wire winding column 228 is fixedly mounted on the inner guide tube lead screw stepping motor mounting plate 222.
Preferably, one end of the inner conduit driving wire 241-.
Preferably, the inner conduit drive wires 241-248 are arranged 180 degrees from each other in pairs, wound on the inner conduit drive wire spool 225 through the inner conduit drive wire spool 228; the lead screw lead of the inner catheter lead screw stepper motor 221 is consistent with the lead of the inner catheter driving wire winding wheel 225 structure.
Preferably, the outer catheter linear drive module 110 includes: an outer catheter stepper motor 116, an outer catheter drive pulley 118, an outer catheter timing belt 1111, an outer catheter idler pulley 119, an outer catheter sled 112, and an outer catheter slider 113; the outer catheter stepping motor 116 is connected to an outer catheter driving pulley 118, and the outer catheter driving pulley 118 is directly connected to the outer catheter idle pulley 119 via the outer catheter synchronous belt 1111, so as to drive the outer catheter idle pulley 119 to rotate.
Preferably, the inner catheter linear driving module 210 includes: an inner catheter stepping motor 211, an inner catheter motor frame 212, an inner catheter driving pulley 213, an inner catheter synchronous belt 214, an inner catheter idle pulley 215 and an inner catheter guide rail 217; the inner catheter stepping motor 211 is fixedly mounted on the inner catheter motor frame 212, the inner catheter stepping motor 211 drives the inner catheter driving pulley 213 to synchronously rotate, and the inner catheter driving pulley 213 and the inner catheter idle pulley 215 are meshed with the inner catheter synchronous belt 214 to perform synchronous belt transmission; the inner catheter synchronous belt 214 is clamped between the inner catheter motor support frame 223 and the inner catheter pulley clamping plate 224, the inner catheter synchronous belt 214 is driven by the inner catheter driving pulley 213 and the inner catheter idle pulley 215, and the inner catheter synchronous belt 214 drives the inner catheter motor support frame 223 to move.
Preferably, the medical instrument drive module 300 includes: an instrument stepping motor 301, an instrument motor supporting plate 302, a coupler 303, a lead screw 304, a limiting polished rod 305, an instrument sliding block 306, a sliding bearing 307, a lead screw fixing flange 308, a sliding plate 309, a clamping device 310 and a medical instrument channel 311; instrument step motor 301 fixed mounting in on the instrument motor backup pad 302, instrument step motor 301 passes through shaft coupling 303 drive lead screw 304 synchronous revolution, lead screw 304 with spacing polished rod 305 combined action drives instrument slider 306 carries out linear motion, slide 309 fixed mounting is in on the instrument slider, clamping device 310 fixed mounting is in on slide 309, medical instrument passageway 311 with medical instrument passageway mounting flange 226 fixed connection.
Preferably, the robot housing structure 400 includes: a linear drive module housing 401, an upper drive module outer housing 402, a first spring button structure 403-1, a second spring button structure 403-2, a bottom plate 404, and an upper drive module securing plate 405; the first spring button structure 403-1 is installed on the linear driving module casing 401, the second spring button structure 403-2 is installed on the upper driving module casing 402, the linear driving module casing 401 is fixedly installed on the bottom plate 404, the upper driving module casing 402 is installed on the upper driving module fixing plate 405, and the upper driving module fixing plate 405 is fixedly installed on the upper bottom plate 1113. Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
the invention mainly provides a bronchus intervention continuum robot for pulmonary nodules, which comprises a two-stage tandem type concentric continuum external catheter and a driving structure thereof, a two-stage tandem type concentric continuum internal catheter and a driving structure thereof, a medical instrument working channel and a driving structure thereof. The concentric structure of the two-stage series concentric inner and outer catheters of the continuum can achieve the effect of lengthening the length of the continuum and reach deeper lung bronchus. The outer diameter of the two-stage serial concentric continuous internal catheter is smaller, and the two-stage serial concentric continuous internal catheter can reach narrower lung bronchus. The two-stage tandem type concentric continuous external catheter can realize the motion of front and back feeding with single degree of freedom and bending with double degree of freedom through the motor module of the two-stage tandem type concentric continuous internal catheter, the motion of stretching with single degree of freedom and bending with double degree of freedom relative to the external catheter can be realized through the motor module of the two-stage tandem type concentric continuous internal catheter and the two-stage tandem type concentric continuous external catheter, the global flexible active navigation of the lung can be realized through the motion of the two-stage tandem type concentric continuous internal catheter and the two-stage tandem type concentric continuous external catheter, and the lung can reach the periphery of a micro nodule. The two-stage serial concentric continuous internal catheter is provided with an endoscopic camera to provide images of lung bronchus. The medical instrument delivery module can realize the delivery and fixation of the medical instrument and finish the extraction work of the diagnosis sample of the pulmonary micro-segment. The disassembly button is arranged, and the disinfection and sterilization operation before the operation can be supported by the quick disassembly and replacement function.
The continuous body robot structure is made of super-elastic nickel-titanium alloy materials, and elastic hinges with series of staggered hollow structures are formed, wherein the hollow structures can be designed to be rectangular, elliptical, hyperbolic and the like and are staggered at 180 degrees, 120 degrees, 60 degrees and the like. Simultaneously, the requirements of rigidity and flexibility are met, 180-degree bending motion and motion self-locking of the continuum are realized, and the requirements of precision and stability of the robot are met.
The two-stage tandem type concentric continuous body catheter is adopted, the concentric inner catheter performs telescopic motion relative to the outer catheter, the effect of lengthening the length of the continuous external catheter can be achieved, the outer diameter of the inner catheter is smaller, and the requirement of reaching deeper and narrower lung bronchus is met. Through the control of the driving module, all levels of serial concentric continuum catheters can be guided actively, the global flexible navigation of the lung can be realized, and a diagnosis sample is provided for the pulmonary micro-nodule diseases. The continuous body robot is smaller and reaches a higher bronchial section of the lung, and a working channel can be provided for diagnosis of the pulmonary micro-nodule.
Each stage of continuum duct is controlled by 4 driving wires to do bending movement, one end of each driving wire is fixedly connected with each stage of continuum duct, and the other end of each driving wire is connected with a bending driving module. The driving wires which are 180 degrees mutually realize synchronous control of the two driving wires by the same motor through the wire winding wheel structure of the driving wires in different clockwise and anticlockwise directions of winding.
The circumferential rotation motion of the lead screw stepping motor is converted into the lifting and circumferential rotation motion of the driving wire wheel structure, and the lead of the lead screw stepping motor is consistent with the lead of the wire wheel structure, so that the driving wire can be wound along the spiral groove of the wire wheel, the driving wire is not overlapped, and the high-precision control of the bending motion of the continuum is realized.
The medical instrument delivery module is fixed with a fixing flange on a lead screw stepping motor mounting plate in the concentric inner catheter bending driving module, delivery and fixation of medical instruments can be achieved, and extraction of a diagnosis sample of small pulmonary nodules is completed.
Can realize quick dismantlement through the spring button structure, the disinfection operation before the quick change function can support. The spring button structure can realize the integral disassembly of the continuum robot and other mechanical arms and the disassembly of the integral upper driving module and the linear driving module of the continuum robot.
Drawings
FIG. 1a is a general block diagram of a bronchial interventional continuum robot in an embodiment of the present invention;
FIG. 1b is a side view of the general structure of a endobronchial interventional continuum robot in an embodiment of the present invention;
FIG. 2 is a schematic three-dimensional view of an outer catheter linear drive module in accordance with an embodiment of the present invention;
FIG. 3 is a schematic three-dimensional view of an outer catheter bending actuation module in accordance with an embodiment of the present invention;
FIG. 4 is a schematic three-dimensional view of an inner catheter linear drive module and an inner catheter bending drive module according to an embodiment of the present invention;
FIG. 5a is a schematic top view of a catheter drive wire and inner catheter drive wire distribution configuration in accordance with an embodiment of the present invention;
FIG. 5b is an enlarged top view of a schematic representation of the distribution of the catheter drive wire and the inner catheter drive wire in one embodiment of the present invention;
FIG. 5c is a schematic top detail view of a catheter drive wire and inner catheter drive wire arrangement according to an embodiment of the present invention;
FIG. 6 is a schematic three-dimensional view of an outer catheter drive wire and inner catheter drive wire reel in accordance with an embodiment of the present invention;
FIG. 7a is an initial state of a two-stage concentric continuum of intracorporeal and extracorporeal catheters according to an embodiment of the present invention;
FIG. 7b is a drawing of a two-stage concentric continuum with inner and outer conduits in tension in one embodiment of the invention;
FIG. 8 is a schematic diagram of a three-dimensional structure of a deployment profile in an embodiment of the present invention;
FIG. 9a is a schematic diagram of the general construction of a medical device drive module in accordance with an embodiment of the present invention;
FIG. 9b is a schematic illustration of a portion of a channel of a medical device according to an embodiment of the present invention;
fig. 10 is a three-dimensional structure diagram of a shell structure of the robot in an embodiment of the invention.
In the figure, 110-outer catheter linear driving module, 111-fixed base plate, 112-outer catheter guide rail, 113-outer catheter slider, 114-pulley fixed plate, 115-slider connecting plate, 116-outer catheter stepping motor, 117-motor supporting plate, 118-outer catheter driving pulley, 119-outer catheter idler pulley, 1110-idler pulley supporting seat, 1111-outer catheter synchronous belt, 1112-idler pulley shaft, 1113-upper base plate, 120-outer catheter bending driving module, 121-1-121-4-outer catheter lead screw stepping motor, 122-outer catheter motor supporting frame, 123-outer catheter motor mounting plate, 124-1-124-4 outer catheter driving wire wheel, 125-outer catheter driving wire winding column, 130-concentric continuous outer catheter, 131-, 210-inner catheter linear drive module, 211-inner catheter stepper motor, 212-inner catheter motor mount, 213-inner catheter drive pulley, 214-inner catheter synchronous belt, 215-inner catheter idler pulley, 216-idler pulley shaft, 217-inner catheter guide rail, 220-inner catheter bending drive module, 221-1-221-4-inner catheter lead screw stepper motor, 222-inner catheter lead screw stepper motor mounting plate, 223-inner catheter motor support frame, 224-pulley clamping plate, 225-1-225-4-inner catheter drive wire spool, 226-medical instrument channel fixing flange, 227-concentric tandem inner catheter fixing flange, 228-inner catheter drive wire spool, 230-concentric continuous inner catheter, 231-front end section of concentric continuous inner catheter, 233-end section of concentric continuous inner catheter, 234-end of inner catheter, 300-medical instrument drive module, 301-instrument stepper motor, 302-instrument motor support plate, 303-coupler, 304-lead screw, 305-limiting polished rod, 306-instrument slider, 307-sliding bearing, 308-lead screw fixing flange, 309-sliding plate, 310-clamping device, 311-medical instrument channel, 400-robot shell structure, 401-linear drive module shell, 402-upper drive module outer shell, 403-1-first spring button structure, 403-2-second spring button structure, 404-bottom plate, 405-upper drive module fixing plate.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
As shown in fig. 1a and 1b, the bronchial intervention continuum robot facing the pulmonary nodules provided by the embodiment of the present application includes: a concentric continuous extracorporeal catheter 130, an external catheter linear drive module 110, an external catheter bending drive module 120, a concentric continuous intracorporeal catheter 230, an internal catheter linear drive module 210, an internal catheter bending drive module 220, a medical instrument drive module 300, and a robot housing structure 400;
the outer catheter linear drive module 110 is mounted on the base plate 404, the outer catheter bending drive module 120 is mounted on the upper drive module mounting plate 405, and the concentric continuous outer catheter 130 is mounted on the upper drive module outer housing 402; the concentric continuous extracorporeal catheter 130 realizes the front and back feeding single-degree-of-freedom motion through the external catheter linear driving module 110, a through hole is formed in the wall of the concentric continuous extracorporeal catheter 130, a driving wire is arranged in the through hole, and the concentric continuous extracorporeal catheter 130 is connected with the external catheter bending driving module 120 through the through hole built-in driving wire to realize the bending two-degree-of-freedom motion;
the inner catheter linear drive module 210 and the inner catheter bending drive module 220 are mounted on an upper drive module mounting plate 405, and the concentric continuous inner catheter 230 is mounted on a flange on an inner catheter lead screw stepper motor mounting plate 222; the concentric continuous internal catheter 230 realizes telescopic single-degree-of-freedom motion relative to the concentric continuous external catheter 130 through the internal catheter linear driving module 210, a through hole is formed in the wall of the concentric continuous internal catheter 230, a driving wire is arranged in the through hole, and the concentric continuous internal catheter 230 is connected with the internal catheter bending driving module 220 through the through hole built-in driving wire to realize bending two-degree-of-freedom motion; the medical device drive structure 300 is fixedly mounted on the upper drive module mounting plate 405.
According to the above solution, further, as shown in fig. 7a and 7b, the concentric continuous extracorporeal catheter 130 is connected in series in two stages; the concentric continuous intracorporeal catheter 230 is in two-stage series; 4 through holes are arranged on the wall of each stage of the concentric continuous extracorporeal catheter 130; 4 through holes are arranged on the wall of each stage of the concentric continuous intracorporeal catheter 230.
According to the above scheme, further, the front end sections 131 and 132 of the concentric continuous extracorporeal catheter and the front end sections 231 and 232 of the concentric continuous intracorporeal catheter are made of super-elastic nickel-titanium alloy materials; the front end section of the concentric continuous extracorporeal catheter and the front end section of the concentric continuous intracorporeal catheter both form a superelastic hinge with a series of staggered hollowed-out structures, the hollowed-out structures are designed to be rectangular, elliptical and hyperbolic, and the staggered hollowed-out structures are arranged at staggered angles of 180 degrees, 120 degrees and 60 degrees.
According to the scheme, the end section 133 of the concentric continuous body outer catheter and the end section 233 of the concentric continuous body inner catheter both adopt a combined structure of a net-shaped stainless steel wire framework and a polyethylene pipe, and the end 234 of the inner catheter is fixedly connected to the front end section 231 of the inner catheter.
As shown in FIG. 8, an imaging fiber 234-1, a light source 234-2, a fill light 234-3, and a working channel outlet 234-4 are disposed in the concentric continuous intrabody catheter 230. When the lesion is reached, the biopsy brush and the biopsy forceps in the catheter are extended out to take out the lesion tissue.
According to the above solution, further, as shown in fig. 3, the outer catheter bending driving module 120 includes: an outer guide tube lead screw stepping motor 121, an outer guide tube motor support frame 122, an outer guide tube motor mounting plate 123, an outer guide tube driving wire coiling wheel 124 and an outer guide tube driving wire coiling column 125; outer pipe lead screw step motor 121 fixed mounting be in on the outer pipe motor mounting panel 123, outer pipe motor mounting panel 123 is fixed on outer pipe motor support frame 122, outer pipe motor support frame 122 fixed mounting is on upper portion drive module fixed plate 405, outer pipe drive wire winding post 125 fixed mounting be in on the outer pipe motor mounting panel 123, outer pipe drive wire wheel 124 is installed on outer pipe lead screw step motor 121.
According to the above scheme, further, one end of the outer conduit driving wire 141 and 148 is fixedly connected with each stage of concentric continuous extracorporeal conduit 130, the other end of the outer conduit driving wire 141 and 148 is wound on the outer conduit driving wire winding wheel 124, the outer conduit lead screw stepping motor 121 drives the outer conduit driving wire to rotate around the wire winding wheel 124, and the concentric continuous extracorporeal conduit 130 is driven to generate bending motion through the outer conduit driving wire 141 and 148.
According to the scheme, further, the outer conduit driving wires 141 and 148 are arranged in pairs at 180 degrees from each other, and are wound on the outer conduit driving wire winding wheel 124 through the outer conduit driving wire winding column 125; the lead screw lead of the outer catheter lead screw stepping motor 121 is consistent with the lead screw lead of the outer catheter driving wire coiling wheel 124 structure, so that the winding of the outer catheter driving wire 141 and 148 of the concentric continuous outer catheter 130 along the spiral groove of the wheel can be realized, the driving wire is prevented from being overlapped in the winding process of the outer catheter driving wire coiling wheel 124, and the high-precision control of the bending motion of the inner catheter and the outer catheter of the two-stage series concentric continuous inner catheter and outer catheter is realized.
As shown in figure 6, the outer guide pipe driving wire wheels 124-1, 124-2, 124-3 and 124-4 are provided with two independent driving wire thread grooves, the thread grooves are consistent with the lead of a lead screw, a spline limiting structure is arranged in the outer guide pipe driving wire wheels, and the outer guide pipe lead screw stepping motor 121 drives the wire wheels to synchronously rotate, so that the non-overlapping winding of the driving wires is realized.
According to the scheme, as shown in fig. 5a, 5b and 5c, the outer catheter driving wire 141 and the outer catheter driving wire 142 are wound on the outer catheter driving wire wheel 124-1 through the outer catheter driving wire winding column 125 in a mutually anticlockwise-clockwise manner, and the outer catheter lead screw stepping motor 121-1 drives the outer catheter driving wire wheel 124-1 to perform turnover and linear lifting movement so as to pull the outer catheter driving wire 141 and the outer catheter driving wire 142; the outer catheter driving wire 143 and the outer catheter driving wire 144 are wound on the outer catheter driving wire reel 124-2 through the outer catheter driving wire winding column 125 in a mutually anticlockwise manner, the outer catheter lead screw stepping motor 121-2 drives the outer catheter driving wire reel 124-2 to perform turnover and linear lifting movement, the outer catheter driving wire 143 and the outer catheter driving wire 144 are further pulled, and the front end section 131 of the concentric continuous outer catheter is subjected to bending movement by controlling the outer catheter driving wire 141 and 144 at the same time.
The outer guide pipe driving wire 145 and the outer guide pipe driving wire 146 are mutually anticlockwise wound on the outer guide pipe driving wire reel 124-3 through an outer guide pipe driving wire winding column 125, and the outer guide pipe lead screw stepping motor 121-3 drives the outer guide pipe driving wire reel 124-3 to perform turnover and linear lifting movement so as to pull the outer guide pipe driving wire 145 and the outer guide pipe driving wire 146; the outer catheter driving wire 147 and the outer catheter driving wire 148 are wound on the outer catheter driving wire pulley 124-4 through the outer catheter driving wire winding column 125 in a mutually anticlockwise mode, the outer catheter lead screw stepping motor 121-4 drives the outer catheter driving wire pulley 124-4 to perform turnover and linear lifting movement, the outer catheter driving wire 147 and the outer catheter driving wire 148 are further pulled, and the front end section 132 of the concentric continuous outer catheter is subjected to bending movement by controlling the outer catheter driving wire 145 and the outer catheter driving wire 148 at the same time.
The concentric continuous extracorporeal catheter 130 can accomplish the active guiding motion in the complex cavity by controlling the simultaneous external catheter drive wires 141 and 148.
According to the above solution, further, as shown in fig. 4, the inner catheter bending driving module 220 includes: an inner catheter lead screw stepper motor 221, an inner catheter lead screw stepper motor mounting plate 222, an inner catheter motor support frame 223, a pulley clamping plate 224, an inner catheter drive wire winding wheel 225, a medical device channel fixing flange 226, a concentric tandem inner catheter fixing flange 227 and an inner catheter drive wire winding post 228; the inner guide tube lead screw stepping motor 221 is fixedly mounted on the inner guide tube lead screw stepping motor mounting plate 222, the inner guide tube motor support frame 223 is fixedly connected with the inner guide tube lead screw stepping motor mounting plate 222, the inner guide tube driving wire wheel 225 is mounted on the inner guide tube lead screw stepping motor 221, the inner guide tube lead screw stepping motor mounting plate 222 is fixedly connected with the concentric tandem inner guide tube fixing flange 227, the concentric tandem inner guide tube fixing flange 227 is fixedly connected with the concentric continuous inner guide tube 230, the medical instrument channel fixing flange 226 is fixedly mounted on the inner guide tube lead screw stepping motor mounting plate 222, and the inner guide tube driving wire winding column 228 is fixedly mounted on the inner guide tube lead screw stepping motor mounting plate 222.
According to the scheme, one end of the inner conduit driving wire 241-.
According to the scheme, further, the inner conduit driving wires 241 and 248 are arranged in pairs at 180 degrees from each other, and are wound on the inner conduit driving wire winding wheel 225 through the inner conduit driving wire winding column 228; the lead screw lead of the inner catheter lead screw stepping motor 221 is consistent with the lead screw lead of the inner catheter driving wire coiling wheel 225 structure, so that the inner catheter driving wire 241-248 of the concentric continuous external catheter 230 can be wound along the spiral groove of the wheel, the driving wire is prevented from being overlapped in the winding process of the outer catheter driving wire coiling wheel 225, and the high-precision control of the bending motion of the inner catheter and the outer catheter of the two-stage series concentric continuous body is realized.
According to the scheme, as shown in fig. 5b and 5c, the inner conduit driving wire 241 and the inner conduit driving wire 242 are wound on the inner conduit driving wire wheel 225-1 in a mutually anticlockwise way through the inner conduit driving wire winding column 228, the inner conduit lead screw stepping motor 221-1 drives the inner conduit driving wire wheel 225-1 to perform turnover and linear lifting movement, and further pulls the inner conduit driving wire 241 and the inner conduit driving wire 242; the inner catheter driving wire 243 and the inner catheter driving wire 244 are mutually anticlockwise wound on the inner catheter driving wire reel 225-2 through the inner catheter driving wire winding column 228, the inner catheter lead screw stepping motor 221-2 drives the inner catheter driving wire reel 225-2 to perform turnover and linear lifting movement, the inner catheter driving wire 243 and the inner catheter driving wire 244 are further pulled, and the front end section 231 of the concentric continuous inner catheter is subjected to bending movement by simultaneously controlling the inner catheter driving wire 241 and the inner catheter driving wire 244.
The inner conduit driving wire 245 and the inner conduit driving wire 246 are mutually reverse-time needle inner conduit winding on the driving wire wheel 225-3 through the inner conduit driving wire winding column 228, the inner conduit lead screw stepping motor 221-3 drives the inner conduit driving wire wheel 225-3 to perform turnover and linear lifting movement, and then the inner conduit driving wire 245 and the inner conduit driving wire 246 are pulled; the inner catheter driving wire 247 and the inner catheter driving wire 248 are mutually anticlockwise wound on the inner catheter driving wire reel 225-4 through the inner catheter driving wire winding column 228, the inner catheter lead screw stepping motor 221-4 drives the inner catheter driving wire reel 225-4 to perform turnover and linear lifting movement, the inner catheter driving wire 247 and the inner catheter driving wire 248 are further pulled, and the front end section 232 of the concentric continuous inner catheter is subjected to bending movement by simultaneously controlling the inner catheter driving wire 245 and the inner catheter driving wire 248.
The concentric continuous body catheter 230 can accomplish active guiding motion in complex lumens by controlling the simultaneous inner catheter drive wires 241-248.
The end section 133 of the concentric tandem outer catheter is fixedly connected with a flange fixedly connected to the upper driving module outer housing 402, and the upper driving module outer housing 402 is driven to move by the linear driving module 110 of the bronchus-mediated continuum robot, so that the concentric tandem outer catheter 130 generates a linear feeding motion. The end section 233 of the concentric tandem inner conduit is fixedly connected with a fixed flange 227 mounted on the lead screw stepping motor mounting plate 222, and the concentric tandem inner conduit 230 is linearly fed by the linear driving module 210 of the concentric tandem inner conduit.
According to the above scheme, further, as shown in fig. 2, the device comprises a fixed bottom plate 111, an outer guide tube guide rail 112, an outer guide tube slider 113, a pulley fixing plate 114, a slider connecting plate 115, an outer guide tube stepping motor 116, a motor supporting plate 117, an outer guide tube driving pulley 118, an outer guide tube idler pulley 119, an idler pulley supporting seat 1110, an outer guide tube synchronous belt 1111, an idler pulley shaft 1112, and an upper bottom plate 1113; the fixed bottom plate 111 is provided with an outer guide tube guide rail 112, a motor support plate 117 and a driven pulley support seat 1110; the outer catheter stepping motor 116 is fixedly arranged on the motor supporting plate 117, the outer catheter stepping motor 116 drives the outer catheter driving pulley 118 to synchronously rotate, and the outer catheter driving pulley 118 and the outer catheter idle pulley 119 are meshed with the outer catheter synchronous belt 1111 to carry out transmission of the outer catheter synchronous belt 1111; the outer guide pipe synchronous belt 1111 is clamped between the outer guide pipe sliding block 113 and the belt wheel fixing plate 114, the upper bottom plate 1113 is fixedly arranged on the belt wheel fixing plate 114, and the outer guide pipe guide rail 112 is used for guiding the sliding block to complete front and back linear motion and has a front and back feeding linear driving function on the whole structure.
According to the above solution, further, as shown in fig. 4, the inner catheter linear driving module 210 includes: an inner catheter stepping motor 211, an inner catheter motor frame 212, an inner catheter driving pulley 213, an inner catheter synchronous belt 214, an inner catheter idle pulley 215 and an inner catheter guide rail 217; the inner catheter stepping motor 211 is fixedly mounted on the inner catheter motor frame 212, the inner catheter stepping motor 211 drives the inner catheter driving pulley 213 to synchronously rotate, and the inner catheter driving pulley 213 and the inner catheter idle pulley 215 are meshed with the inner catheter synchronous belt 214 to perform synchronous belt transmission; the inner catheter synchronous belt 214 is clamped between the inner catheter motor support frame 223 and the inner catheter pulley clamping plate 224, the inner catheter synchronous belt 214 is driven by the inner catheter driving pulley 213 and the inner catheter idle pulley 215, and the inner catheter synchronous belt 214 drives the inner catheter motor support frame 223 to move, so that the telescopic motion of the two-stage concentric continuous inner catheter is realized.
According to the above solution, further, as shown in fig. 9a and 9b, the medical instrument driving module 300 includes: an instrument stepping motor 301, an instrument motor supporting plate 302, a coupler 303, a lead screw 304, a limiting polished rod 305, an instrument sliding block 306, a sliding bearing 307, a lead screw fixing flange 308, a sliding plate 309, a clamping device 310 and a medical instrument channel 311; instrument step motor 301 fixed mounting in on the instrument motor backup pad 302, instrument step motor 301 passes through shaft coupling 303 drive lead screw 304 synchronous revolution, lead screw 304 with spacing polished rod 305 combined action drives instrument slider 306 carries out linear motion, slide 309 fixed mounting is in on the instrument slider 306, clamping device 310 fixed mounting is in on slide 309, medical instrument passageway 311 with medical instrument passageway mounting flange 226 fixed connection. One end of the medical instrument channel 311 is fixed on the medical instrument channel fixing flange 226, and the other end is fixed on the upper driving module outer housing 402, and the length of the medical instrument channel 311 can be changed by the linear motion of the inner catheter lead screw stepping motor mounting plate 222.
According to the above solution, further, as shown in fig. 10, the robot housing structure 400 includes: a linear drive module housing 401, an upper drive module outer housing 402, a first spring button structure 403-1, a second spring button structure 403-2, a bottom plate 404, and an upper drive module securing plate 405; the linear driving module housing 401, the upper driving module outer housing 402 and the upper driving module fixing plate 405 are fixedly mounted on the upper base plate 1113; the spring button structure 403-1 enables the continuum robot to be disassembled integrally from other robotic arms, and the spring button structure 403-1 is mounted on the linear drive module housing 401. When the working state is diagnosed, a button above the spring button structure 403-1 is pressed, the spring is compressed, and a button shaft passes through the bottom plate 404 and forms full-freedom limit with a buckling structure of the bottom plate 404. When the detachable button needs to be detached, the button on the side of the spring button structure 403-1 is pressed, the original shape is restored through the spring, and the button moves for a certain distance along the clamping groove, so that the detachable button can be detached; similarly, the spring button structure 403-2 enables the detachment of the upper drive module from the integral linear drive module of the continuum robot, with the spring button structure 403-2 being mounted on the upper drive module outer housing 402. When the working state is diagnosed, a button above the spring button structure 403-2 is pressed, the spring is compressed, the button shaft passes through the upper driving module fixing plate 405, the upper bottom plate 1113, and the upper driving module fixing plate 405 and the upper bottom plate 1113 form a clamping limiting structure to form limiting of full freedom degree. When the detachable button is needed, the button on the side of the spring button structure 403-2 is pressed, the original state is restored through the spring, and the button is moved for a certain distance along the clamping groove, so that the detachable button can be detached. Can conveniently and quickly carry out preoperative disinfection and sterilization work.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
While this specification contains many specific implementation details, these should not be construed as limitations on the scope of any invention or of what may be claimed, but rather as descriptions of features specific to particular embodiments of particular inventions. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. In other instances, features described in connection with one embodiment may be implemented as discrete components or in any suitable subcombination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination.
Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In some cases, multitasking and parallel processing may be advantageous. Moreover, the separation of various system modules and components in the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.
Thus, particular embodiments of the subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. Further, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some implementations, multitasking and parallel processing may be advantageous.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (14)
1. The robot of continuum is intervene to bronchus towards lung little nodule, its characterized in that includes: a concentric continuous extracorporeal catheter (130), an external catheter linear drive module (110), an external catheter bending drive module (120), a concentric continuous intracorporeal catheter (230), an internal catheter linear drive module (210), an internal catheter bending drive module (220), a medical instrument drive module (300), and a robot housing structure (400);
the outer catheter linear driving module (110) and the outer catheter bending driving module (120) are installed on the robot shell structure (400), and the concentric continuous outer catheter (130) is fixed on the robot shell structure (400); the concentric continuous external catheter (130) realizes the front-back feeding single-degree-of-freedom motion through the external catheter linear driving module (110), the wall of the concentric continuous external catheter (130) is provided with a through hole, a driving wire is arranged in the through hole, and the concentric continuous external catheter (130) is connected with the external catheter bending driving module (120) through the through hole built-in driving wire to realize the bending two-degree-of-freedom motion;
the inner catheter linear driving module (210) and the inner catheter bending driving module (220) are installed on an upper driving module fixing plate (405), and the concentric continuous inner catheter (230) is fixed on a flange on the inner catheter bending driving module (220); the concentric continuous internal catheter (230) realizes telescopic single-degree-of-freedom motion relative to the concentric continuous external catheter (130) through the internal catheter linear driving module (210), a through hole is formed in the wall of the concentric continuous internal catheter (230), a driving wire is arranged in the through hole, and the concentric continuous internal catheter (230) is connected with the internal catheter bending driving module (220) through the driving wire arranged in the through hole to realize bending double-degree-of-freedom motion; the medical device drive structure (300) is fixedly mounted on an upper drive module mounting plate (405) of the robot.
2. The pulmonary nodule facing bronchial interventional continuum robot of claim 1, wherein the concentric continuum extracorporeal catheter (130) comprises, in single or multiple stages, in series; the concentric continuous intracorporeal catheter (230) comprises, in single or multiple stages, in series; at least 4 through holes are arranged on the wall of each stage of concentric continuous extracorporeal catheter (130); at least 4 through holes are arranged on the wall of each stage of the concentric continuous intracorporeal catheter (230).
3. The pulmonary nodule-facing bronchial interventional continuum robot of claim 1, wherein the front end segments (131), (132) of the concentric continuum extracorporeal catheter and the front end segments (231), (232) of the concentric continuum intracorporeal catheter are both of superelastic nitinol material; the front end section of the concentric continuous extracorporeal catheter and the front end section of the concentric continuous intracorporeal catheter both form a superelastic hinge with a series of staggered hollowed-out structures, the hollowed-out structures are designed to be rectangular, elliptical and hyperbolic, and the staggered hollowed-out structures are arranged at staggered angles of 180 degrees, 120 degrees and 60 degrees.
4. The pulmonary nodule facing bronchial interventional continuum robot of claim 3, wherein the end section (133) of the concentric continuum extracorporeal catheter and the end section (233) of the concentric continuum intracorporeal catheter both employ a combination of a mesh stainless steel wire skeleton and polyethylene tubing.
5. The pulmonary micronaire-mediated continuum robot according to claim 1, wherein the outer-tube flexion driving module (120) comprises: an outer guide pipe lead screw stepping motor (121), an outer guide pipe motor support frame (122), an outer guide pipe motor mounting plate (123), an outer guide pipe driving wire wheel (124) and an outer guide pipe driving wire winding column (125); outer pipe lead screw step motor (121) fixed mounting be in on outer pipe motor mounting panel (123), outer pipe motor mounting panel (123) are fixed outer pipe motor support frame (122) are last, outer pipe motor support frame (122) with upper portion drive module fixed plate (405) fixed connection, outer pipe drive wire winding post (125) fixed mounting be in on outer pipe motor mounting panel (123), outer pipe drive wire wheel (124) are installed on outer pipe lead screw step motor (121).
6. The bronchus intervention continuum robot facing to the pulmonary nodules according to claim 5, wherein one end of the outer catheter driving wire (141 and 148) is fixedly connected with each stage of concentric continuum extracorporeal catheter (130), the other end of the outer catheter driving wire (141 and 148) is wound on the outer catheter driving wire reel (124), the outer catheter lead screw stepping motor (121) drives the outer catheter driving wire reel (124) to rotate, and the concentric continuum extracorporeal catheter (130) is driven to generate bending motion through the outer catheter driving wire (141 and 148).
7. The pulmonary micronode-oriented bronchial interventional continuum robot as set forth in claim 6, wherein the outer-catheter drive wires (141-148) are arranged in pairs 180 degrees from each other, wound on the outer-catheter drive wire reel (124) through the outer-catheter drive wire reel column (125); and the lead screw lead of the outer guide pipe lead screw stepping motor (121) is consistent with the lead of the structure of the outer guide pipe driving wire winding wheel (124).
8. The pulmonary micronaire-oriented endobronchial intervention continuum robot of claim 1, wherein the inner catheter flexion driving module (220) comprises: an inner guide pipe lead screw stepping motor (221), an inner guide pipe lead screw stepping motor mounting plate (222), an inner guide pipe motor support frame (223), a belt wheel clamping plate (224), an inner guide pipe driving wire winding wheel (225), a medical instrument channel fixing flange (226), a concentric series inner guide pipe fixing flange (227) and an inner guide pipe driving wire winding column (228); the inner guide pipe lead screw stepping motor (221) is fixedly arranged on the inner guide pipe lead screw stepping motor mounting plate (222), the inner guide pipe motor support frame (223) is fixedly connected with the inner guide pipe lead screw stepping motor mounting plate (222), the inner conduit driving wire wheel (225) is arranged on the inner conduit lead screw stepping motor (221), the inner guide pipe lead screw stepping motor mounting plate (222) is fixedly connected with the concentric tandem inner guide pipe fixing flange (227), the concentric tandem inner catheter fixing flange (227) is fixedly connected with the concentric continuous inner catheter (230), the medical instrument channel fixing flange (226) is fixedly arranged on the inner catheter lead screw stepping motor mounting plate (222), the inner catheter drive wire winding post (228) is fixedly mounted on the inner catheter lead screw stepper motor mounting plate (222).
9. The bronchus intervention continuum robot facing to the pulmonary nodules according to claim 8, wherein one end of an inner catheter driving wire (241-.
10. The pulmonary micronode-oriented bronchial interventional continuum robot as set forth in claim 9, wherein the inner catheter drive wires (241-248) are arranged in pairs 180 degrees from each other, wound on the inner catheter drive wire reel (225) through the inner catheter drive wire winding post (228); the lead screw lead of the inner guide pipe lead screw stepping motor (221) is consistent with the lead of the inner guide pipe driving wire winding wheel (225).
11. The pulmonary micronaire-oriented endobronchial robot of claim 1, wherein said outer-catheter linear drive module (110) comprises: an outer catheter stepping motor (116), an outer catheter driving pulley (118), an outer catheter synchronous belt (1111), an outer catheter idle pulley (119), an outer catheter sliding rail (112) and an outer catheter sliding block (113); the outer catheter stepping motor (116) is connected with an outer catheter driving pulley (118), and the outer catheter driving pulley (118) is directly connected with an outer catheter idle pulley (119) through an outer catheter synchronous belt (1111) to drive the outer catheter idle pulley (119) to rotate.
12. The pulmonary micronaire-oriented endobronchial intervention continuum robot of claim 8, wherein the inner catheter linear drive module (210) comprises: an inner catheter stepping motor (211), an inner catheter motor frame (212), an inner catheter driving pulley (213), an inner catheter synchronous belt (214), an inner catheter idle pulley (215) and an inner catheter guide rail (217); the inner catheter stepping motor (211) is fixedly arranged on the inner catheter motor frame (212), the inner catheter stepping motor (211) drives the inner catheter driving pulley (213) to synchronously rotate, and the inner catheter driving pulley (213) and the inner catheter idle pulley (215) are meshed with the inner catheter synchronous belt (214) to perform synchronous belt transmission; the inner guide pipe synchronous belt (214) is clamped between the inner guide pipe motor support frame (223) and the inner guide pipe belt wheel clamping plate (224), the inner guide pipe synchronous belt (214) is driven by the inner guide pipe driving belt wheel (213) and the inner guide pipe idle belt wheel (215), and the inner guide pipe synchronous belt (214) drives the inner guide pipe motor support frame (223) to move.
13. The pulmonary nodule-oriented endobronchial interventional continuum robot of claim 8, wherein the medical instrument drive module (300) comprises: the device comprises an instrument stepping motor (301), an instrument motor supporting plate (302), a coupler (303), a lead screw (304), a limiting polished rod (305), an instrument sliding block (306), a sliding bearing (307), a lead screw fixing flange (308), a sliding plate (309), a clamping device (310) and a medical instrument channel (311); instrument step motor (301) fixed mounting be in on instrument motor backup pad (302), instrument step motor (301) are passed through shaft coupling (303) drive lead screw (304) synchronous rotation, lead screw (304) with spacing polished rod (305) combined action drives instrument slider (306) carry out linear motion, slide (309) fixed mounting be in on the instrument slider, clamping device (310) fixed mounting be in on slide (309), medical instrument passageway (311) with medical instrument passageway mounting flange (226) fixed connection.
14. The pulmonary nodule-oriented endobronchial interventional continuum robot of claim 1, wherein the robot shell structure (400) comprises: the device comprises a linear driving module shell (401), an upper driving module outer shell (402), a first spring button structure (403-1), a second spring button structure (403-2), a bottom plate (404) and an upper driving module fixing plate (405); the first spring button structure (403-1) is installed on the linear driving module shell (401), the second spring button structure (403-2) is installed on the upper driving module outer shell (402), the linear driving module shell (401) is fixedly installed on the bottom plate (404), the upper driving module outer shell (402) is installed on the upper driving module fixing plate (405), and the upper driving module fixing plate (405) is fixedly installed on the upper bottom plate (1113).
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| CN202110546058.6A CN113243947B (en) | 2021-05-19 | 2021-05-19 | Bronchus intervention continuum robot for small nodules of lung |
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| CN202110546058.6A CN113243947B (en) | 2021-05-19 | 2021-05-19 | Bronchus intervention continuum robot for small nodules of lung |
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| CN113243947B CN113243947B (en) | 2022-01-11 |
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| CN114557774A (en) * | 2022-02-25 | 2022-05-31 | 中国科学院自动化研究所 | Multi-degree-of-freedom flexible continuum robot for lung interventional biopsy |
| CN115844321A (en) * | 2023-01-10 | 2023-03-28 | 浙江大学 | Medical active continuous endoscope robot |
| CN117770739A (en) * | 2024-02-27 | 2024-03-29 | 北京云力境安科技有限公司 | Instrument conveying and intervention device |
| CN117770739B (en) * | 2024-02-27 | 2024-05-31 | 北京云力境安科技有限公司 | Instrument conveying and intervention device |
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