CN114587610A

CN114587610A - Flexible laparoscope auxiliary robot based on flexible cable drive continuum configuration

Info

Publication number: CN114587610A
Application number: CN202210289856.XA
Authority: CN
Inventors: 王正雨; 周灿; 陈澳; 顾嘉成; 马杰; 陈雨阳; 包诗扬; 魏迅; 刘光明; 海铭心
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2021-04-06
Filing date: 2022-03-23
Publication date: 2022-06-07
Anticipated expiration: 2042-03-23
Also published as: CN114587610B

Abstract

The invention belongs to the technical field of medical robots, and particularly relates to a flexible laparoscope auxiliary robot based on a flexible cable driven continuum structure. The Innfos robot comprises an Innfos robot, a rack mechanism, a first driving mechanism, a second driving mechanism and an actuating mechanism; the rack mechanism comprises a square shell, a column group, a horizontal shaft group and a rigid pipe, wherein one end of the square shell in the Y-axis direction is connected with the Innfos robot through a flange, and the other end of the square shell in the Y-axis direction is fixedly connected with one end of the rigid pipe; the push rod of the first linear driver stretches and retracts to drive the first traction block to tension the first closed-loop rope forwards or backwards, and the push rod of the second linear driver stretches and retracts to drive the second traction block to tension the second closed-loop rope forwards or backwards, so that the flexible continuum can be bent in any direction within 60 degrees, and the camera module can rotate. Therefore, the invention is used in the laparoscopic surgery without the need of holding the laparoscope by a doctor, can prevent the influence of unfavorable surgical operations such as tremor caused by holding the laparoscope by hands and the like, and ensures that the surgical operations are safer and more stable.

Description

Flexible laparoscope auxiliary robot based on flexible cable drive continuum configuration

Technical Field

The invention belongs to the technical field of medical robots, and particularly relates to a flexible laparoscope auxiliary robot based on a flexible cable drive continuum structure.

Background

Compared with open surgery, the laparoscopic surgery has the advantages of small incision, clear visual field, less bleeding during surgery, light postoperative pain, quick recovery and the like, is deeply welcomed by doctors and patients, and can provide a clearer and more natural three-dimensional visual field for an operator to ensure that the hand-eye coordination of the operator is more coordinated. Until now, laparoscopy has been widely used in the fields of abdominal surgery, cardiothoracic surgery, urology surgery, gynecology, vascular surgery, etc.

Most of the laparoscopes in the market are rigid laparoscopes, the traditional rigid laparoscopes are formed by directly connecting rigid straight rods with laparoscope lenses, the laparoscope is large in size, single in structure and single in angle, bending adjustment of a certain angle cannot be achieved, the vision provided by the laparoscope lenses is limited, and the wide vision is difficult to provide. In addition, the traditional rigid laparoscope has high overall rigidity, and can be influenced by factors such as external tremor and the like in the long-time operation process, and the characteristic of rigid motion of the traditional rigid laparoscope is easy to cause damage to minimally invasive holes in the surface of a human body and tissues and organs in the human body. Compared with the traditional rigid laparoscope, the flexible laparoscope has more advantages by adopting a flexible structure at the tail end of the rigid rod.

The flexible structure of the flexible laparoscope auxiliary robot can obtain a larger visual field through tiny change, and the flexible laparoscope auxiliary robot can work in a limited space in the abdominal cavity at multiple angles, plays a role in visual field tracking and is greatly convenient for the operation process. In addition, a series of complex operations can be carried out in the abdominal cavity of the human body by virtue of the flexible movement mode, the human body is not easy to be damaged, and the safety and flexibility of the laparoscope in the operation in the abdominal cavity are improved. However, the existing flexible structure is a discrete structure, which is composed of a plurality of small elements and is difficult to control, so that the accuracy and flexibility of the flexible structure are not enough to meet the real-time control requirement of the operation. Therefore, the flexible laparoscope auxiliary robot based on the flexible cable drive continuum structure is planned to be designed to be economical, universal and miniaturized, and achieves simple and convenient optimization of the mechanism while realizing sensitive and stable operation.

Disclosure of Invention

In order to solve the problems, the invention provides a flexible laparoscope auxiliary robot based on a flexible cable drive continuum structure, wherein the flexible structure is a continuous integrated structure, has enough accuracy and flexibility and is easy to control. Meanwhile, the flexible laparoscope adopts a steel wire rope-bearing control mode, so that the driving stability is improved.

The invention is realized by the following technical scheme:

a flexible laparoscope auxiliary robot based on a flexible cable drive continuum structure comprises an Innfos robot 3, a rack mechanism, a first drive mechanism, a second drive mechanism and an execution mechanism;

the rack mechanism comprises a closed square shell 11, an upright post group, a horizontal shaft group and a rigid pipe 12;

each upright post 13 of the upright post group is vertically fixed in the square shell 11, and a bearing 20 is coaxially and fixedly connected on each upright post 13,

each horizontal shaft 14 of the horizontal shaft group is horizontally erected in the square shell 11, and each horizontal shaft 14 is sleeved with a bearing 20,

one end of the square housing 11 in the Y-axis direction is connected to the Innfos robot 3 through a flange 31, and the other end in the Y-axis direction is fixedly connected to one end of the rigid tube 12;

the first driving mechanism and the second driving mechanism are uniformly distributed in the square shell 11;

the first driving mechanism includes a first linear driver 41 and a first wire rope 42, the first linear driver 41 is disposed along one side inner wall of the square housing 11, and a push rod of the first linear driver 41 is fixedly connected to one end of a first traction block 43, so that the first traction block 43 is disposed along the X-axis direction of the square housing 11,

the other end of the first traction block 43 is fixedly connected with two ends of the first steel wire rope 42 respectively, so that the first steel wire rope 42 forms a first closed loop rope;

the second driving mechanism comprises a second linear driver 44 and a second wire rope 45, the second linear driver 44 is arranged along the inner wall of the other side of the square housing 11, and a push rod of the second linear driver 44 is fixedly connected with one end of a second traction block 46, so that the second traction block 46 is arranged along the X-axis direction of the square housing 11,

the other end of the second traction block 46 is fixedly connected with two ends of the second steel wire rope 45 respectively, so that the second steel wire rope 45 forms a second closed loop rope;

the actuating mechanism comprises a connecting sleeve 51, a flexible continuous body 52 and a camera module 53;

the flexible continuum 52 is a nylon tubular continuum, transverse arc-shaped notches 521 are uniformly formed in the axial side wall of the tubular continuum, one end of the flexible continuum 52 is fixedly connected with the other end of the rigid pipe 12 through a connecting sleeve 51, and the other end of the flexible continuum 52 is fixedly connected with a camera module 53;

the first closed loop rope sequentially passes through each bearing 20 of the column set, sequentially penetrates through the rigid pipe 12, the connecting sleeve 51 and the flexible continuous body 52 along one horizontal radial end of the rigid pipe 12, and sequentially penetrates through the flexible continuous body 52, the connecting sleeve 51 and the rigid pipe 12 along the other horizontal radial end of the rigid pipe 12;

the second closed loop rope sequentially passes through each bearing 20 of the horizontal shaft group, sequentially penetrates through the rigid pipe 12, the connecting sleeve 51 and the flexible continuous body 52 along one vertical radial end of the rigid pipe 12, and sequentially penetrates through the flexible continuous body 52, the connecting sleeve 51 and the rigid pipe 12 along the other vertical radial end of the rigid pipe 12;

during operation, the push rod of the first linear actuator 41 stretches and retracts to drive the first traction block 43 to tension the first closed loop rope forwards or backwards, and the push rod of the second linear actuator 44 stretches and retracts to drive the second traction block 46 to tension the second closed loop rope forwards or backwards, so that the flexible continuum 52 is bent in any direction within 60 degrees, and the camera module 53 is rotated.

Further, the upright column group comprises 6 upright columns 13, and the upper end of each upright column 13 is sleeved with the inner ring of the bearing 20;

4 upright posts are arranged at four right angles of the square to form a winding frame, and the other 2 upright posts are arranged between 2 upright posts 13 on the wide side of the winding frame and are guide upright posts,

the extending end of the first traction block 43 is located on one long edge of the winding frame, and the extending end of the first traction block 43 is fixedly connected with two ends of the first steel wire rope 42, so that the first steel wire rope 42 passes through the outer ring of the corresponding bearing 20 on the winding frame and then passes through the outer ring of the bearing 20 on the guide upright post, and one end along the horizontal radial direction of the rigid pipe 12 penetrates into the square shell 11 or the other end along the horizontal radial direction of the rigid pipe 12 penetrates out of the square shell 11;

the horizontal shaft group comprises two pairs of horizontal shafts, each pair of horizontal shafts is arranged in a staggered way up and down, the middle part of each horizontal shaft 14 is sleeved with the inner ring of the bearing 20,

each pair of horizontal shafts is horizontally erected in the winding frame through a pair of column plates 15, and the two pairs of horizontal shafts are arranged in the Y-axis direction of the square shell 11 in the front and back directions,

the extending end of the second traction block 46 is located between the two pairs of horizontal shafts, and the extending end of the second traction block 46 is fixedly connected to two ends of the second steel cable 45, so that the second steel cable 45 passes through the outer ring of each bearing 20 on each pair of horizontal shafts, and then penetrates into the square housing 11 along the vertical radial end of the rigid pipe 12 or penetrates out of the square housing 11 along the vertical radial other end of the rigid pipe 12.

Further, two corresponding upright columns 13 on one diagonal of the winding frame are respectively fixedly installed through pre-tightening grooves 131, the slotting direction of each pre-tightening groove 131 is consistent with the length direction of the winding frame, the corresponding upright columns 13 are fixedly inserted in the pre-tightening grooves 131 through nuts, and the bearings 20 are sleeved on the upright columns through shaft sleeves; the tension of the first steel wire rope 42 can be adjusted by adjusting the installation position of the upright post 13 on the pre-tightening groove 131, so that the first steel wire rope 42 is kept in a tensioned state;

each pair of column plates 15 are arranged in parallel at intervals, a pair of horizontal shafts is correspondingly arranged on each pair of column plates 15, and a bearing is sleeved in the middle of each horizontal shaft through a pair of shaft sleeves;

the upper part of each column plate is provided with a rectangular long groove, the grooving direction is consistent with the Y-axis direction of the square shell 11, and two ends of the corresponding horizontal shaft 14 penetrate through a pair of rectangular long grooves on one pair of column plates 15 and are locked and fixed through nuts; the installation position of the horizontal shaft 14 on the pair of rectangular long grooves is adjusted, so that the staggered angle of the pair of horizontal shafts can be adjusted, the tension of the second steel wire rope 45 is adjusted, and the second steel wire rope 45 is kept in a tensioned state.

Further, a pair of arc-shaped notches are formed in the same circumferential direction of the flexible continuous body 52, the upper edge surface and the lower edge surface of each arc-shaped notch 521 are curved surfaces with opposite bending radians, and the bending radians are both pi/3;

the opening directions of the adjacent arc-shaped notches 521 in the axial direction of the flexible continuous body 52 are vertical.

Further, four clamping grooves are respectively and uniformly formed in two end portions of the flexible continuous body 52, so that one end of the flexible continuous body 52 is connected with the clamping groove of the connecting sleeve 51, and the other end of the flexible continuous body is connected with the clamping groove of the connecting end of the camera module 53;

four small shaft holes 522 are formed in the flexible continuum 52 in an axial direction in a penetrating mode, and the four small shaft holes 522 are evenly distributed on a circular surface with the diameter being 7mm, so that the first steel wire rope 42 and the second steel wire rope 45 penetrate into and penetrate out of the flexible continuum 52 through the four small shaft holes respectively.

Further, the first linear driver 41 and the second linear driver 44 are respectively arranged along the inner walls of two sides of the square housing 11, the end portions of the first linear driver 41 and the second linear driver 44 are respectively fixedly connected with the corresponding end portions of the square housing 11 through the L-shaped fixing plates 16, the middle portions of the first linear driver 41 and the second linear driver 44 respectively penetrate through the U-shaped grooves of the U-shaped supporting blocks 17, each U-shaped supporting block 17 is horizontally arranged, and the U-shaped supporting blocks 17 are fixedly connected with the inner side walls of the corresponding square housing 11.

Furthermore, three connecting columns 111 with unthreaded holes are arranged in the square shell 11, and bolts sequentially pass through the upper shell cover 112, the connecting columns 111 and the corresponding square shell 11 and are locked and fixed through nuts, so that the square shell 11 forms a sealed cavity;

the side wall of the square housing 11 is provided with a grid-shaped heat dissipation hole 113 corresponding to the first linear actuator 41 and the second linear actuator 44.

Further, the maximum push-pull force 70N of the first linear actuator 41 and the second linear actuator 44 is 18 mm/s.

The invention has the beneficial effects that:

1. the invention relates to a flexible laparoscope auxiliary robot based on a flexible cable driving continuum structure, wherein a rack mechanism, a first driving mechanism, a second driving mechanism and an actuating mechanism form a flexible laparoscope auxiliary robot arm, the flexible laparoscope auxiliary robot arm adopts a steel wire rope-bearing control mode, the steel wire rope drives the flexible continuum to be easy to bend, the friction of a bearing is small, and the control precision of the flexible continuum is high, so that the control model has sufficient precision and stability and meets the working requirement of a medical auxiliary instrument; meanwhile, the flexible laparoscope auxiliary robot arm is driven by a linear driver, the maximum push-pull force of the linear driver is 70N, and the maximum speed is 18mm/s, so that the average angular speed of the flexible continuum is about 6.04rad/s, and the requirement of real-time tracking in the operation process is met.

2. The invention adopts a guide pre-tightening structure, the tension of the first steel wire rope can be adjusted by adjusting the installation position of the upright post on the pre-tightening groove, so that the first steel wire rope keeps a tensioned state, the staggered angle of the horizontal shafts can be adjusted by adjusting the installation position of the horizontal shafts on the pair of rectangular long grooves, the tension of the second steel wire rope can be adjusted, and the second steel wire rope keeps a tensioned state. The first steel wire rope and the second steel wire rope are always kept in a tensioned state during working, so that the steel wire ropes accurately drive the continuous body to achieve the expected bending degree.

3. The flexible continuous body is adopted, the continuous body is provided with the arc-shaped I-shaped incision, the rigidity and the elasticity are sufficient, the continuous body is not broken during bending, and the original shape can be recovered after bending, so that the laparoscope can be bent within an angle of 60 degrees in any direction, and the required visual field can be captured more flexibly and accurately.

4. The flexible laparoscope auxiliary robot arm is arranged on the mechanical arm of the infofos robot, a surgeon does not need to hold a laparoscope by hands, the influence of vibration and other adverse operation operations caused by holding the laparoscope by hands can be prevented, and the operation operations are safer and more stable.

Drawings

Fig. 1 is a schematic structural diagram of a flexible laparoscope assisted robot based on a flexible cable-driven continuum configuration according to the invention.

Fig. 2 is a schematic structural view of the flexible laparoscopic auxiliary robot arm of the present invention.

Fig. 3 is a schematic view of the flexible laparoscopic auxiliary robot arm of the present invention with the upper housing cover removed.

Fig. 4 is a partially enlarged view of fig. 3.

Fig. 5 is a schematic structural diagram of the first drive mechanism and the second drive mechanism of the present invention.

Fig. 6 is a schematic structural diagram of the rack mechanism of the present invention.

Fig. 7 is a schematic structural diagram of the installation of the upright post and the pre-tightening slot of the invention.

Fig. 8 is a schematic view of a pair of horizontal shafts and a pair of column plates according to the present invention.

Fig. 9 is a schematic structural diagram of an actuator according to the present invention.

FIG. 10 is a schematic view of the structure of the flexible continuum of the present invention.

Fig. 11 is another isometric view of the flexible continuum of fig. 10.

FIG. 12 is a view showing a state in which the flexible continuum of the present invention is bent by motion.

Wherein: the robot comprises a square shell 11, a connecting column 111, an upper shell cover 112, a heat dissipation hole 113, a rigid tube 12, an upright post 13, a pre-tightening groove 131, a horizontal shaft 14, a pair of upright post plates 15, an L-shaped fixing plate 16, a U-shaped supporting block 17, a bearing 20, a flange 31, an Infos robot 3, a first linear driver 41, a first steel wire rope 42, a first traction block 43, a second linear driver 44, a second steel wire rope 45, a second traction block 46, a connecting sleeve 51, a flexible continuous body 52, a camera module 53, an arc-shaped notch 521 and a small shaft hole 522.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.

Referring to fig. 1 and 2, a flexible laparoscope assisted robot based on a flexible cable drive continuum configuration comprises an Innfos robot 3, a rack mechanism, a first drive mechanism, a second drive mechanism and an actuator; wherein the rack mechanism, the first driving mechanism, the second driving mechanism and the actuating mechanism form a flexible laparoscope auxiliary robot arm.

referring to fig. 3-4, the first driving mechanism and the second driving mechanism are uniformly distributed in the square shell 11;

referring to fig. 5, the first driving mechanism includes a first linear driver 41 and a first wire rope 42, the first linear driver 41 is disposed along one side inner wall of the square housing 11, and a push rod of the first linear driver 41 is fixedly connected to one end of a first traction block 43, so that the first traction block 43 is disposed along the X-axis direction of the square housing 11,

referring to fig. 9, the actuator includes a connection sleeve 51, a flexible continuum 52 and a camera module 53;

Referring to fig. 6, the column set comprises 6 columns 13, and the upper end of each column 13 is sleeved with the inner ring of the bearing 20;

The first linear driver 41 and the second linear driver 44 are respectively arranged along the inner walls of two sides of the square shell 11, the end parts of the first linear driver 41 and the second linear driver 44 are respectively fixedly connected with the corresponding end parts of the square shell 11 through the L-shaped fixing plates 16, the middle parts of the first linear driver 41 and the second linear driver 44 respectively penetrate through the U-shaped grooves of the U-shaped supporting blocks 17, each U-shaped supporting block 17 is horizontally arranged, and the U-shaped supporting blocks 17 are fixedly connected with the corresponding inner side walls of the square shell 11.

Three connecting columns 111 with unthreaded holes are arranged in the square shell 11, and bolts sequentially penetrate through the upper shell cover 112, the connecting columns 111 and the corresponding square shell 11 and are locked and fixed through nuts, so that the square shell 11 forms a sealed cavity;

Further, the maximum push-pull force 70N of the first linear actuator 41 and the second linear actuator 44 is 18mm/s, so that the average angular velocity of the flexible continuous body 52 is about 6.04rad/s, which meets the requirement of real-time tracking during the operation.

Referring to fig. 7, two corresponding upright posts 13 on one diagonal of the winding frame are respectively fixedly installed through a pre-tightening slot 131, the slotting direction of each pre-tightening slot 131 is consistent with the length direction of the winding frame, the corresponding upright posts 13 are fixedly inserted in the pre-tightening slots 131 through nuts, and the bearings 20 are sleeved on the upright posts through shaft sleeves; the tension of the first steel wire rope 42 can be adjusted by adjusting the installation position of the upright post 13 on the pre-tightening groove 131, so that the first steel wire rope 42 is kept in a tensioned state;

as shown in fig. 8, each pair of column plates 15 is arranged in parallel and at intervals, a pair of horizontal shafts is correspondingly installed on each pair of column plates 15, and the bearings are sleeved in the middle of the horizontal shafts through a pair of shaft sleeves;

the upper part of each column plate is provided with a rectangular long groove, the grooving direction is consistent with the Y-axis direction of the square shell 11, and two ends of the corresponding horizontal shaft 14 penetrate through a pair of rectangular long grooves on one pair of column plates 15 and are locked and fixed through nuts; the installation position of the horizontal shaft 14 on the pair of rectangular long grooves is adjusted, the staggered angle of the horizontal shafts can be adjusted, and the tension of the second steel wire rope 45 is adjusted, so that the second steel wire rope 45 keeps a tensioned state.

The pre-tightening grooves 131 and the rectangular long grooves in the upper portions of the column plates are respectively provided with two pre-tightening structures in the horizontal direction and the vertical direction, so that the strokes of the first steel wire rope 41 and the second steel wire rope 45 are respectively adjusted, the first steel wire rope 41 and the second steel wire rope 45 are always kept in a tightened state during working, and the flexible 52 continuum can accurately achieve the expected bending degree;

referring to fig. 10 to 12, a pair of arc-shaped notches are formed in the same circumferential direction of the flexible continuous body 52, an upper edge surface and a lower edge surface of each arc-shaped notch 521 are curved surfaces with opposite bending radians, and the bending radians are both pi/3; the shortest distance between the upper part and the lower part of the arc-shaped notch is 1.32 mm.

The opening directions of the adjacent arc-shaped notches 521 in the axial direction of the flexible continuous body 52 are vertical. The arc-shaped notch 521 enables the flexible continuous body 52 to have sufficient rigidity and elasticity, not to break when bent, and to restore the original shape after being bent.

Four clamping grooves are uniformly formed in two end parts of the flexible continuous body 52 respectively, so that one end of the flexible continuous body 52 is connected with the clamping groove of the connecting sleeve 51, and the other end of the flexible continuous body is connected with the clamping groove of the connecting end of the camera module 53;

The device comprises a rack mechanism, a first driving mechanism, a second driving mechanism and an executing mechanism;

therefore, the Infos robot 3 of the invention supports the whole laparoscope structure, the rack mechanism acts as a framework in the whole robot, the first driving mechanism and the second driving mechanism are arranged in the rack mechanism, and the actuating mechanism is arranged at the tail end of the rigid tube 12 of the rack mechanism. The Infos robot 3 and the frame mechanism are used for supporting, and the driving mechanism provides power to enable the actuating mechanism to complete corresponding movement, and finally complete the visual field acquisition operation of the flexible laparoscope in the operation process. The laparoscope does not need to be held by a doctor in the whole process, the influence of unfavorable operation such as tremor caused by holding the laparoscope by hands can be prevented, and the operation is safer and more stable.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A flexible laparoscope auxiliary robot based on a flexible cable drive continuum structure is characterized in that: the system comprises an Innfos robot (3), a rack mechanism, a first driving mechanism, a second driving mechanism and an actuating mechanism;

the rack mechanism comprises a closed square shell (11), an upright post group, a horizontal shaft group and a rigid pipe (12);

each upright post (13) of the upright post group is vertically fixed in the square shell (11), and a bearing (20) is coaxially and fixedly connected on each upright post (13),

each horizontal shaft (14) of the horizontal shaft group is horizontally erected in the square shell (11), and a bearing (20) is sleeved on each horizontal shaft (14),

one end of the square shell (11) in the Y-axis direction is connected with the Innfos robot (3) through a flange (31), and the other end of the square shell in the Y-axis direction is fixedly connected with one end of the rigid tube (12);

the first driving mechanism and the second driving mechanism are both arranged in the square shell (11);

the first driving mechanism comprises a first linear driver (41) and a first steel wire rope (42), the first linear driver (41) is arranged along the inner wall of one side of the square shell (11), and a push rod of the first linear driver (41) is fixedly connected with one end of a first traction block (43), so that the first traction block (43) is arranged along the X-axis direction of the square shell (11),

the other end of the first traction block (43) is fixedly connected with two ends of the first steel wire rope (42) respectively, so that the first steel wire rope (42) forms a first closed loop rope;

the second driving mechanism comprises a second linear driver (44) and a second steel wire rope (45), the second linear driver (44) is arranged along the inner wall of the other side of the square shell (11), and a push rod of the second linear driver (44) is fixedly connected with one end of a second traction block (46), so that the second traction block (46) is arranged along the X-axis direction of the square shell (11),

the other end of the second traction block (46) is fixedly connected with two ends of a second steel wire rope (45) respectively, so that the second steel wire rope (45) forms a second closed loop rope;

the actuating mechanism comprises a connecting sleeve (51), a flexible continuous body (52) and a camera module (53);

the flexible continuum (52) is a nylon tubular continuum, transverse arc-shaped notches (521) are uniformly formed in the axial side wall of the tubular continuum, one end of the flexible continuum (52) is fixedly connected with the other end of the rigid pipe (12) through a connecting sleeve (51), and the other end of the flexible continuum (52) is fixedly connected with a camera module (53);

the first closed loop rope sequentially passes through each bearing (20) of the column set, sequentially penetrates through the rigid pipe (12), the connecting sleeve (51) and the flexible continuous body (52) along one horizontal radial end of the rigid pipe (12), and sequentially penetrates out of the flexible continuous body (52), the connecting sleeve (51) and the rigid pipe (12) along the other horizontal radial end of the rigid pipe (12);

the second closed loop rope sequentially winds each bearing (20) of the horizontal shaft group, sequentially penetrates through the rigid pipe (12), the connecting sleeve (51) and the flexible continuous body (52) along one vertical radial end of the rigid pipe (12), and sequentially penetrates out of the flexible continuous body (52), the connecting sleeve (51) and the rigid pipe (12) along the other vertical radial end of the rigid pipe (12);

when the flexible continuous body bending device works, a push rod of the first linear driver (41) stretches and retracts to drive the first traction block (43) to tension the first closed-loop rope forwards or backwards, a push rod of the second linear driver (44) stretches and retracts to drive the second traction block (46) to tension the second closed-loop rope forwards or backwards, so that the flexible continuous body (52) bends in any direction within 60 degrees, and the camera module (53) rotates.

2. The flexible laparoscopic assisted robot based on a flexible cable driven continuum configuration of claim 1, wherein: the upright column group comprises 6 upright columns (13), and the upper end of each upright column (13) is sleeved with the inner ring of the bearing (20);

4 upright posts are arranged at four right angles of the square to form a winding frame, and the other 2 upright posts are arranged between 2 upright posts (13) on the wide side of the winding frame and are guide upright posts,

the extending end of the first traction block (43) is positioned on one long edge of the winding frame, and the extending end of the first traction block (43) is fixedly connected with two ends of the first steel wire rope (42), so that the first steel wire rope (42) passes through the outer ring of the corresponding bearing (20) on the winding frame and then passes through the outer ring of the bearing (20) on the guide upright post, and one end in the horizontal radial direction of the rigid pipe (12) penetrates into the square shell (11) or the other end in the horizontal radial direction of the rigid pipe (12) penetrates out of the square shell (11);

the horizontal shaft group comprises two pairs of horizontal shafts, each pair of horizontal shafts are arranged in a staggered manner from top to bottom, the middle part of each horizontal shaft (14) is sleeved with the inner ring of the bearing (20),

each pair of horizontal shafts is horizontally erected in the winding frame through a pair of column plates (15), and the two pairs of horizontal shafts are arranged in the Y-axis direction of the square shell (11) in the front and back directions,

the extending end of the second traction block (46) is positioned between the two pairs of horizontal shafts, and the extending end of the second traction block (46) is fixedly connected with two ends of the second steel wire rope (45), so that the second steel wire rope (45) penetrates into the square shell (11) along the vertical radial end of the rigid pipe (12) or penetrates out of the square shell (11) along the vertical radial other end of the rigid pipe (12) after passing through the outer ring of each bearing (20) on each pair of horizontal shafts.

3. The flexible laparoscopic assisted robot based on a flexible cable driven continuum configuration of claim 2, wherein: two corresponding upright columns (13) on one diagonal of the winding frame are fixedly installed through pre-tightening grooves (131) respectively, the slotting direction of each pre-tightening groove (131) is consistent with the length direction of the winding frame, the corresponding upright columns (13) are fixedly inserted in the pre-tightening grooves (131) through nuts, and bearings (20) are sleeved on the upright columns through shaft sleeves; the tension of the first steel wire rope (42) can be adjusted by adjusting the installation position of the upright post (13) on the pre-tightening groove (131), so that the first steel wire rope (42) is kept in a tensioned state;

each pair of column plates (15) is arranged in parallel at intervals, a pair of horizontal shafts is correspondingly arranged on each pair of column plates (15), and a bearing is sleeved in the middle of each horizontal shaft through a pair of shaft sleeves;

the upper part of each column plate is provided with a rectangular long groove, the grooving direction is consistent with the Y-axis direction of the square shell (11), and two ends of a corresponding horizontal shaft (14) penetrate through a pair of rectangular long grooves on a pair of column plates (15) and are locked and fixed through nuts; the installation position of the horizontal shaft (14) on the pair of rectangular long grooves is adjusted, the staggered angle of the horizontal shaft can be adjusted, the tension of the second steel wire rope (45) is adjusted, and the second steel wire rope (45) is kept in a tensioned state.

4. The flexible laparoscopic assisted robot based on a flexible cable driven continuum configuration of claim 1, wherein: a pair of arc-shaped notches are formed in the same circumferential direction of the flexible continuous body (52), the upper edge surface and the lower edge surface of each arc-shaped notch (521) are curved surfaces with opposite bending radians, and the bending radians are pi/3;

the opening directions of the adjacent arc-shaped notches (521) in the axial direction of the flexible continuous body (52) are vertical.

5. The flexible laparoscopic assisted robot based on a flexible cable driven continuum configuration of claim 1, wherein: four clamping grooves are uniformly formed in two end parts of the flexible continuous body (52) respectively, so that one end of the flexible continuous body (52) is connected with the clamping groove of the connecting sleeve (51), and the other end of the flexible continuous body is connected with the connecting end clamping groove of the camera module (53);

four small shaft holes (522) are formed in the flexible continuum (52) in the axial direction in a penetrating mode, the four small shaft holes (522) are evenly distributed on a circular surface with the diameter being 7mm, and therefore the first steel wire rope (42) and the second steel wire rope (45) penetrate into and penetrate out of the flexible continuum (52) through the four small shaft holes respectively.

6. The flexible laparoscopic assisted robot based on a flexible cable driven continuum configuration of claim 1, wherein: the first linear driver (41) and the second linear driver (44) are respectively arranged along the inner walls of two sides of the square shell (11), the end parts of the first linear driver (41) and the second linear driver (44) are respectively fixedly connected with the corresponding end parts of the square shell (11) through the L-shaped fixing plate (16), the middle parts of the first linear driver (41) and the second linear driver (44) respectively penetrate through the U-shaped grooves of the U-shaped supporting blocks (17), each U-shaped supporting block (17) is horizontally arranged, and the U-shaped supporting blocks (17) are fixedly connected with the inner side walls of the corresponding square shell (11).

7. The flexible laparoscopic assisted robot based on a flexible cable driven continuum configuration of claim 1, wherein: three connecting columns (111) with unthreaded holes are arranged in the square shell (11), and bolts sequentially penetrate through the upper shell cover (112), the connecting columns (111) and the corresponding square shell (11) and are locked and fixed through nuts, so that the square shell (11) forms a sealed cavity;

the side wall of the square shell (11) is provided with a grid-shaped heat dissipation hole (113) corresponding to the first linear driver (41) and the second linear driver (44) respectively.

8. The flexible laparoscopic assisted robot based on a flexible cable driven continuum configuration of claim 1, wherein: the maximum push-pull force 70N of the first linear actuator (41) and the second linear actuator (44) is 18 mm/s.