CN114668432A - Integral type surgical robot is diagnose through natural chamber way - Google Patents
Integral type surgical robot is diagnose through natural chamber way Download PDFInfo
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- CN114668432A CN114668432A CN202210317773.7A CN202210317773A CN114668432A CN 114668432 A CN114668432 A CN 114668432A CN 202210317773 A CN202210317773 A CN 202210317773A CN 114668432 A CN114668432 A CN 114668432A
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- 230000007246 mechanism Effects 0.000 claims abstract description 90
- 230000005540 biological transmission Effects 0.000 claims abstract description 75
- 238000003745 diagnosis Methods 0.000 claims abstract description 21
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- 239000010959 steel Substances 0.000 claims description 171
- 230000008878 coupling Effects 0.000 claims description 58
- 238000010168 coupling process Methods 0.000 claims description 58
- 238000005859 coupling reaction Methods 0.000 claims description 58
- 241000270295 Serpentes Species 0.000 claims description 8
- 210000000988 bone and bone Anatomy 0.000 claims description 8
- 238000004804 winding Methods 0.000 claims description 6
- 230000003902 lesion Effects 0.000 claims description 5
- 230000010354 integration Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 9
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- 239000012636 effector Substances 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
- 210000001035 gastrointestinal tract Anatomy 0.000 description 1
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- 230000001575 pathological effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
Abstract
The invention discloses an integrated surgical robot for diagnosis and treatment through a natural cavity, which comprises an endoscope main body, a surgical instrument, an endoscope main body control mechanism, an instrument transmission mechanism and an integrated device, wherein the endoscope main body control mechanism is connected with the surgical instrument through an endoscope traction piece so as to adjust the inclination angle of a tail end joint of the surgical instrument relative to a connecting pipe; the instrument control mechanism can control the rotation, the swing and the action operation of the surgical instrument; the instrument transmission mechanism can drive the surgical instrument to move forwards and backwards in the instrument channel; the integrated device is provided with an endoscope main body control mechanism, an instrument control mechanism and an instrument transmission mechanism. The invention has compact and smart structure and reasonable design, can realize the integration of diagnosis and treatment, is beneficial to quickly finishing the operation, can reduce the workload of medical staff, reduce the working strength of doctors, improve the working efficiency of the medical staff and simultaneously increase the flexibility of the operation.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to an integrated surgical robot for natural orifice diagnosis and treatment.
Background
The existing natural orifice surgery adopts the following two schemes: the first scheme is to use a traditional hand-held endoscope to enter a diseased region, then manually send the surgical instruments to the surgical region through an endoscope biopsy channel, and perform the operation by adopting a hand-held mirror and a hand-held surgical instrument. The surgical instrument is simple, the flexibility is poor, the operations such as sleeving, clamping and marking can be completed only under the operation of a single surgical instrument, the flexibility of the operation is greatly restricted, and a doctor needs to hold the endoscope for a long time in the operation process, so that the fatigue of the doctor is easily caused, and the operation risk is brought. The second scheme is that the existing minimally invasive surgery robot is used for performing transluminal endoscopic surgery, the minimally invasive surgery robot uses a rigid surgery rod piece, so that a plurality of lesion parts cannot reach through natural orifices, the application range of the surgery robot is greatly restricted, and the risk of damage to other tissues is increased.
At present, the surgical robot system special for the endoscope passing through the natural orifice is still in the laboratory stage, the Japan Olympus company depends on the Endo SAMURAI system designed by the existing endoscope to realize the endoscope operation of the natural orifice by using a manual operation mode, but the operation executor of the Japan Olympus company is fixed at the tail end of the endoscope and can not be replaced in the operation process, thereby causing the difficulty of endoscope entering; and the flexibility of the operation is restricted by the mode of direct manual wire adding conduction. The Via Cath system developed by Endo Via Medical is still in the laboratory principle verification stage at present due to its large outer diameter. The Anubis project developed by Karl Storz is a perfect natural cavity endoscope operation robot system at present, can only drive a single-section flexible arm, is in an experimental stage at present, and is not clinically applied.
Therefore, no mature natural cavity diagnosis and treatment integrated surgical robot exists at present, a user manually operates a surgical instrument to complete gastrointestinal diagnosis, when pathological tissues exist, the instrument is placed for operation, only one instrument channel is operated outside a human body, and therefore the remote operation has high operation requirements on doctors, and the operation flexibility is greatly restricted. Therefore, there is a need to provide an integrated surgical robot for natural orifice diagnosis and treatment, which enables a doctor to perform a surgical operation on a lesion region simultaneously during a gastrointestinal endoscopy, thereby integrating diagnosis and treatment.
Disclosure of Invention
The invention aims to provide an integrated surgical robot for diagnosis and treatment through a natural cavity, which aims to solve the problem that in the prior art, the risk is increased to the operation due to the hand fatigue caused by long-time holding of a mirror by a doctor.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a diagnosis and treatment integrated surgical robot through a natural cavity, which comprises:
the endoscope comprises an endoscope main body, wherein the endoscope main body comprises a connecting pipe and a tail end snake bone framework, the connecting pipe is used for extending into a natural cavity of a human body, the tail end snake bone framework comprises a tail end joint and a plurality of connecting joints, the connecting joints are continuously arranged, any two adjacent connecting joints are hinged to each other to form a first relative rotating axis, and any two adjacent first relative rotating axes are vertical to each other; the tail end joint is provided with an instrument channel, the connecting joint positioned at one end of the connecting joints is connected with one end of the connecting pipe, the connecting joint positioned at the other end of the connecting joints is hinged with the tail end joint and forms a second relative rotating axis, and the second relative rotating axis is perpendicular to the first relative rotating axis adjacent to the second relative rotating axis;
the surgical instrument is movably arranged in the instrument channel and can extend out of the instrument channel so as to perform surgical operation on the lesion area found by the endoscope main body;
the endoscope main body control mechanism is connected with the tail end joint through an endoscope traction piece so as to adjust the inclination angle of the tail end joint relative to the connecting pipe;
the instrument control mechanism is connected with the surgical instrument and can control the rotation, the swing and the action operation of the surgical instrument;
an instrument drive mechanism configured to drive the surgical instrument to extend or retract into the instrument channel;
the integrated device is provided with the endoscope main body control mechanism, the instrument control mechanism and the instrument transmission mechanism, and the other end of the connecting pipe is connected with the endoscope main body control mechanism.
Optionally, the end joint comprises:
the tail end joint comprises a tail end joint body, wherein grooves are formed in two sides of the tail end joint body;
the instrument channel is formed in the instrument supporting block; the instrument supporting block is embedded in the groove, one end of the instrument supporting block, close to the connecting joint, is rotatably connected with the tail end joint body through a rotating shaft, a torsion spring is sleeved at the end part of the rotating shaft, and two ends of the torsion spring respectively abut against the instrument supporting block and the tail end joint body so that the instrument supporting block is accommodated in the groove;
the L-shaped supporting connecting rod is embedded in one side, close to the groove, of the instrument supporting block, the corner of the L-shaped supporting connecting rod is rotatably connected with the instrument supporting block through a connecting rod, one end of the L-shaped supporting connecting rod extends into the instrument channel and is stirred when the surgical instrument extends out of the instrument channel, so that the other end of the L-shaped supporting connecting rod rotates and is in contact with the groove, and one end, far away from the connecting joint, of the instrument supporting block is pushed away from the groove.
Optionally, the surgical instrument comprises:
a plurality of instrument connecting joints are continuously arranged, any two adjacent instrument connecting joints are hinged to form a third relative rotating axis, and any two adjacent third relative rotating axes are parallel;
the scissors comprise a first half scissors and a second half scissors, the first half scissors are connected with the instrument connecting joints positioned at one end of the instrument connecting joints, the second half scissors are connected with a scissors traction piece through a scissors connecting rod, the scissors traction piece is connected with the instrument control mechanism, and the instrument control mechanism controls the opening and closing of the first half scissors and the second half scissors;
a flexible tube having one end connected to the instrument connection joint at another end of the plurality of instrument connection joints; the other end of the hose is connected with the instrument control mechanism, and the hose is rotated by the instrument control mechanism.
Optionally, the instrument control mechanism comprises:
the rotary driving assembly comprises an instrument box and a rotary mechanism, the rotary mechanism comprises a rotary joint motor, and the output end of the rotary joint motor is connected with the instrument box so as to control the instrument box to rotate; the hose is connected with the instrument box;
the swing driving assembly is arranged in the instrument box and comprises a servo motor and an instrument deflection traction assembly, the instrument deflection traction assembly comprises a deflection rotating shaft, two deflection steel wire ropes and two deflection steel wire rope routing wheels, one end of the deflection rotating shaft is connected with the output end of the servo motor, the other end of the deflection rotating shaft is axially provided with the two deflection steel wire rope routing wheels, one ends of the two deflection steel wire ropes are respectively wound on the two deflection steel wire rope routing wheels, the winding directions of the two deflection steel wire ropes are opposite, and the other ends of the two deflection steel wire ropes are both connected with the instrument connecting joint connected with the first half scissors so as to realize deflection control of the surgical instrument;
the scissors traction piece is a scissors traction steel wire, and the electric push rod is connected with the scissors traction steel wire to push and pull the scissors traction steel wire so as to realize the opening and closing between the first half scissors and the second half scissors.
Optionally, the scissors traction wire is a thick wire.
Optionally, the instrument control mechanism further comprises a locking device, the locking device comprising:
the locking device comprises a locking device box, wherein end covers are arranged on two sides of the locking device box, and a notch is formed in the top of the locking device box; the locking device box is fixed at the output end of the rotary joint motor;
the push rods are arranged in the locking device box, the number of the push rods is two, and the two push rods are symmetrically arranged on two sides of the opening;
the two locking springs are arranged, and the two push rods are respectively connected with the end covers on the corresponding sides through one locking spring;
and one end of the instrument box, which is close to the rotary joint motor, is provided with an L-shaped buckle, and the L-shaped buckle is clamped between the two push rods in the locking device box and is tightly pressed by the locking spring.
Optionally, the instrument control mechanism further comprises:
the first deflection steel wire rope guide wheel is supported on one side of the deflection rotating shaft through a guide wheel frame;
the second deflection steel wire rope guide wheel is supported on the same side of the deflection rotating shaft through the guide wheel frame and the first deflection steel wire rope guide wheel;
the first deflection steel wire rope guide wheel and the second deflection steel wire rope guide wheel are respectively used for guiding the deflection steel wire ropes guided out by the two deflection steel wire rope routing wheels.
Optionally, the instrument transmission mechanism comprises:
a buckle disposed on the integrated device;
the hard pipe sleeve is placed in the buckle, and the hose penetrates through the hard pipe sleeve;
the pipe sleeve connector comprises an inner sleeve pipe and an outer sleeve pipe sleeved outside the inner sleeve pipe, and the inner sleeve pipe is rotatably connected with the outer sleeve pipe; the outer sleeve is sleeved in the hard sleeve and is fixedly connected with the inner wall of the hard sleeve, and the hose is sleeved in the inner sleeve and is fixedly connected with the inner sleeve;
the friction transmission assembly comprises a stepping motor, a driving friction wheel and a pressing mechanism, and the output end of the stepping motor is connected with the driving friction wheel; the pressing mechanism comprises a supporting seat, a spring, an L-shaped connecting rod, an adjusting rod, a cylindrical pin and a driven friction wheel, the supporting seat is arranged on the integrated device, the adjusting rod presses the spring and is connected with the supporting seat through threads, one end of the L-shaped connecting rod is rotatably connected with the cylindrical pin, the other end of the L-shaped connecting rod is connected with the driven friction wheel, a hard pipe sleeve placing space is formed between the driven friction wheel and the driving friction wheel, and the hard pipe sleeve can drive the surgical instrument to extend out of or retract into the instrument channel under the friction action of the driving friction wheel.
Optionally, the endoscope traction device includes a first endoscope traction wire, a second endoscope traction wire, a third endoscope traction wire and a fourth endoscope traction wire, and the endoscope main body control mechanism includes:
an endoscope body control box disposed on the integrated device; one end of the endoscope main body control box is provided with a joint through which the connecting pipe passes;
the first transmission shaft and the second transmission shaft respectively penetrate through two side walls of the endoscope main body control box;
the first endoscope traction steel wire routing wheel set is arranged in the endoscope main body control box and comprises a first endoscope traction steel wire routing wheel and a second endoscope traction steel wire routing wheel, and the first endoscope traction steel wire routing wheel and the second endoscope traction steel wire routing wheel are arranged at one end of the first transmission shaft, which is positioned in the endoscope main body control box; one end of the first endoscope traction steel wire and one end of the second endoscope traction steel wire are connected to the tail end joint in a first diagonal mode, the other end of the first endoscope traction steel wire and the other end of the second endoscope traction steel wire are respectively wound on the first endoscope traction steel wire routing wheel and the second endoscope traction steel wire routing wheel, and the winding directions of the first endoscope traction steel wire and the second endoscope traction steel wire are opposite;
the second endoscope traction steel wire routing wheel set is arranged in the endoscope main body control box and comprises a third endoscope traction steel wire routing wheel and a fourth endoscope traction steel wire routing wheel, and the third endoscope traction steel wire routing wheel and the fourth endoscope traction steel wire routing wheel are arranged at one end of the second transmission shaft, which is positioned in the endoscope main body control box; one end of the third endoscope traction steel wire and one end of the fourth endoscope traction steel wire are connected to the tail end joint in a second diagonal mode, and the second diagonal is arranged in a crossed mode with the first diagonal; the other end of the third endoscope traction steel wire and the other end of the fourth endoscope traction steel wire are respectively wound on the third endoscope traction steel wire routing wheel and the fourth endoscope traction steel wire routing wheel, and the winding directions of the third endoscope traction steel wire and the fourth endoscope traction steel wire are opposite;
the first main body deflection motor and the first transmission shaft are arranged on the same side of the endoscope main body control box, and the output end of the first main body deflection motor is connected with one end of the first transmission shaft, which is positioned outside the endoscope main body control box, through a first coupler;
the second main body deflection motor and the second transmission shaft are arranged on the same side of the endoscope main body control box, and the output end of the second main body deflection motor is connected with one end, located outside the endoscope main body control box, of the second transmission shaft through a second coupler.
Optionally, the first transmission shaft and the second transmission shaft are provided with a deflection knob at one end outside the endoscope main body control box;
the first coupling comprises a lower coupling half, an upper coupling half and a coupling locking bolt; the lower half coupling is connected with the output end of the first main body deflection motor, one end of the upper half coupling is rotatably connected with one end of the lower half coupling through a pin shaft, and the other end of the upper half coupling is connected with the other end of the lower half coupling through the coupling locking bolt; the upper half coupling and the lower half coupling are used for clamping the first transmission shaft, and when the upper half coupling and the lower half coupling are locked through the coupling locking bolt, the first transmission shaft is driven by the first main body deflection motor to rotate; when the coupling locking bolt between the upper coupling half and the lower coupling half is loosened, the first transmission shaft can be driven to rotate by the deflection knob;
the structure of the second coupling is the same as that of the first coupling.
Optionally, the endoscope main body control mechanism further comprises:
first endoscope draws steel wire guide pulley and second endoscope to draw the steel wire guide pulley, first endoscope draw the steel wire guide pulley with second endoscope draws the steel wire guide pulley and is located in the endoscope main part control box, first endoscope draw the steel wire guide pulley with second endoscope draws the steel wire guide pulley and all erects through the guide pulley frame in the top of the line wheelset is walked to first endoscope drawing steel wire, just first endoscope draw the steel wire guide pulley with second endoscope draws the steel wire guide pulley and is used for the guide simultaneously first endoscope draws the steel wire, the second endoscope draws the steel wire directly to correspond with aperture (wire outlet) on the endoscope main part control box.
The endoscope traction steel wire guide wheel assembly comprises a third endoscope traction steel wire guide wheel and a fourth endoscope traction steel wire guide wheel, wherein the third endoscope traction steel wire guide wheel and the fourth endoscope traction steel wire guide wheel are located in an endoscope main body control box, the third endoscope traction steel wire guide wheel and the fourth endoscope traction steel wire guide wheel are erected above a second endoscope traction steel wire routing wheel set through a guide wheel frame, the third endoscope traction steel wire guide wheel and the fourth endoscope traction steel wire guide wheel are used for guiding a third endoscope traction steel wire at the same time, and the fourth endoscope traction steel wire directly corresponds to a small hole (a wire outlet hole) in the endoscope main body control box.
Optionally, the connecting pipe is a rubber pipe.
Optionally, the rubber tube is a soft rubber tube with a certain hardness.
Optionally, the integrated device is a backplane. The bottom plate can be integrated on a trolley, a sickbed and other related treatment equipment.
Compared with the prior art, the invention has the following technical effects:
the natural orifice diagnosis and treatment integrated surgical robot provided by the invention has the advantages of compact and ingenious structure and reasonable design, can realize the integration of diagnosis and treatment, is favorable for quickly finishing the surgical operation, can reduce the workload of medical staff, reduce the working strength of doctors, improve the working efficiency of the medical staff, can more conveniently and flexibly perform gastrointestinal endoscope treatment, improves the condition that the diagnosis and the treatment are separated during the current manual operation, overcomes the defect that a single surgical instrument is inconvenient to operate in the current endoscopic surgery, and increases the flexibility of the surgical operation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic overall structural view of an integrated surgical robot for natural orifice diagnosis and treatment according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a terminal snake bone skeleton according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a distal joint according to an embodiment of the present invention;
FIG. 4 is a schematic view of a surgical instrument according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an instrument control mechanism according to an embodiment of the present disclosure;
FIG. 6 is a schematic structural diagram of an instrument drive mechanism according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an endoscope main body control mechanism disclosed in the embodiment of the present invention.
Wherein the reference numerals are:
the endoscope comprises an endoscope body 1, a tail end joint body 1-1, a connecting joint 1-2, a rivet 1-3, a steel wire wiring hole 1-4, an instrument supporting block 1-5, an L-shaped supporting connecting rod 1-6, an instrument channel 1-7 and a connecting pipe 1-8; the surgical instrument 2 comprises a tail end instrument connecting joint 2-1, a middle instrument connecting joint 2-2, an initial instrument connecting joint 2-3, a scissors connecting rod 2-4, a second half scissors 2-5 and a first half scissors 2-6; an instrument control mechanism 3, an endoscope main body control mechanism 4, an instrument transmission mechanism 5, a bottom plate 6, a rotating mechanism 7, an instrument box 8, an end cover 8-1, a lower shell 8-2, an upper shell 8-3, an electric push rod 8-4, a servo motor 8-5, a shaft sleeve 8-6, a yawing steel wire rope travelling wheel 8-7, a guide wheel frame 8-8, a guide wheel 8-9, a clamp spring 8-10, a mandrel 8-11, a flange 8-12, a bearing 8-13, a bearing seat 8-14, a limiting device 9, a U-shaped plate 9-1, a spring shifting bead 9-2, a motor frame 10, a rotary joint motor 11, a front flange 12-1, a rear flange 12-2, a transmission shaft 13, a bearing 14, a bearing seat 15, a locking device 16, a locking device box 16-1 and a locking spring 16-2, 16-3 parts of push rod, 16-4 parts of end cover, 17 parts of buckle, 18 parts of stepping motor, 19 parts of hard pipe sleeve, 20 parts of driving friction wheel, 21 parts of pressing mechanism, 21-1 parts of supporting seat, 21-2 parts of spring, 21-3 parts of L-shaped connecting rod, 21-4 parts of adjusting rod, 21-5 parts of oilless bearing, 21-6 parts of cylindrical pin, 21-7 parts of driven friction wheel, 22 parts of joint motor set, 23 parts of endoscope main body control box, 24 parts of motor frame, 25 parts of second main body deflection motor, 26 parts of flange, 27 parts of coupling, 27-1 parts of lower half coupling, 27-2 parts of pin shaft, 27-3 parts of upper half coupling, 27-4 parts of screw rod knob, control mechanism 28 parts of deflection knob, 28-1 parts of deflection knob, 28-2 parts of locking mechanism, 28-3 parts of transmission shaft, 28-4 parts of first endoscope traction wire wheel set, 28-5 parts of bearing, the device comprises a bearing seat 28-6, a guide wheel set 29, a guide wheel frame 29-1, a threaded rod 29-2, a guide wheel 29-3, a clamp spring 29-4, a shell 30, a connector 31 and an upper cover 32.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
One of the purposes of the invention is to provide an integrated surgical robot for diagnosis and treatment through a natural cavity, so as to solve the problem that the prior art increases risks to the operation due to hand fatigue caused by long-time endoscope holding of a doctor.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
As shown in fig. 1 to 7, the present embodiment provides an integrated surgical robot for natural orifice diagnosis and treatment, which mainly includes an endoscope main body 1, a surgical instrument 2, an instrument control mechanism 3, an endoscope main body control mechanism 4, an instrument transmission mechanism 5, and a base plate 6. The instrument control mechanism 3, the instrument transmission mechanism 5, the endoscope main body control mechanism 4 and the endoscope main body 1 are sequentially placed on the bottom plate 6, the endoscope main body 1 is connected with the endoscope main body control mechanism 4, and the surgical instrument 2 is connected with the instrument control mechanism 3, penetrates through the instrument transmission mechanism 5 and the endoscope main body control mechanism 4 and is placed in instrument channels 1-7 in the endoscope main body 1. During operation, when the endoscope body 1 finds a lesion area in the natural cavity of a human body, the surgical instrument 2 can extend out of the instrument channels 1-7 to perform operation.
In this embodiment, the endoscope main body 1 is formed by connecting a distal snake bone skeleton and connecting pipes 1 to 8, and the connecting pipes 1 to 8 are soft rubber pipes having a certain hardness and are bonded to the distal snake bone skeleton. The tail end snake bone skeleton is formed by connecting a tail end joint with multiple channels and a plurality of connecting joints 1-2 through rivets 1-3, and specifically comprises the following steps: the plurality of connecting joints 1-2 are continuously arranged, any two adjacent connecting joints 1-2 are hinged to form a first relative rotating axis (namely the axis where the rivets 1-3 are located), and any two adjacent first relative rotating axes are perpendicular to each other; the connecting joint 1-2 located at one end (head end) of the plurality of connecting joints 1-2 is connected with one end of the connecting pipe, the connecting joint 1-2 located at the other end (tail end) of the plurality of connecting joints 1-2 is hinged with the tail end joint and forms a second relative rotating axis, and the second relative rotating axis is also perpendicular to the first relative rotating axis adjacent to the second relative rotating axis. The tail end joint mainly comprises a tail end joint main body 1-1, two symmetrically arranged instrument supporting blocks 1-5 and an L-shaped supporting connecting rod 1-6, two torsion springs are symmetrically arranged on two parallel planes of two sides of the instrument supporting blocks 1-5 connected with the tail end joint main body 1-1, and the instrument supporting blocks 1-5 and the L-shaped supporting connecting rod 1-6 are connected through a thin rod, so that the L-shaped supporting connecting rod 1-6 can rotate around the thin rod. Each instrument supporting block 1-5 is provided with an instrument channel 1-7, when the surgical instrument 2 extends out of the instrument channel 1-7 in the instrument supporting block 1-5, the head of the surgical instrument 2 and the wall of the instrument pipe press the short side of the L-shaped supporting connecting rod 1-6, the L-shaped supporting connecting rod 1-6 is forced to rotate around the thin rod, the surgical instrument 2 and the instrument supporting block 1-5 are pushed away together, and the two surgical instruments 2 and the focus area form a good operation triangular area. The two instrument channels 1-7 and the two surgical instruments 2 are structurally arranged, so that the robot operation can be carried out by imitating the actual working mode of a doctor, the learning time of the doctor is reduced, the two surgical instruments can be simultaneously operated and matched with each other, such as lifting and pulling and excision, the defect that a single surgical instrument is inconvenient to operate in the existing endoscopic surgery is overcome, and the flexibility of the surgical operation is improved.
In this embodiment, the surgical instrument 2 mainly comprises a hose, a pair of scissors and a plurality of instrument connection joints, and the number of the instrument connection joints is preferably 4, wherein two intermediate instrument connection joints 2-2, one initial instrument connection joint 2-3 and one terminal instrument connection joint 2-1, and the 4 instrument connection joints are riveted in sequence according to the sequence of the initial instrument connection joint 2-3, the two intermediate instrument connection joints 2-2 and the terminal instrument connection joint 2-1, so that the adjacent instrument connection joints form a rotational connection. The scissors are used as an actuating mechanism of the surgical instrument 2, the centers of the scissors and each instrument connecting joint are respectively provided with a thick steel wire hole, the thick steel wires are used as scissors traction steel wires and penetrate through the thick steel wire holes to be connected with the second half scissors 2-5 through the scissors connecting rods 2-4, and the opening and closing of the second half scissors 2-5 relative to the first half scissors 2-6 are controlled by controlling the length of the thick steel wires, so that the shearing movement of the instrument scissors is realized. All the connection holes in the surgical device 2 are preferably connected by riveting.
In this embodiment, the instrument control mechanism 3 is used to control the rotation of the whole surgical instrument 2, the deflection of the end instrument connection joint 2-1, and the opening and closing of the second pair of scissors 2-5 of the instrument end effector relative to the first pair of scissors 2-6, and mainly comprises an instrument box 8, a limiting device 9, and a rotation mechanism 7 for controlling the rotation of the instrument box 8. The rotating mechanism 7 comprises a motor frame 10, a rotary joint motor 11, a front flange 12-1, a rear flange 12-2, a transmission shaft 13, a bearing 14, a bearing seat 15 and a locking device 16, wherein the motor frame 10 is an L-shaped motor frame, one surface of the motor frame is in screw connection with a bottom plate 6, the other surface of the motor frame is aligned with the rear end of the bottom plate 6, one end of the rotary joint motor 11 is connected with the motor frame 10 through a screw, the other end of the rotary joint motor 11 is connected with the front flange 12-1 through a screw, the transmission shaft 13 is connected with the rear flange 12-1 through a jackscrew, penetrates through the bearing 14 and the bearing seat 15 tightly matched and connected with the outer ring of the bearing 14 and is connected with the front flange 12-2 through a jackscrew, the bearing seat 15 is fixedly connected with the motor frame 10 through a screw, and the front flange 12-2 is fixedly connected with the locking device box 16-1 in the locking device 16 through a screw. The locking device 16 comprises the locking device box 16-1, two locking springs 16-2, two push rods 16-3 and two end covers 16-4 are symmetrically arranged in the locking device box 16-1 from left to right, one end of each locking spring 16-2 presses the corresponding push rod 16-3, the other end of each locking spring 16-2 is tightly close to the end cover 16-4 on the same side, and the end cover 16-4 is connected with the locking device box 16-1 through screws. The two push rods 16-3 in any one of the locking device boxes 16-1 can compress the locking springs 16-2 connected with each other under the action of external force to realize the mutual separation of the two push rods 16-3, and after the external force is cancelled, the two push rods 16-3 can approach each other under the action of the locking springs 16-2 connected with each other to restore the original position, wherein the external force mainly refers to the pushing force of the clamping piece on the two push rods 16-3 when the clamping piece is placed between the two push rods 16-3, and after the clamping piece is installed in place, the two push rods 16-3 clamp the clamping piece under the pushing action of the locking springs 16-2 connected with each other to achieve the effect of locking the clamping piece.
In the embodiment, the instrument box 8 is preferably rectangular and mainly comprises an end cover 8-1, a lower shell 8-2, an upper shell 8-3, an electric push rod 8-4, a servo motor 8-5, a shaft sleeve 8-6, a deflection steel wire rope routing wheel 8-7, a guide wheel frame 8-8, a guide wheel 8-9, a clamp spring 8-10, a mandrel 8-11, a flange 8-12, a bearing 8-13 and a bearing seat 8-14. The end cover 8-1 of the instrument box 8 is provided with an L-shaped buckle which is used for being clamped between two push rods 16-3 in a locking device box 16-1 when the instrument box 8 is installed, the opening and closing of the locking device 16 are controlled by sliding the push rods 16-3 left and right, the quick changing and locking of the instrument box 8 are achieved, meanwhile, the movement of the instrument box 8 can be limited, and the installation stability of the instrument box 8 is improved. A square wiring channel is reserved on one side of the short side of an end cover 8-1 and is fixedly connected with a lower shell 8-2 through a screw, the upper end of the lower shell 8-2 is connected with an electric push rod 8-4 through a screw, the central axis of the electric push rod 8-4 is superposed with an instrument hole channel of an upper shell 8-3, the lower end of the lower shell 8-2 is connected with a servo motor 8-5 through a screw, a motor shaft of the servo motor 8-5 is connected with a deflection rotating shaft through a jackscrew, a shaft sleeve 8-6 is arranged on the deflection rotating shaft, two reversely placed deflection steel wire rope routing wheels 8-7 connected through screws are arranged on the shaft sleeve 8-6, a wheel guide frame 8-8 is connected with the lower shell 8-2 through a screw and is placed between the electric push rod 8-4 and the servo motor 8-5, two mandrels 8-11 are arranged above and below the wheel guide frame 8-8, each mandrel 8-11 is provided with a guide wheel 8-9 which is fixed through a clamp spring 8-10 and is provided with a V-shaped groove, a steel wire rope is locked on a deflection steel wire rope routing wheel 8-7 and passes through the guide wheel 8-9 to enter an instrument hole channel of an upper shell 8-3, and the rotation of the deflection steel wire rope routing wheel 8-7 is controlled by controlling the rotation of a servo motor 8-5, so that the elongation of the steel wire rope is controlled, and the deflection of a tail end instrument connecting joint 2-1 in the surgical instrument 2 is controlled, and the deflection can be left-right deflection or up-down deflection. The outer part of the instrument hole channel of the upper shell 8-3 is connected with a flange 8-12 through a screw, a bearing 8-13 is arranged on a flange shaft of the flange 8-12, and a bearing seat 8-14 compresses the bearing 8-13 and is tightly matched and connected with an outer ring of the bearing 8-13. The lower ends of the bearing seats 8-14 are longer and can be placed in the limiting device 9 to limit the up-down and left-right movement of the instrument box 8.
In this embodiment, the guide wheels 8-9 include a first deflection wire rope guide wheel and a second deflection wire rope guide wheel, and the first deflection wire rope guide wheel is supported on one side of the deflection rotating shaft; the second deflection steel wire rope guide wheel and the first deflection steel wire rope guide wheel are arranged on the same side of the deflection rotating shaft in a supporting mode; the first deflection steel wire rope guide wheel and the second deflection steel wire rope guide wheel are respectively used for guiding the deflection steel wire ropes led out by the two deflection steel wire rope routing wheels 8-7. V-shaped grooves for containing the steel wire ropes are formed in the peripheries of the first deflection steel wire rope guide wheel and the second deflection steel wire rope guide wheel, and the heights of the lower edges of the V-shaped grooves of the first deflection steel wire rope guide wheel and the second deflection steel wire rope guide wheel correspond to the heights of wire grooves of the two deflection steel wire rope routing wheels 8-7 respectively and correspond to small routing holes in the shell 8-3.
In this embodiment, the main body of the limiting device 9 is a U-shaped plate 9-1, and is fixedly connected with a convex surface of the bottom plate 6 through a screw, 3 spring shifting beads 9-2 are respectively installed on two sides of the U-shaped plate 9-1, the spring shifting beads 9-2 are connected with the side wall of the U-shaped plate 9-1 through threads, penetrate through the outer wall of the U-shaped plate 9-1 and penetrate out of the inner wall, and when the instrument box 8 is placed in the U-shaped plate 9-1, small holes on two sides of the instrument box 8 just correspond to the balls of the spring shifting beads 9-2, so that the limitation and locking of the instrument box 8 are realized.
In this embodiment, the instrument transmission mechanism 5 mainly comprises a buckle 17, a stepping motor 18, a hard tube 19, a driving friction wheel 20 and a pressing mechanism 21. The buckle 17 is connected with the bottom plate 6 in a gluing mode, the stepping motor 18 is connected with the back face of the bottom plate 6 through a screw, and a motor shaft of the stepping motor 18 is fixedly connected with the driving friction wheel 20 through a jackscrew. The pressing mechanism 21 mainly comprises a supporting seat 21-1, a spring 21-2, an L-shaped connecting rod 21-3, an adjusting rod 21-4, an oilless bearing 21-5, a cylindrical pin 21-6 and a driven friction wheel 21-7. The supporting seat 21-1 is connected with the bottom plate 6 through a screw, the adjusting rod 21-4 compresses the spring 21-2 and is connected with the supporting seat 21-1 through threads, one end of the L-shaped connecting rod 21-3 is connected with the cylindrical pin 21-6 through the oilless bearing 21-5 and can rotate around the cylindrical pin 21-6, and the other end of the L-shaped connecting rod is connected with the driven friction wheel 21-7 through threads. The adjusting rod 21-4 can control the compression degree between the driven friction wheel 21-7 and the driving friction wheel 20 by rotating the thread depth, the hose of the surgical instrument 2 is arranged in the hard pipe 19 in a penetrating way and sequentially passes through the buckle 17 along with the hard pipe 19 and the gap between the driven friction wheel 21-7 and the driving friction wheel 20, the transmission of the hose is controlled by controlling the rotation of the stepping motor 18 to control the movement of the driving friction wheel 20 and the driven friction wheel 21-7, and further the advancing and the retreating of the surgical instrument 2 are realized. The hard pipe sleeve 19 is sleeved at one end of the hose in the surgical instrument 2 close to the instrument box 8, the hard pipe sleeve 19 can swing up, down, left and right, two layers of steel pipes which are nested inside and outside are arranged at joints at two ends of the hard pipe sleeve 19, the two layers of steel pipes can rotate relatively around the axial direction and synchronously move back and forth along the axial direction, the driving friction wheel 20 drives the hard pipe sleeve 19 to move back and forth, namely, the hose of the surgical instrument 2 is driven to move forward and back synchronously, the surgical instrument 2 moves forward and back, and when the hose of the surgical instrument 2 rotates under the driving of the rotary joint motor 11, the hard pipe sleeve 19 is relatively static and does not rotate along with the hose of the surgical instrument 2, and only the rotary motion of the surgical instrument 2 is realized.
In this embodiment, the endoscope main body control mechanism 4 is mainly composed of a joint motor unit 22 and an endoscope main body control box 23 which are placed in bilateral symmetry. The joint motor group 22 mainly comprises a motor frame 24, a first main body deflection motor, a second main body deflection motor 25, a flange 26, a first coupler and a second coupler, wherein the first coupler and the second coupler both adopt couplers 27, the first main body deflection motor and the second main body deflection motor 25 both adopt joint motors, the first main body deflection motor and the second main body deflection motor 25 are identical in structure and are symmetrically arranged, and the second main body deflection motor 25 is taken as an example for specific description. One side of a motor frame 24 is connected with a bottom plate 6 through a screw, the bottom of a second main body deflection motor 25 is connected with the other side of the motor frame 24 through a screw, the head of the second main body deflection motor 25 is connected with a flange 26 through a screw, the flange 26 is connected with a lower half coupling 27-1 in a coupling 27 through a jackscrew, one end of the lower half coupling 27-1 is connected with one end of an upper half coupling 27-3 through a pin shaft 27-2, the upper half coupling 27-3 can rotate around the pin shaft 27-2, the lower half coupling 27-1 and the upper half coupling 27-3 are both in a semi-circular arc structure, after the lower half coupling 27-1 and the upper half coupling 27-3 are butted, a closed circular ring can be formed through locking of a screw knob 27-4, so as to clamp and fix a shaft piece to be connected with the second main body deflection motor 25, the transmission of the motor power is convenient. The clamping force between the lower coupling half 27-1 and the upper coupling half 27-3 can be adjusted through the screw knob 27-4 to adapt to shaft members with different shaft diameters, in the embodiment, the shaft member to be connected with the second main body deflection motor 25 is a transmission shaft 28-3 in the deflection knob control mechanism 28, the transmission shaft 28-3 is provided with the deflection knob 28-1, when the transmission shaft 28-3 is clamped and fastened with the output end of the second main body deflection motor 25 through the lower coupling half 27-1 and the upper coupling half 27-3, the transmission shaft can rotate along with the second main body deflection motor 25, and when the transmission shaft 28-3 is not clamped by the lower coupling half 27-1 and the upper coupling half 27-3 through adjusting the screw knob 27-4, the deflection knob 28-1 can be manually shifted to realize the rotation of the transmission shaft 28-3, therefore, two modes of manual control and automatic control of the endoscope main body control box 23 are realized, and the endoscope main body 1 can be controlled to enter a natural cavity of a human body through the two modes of manual control and automatic control. During manual control, a doctor controls the deflection knob 28-1 on the transmission shaft 28-3 to rotate by one hand to adjust the up-down deflection, the left-right deflection and the left-right deflection of the tail end joint main body 1-1 in the endoscope main body 1, and the other hand pinches the connecting pipe 1-8 of the endoscope main body 1 close to the anus of a human body to move forwards and backwards to realize endoscope diagnosis, and the locking mechanism 28-2 is fixedly connected to the endoscope main body control box 23 to realize the fixation of the deflection angle of the tail end joint main body 1-1 in the endoscope main body 1 at any position. When the operation is performed by adopting the automatic control mode, the endoscope main body control box 23 is placed between the two lower coupling halves 27-1, the upper coupling halves 27-3 at the two ends of the endoscope main body control box 23 and the corresponding lower coupling halves 27-1 are locked through the bolt knobs 27-4, and the locking mechanisms 28-2 of the knobs are loosened to realize the power transmission of the second main body yaw motor 25 and the yaw knob 28-1. During automatic control, the endoscope main body control box 23 is placed in the lower coupling half 27-1 and is locked through the bolt knob 27-4, and the diagnosis process of the endoscope in the intestinal tract can be realized.
In the present embodiment, the endoscope main body control box 23 is mainly composed of two symmetrically disposed yaw knob control mechanisms 28, two symmetrically disposed guide wheel sets 29, a housing 30, a joint 31, and an upper cover 32. In the deflection knob control mechanism 28, a locking mechanism 28-2 is connected with a housing 30 through screws to limit the left and right movement of a ball bearing at the housing 30 on a transmission shaft 28-3, two transmission shafts 28-3 are symmetrically arranged and are respectively a first transmission shaft and a second transmission shaft, the first transmission shaft and the second transmission shaft respectively correspond to a first body deflection motor and a second body deflection motor, the structural arrangement and the working principle on the first transmission shaft and the second transmission shaft are completely the same, the transmission shaft 28-3 is used for representing the first transmission shaft below, and the structure in the endoscope body control box 23 is specifically explained. The transmission shaft 28-3 penetrates through the locking mechanism 28-2, one end of the transmission shaft 28-3, which is positioned inside the shell 30, is fixedly provided with a first endoscope traction steel wire routing wheel set 28-4 through a screw, the first endoscope traction steel wire routing wheel set 28-4 comprises two routing wheels which are reversely arranged, namely a first endoscope traction steel wire routing wheel and a second endoscope traction steel wire routing wheel, the tail end of the transmission shaft 28-3 is provided with a bearing 28-5 and a bearing seat 28-6 which play a supporting role, the bearing seat 28-6 is fixedly connected with the bearing 28-5 through a top wire, and one end of the transmission shaft 28-3, which is positioned outside the shell 30, is fixedly connected with the deflection knob 28-1 through a screw. The guide wheel set 29 mainly comprises a guide wheel frame 29-1, a threaded rod 29-2, a guide wheel 29-3 and a clamp spring 29-4, wherein the guide wheel frame 29-1 is fixedly connected with the shell 30 through a screw, the guide wheel frame 29-1 is connected with the two threaded rods 29-2 through threads, and a guide wheel 29-3 fixed through the clamp spring 29-4 is arranged on each threaded rod 29-2, namely a first endoscope traction steel wire guide wheel and a second endoscope traction steel wire guide wheel. The first endoscope traction steel wire is led out from the routing wire groove close to the inner wall of the shell 30, passes through the first endoscope traction steel wire guide wheel and the second endoscope traction steel wire guide wheel and enters the steel wire hole of the joint 31, the second endoscope traction steel wire is led out from the routing wire groove close to one side of the bearing seat and directly enters the steel wire hole of the joint 31, and the hole position of the joint steel wire hole corresponds to the routing wire groove. The structural arrangement and the working principle on the first transmission shaft and the second transmission shaft are completely the same, the guide wheel group 29 corresponding to the second transmission shaft comprises a third endoscope traction steel wire guide wheel and a fourth endoscope traction steel wire guide wheel, and the second transmission shaft is provided with a second endoscope traction steel wire routing wheel group, namely a third endoscope traction steel wire routing wheel and a fourth endoscope traction steel wire routing wheel. The four endoscope traction steel wires are arranged in a group and in pairs in a crossed manner after penetrating through the joint 31, and in a normal use state, the fixed points of the four endoscope traction steel wires on the tail end joint main body 1-1 are respectively positioned at four corners of a rectangle or a square, and the four endoscope traction steel wires are mutually parallel.
Above-mentioned can know, the integral type surgical robot is diagnose through natural chamber way that this technical scheme provided is to the novel integral type surgical robot of diagnosing through natural chamber way of gastroenteroscope, not only can realize diagnosis and treatment integration, be favorable to accomplishing the operation fast, can alleviate medical staff's work load moreover, alleviate doctor's working strength, improve medical staff's work efficiency, can carry out the gastroenteroscope treatment more conveniently, in a flexible way, the condition of diagnosis and treatment separation when having improved present manual operation.
The instrument transmission mechanism provided by the technical scheme specifically is a friction wheel transmission mechanism capable of automatically adjusting the pressure of a friction wheel, the compression degree of a spring is adjusted through the screwing depth of threads of an adjusting rod on an adjusting mechanism, so that the pressure of the friction wheel is adjusted, and surgical instruments can be conveniently taken down by pressing an L-shaped connecting rod, so that the surgical instruments can be quickly replaced.
The instrument control mechanism of the technical scheme can simultaneously realize rotation and front-back motion of the surgical instrument around the axis of the instrument, the structural design is ingenious, a hard pipe sleeve with two layers of steel pipes nested at the joints at two ends is connected with an instrument hose, the two layers of steel pipes can rotate around the axial direction relatively and move back-forth synchronously, the friction wheel drives the hose to move forward and back synchronously when driving the front-back motion of the hard pipe sleeve, the forward and back of the surgical instrument are realized, when the hose rotates, the hard pipe sleeve is clamped in the friction wheel and does not rotate along with a hose way, and the rotary motion of the surgical instrument is realized.
According to the instrument transmission mechanism provided by the technical scheme, the hose of the surgical instrument is sleeved in the hard pipe sleeve, so that the hose can be quickly installed and taken down, the hose of the surgical instrument can be prevented from twisting during rotation, the surgical instrument can rotate around the axis of the surgical instrument, and the reliability of the device is improved.
According to the technical scheme, the electric push rod controls the advancing and retreating of the steel wires to control the opening and closing of the scissors in the surgical instrument, the mode that the motor is originally adopted to connect the wire traveling wheel and the guide mechanism to control through the two steel wires is changed, the opening and closing of the instrument become simpler, the structure is more compact and small, and the utilization rate of the space of the instrument box is improved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. The utility model provides a diagnose integral type surgical robot through natural chamber way which characterized in that includes:
the endoscope comprises an endoscope main body, wherein the endoscope main body comprises a connecting pipe and a tail end snake bone framework, the connecting pipe is used for extending into a natural cavity of a human body, the tail end snake bone framework comprises a tail end joint and a plurality of connecting joints, the connecting joints are continuously arranged, any two adjacent connecting joints are hinged to each other and form a first relative rotating axis, and any two adjacent first relative rotating axes are vertical to each other; the tail end joint is provided with an instrument channel, the connecting joint positioned at one end of the connecting joints is connected with one end of the connecting pipe, the connecting joint positioned at the other end of the connecting joints is hinged with the tail end joint and forms a second relative rotating axis, and the second relative rotating axis is perpendicular to the first relative rotating axis adjacent to the second relative rotating axis;
the surgical instrument is movably arranged in the instrument channel and can extend out of the instrument channel so as to perform surgical operation on the lesion area found by the endoscope main body;
the endoscope main body control mechanism is connected with the tail end joint through an endoscope traction piece so as to adjust the inclination angle of the tail end joint relative to the connecting pipe;
the instrument control mechanism is connected with the surgical instrument and can control the rotation, the swing and the action operation of the surgical instrument;
an instrument drive mechanism configured to drive the surgical instrument to extend or retract into the instrument channel;
the integrated device is provided with the endoscope main body control mechanism, the instrument control mechanism and the instrument transmission mechanism, and the other end of the connecting pipe is connected with the endoscope main body control mechanism.
2. The natural orifice integrated surgical robot of claim 1, wherein the distal joint comprises:
the tail end joint comprises a tail end joint body, wherein grooves are formed in two sides of the tail end joint body;
the instrument channel is formed in the instrument supporting block; the instrument supporting block is embedded in the groove, one end of the instrument supporting block, close to the connecting joint, is rotatably connected with the tail end joint body through a rotating shaft, a torsion spring is sleeved at the end part of the rotating shaft, and two ends of the torsion spring respectively abut against the instrument supporting block and the tail end joint body so that the instrument supporting block is accommodated in the groove;
the L-shaped supporting connecting rod is embedded in one side, close to the groove, of the instrument supporting block, the corner of the L-shaped supporting connecting rod is rotatably connected with the instrument supporting block through a connecting rod, one end of the L-shaped supporting connecting rod extends into the instrument channel and is stirred when the surgical instrument extends out of the instrument channel, so that the other end of the L-shaped supporting connecting rod rotates and is in contact with the groove, and one end, far away from the connecting joint, of the instrument supporting block is pushed away from the groove.
3. The natural orifice medical integrated surgical robot according to claim 1 or 2, wherein the surgical instrument includes:
a plurality of instrument connecting joints are continuously arranged, any two adjacent instrument connecting joints are hinged to form a third relative rotating axis, and any two adjacent third relative rotating axes are parallel;
the scissors comprise a first half scissors and a second half scissors, the first half scissors are connected with the instrument connecting joint positioned at one end of the instrument connecting joints, the second half scissors are connected with a scissors traction piece through a scissors connecting rod, the scissors traction piece is connected with the instrument control mechanism, and the instrument control mechanism controls the opening and closing of the first half scissors and the second half scissors;
a flexible tube having one end connected to the instrument connection joint at another end of the plurality of instrument connection joints; the other end of the hose is connected with the instrument control mechanism, and the hose is rotated by the instrument control mechanism.
4. The integrated natural orifice medical treatment surgical robot according to claim 3, wherein the instrument control mechanism includes:
the rotary driving assembly comprises an instrument box and a rotary mechanism, the rotary mechanism comprises a rotary joint motor, and the output end of the rotary joint motor is connected with the instrument box so as to control the instrument box to rotate; the hose is connected with the instrument box;
the swing driving assembly is arranged in the instrument box and comprises a servo motor and an instrument deflection traction assembly, the instrument deflection traction assembly comprises a deflection rotating shaft, two deflection steel wire ropes and two deflection steel wire rope routing wheels, one end of the deflection rotating shaft is connected with the output end of the servo motor, the other end of the deflection rotating shaft is axially provided with the two deflection steel wire rope routing wheels, one ends of the two deflection steel wire ropes are respectively wound on the two deflection steel wire rope routing wheels, the winding directions of the two deflection steel wire ropes are opposite, and the other ends of the two deflection steel wire ropes are both connected with the instrument connecting joint connected with the first half scissors so as to realize deflection control of the surgical instrument;
the scissors traction piece is a scissors traction steel wire, and the electric push rod is connected with the scissors traction steel wire to push and pull the scissors traction steel wire so as to realize the opening and closing between the first half scissors and the second half scissors.
5. The integrated natural orifice medical treatment surgical robot according to claim 4, wherein the instrument control mechanism further comprises a locking device, the locking device comprising:
the locking device comprises a locking device box, wherein end covers are arranged on two sides of the locking device box, and a notch is formed in the top of the locking device box; the locking device box is fixed at the output end of the rotary joint motor;
the push rods are arranged in the locking device box, the number of the push rods is two, and the two push rods are symmetrically arranged on two sides of the opening;
the two locking springs are arranged, and the two push rods are respectively connected with the end covers on the corresponding sides through one locking spring;
and one end of the instrument box, which is close to the rotary joint motor, is provided with an L-shaped buckle, and the L-shaped buckle is clamped between the two push rods in the locking device box and is tightly pressed by the locking spring.
6. The natural orifice medical integrated surgical robot according to claim 3, wherein the instrument transmission mechanism comprises:
a buckle disposed on the integrated device;
the hard pipe sleeve is placed in the buckle, and the hose penetrates through the hard pipe sleeve;
the pipe sleeve connector comprises an inner sleeve pipe and an outer sleeve pipe sleeved outside the inner sleeve pipe, and the inner sleeve pipe is rotatably connected with the outer sleeve pipe; the outer sleeve is sleeved in the hard sleeve and is fixedly connected with the inner wall of the hard sleeve, and the hose is sleeved in the inner sleeve and is fixedly connected with the inner sleeve;
the friction transmission assembly comprises a stepping motor, a driving friction wheel and a pressing mechanism, and the output end of the stepping motor is connected with the driving friction wheel; the pressing mechanism comprises a supporting seat, a spring, an L-shaped connecting rod, an adjusting rod, a cylindrical pin and a driven friction wheel, the supporting seat is arranged on the integrated device, the adjusting rod presses the spring and is connected with the supporting seat through threads, one end of the L-shaped connecting rod is rotatably connected with the cylindrical pin, the other end of the L-shaped connecting rod is connected with the driven friction wheel, a hard pipe sleeve placing space is formed between the driven friction wheel and the driving friction wheel, and the hard pipe sleeve can drive the surgical instrument to extend out of or retract into the instrument channel under the friction action of the driving friction wheel.
7. The natural orifice integrated surgical robot for diagnosis and treatment according to claim 3, wherein the endoscope traction member includes a first endoscope traction wire, a second endoscope traction wire, a third endoscope traction wire and a fourth endoscope traction wire, and the endoscope main body control mechanism includes:
an endoscope body control box disposed on the integrated device; one end of the endoscope main body control box is provided with a joint through which the connecting pipe passes;
the first transmission shaft and the second transmission shaft respectively penetrate through two side walls of the endoscope main body control box;
the first endoscope traction steel wire routing wheel set is arranged in the endoscope main body control box and comprises a first endoscope traction steel wire routing wheel and a second endoscope traction steel wire routing wheel, and the first endoscope traction steel wire routing wheel and the second endoscope traction steel wire routing wheel are arranged at one end of the first transmission shaft, which is positioned in the endoscope main body control box; one end of the first endoscope traction steel wire and one end of the second endoscope traction steel wire are connected to the tail end joint in a first diagonal mode, the other end of the first endoscope traction steel wire and the other end of the second endoscope traction steel wire are respectively wound on the first endoscope traction steel wire routing wheel and the second endoscope traction steel wire routing wheel, and the winding directions of the first endoscope traction steel wire and the second endoscope traction steel wire are opposite;
the second endoscope traction steel wire routing wheel set is arranged in the endoscope main body control box and comprises a third endoscope traction steel wire routing wheel and a fourth endoscope traction steel wire routing wheel, and the third endoscope traction steel wire routing wheel and the fourth endoscope traction steel wire routing wheel are arranged at one end of the second transmission shaft, which is positioned in the endoscope main body control box; one end of the third endoscope traction steel wire and one end of the fourth endoscope traction steel wire are connected to the tail end joint in a second diagonal mode, and the second diagonal is arranged in a crossed mode with the first diagonal; the other end of the third endoscope traction steel wire and the other end of the fourth endoscope traction steel wire are respectively wound on the third endoscope traction steel wire routing wheel and the fourth endoscope traction steel wire routing wheel, and the winding directions of the third endoscope traction steel wire and the fourth endoscope traction steel wire are opposite;
the first main body deflection motor and the first transmission shaft are arranged on the same side of the endoscope main body control box, and the output end of the first main body deflection motor is connected with one end of the first transmission shaft, which is positioned outside the endoscope main body control box, through a first coupler;
the second main body deflection motor and the second transmission shaft are arranged on the same side of the endoscope main body control box, and the output end of the second main body deflection motor is connected with one end, located outside the endoscope main body control box, of the second transmission shaft through a second coupler.
8. The natural orifice passage diagnosis and treatment integrated surgical robot according to claim 7, wherein the first transmission shaft and the second transmission shaft are provided with a yaw knob at one ends thereof located outside the endoscope main body control box;
the first coupler comprises a lower coupler body, an upper coupler body and a coupler locking bolt; the lower half coupling is connected with the output end of the first main body deflection motor, one end of the upper half coupling is rotatably connected with one end of the lower half coupling through a pin shaft, and the other end of the upper half coupling is connected with the other end of the lower half coupling through the coupling locking bolt; the upper half coupling and the lower half coupling are used for clamping the first transmission shaft, and when the upper half coupling and the lower half coupling are locked through the coupling locking bolt, the first transmission shaft is driven by the first main body deflection motor to rotate; when the coupling locking bolt between the upper coupling half and the lower coupling half is loosened, the first transmission shaft can be driven to rotate by the deflection knob;
the structure of the second coupling is the same as that of the first coupling.
9. The natural orifice integrated surgical robot of claim 8, wherein the endoscope body control mechanism further comprises:
the endoscope traction steel wire guide wheel is used for guiding a first endoscope traction steel wire led out by the first endoscope traction steel wire routing wheel, and the endoscope traction steel wire guide wheel is used for guiding a second endoscope traction steel wire led out by the second endoscope traction steel wire routing wheel;
the third endoscope traction steel wire guide wheel and the fourth endoscope traction steel wire guide wheel are located in the endoscope main body control box, the third endoscope traction steel wire guide wheel and the fourth endoscope traction steel wire guide wheel are erected above the second endoscope traction steel wire routing wheel set through the guide wheel frame, the third endoscope traction steel wire guide wheel is used for guiding a third endoscope traction steel wire guided out by the third endoscope traction steel wire routing wheel, and the fourth endoscope traction steel wire guide wheel is used for guiding a fourth endoscope traction steel wire guided out by the fourth endoscope traction steel wire routing wheel.
10. The natural orifice medical integrated surgical robot of claim 1, wherein the integrated device is a baseplate.
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