CN115444561A - Support device for slender flexible instrument and surgical robot - Google Patents

Abstract

The invention provides a supporting device for a slender flexible instrument and a surgical robot, wherein the supporting device comprises: a support assembly including a plurality of support members; each supporting member comprises a channel piece and a telescopic connecting mechanism, the channel piece is provided with a through hole suitable for penetrating a slender flexible instrument, two ends of the channel piece along the axial direction of the through hole are symmetrically connected with the telescopic connecting mechanisms, and the telescopic connecting mechanisms at each end of the channel piece can perform telescopic motion along the axial direction of the through hole; the plurality of supporting members are sequentially connected along the axial direction of the through hole, and the telescopic connecting mechanism can drive the plurality of channel pieces to mutually approach or move away along the axial direction of the through hole, so that the supporting assembly can be stretched and retracted along the axial direction of the through hole to change the length; and the through holes of the plurality of support members are coaxial, the plurality of through holes being adapted to support the elongated flexible instrument when the elongated flexible instrument is moved in the axial direction of the through holes. According to the support device, the support component can be in contact with a plurality of parts of the slender flexible instrument, so that the movement stability of the slender flexible instrument is guaranteed.

Description

Support device for slender flexible instrument and surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a supporting device for a slender flexible instrument and a surgical robot.

Background

The traditional flexible instrument is generally held by a doctor to stand beside a patient for examination and operation through a natural orifice surgery, and in the process that the flexible instrument enters an anatomical structure through a natural orifice of a human body such as a nasal cavity or an oral cavity, an operator generally needs to hold a control end of the flexible instrument with one hand and hold the flexible instrument at an inlet end of the natural orifice with the other hand, and the posture of the tail end of the flexible instrument is controlled by two hands and a single arm so as to control the flexible instrument to advance in the natural orifice of the human body and finally reach the anatomical structure. In the operation process, an operator needs to observe the visual interface and know the position of the tail end of the flexible instrument in the natural cavity of the human body in real time so as to judge and adjust the posture of the tail end of the flexible instrument, so that higher requirements are provided for the hand-eye coordination operation capability of the operator, and the working strength of the operator is higher.

In order to solve the above problems, in the prior art, a surgical robot device is used to operate a flexible instrument, and an indirect operation mode is adopted instead of manual direct operation of the flexible instrument. However, the flexible instrument has a slender and flexible characteristic, and when the flexible instrument collides against the inner wall of the cavity in the process of moving towards the natural cavity, when the flexible instrument is controlled in rotation and the tail end of the flexible instrument is adjusted in a bending manner, the flexible instrument is subjected to the action of axial force and radial force, the form of the flexible instrument in vitro is subjected to uncertain change, the smooth form of the flexible instrument is difficult to keep at all times, and the target position of the flexible instrument entering the natural cavity of the human body is difficult to ensure to be reliably and accurately controlled by the surgical robot device.

Disclosure of Invention

The invention provides a supporting device for a slender flexible instrument and a surgical robot, which are used for solving the problem that the straight shape of the flexible instrument is difficult to keep in real time in the process of controlling the flexible instrument to move by the conventional surgical robot device.

In a first aspect, the present invention provides a support device for an elongate flexible instrument, comprising:

a support assembly, the support assembly comprising:

the supporting members each comprise a channel piece and two telescopic connecting mechanisms, the channel piece is provided with a through hole suitable for being penetrated by an elongated flexible instrument, and the two telescopic connecting mechanisms are respectively connected to two ends of the channel piece along the axial direction of the through hole;

the supporting members are sequentially connected along the axial direction of the through hole, and the telescopic connecting mechanism can perform telescopic motion along the axial direction of the through hole to drive the channel pieces to mutually approach or move away along the axial direction of the through hole, so that the supporting assembly can be stretched along the axial direction of the through hole to change the length;

and the through holes of the plurality of support members are coaxial, and the plurality of through holes are adapted to support the elongated flexible instrument when the elongated flexible instrument is moved in the axial direction of the through holes.

According to the present invention there is provided a support arrangement for an elongate flexible instrument, the telescopic connection mechanism comprising a connection ring and a plurality of links;

the connecting ring and the channel member at each end of the channel member are arranged at intervals along the axial direction of the through hole, and the connecting ring is coaxial with the through hole; the connecting rods are arranged around the through hole at intervals, one end of each connecting rod is rotatably connected with the channel piece, the other end of each connecting rod is movably connected with the connecting ring, and the rotating axes of the connecting rods are perpendicular to the axis of the through hole, so that the connecting ring can move close to or away from the channel piece along the axial direction of the through hole.

According to the present invention there is provided a support device for an elongate flexible instrument, the channel member comprising a body;

the center of the main body is provided with the through hole, two groups of rotary connecting structures are arranged on the main body at intervals along the axial direction of the through hole, and each group comprises a plurality of rotary connecting structures which are arranged around the through hole at intervals; one end of the connecting rod is provided with a rotating part, and the connecting rod is rotatably connected with the rotating connecting structure through the rotating part.

According to the support device for the slender flexible instrument, the rotating connection structure comprises a shaft hole, wherein the axis of the shaft hole is perpendicular to the axis of the through hole;

the rotating connection structure further comprises a rotating shaft, the rotating shaft is arranged in the shaft hole, the rotating part is a connection hole, and the connection hole is rotatably connected with the rotating shaft; or the rotating part is a rotating shaft, and the rotating shaft is rotatably connected with the shaft hole.

According to the present invention there is provided a support device for an elongate flexible instrument, the main body comprising a connecting body and two cover plates;

the connecting body is provided with a through hole, and two end faces of the connecting body, which are positioned at two axial ends of the through hole, are provided with first grooves; the two cover plates are respectively connected to the two end faces of the connecting body, second grooves are formed in the cover plates corresponding to the first grooves, and the shaft holes are defined by the first grooves and the second grooves in a surrounding mode.

According to the support device for the slender flexible instrument, the connecting body and the two cover plates can be detachably connected.

According to the support device for the slender flexible instrument, the connecting ring comprises a plurality of connecting parts which are arranged at intervals along the circumferential direction, the other end of the connecting rod is provided with a sliding part, and the sliding part extends along the length direction of the connecting rod; the sliding part is connected with the connecting part in a sliding mode, so that the connecting rod and the connecting ring can move relatively along the length direction of the connecting rod.

According to the support device for the slender flexible instrument, the connecting ring further comprises a plurality of structural sections, the connecting part is a connecting shaft, and two adjacent structural sections are connected through the connecting shaft; the sliding part is a strip-shaped hole, and the connecting shaft penetrates through the strip-shaped hole.

According to the invention, a support device for an elongated flexible instrument is provided, the connecting shaft being detachably connected to the structural section.

According to the support device for the slender flexible instrument, two adjacent support members are connected through the connecting ring, and the connecting parts of the two connecting rings which are connected with each other are arranged in a staggered mode in the circumferential direction of the connecting ring.

According to the supporting device for the slender flexible instrument, the connecting ring further comprises a plurality of avoiding grooves which are arranged at intervals along the circumferential direction, and the avoiding grooves of one of the two connecting rings which are connected with each other are arranged in a one-to-one correspondence manner with the connecting parts of the other connecting ring.

According to the support device for the slender flexible instrument, the connecting rods at two ends of the channel piece in the axial direction of the through hole are correspondingly arranged one by one, the one end of each connecting rod is provided with an engaging part, and the two corresponding connecting rods connected to the two opposite ends of the channel piece are engaged and connected through the engaging parts.

According to the present invention there is provided a support device for an elongate flexible instrument, the support device further comprising first and second connection assemblies;

one end of the supporting component is connected with the first connecting component, and the other end of the supporting component is connected with the second connecting component;

at least one of the first and second connection assemblies is provided with a guide hole for passing the elongate flexible instrument therethrough.

According to the support device for the slender flexible instrument, the support component and the first connecting component and the second connecting component can be detachably connected.

According to the present invention there is provided a support arrangement for an elongate flexible instrument, the support assembly further comprising an end member comprising an end link and an end connection ring, the first and/or second connection assemblies comprising a connection block structure;

the end connecting rods are arranged at intervals along the circumferential direction of the end connecting ring, one end of each end connecting rod is rotatably connected with the connecting block structure, the other end of each end connecting rod is movably connected with the end connecting ring, and the rotating axes of the end connecting rods are perpendicular to the central axis of the connecting block structure, so that the end connecting rings can move close to or away from the connecting block structure along the central axis of the connecting block structure.

In a second aspect, the present invention provides a surgical robot, including the supporting device, the surgical robot further includes a mechanical arm assembly, one end of the supporting assembly is connected to a movable end of the mechanical arm assembly, the other end of the supporting assembly is connected to a fixed end of the mechanical arm assembly, and the fixed end and the movable end can move relatively close to or away from each other along a length direction of the supporting assembly, so as to drive the supporting assembly to move telescopically along the length direction.

The supporting member comprises a channel piece and a telescopic connecting mechanism, the two ends of the channel piece are connected with the telescopic connecting mechanism, the supporting members are sequentially connected along the axial direction of the through hole to form a supporting assembly, the telescopic connecting mechanism can perform telescopic motion along the axial direction of the through hole of the channel piece, the supporting assembly can extend and retract along the axial direction of the through hole to change the length, and the supporting assembly is always kept in a straight shape. The hole wall surfaces of the through holes of the support component are in contact with a plurality of parts of the slender flexible instrument, so that the slender flexible instrument can keep a straight form, and the movement stability of the slender flexible instrument is guaranteed.

Drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic view of the operation of a surgical robot provided by the present invention;

FIG. 2 is a flow chart of an exemplary embodiment of a surgical robot;

FIG. 3 is a schematic view of the operation of the support device provided by the present invention;

FIG. 4 is an assembled schematic view of a support device provided by the present invention;

FIG. 5 is a schematic view of the structure of the supporting device provided by the present invention;

FIG. 6 is an assembled schematic view of the support assembly provided by the present invention;

FIG. 7 is a partial schematic view of a support assembly provided by the present invention;

FIG. 8 is a schematic view of the assembly of the connecting rod and channel member provided by the present invention;

FIG. 9 is a schematic view of a link structure provided by the present invention;

FIG. 10 is a schematic structural view of a channel member provided by the present invention;

FIG. 11 is a schematic structural view of a connector body provided in accordance with the present invention;

FIG. 12 is a schematic structural view of a cover plate provided by the present invention;

FIG. 13 is a schematic view of a connector ring according to the present invention;

FIG. 14 is a schematic illustration of the engagement of the links provided by the present invention;

FIG. 15 is a schematic structural view of a first connector assembly provided in accordance with the present invention;

FIG. 16 is a second schematic structural view of the first connecting assembly provided in the present invention;

FIG. 17 is one of the structural illustrations of a second connection assembly provided by the present invention;

FIG. 18 is a second schematic view of a second connecting assembly according to the present invention;

reference numerals:

100: a support device; 1: a support member; 11: a channel member; 111: a rotating shaft; 112: a connecting body; 113: a cover plate; 12: a telescopic connection mechanism; 121: a connecting ring; 1211: a connecting portion; 1212: a structural segment; 1213: avoiding the groove; 122: a connecting rod; 1201: connecting holes; 1202: a strip-shaped hole; 1203: an engaging portion; 2: a first connection assembly; 21: a first base; 22: a first connection block structure; 3: a second connection assembly; 31: a second base; 32: a second connecting block structure; 4: an end member; 41: an end connecting rod; 42: an end connecting ring;

200: an elongated flexible instrument; 300: a robotic arm system; 301: a mechanical arm assembly; 3011: a distal robotic arm; 3012: a proximal end mechanical arm; 302: a flexible instrument drive assembly; 303: a flexible instrument interface box; 304: a flexible instrument transmission; 400: a host; 401: a main mechanical arm; 500: remotely operating the console; 600: a display system; 700: a navigation system; 800: natural orifice entrance.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The supporting device for the elongated flexible instrument and the surgical robot according to the embodiment of the invention are described below with reference to fig. 1 to 18.

FIG. 1 is a diagrammatic illustration of the operation of a surgical robot in accordance with certain embodiments of the present application. As shown in fig. 1, the surgical robot includes a support device 100, an elongated flexible instrument 200, a robotic arm system 300, a mainframe 400, a teleoperational console 500, a display system 600, and a navigation system 700. The host 400 includes a host robot arm 401, a control system, a data processing system, a detection system, a drive system, and the like; the teleoperation console 500 includes an operation actuator and a communication system, and is connected to the control system of the host 400 in a communication manner, so as to transmit the motion and position signals of the operation actuator to the control system, and the control system converts the signals into control signals for controlling the manipulator system 300, so as to drive the elongated flexible instrument 200 mounted thereon to perform linear, rotational, and distal end bending motions, thereby adjusting the advancing posture in the natural orifice of the human body and finally reaching the target lesion. The endoscope system is installed at the tail end of the slender flexible instrument 200, an operator can operate a controller on the teleoperation console 500 by watching images in the human body cavity acquired by the endoscope system presented by the display system 600 and visual navigation prompts presented by the navigation system 700, control the main mechanical arm 401 to align the mechanical arm system 300 with the human body natural cavity entrance 800, and control the mechanical arm system 300 to drive the slender flexible instrument 200 to enter a target position in the human body natural cavity through the human body natural cavity entrance 800 or drive the slender flexible instrument 200 to move out of the human body natural cavity. The elongated flexible instrument 200 is supported by the support device 100 during movement thereof.

Fig. 2 is a flowchart illustrating operation of a surgical robot according to some embodiments of the present application. When the endoscope system advances along with the slender flexible instrument 200 in the natural orifice of the human body, images in the orifice are acquired in real time, and an operator observes the advancing position and state of the slender flexible instrument 200 in the natural orifice of the human body in real time through the display system 600. The endoscope system synchronously sends image data in the natural body cavity to the detection system, the detection system sends the calculated real-time data of the natural body cavity to the navigation system 700, and the navigation system 700 automatically registers images of the navigation system 700 according to the real-time data in the natural body cavity, so that the position and angle information of the images of the navigation system 700 are consistent with those of real-time endoscope images, and the images can enter the natural body cavity more intuitively under the guidance of a target path. After the elongated flexible instrument 200 reaches the target point, the surgical examination and treatment tool is inserted through the tool channel of the elongated flexible instrument 200, and the position and operation of the surgical examination and treatment tool are performed under fluoroscopy of the fluoroscopy device, thereby completing the examination, biopsy operation and treatment operation of the target lesion.

The elongated flexible instrument 200 is elongated and flexible, and when the section of the elongated flexible instrument 200 located outside the natural cavity is not effectively supported during the process of moving the elongated flexible instrument 200 towards the natural cavity, and when the elongated flexible instrument 200 is linearly moved and the elongated flexible instrument 200 is rotationally operated or the end of the elongated flexible instrument 200 is bent and adjusted, the elongated flexible instrument 200 is prone to irregular bending and twisting phenomena, which results in poor accuracy of the positioning position of the elongated flexible instrument 200. In order to ensure that the section of the elongated flexible instrument 200 located outside the natural orifice is kept in a straight configuration, the elongated flexible instrument 200 needs to be supported by the supporting device 100 when the elongated flexible instrument 200 enters or exits the natural orifice of the human body.

Fig. 3 is an operation diagram of the supporting device 100. The robotic arm system 300 includes a robotic arm assembly 301 and a flexible instrument drive assembly 302. The support device 100 comprises a support assembly, one end of the support assembly is connected with the movable end of the mechanical arm assembly 301, the other end of the support assembly is connected with the fixed end of the mechanical arm assembly 301, the movable end of the mechanical arm assembly 301 is far away from the patient, and the fixed end of the mechanical arm assembly 301 is close to the patient. The support assembly is capable of supporting the elongate flexible instrument 200 and is capable of contracting or expanding in response to movement of the robotic arm assembly 301.

The main machine 400 is connected with the fixed end of the mechanical arm assembly 301 through the main mechanical arm 401, the main mechanical arm 401 can drive the mechanical arm assembly 301 to perform lifting motion along the vertical direction, and the main mechanical arm 401 can also drive the mechanical arm assembly 301 to rotate around the axis of the main mechanical arm 401, so that the fixed end of the mechanical arm assembly 301 can be accurately aligned with the natural cavity entrance 800.

When the movable end of the robot arm assembly 301 moves in the working direction toward or away from the fixed end of the robot arm assembly 301, the support assembly can be deformed in a contracting manner or in an expanding manner in accordance with the movement of the robot arm assembly 301. The support assembly is formed with a support channel for supporting the elongate flexible instrument 200 with the elongate flexible instrument 200 located in the support channel, the elongate flexible instrument 200 moving synchronously with the support assembly in the working direction. The support assembly can maintain a straight configuration along the working direction, thereby ensuring that the elongated flexible instrument 200 can also maintain a straight configuration during movement.

Fig. 4 is an assembled schematic view of the support device 100. The mechanical arm assembly 301 comprises a plurality of mechanical arms, two adjacent mechanical arms are movably connected, the number of the mechanical arms is set according to actual requirements, for example, the number of the mechanical arms is three, three mechanical arms are defined along the extending direction of the mechanical arm assembly 301 to be a far-end mechanical arm 3011, a middle mechanical arm and a near-end mechanical arm 3012 respectively, the far-end mechanical arm 3011 is far away from a patient, the near-end mechanical arm 3012 is close to the patient, the far-end mechanical arm 3011 can perform linear reciprocating motion along the working direction relative to the middle mechanical arm, the middle mechanical arm can perform linear reciprocating motion along the working direction relative to the near-end mechanical arm 3012, and the position of the near-end mechanical arm 3012 is relatively fixed. The robot arm assembly 301 further includes a robot arm driving mechanism for driving the distal robot arm 3011 to move in the working direction toward the direction closer to or away from the proximal robot arm 3012.

When the distal end mechanical arm 3011 moves towards the direction close to the proximal end mechanical arm 3012 along the working direction, the supporting component is gradually compressed and shortened along the length direction, and the supporting component is always kept in a straight shape along the working direction, so that the slender flexible instrument 200 can stably enter a target focus in the natural cavity from the natural cavity entrance 800 along the supporting channel. When the distal mechanical arm 3011 moves in the working direction toward the direction away from the proximal mechanical arm 3012, the support assembly is gradually stretched and lengthened in the length direction, and the support assembly always maintains a straight shape along the working direction, so that the elongated flexible instrument 200 can be stably moved out of the natural orifice from the target lesion in the natural orifice to the outside of the natural orifice along the support channel.

The elongated flexible instrument 200 has a tool channel, the elongated flexible instrument 200 enters a target lesion in the natural cavity along the support channel, and a tool for examination or treatment reaches the target lesion along the tool channel to perform an examination, biopsy or treatment operation on the target lesion. During the movement of the elongated flexible instrument 200 along the support channel toward the target lesion within the natural orifice, the flexible instrument drive assembly 302 drives the elongated flexible instrument 200 to perform a rotational or distal bending motion, such that the elongated flexible instrument 200 is capable of adjusting its posture within the natural orifice and ultimately reaching the target lesion.

In the process that the slender flexible instrument 200 moves to a target lesion in a natural cavity along the supporting channel, or in the process that the slender flexible instrument 200 moves from the target lesion in the natural cavity to the outside of the natural cavity along the supporting channel, the supporting component can always keep a straight shape, so that a part of the slender flexible instrument 200 positioned outside the natural cavity can be stably supported, the irregular torsion phenomenon of the slender flexible instrument 200 in the process of translation, rotation or tail end bending is effectively avoided, the slender flexible instrument 200 keeps the straight shape in the moving process, and the slender flexible instrument 200 can be accurately moved to the target lesion in the natural cavity or moved out of the natural cavity.

As shown in fig. 4, 5 and 6, in an alternative embodiment, the support assembly comprises a plurality of support members 1; each support member 1 comprises a channel piece 11 and two telescopic connecting mechanisms 12, wherein the channel piece 11 is provided with a through hole suitable for penetrating the slender flexible instrument 200, and the two telescopic connecting mechanisms 12 are respectively connected to two ends of the channel piece 11 along the axial direction of the through hole; the supporting members 1 are sequentially connected along the axial direction of the through hole, and the telescopic connecting mechanism 12 can perform telescopic motion along the axial direction of the through hole to drive the channel pieces 11 to move close to or away from each other along the axial direction of the through hole, so that the supporting assembly can change the length along the axial direction of the through hole in a telescopic mode; and the through holes of the plurality of support members 1 are coaxial, and the plurality of through holes are adapted to support the elongated flexible instrument 200 when the elongated flexible instrument 200 is moved in the axial direction of the through holes.

Specifically, the support assembly comprises a plurality of support members 1, the plurality of support members 1 are sequentially connected along the length direction to form the support assembly, and the support members 1 comprise channel pieces 11 and telescopic connection mechanisms 12. The channel piece 11 is provided with a through hole for penetrating through the slender flexible instrument 200, the channel piece 11 has two opposite ends, the two ends of the channel piece 11 are both provided with the telescopic connection mechanisms 12, the two telescopic connection mechanisms 12 are arranged at the two ends of the channel piece 11, and preferably, the two telescopic connection mechanisms 12 are symmetrically arranged at the two ends of the channel piece 11. The telescoping connection 12 has opposite first and second ends, defining the end of the telescoping connection 12 proximal to the channel member 11 as the first end and the end distal from the channel member 11 as the second end. The distance between the first end and the second end along the axial direction of the through hole is defined as the length of the telescopic connecting mechanism 12, and the telescopic connecting mechanism 12 can perform telescopic motion along the axial direction of the through hole.

When the telescopic connecting mechanism 12 is pressed, the telescopic connecting mechanism 12 is contracted and deformed along the axial direction of the through hole, and the distance between the first end and the second end is reduced; when the telescopic connection mechanism 12 is pulled, the telescopic connection mechanism 12 is stretched and deformed along the axial direction of the through hole, and the distance between the first end and the second end is increased. A plurality of supporting component 1 connect gradually along the axial of through-hole, exert pressure to supporting component, and flexible coupling mechanism 12 pressurized, flexible coupling mechanism 12 takes place the shrinkage deformation along the axial of through-hole, drives a plurality of channel spare 11 from this and is close to each other along the axial of through-hole, and supporting component diminishes along the axial length of through-hole gradually. Exerting pulling force on the supporting component, the telescopic connection mechanism 12 is pulled, the telescopic connection mechanism 12 is stretched and deformed along the axial direction of the through hole, the plurality of channel pieces 11 are driven to be mutually far away along the axial direction of the through hole, and the length of the supporting component along the axial direction of the through hole is gradually increased.

The through holes of the plurality of support members 1 are coaxially arranged, the plurality of through holes constitute a support channel, the support channel penetrates from one end of the support component to the other end of the support component, and the hole wall surfaces of the plurality of through holes of the support channel can be contacted with a plurality of parts of the slender flexible instrument 200. When the distal robot arm 3011 moves in the working direction toward the direction close to the proximal robot arm 3012, the plurality of support members 1 undergo a contracting deformation in the working direction, the length of the support assembly becomes progressively shorter, and the elongate flexible instrument 200 is progressively moved along the support channel from the natural orifice access 800 to a target lesion within the natural orifice. During the movement, the support assembly maintains a straight configuration along the working direction, so that the section of the elongated flexible instrument 200 located in the support channel also maintains a straight configuration, ensuring that the elongated flexible instrument 200 stably enters the target lesion in the natural orifice along the support channel. When the distal mechanical arm 3011 moves in the working direction toward the direction away from the proximal mechanical arm 3012, the plurality of support members 1 are deformed in an extending manner in the working direction, the length of the support assembly gradually increases, and the elongated flexible instrument 200 moves out of the natural orifice from the target lesion in the natural orifice along the support channel. During the movement, the support assembly maintains a straight configuration along the working direction, so that the section of the elongated flexible instrument 200 located in the support channel also maintains a straight configuration, ensuring that the elongated flexible instrument 200 is stably moved out of the natural orifice from the target lesion in the natural orifice along the support channel.

In the embodiment of the invention, the supporting members 1 comprise a channel piece 11 and a telescopic connecting mechanism 12, the telescopic connecting mechanisms 12 are connected to both ends of the channel piece 11, the supporting members 1 are sequentially connected along the axial direction of the through hole to form a supporting assembly, the telescopic connecting mechanism 12 can perform telescopic motion along the axial direction of the through hole of the channel piece 11, so that the supporting assembly can change the length along the axial direction of the through hole in a telescopic manner, and the supporting assembly always keeps a straight shape. The wall surfaces of the through holes of the support assembly contact with various parts of the elongated flexible instrument 200, so that the elongated flexible instrument 200 can keep a straight shape, thereby ensuring the stability of the movement of the elongated flexible instrument 200.

As shown in fig. 7, 8 and 9, in an alternative embodiment, pantograph linkage 12 includes a connecting ring 121 and a plurality of links 122; the connecting ring 121 at each end of the channel member 11 and the channel member 11 are arranged at intervals along the axial direction of the through hole, and the connecting ring 121 is coaxial with the through hole; a plurality of links 122 are arranged at intervals around the through hole, each link 122 has one end rotatably connected to the channel member 11 and the other end movably connected to the connection ring 121, and the rotational axis of the link 122 is perpendicular to the axis of the through hole, so that the connection ring 121 can move toward or away from the channel member 11 in the axial direction of the through hole.

Specifically, the first end and the second end of the channel member 11 are connected with the telescopic connection mechanism 12, preferably, the telescopic connection mechanism 12 at the first end and the telescopic connection mechanism 12 at the second end are symmetrically arranged, and the telescopic connection mechanism 12 comprises a connection ring 121 and a plurality of connecting rods 122. The connection of the telescopic connection mechanism 12 and the channel member 11 will be described by taking the first end of the channel member 11 as an example, the connection ring 121 is disposed coaxially with the channel member 11, the connection ring 121 and the first end of the channel member 11 are disposed at intervals along the axial direction of the through hole, the plurality of connecting rods 122 are disposed at intervals circumferentially around the axis of the through hole, and the number of the connecting rods 122 is two, three or more. Preferably, a plurality of connecting rods 122 are circumferentially and uniformly distributed around the axis of the through hole, so that the structural stability is facilitated.

One end of the connecting rod 122 is rotatably connected with the channel member 11, the other end of the connecting rod 122 is movably connected with the connecting ring 121, the rotation axis of the connecting rod 122 is perpendicular to the axis of the through hole, and the connecting rod 122 can rotate towards the direction far away from the axis of the through hole or towards the direction close to the axis of the through hole, i.e. the angle between the connecting rod 122 and the axis of the through hole can gradually increase or decrease along with the rotation of the connecting rod 122. When the telescopic connection mechanism 12 is pressed, the connecting ring 121 can move in the axial direction of the through hole toward the direction close to the first end of the tunnel member 11 while the connecting rod 122 rotates in the direction away from the axis of the through hole. When the telescopic link 12 is pulled, the connecting ring 121 can move in the axial direction of the through hole in a direction away from the first end of the tunnel member 11 while the link 122 rotates in a direction close to the axis of the through hole. The link 122 and the connecting ring 121 at the second end of the channel member 11 move in a similar manner to the link 122 and the connecting ring 121 at the first end of the channel member 11, and will not be described again here.

Thereby, the support assembly is pressed, the connecting rods 122 at the two ends of the channel piece 11 rotate towards the direction far away from the axis of the through hole, and the connecting rings 121 at the two ends of the channel piece 11 move towards the direction close to the channel piece 11 along the axial direction of the through hole, so that the support component 1 is contracted and deformed; the support assembly is pulled, the links 122 at both ends of the passage member 11 are rotated toward a direction close to the axis of the through hole, and the connection rings 121 at both ends of the passage member 11 are moved in a direction away from the passage member 11 in the axial direction of the through hole, thereby achieving the stretching deformation of the support member 1. The support member 1 is deformed in a contracting or expanding manner by the rotation of the link 122 and the movement of the connection ring 121 relative to the tunnel 11.

In the embodiment of the present invention, the support member 1 is contracted or expanded by the rotation of the connecting rod 122 and the movement of the connecting ring 121 relative to the channel member 11, and the structure is stable and the operation is convenient.

In an alternative embodiment, the channel piece 11 comprises a body; a through hole is formed in the center of the main body, two groups of rotary connecting structures are arranged on the main body at intervals along the axial direction of the through hole, and each group comprises a plurality of rotary connecting structures arranged around the through hole at intervals; one end of the connecting rod 122 is provided with a rotating part, and the connecting rod 122 is rotatably connected with the rotating connection structure through the rotating part.

Specifically, passageway piece 11 includes the main part, and the shape of main part can be square body, circular body or multilateral body etc. and the center of main part is equipped with the through-hole, is provided with two sets of rotation connection structure along the axial interval of through-hole in the main part, and two sets of rotation connection structure are used for being connected with two telescopic connection mechanism 12 one-to-one that passageway piece 11's both ends set up. Under the condition that the two telescopic connecting mechanisms 12 are symmetrically connected with the two ends of the channel piece 11, the two groups of rotary connecting structures are symmetrically arranged at the two ends of the main body. Each group of rotating connection structures comprises a plurality of rotating connection structures, the rotating connection structures are uniformly distributed around the axis of the through hole, and the rotating connection structures are connected with the connecting rods 122 in a one-to-one correspondence mode. One end of the connecting rod 122 is provided with a rotating part, and the connecting rod 122 is rotatably connected with the rotating connecting structure through the rotating part.

In an alternative embodiment, shown in figures 8, 9 and 10, the rotatable connection comprises a shaft hole, the axis of the shaft hole being perpendicular to the axis of the through hole; the rotating connection structure further comprises a rotating shaft 111, the rotating shaft 111 is arranged in the shaft hole, the rotating part is a connection hole 1201, and the connection hole 1201 is rotatably connected with the rotating shaft 111; alternatively, the rotating part is a rotating shaft 111, and the rotating shaft 111 is rotatably connected with the shaft hole.

Specifically, taking the main body as a square body as an example, the surface of the main body perpendicular to the axis of the through hole is defined as an end surface of the main body, and the rest surfaces of the main body are side surfaces of the main body. Recessed from the sides toward the interior of the body form a groove that forms the pivot area for the link 122. A shaft hole is formed by extending the groove wall surface of the groove towards the inside of the main body, and the axis of the shaft hole is vertical to the axis of the through hole.

The rotating shaft 111 is matched with the shaft holes, two ends of the rotating shaft 111 are respectively assembled with the two corresponding shaft holes, one end of the connecting rod 122 is provided with a connecting hole 1201, and the connecting hole 1201 is matched with the rotating shaft 111. During assembly, the rotating shaft 111 penetrates through the connecting hole 1201 in the connecting rod 122, the connecting hole 1201 is in clearance fit with the rotating shaft 111, then the rotating shaft 111 is assembled with the shaft hole, and the connecting hole 1201 can rotate relative to the rotating shaft 111, so that the connecting rod 122 is rotatably connected with the main body.

Or a rotating shaft 111 is formed at one end of the connecting rod 122, the rotating shaft 111 and the connecting rod 122 are of an integral structure, the rotating shaft 111 is matched with the shaft holes, when the connecting rod is assembled, two ends of the rotating shaft 111 are directly assembled with the two corresponding shaft holes, the rotating shaft 111 is in clearance fit with the shaft holes, and the rotating shaft 111 can rotate relative to the shaft holes, so that the connecting rod 122 is rotatably connected with the main body.

As shown in fig. 10, 11 and 12, in an alternative embodiment, the main body comprises a connecting body 112 and two cover plates 113; a through hole is formed in the connecting body 112, and first grooves are formed in two end faces, located at two axial ends of the through hole, of the connecting body 112; the two cover plates 113 are respectively connected to two end faces of the connecting body 112, and a second groove is formed in the cover plate 113 corresponding to the first groove, and the first groove and the second groove form a shaft hole in a surrounding manner.

Specifically, the connection body 112 may be a square body, a through hole has been opened on the connection body 112, the connection body 112 is clamped between two cover plates 113, an avoiding hole is provided on the cover plate 113, the avoiding hole and the through hole are coaxial, the inner diameter size of the avoiding hole and the inner diameter size of the through hole are matched with the outer diameter size of the elongated flexible instrument 200, and the elongated flexible instrument 200 can penetrate through the avoiding hole and the through hole. Both ends of the axial connecting body 112 along the through hole are provided with first grooves, and the first grooves are uniformly distributed around the axis of the through hole.

For example, the connecting body 112 is a square body, four U-shaped grooves are formed by the side surface of the square body being recessed, the U-shaped grooves form the rotating area of the connecting rod 122, a first groove is formed by the top surface of the connecting body 112 being recessed, the first groove is communicated with the U-shaped grooves, and similarly, the first groove is also formed by the bottom surface of the connecting body 112 being recessed. The first grooves at the top surface of the connecting body 112 and the first grooves at the bottom surface of the connecting body 112 correspond one-to-one.

The cover plate 113 is formed with a second groove, and the second groove and the first groove enclose to form a shaft hole. During assembly, the rotating shaft 111 penetrates through the connecting hole 1201 of the connecting rod 122, two ends of the rotating shaft 111 are respectively placed in the two opposite first grooves, the cover plate 113 is placed on the connecting body 112, the second grooves correspond to the first grooves one to one, the second grooves and the first grooves surround a shaft hole, part of the outer wall surface of the end portion of the rotating shaft 111 is abutted against the groove wall surface of the first groove, and the other part of the outer wall surface of the end portion of the rotating shaft 111 is abutted against the groove wall surface of the second groove. The cover plate 113 may be coupled to the coupling body 112 by a fitting coupling method, an adhesive method, or a screw method, thereby achieving the coupling of the link 122 to the main body.

In an alternative embodiment, the connecting body 112 and the two cover plates 113 are both detachably connected.

The connecting body 112 is provided with a first mounting hole, the cover plate 113 is provided with a second mounting hole, the first mounting hole is matched with the second mounting hole, and the first mounting hole corresponds to the second mounting hole in a one-to-one manner. After the connecting rod 122 is assembled with the rotating shaft 111, the fastener penetrates through the second mounting hole of the cover plate 113 and the first mounting hole of the connecting body 112, so that the cover plate 113 and the connecting body 112 can be detachably connected. First mounting hole and second mounting hole can be the unthreaded hole, and the fastener is bolt and nut, and connection body 112 and apron 113 can be dismantled and connect, are favorable to the convenience of assembly and dismantlement.

As shown in fig. 13, in an alternative embodiment, the connection ring 121 includes a plurality of connection portions 1211 disposed at intervals in a circumferential direction, and the other end of the link 122 is provided with a sliding portion extending in a length direction of the link 122; the sliding portion is slidably coupled to the coupling portion 1211 such that the link 122 and the connection ring 121 can move relative to each other in the longitudinal direction of the link 122.

Specifically, the connection ring 121 includes a plurality of connection portions 1211, and the plurality of connection portions 1211 are spaced around the axis of the connection ring 121. Preferably, the plurality of connecting portions 1211 are uniformly arranged around the axis of the connection ring 121, and thus the plurality of connecting rods 122 are uniformly arranged around the axis of the through hole, which contributes to the structural stability. The other end of the connecting rod 122 is provided with a sliding portion, the sliding portion extends along the length direction of the connecting rod 122, and two ends of the sliding portion are defined as a first end of the sliding portion and a second end of the sliding portion respectively. When the support member 1 is in the fully extended state, the connecting portion 1211 is located at the first end of the sliding portion, the support member 1 is pressed, and the connecting portion 1211 moves from the first end of the sliding portion toward the second end of the sliding portion in the extending direction of the sliding portion while the link 122 rotates in a direction away from the axis of the through hole, whereby the distance between the connecting ring 121 and the channel member 11 is gradually decreased. As the support member 1 is continuously compressed, the final connecting portion 1211 can move to the second end of the sliding portion while the support member 1 is in a fully compressed state.

When the support member 1 is pulled, the connecting portion 1211 can move from the second end of the sliding portion toward the first end of the sliding portion in the extending direction of the sliding portion while the link 122 rotates toward a direction close to the axis of the through hole, whereby the interval between the connection ring 121 and the passage member 11 gradually increases. As the support member 1 is continuously pulled, the final connection portion 1211 can be brought into contact with the first end of the sliding portion while the support member 1 is in a fully extended state.

The other end of the connecting rod 122 is formed with a sliding portion, the extending direction of the sliding portion is consistent with the length direction of the connecting rod 122, the connecting portion 1211 of the connecting ring 121 can move along the sliding portion, and further the adjustment of the distance between the connecting ring 121 and the channel member 11 is realized, the structure is simple, and the operation is convenient.

As shown in fig. 9 and 13, in an alternative embodiment, the connection ring 121 further includes a plurality of structural segments 1212, the connection portion 1211 is a connection shaft, and two adjacent structural segments 1212 are connected by the connection shaft; the sliding part is a strip-shaped hole 1202, and the connecting shaft penetrates through the strip-shaped hole 1202.

Specifically, the connection ring 121 includes connection shafts and the structure segments 1212, the number of the connection shafts is the same as that of the structure segments 1212, two adjacent structure segments 1212 are connected by the connection shafts, the structure segments 1212 may be arc-shaped, and an end of the connection shafts may be connected with an end of the structure segments 1212 by a screwing manner, an adhering manner, or a clamping manner. The other end of the connecting rod 122 is provided with a strip-shaped hole 1202, the extending direction of the strip-shaped hole 1202 is consistent with the length direction of the connecting rod 122, and the aperture size of the strip-shaped hole 1202 is slightly larger than the diameter size of the connecting shaft.

The connecting shaft is disposed through the bar hole 1202, and the connecting shaft can be moved from the first end of the bar hole 1202 to the second end of the bar hole 1202 along the length direction of the bar hole 1202, or moved from the second end of the bar hole 1202 to the first end of the bar hole 1202. When the support member 1 is in the fully extended state, the connecting shaft is located at the first end of the bar-shaped hole 1202, the support member 1 is pressed, the connecting shaft moves from the first end of the bar-shaped hole 1202 toward the second end of the bar-shaped hole 1202 along the extending direction of the bar-shaped hole 1202, and simultaneously the link 122 rotates about the rotating shaft 111 in the direction away from the axis of the through-hole, whereby the distance between the connecting ring 121 and the tunnel 11 is gradually reduced. As the support member 1 is continuously compressed, eventually the connecting shaft can move to the second end of the strip aperture 1202, with the support member 1 in a fully compressed state.

When the support member 1 is pulled, the connecting shaft can move from the second end of the bar-shaped hole 1202 toward the first end of the bar-shaped hole 1202 in the extending direction of the bar-shaped hole 1202 while the link 122 rotates about the rotary shaft 111 toward the direction close to the axis of the through-hole, whereby the interval between the connecting ring 121 and the tunnel 11 gradually increases. As the support member 1 is continuously pulled, eventually the connection shaft can come into contact with the first end of the bar-shaped hole 1202 while the support member 1 is in a fully extended state.

The other end of connecting rod 122 is formed with bar hole 1202, and the extending direction in bar hole 1202 is unanimous with the length direction of connecting rod 122, and the connecting axle can move along bar hole 1202, and then realizes the regulation of the interval of go-between 121 and channel part 11, simple structure, and it is steady to remove.

In an alternative embodiment, the connecting shaft is detachably connected to the construction section 1212.

Specifically, the end of the structure section 1212 is provided with a threaded hole, the end of the connecting shaft is provided with an external thread, and the structure section 1212 is in threaded connection with the connecting shaft. Or the end part of the structure section 1212 is provided with a clamping groove, the end part of the connecting shaft is provided with a clamping joint, and the structure section 1212 is connected with the connecting shaft in a clamping way. Or the end of the connecting shaft is provided with a threaded hole, the end of the structure section 1212 is provided with a positioning groove and a counter sink, the positioning groove is matched with the end of the connecting shaft, the counter sink is perpendicular to the positioning groove, the end of the connecting shaft is inserted into the positioning groove, and the fastener sequentially penetrates through the counter sink and the threaded hole in the connecting shaft to realize the connection of the connecting shaft and the structure section 1212.

During assembly, the connecting shaft firstly penetrates through the strip-shaped hole 1202 of the connecting rod 122, and then the two ends of the connecting shaft are respectively connected with the two adjacent structure sections 1212, so that convenience in assembly and disassembly is facilitated.

In an alternative embodiment, adjacent two support members 1 are connected by the connection ring 121, and the connection portions 1211 of the two connection rings 121 connected to each other are arranged with a shift in the circumferential direction of the connection ring 121.

Specifically, two adjacent support members 1 are connected by a connection ring 121, and two adjacent connection rings 121 may be connected by a screw connection or a snap connection. The connecting portion 1211 of the connection ring 121 is slidably connected to the sliding portion of the connection rod 122, and the sliding portion moves from one of the two connection rings 121 connected to each other toward the other of the two connection rings 121 while the connection rings 121 and the connection rod 122 move relative to each other, and the connecting portions 1211 of the two connection rings 121 connected to each other are arranged in a shifted manner in the circumferential direction of the connection rings 121 in order to prevent the sliding portion from interfering with each other while the connection rings 121 and the connection rod 122 move relative to each other. Therefore, the two connecting rings 121 can be assembled in a fitting manner, which is beneficial to the compactness of the structure.

As shown in fig. 13, in an alternative embodiment, the connection ring 121 further includes a plurality of avoidance grooves 1213 arranged at intervals in the circumferential direction, and the avoidance grooves 1213 of one of the two connection rings 121 connected to each other are arranged in one-to-one correspondence with the connection portions 1211 of the other.

Specifically, the structure section 1212 of the connecting ring 121 is provided with an avoiding groove 1213, the avoiding groove 1213 may be located in a middle region of the structure section 1212, and the avoiding groove 1213 of one of the two connecting rings 121 connected to each other is arranged corresponding to the connecting shaft of the other one. In the process that the connecting shaft connected with one connecting ring 121 moves from the first end of the strip-shaped hole 1202 to the second end, the avoiding groove 1213 can effectively prevent the connecting rod 122 from colliding with the other connecting ring 121 in the moving process, and the moving reliability is guaranteed.

In an alternative embodiment, as shown in fig. 14, the links 122 at the two ends of the channel member 11 in the axial direction of the through hole are arranged in a one-to-one correspondence, one end of each link 122 is provided with an engaging portion 1203, and the two corresponding links 122 connected to the two opposite ends of the channel member 11 are engaged and connected through the engaging portion 1203.

Specifically, one end of the link 122 is provided with a connecting hole 1201, a gear-shaped engaging portion 1203 is formed in the circumferential direction of the connecting hole 1201, and the link 122 symmetrically located at the first end of the tunnel member 11 and the link 122 located at the second end of the tunnel member 11 are engaged and connected through the engaging portion 1203. When the supporting member 1 is pressed or pulled, the link 122 at the first end and the link 122 at the second end rotate synchronously, so that the compression deformation or the extension deformation at the two sides of the channel member 11 are the same, and the stable contraction deformation or the extension deformation of the supporting member 1 is ensured.

In the embodiment of the present invention, the two connecting rods 122 correspondingly disposed at the two opposite ends of the channel member 11 are engaged and connected through the engaging portion 1203, which ensures that the compressive deformation or the elongation deformation at the two sides of the channel member 11 are the same, and is beneficial to further ensure that the support assembly can maintain a straight shape when being pressed or pulled, thereby further ensuring the stability of the movement of the elongated flexible instrument 200.

As shown in fig. 3, 4 and 5, in an alternative embodiment, the support device 100 further comprises a first connecting assembly 2 and a second connecting assembly 3; one end of the supporting component is connected with the first connecting component 2, and the other end of the supporting component is connected with the second connecting component 3; at least one of the first and second attachment assemblies 2, 3 is provided with a guide hole for the passage of the elongate flexible instrument 200.

Specifically, first coupling assembling 2 and second coupling assembling 3 set up along the working direction interval, and first coupling assembling 2 and second coupling assembling 3 provide the installation basis for the supporting component. The first connection assembly 2 comprises a first base 21, and the first base 21 is connected with the remote robot 3011; the second linkage assembly 3 includes a second base 31, the second base 31 being connected to the proximal robot arm 3012. One end of the support member is connected to the first base 21, and the other end of the support member is connected to the second base 31.

As shown in fig. 15 and 16, the first base 21 is provided with an instrument through hole, which is coaxial with the through hole of the channel member 11, and is used for passing through the elongated flexible instrument 200. The side of the first base 21 facing away from the second base 31 is provided with a flexible instrument transmission box joint and a flexible instrument driving assembly connecting joint. The side of the first base 21 facing the second base 31 is provided with a support assembly distal end fitting for connection with one end of the support assembly. The flexible instrument transmission box joint is used for being connected with a flexible instrument interface box 303, one end of the slender flexible instrument 200 penetrates through the instrument through hole to be connected with the flexible instrument interface box 303, the flexible instrument interface box 303 is connected with a flexible instrument transmission device 304, and the flexible instrument driving assembly connecting joint is used for being connected with a flexible instrument driving assembly 302. The robot driving mechanism drives the distal robot arm 3011 to move towards the direction close to or away from the proximal robot arm 3012 along the working direction, so that the support assembly is compressed or stretched along the working direction, and the flexible instrument driving assembly 302 drives the elongated flexible instrument 200 to rotate or perform the bending motion of the end, so that the elongated flexible instrument 200 can adjust the posture in the natural cavity and finally reach the target lesion.

As shown in fig. 17 and 18, the side of the second base 31 facing the first base 21 is provided with a support assembly proximal joint for connecting with the other end of the support assembly. The second base 31 is further provided with a guide hole, and the guide hole, the instrument through hole and the through hole of the channel member 11 are coaxial, and the guide hole is used for penetrating the slender flexible instrument 200. As shown in FIG. 3, the side of the second base 31 facing away from the first base 21 is provided with an introducing device, which comprises an introducing tube, through which the elongated flexible instrument 200 passes to enter the natural orifice entrance 800. The second base 31 is further provided with a near-end robot interface, and the second base 31 is connected with the near-end robot 3012 through the near-end robot interface.

In an alternative embodiment, the support member is removably connectable to both the first and second connection members 2, 3.

Specifically, the supporting member 1 at one end of the supporting assembly may be connected to the first base 21 in a shaft connection manner or a clamping manner, and the supporting member 1 at the other end of the supporting assembly may also be connected to the second base 31 in a shaft connection manner or a clamping manner. The both ends of supporting component can dismantle with first base 21 and second base 31 respectively and be connected, are favorable to the convenience of assembly and dismantlement.

As shown in fig. 4 and 5, in an alternative embodiment, the support assembly further comprises an end member 4, the end member 4 comprising an end link 41 and an end connection ring 42, the first connection assembly 2 and/or the second connection assembly 3 comprising a connection block structure; a plurality of end links 41 are arranged at intervals along the circumference of the end connection ring 42, each end link 41 has one end rotatably connected to the connection block structure and the other end movably connected to the end connection ring 42, and the rotation axis of the end link 41 is perpendicular to the central axis of the connection block structure, so that the end connection ring 42 can move close to or away from the connection block structure along the central axis of the connection block structure.

In particular, the support assembly further comprises end members 4, the number of end members 4 being two, the two end members 4 being connected respectively to the two support members 1 located at the ends. The end member 4 includes an end link 41 and an end connection ring 42, the structure of the end connection ring 42 may be the same as that of the connection ring 121 of the support member 1, and the structure of the end link 41 may be the same as that of the link 122 of the support member 1.

As shown in fig. 5, 15 and 16, the first connecting assembly 2 further includes a connecting block structure, which is disposed on a side of the first base 21 facing the second base 31, and is defined as a first connecting block structure 22. As shown in fig. 17 and 18, the second connecting assembly 3 also includes a connecting block structure, which is disposed on a side of the second base 31 facing the first base 21, and is defined as a second connecting block structure 32. It will be appreciated that the connector block structure is provided with instrument through holes for the passage of the elongated flexible instrument 200 therethrough, and the connector block structure includes end shafts, the plurality of end shafts being arranged uniformly around the axis of the instrument through holes, the end shafts being arranged in one-to-one correspondence with the end links 41. The first connecting block structure 22 and the first base 21 are integrated, the second connecting block structure 32 and the second base 31 are integrated, and the central axis of the connecting block structure is coaxial with the axis of the through hole of the channel 11.

Taking the second connecting assembly 3 as an example, the number of the end rotating shafts is four, the number of the end links 41 is also four, one end of each end link 41 is rotatably connected to the end rotating shaft, and the other end of each end link 41 is slidably connected to the end connecting ring 42. The end connection ring 42 is movable along the central axis of the connection block structure towards and away from the second connection block structure 32.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (16)

1. A support device for an elongated flexible instrument, comprising:

a support assembly, the support assembly comprising:

the support members each comprise a channel piece and two telescopic connecting mechanisms, the channel piece is provided with a through hole suitable for being penetrated by an elongated flexible instrument, and the two telescopic connecting mechanisms are respectively connected to two ends of the channel piece along the axial direction of the through hole;

the supporting members are sequentially connected along the axial direction of the through hole, the telescopic connecting mechanism can perform telescopic motion along the axial direction of the through hole to drive the channel pieces to move close to or away from each other along the axial direction of the through hole, so that the supporting assembly can extend and retract along the axial direction of the through hole to change the length;

and the through holes of the plurality of support members are coaxial, and the plurality of through holes are adapted to support the elongated flexible instrument when the elongated flexible instrument is moved in the axial direction of the through holes.

2. The support device for an elongated flexible instrument according to claim 1, wherein the telescoping connection mechanism includes a connection ring and a plurality of links;

the connecting ring and the channel piece at each end of the channel piece are arranged at intervals along the axial direction of the through hole, and the connecting ring is coaxial with the through hole; the connecting rods are arranged around the through hole at intervals, one end of each connecting rod is rotatably connected with the channel piece, the other end of each connecting rod is movably connected with the connecting ring, and the rotating axes of the connecting rods are perpendicular to the axis of the through hole, so that the connecting ring can move close to or away from the channel piece along the axial direction of the through hole.

3. The support device for an elongated flexible instrument of claim 2 wherein said channel member includes a body;

the center of the main body is provided with the through hole, two groups of rotary connecting structures are arranged on the main body at intervals along the axial direction of the through hole, and each group comprises a plurality of rotary connecting structures which are arranged around the through hole at intervals; one end of the connecting rod is provided with a rotating part, and the connecting rod is rotatably connected with the rotating connecting structure through the rotating part.

4. The support device for an elongated flexible instrument according to claim 3, wherein the rotational connection structure includes a shaft hole having an axis perpendicular to an axis of the through hole;

the rotating connection structure further comprises a rotating shaft, the rotating shaft is arranged in the shaft hole, the rotating part is a connection hole, and the connection hole is rotatably connected with the rotating shaft; or the rotating part is a rotating shaft, and the rotating shaft is rotatably connected with the shaft hole.

5. The support device for an elongated flexible instrument according to claim 4, wherein the main body comprises a connecting body and two cover plates;

the connecting body is provided with a through hole, and two end faces of the connecting body, which are positioned at two axial ends of the through hole, are provided with first grooves; the two cover plates are respectively connected to the two end faces of the connecting body, second grooves are formed in the cover plates corresponding to the first grooves, and the shaft holes are defined by the first grooves and the second grooves in a surrounding mode.

6. A support device for an elongate flexible instrument as claimed in claim 5, wherein the connecting body is releasably connectable to both of the cover plates.

7. The support device for an elongated flexible instrument according to claim 2, wherein the connection ring includes a plurality of connection portions arranged at intervals in a circumferential direction, the other end of the link is provided with a sliding portion extending in a length direction of the link; the sliding part is connected with the connecting part in a sliding mode, so that the connecting rod and the connecting ring can move relatively along the length direction of the connecting rod.

8. The support device of claim 7, wherein the connection ring further comprises a plurality of structural segments, the connection portion is a connection shaft, and two adjacent structural segments are connected by the connection shaft; the sliding part is a strip-shaped hole, and the connecting shaft penetrates through the strip-shaped hole.

9. The support device of claim 8, wherein the connecting shaft is removably connected to the structural section.

10. The support device for an elongated flexible instrument as claimed in claim 7, wherein adjacent two of the support members are connected by the connection ring, and the connection portions of the two connection rings connected to each other are arranged offset in a circumferential direction of the connection ring.

11. The support device of claim 10, wherein the connecting rings further comprise a plurality of avoidance grooves arranged at intervals along the circumferential direction, and the avoidance grooves of one of the two connecting rings connected with each other are arranged in one-to-one correspondence with the connecting parts of the other connecting ring.

12. The support device for an elongated flexible instrument as claimed in claim 2, wherein said links at both ends of said passage member in the axial direction of said through hole are arranged in one-to-one correspondence, said one end of said link is provided with an engaging portion, and two corresponding links connected to opposite ends of said passage member are engaged and connected by said engaging portion.

13. The support device for an elongated flexible instrument of claim 1, further comprising a first connection assembly and a second connection assembly;

one end of the supporting component is connected with the first connecting component, and the other end of the supporting component is connected with the second connecting component;

at least one of the first and second connection assemblies is provided with a guide hole for passing the elongate flexible instrument therethrough.

14. The support device of claim 13, wherein the support assembly is removably attachable to both the first and second attachment assemblies.

15. The support device for an elongated flexible instrument of claim 14, wherein the support assembly further comprises an end member including an end link and an end connection ring, the first connection assembly and/or the second connection assembly including a connection block structure;

the end connecting rods are arranged at intervals along the circumferential direction of the end connecting ring, one end of each end connecting rod is rotatably connected with the connecting block structure, the other end of each end connecting rod is movably connected with the end connecting ring, and the rotating axes of the end connecting rods are perpendicular to the central axis of the connecting block structure, so that the end connecting rings can move close to or away from the connecting block structure along the central axis of the connecting block structure.

16. A surgical robot comprising the support device as claimed in any one of claims 1 to 15, the surgical robot further comprising a manipulator arm assembly, wherein one end of the support assembly is connected to a movable end of the manipulator arm assembly, the other end of the support assembly is connected to a fixed end of the manipulator arm assembly, and the fixed end and the movable end can move relatively close to or away from each other along the length direction of the support assembly to drive the support assembly to move telescopically along the length direction.

Images