CN115844321B - Medical active continuous endoscope robot - Google Patents
Medical active continuous endoscope robot Download PDFInfo
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- CN115844321B CN115844321B CN202310035658.5A CN202310035658A CN115844321B CN 115844321 B CN115844321 B CN 115844321B CN 202310035658 A CN202310035658 A CN 202310035658A CN 115844321 B CN115844321 B CN 115844321B
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- 238000005452 bending Methods 0.000 claims abstract description 142
- 230000000712 assembly Effects 0.000 claims abstract description 11
- 238000000429 assembly Methods 0.000 claims abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 230000009471 action Effects 0.000 abstract description 9
- 238000007689 inspection Methods 0.000 abstract description 4
- 230000000007 visual effect Effects 0.000 abstract description 3
- 230000000968 intestinal effect Effects 0.000 description 13
- 210000001035 gastrointestinal tract Anatomy 0.000 description 7
- 238000001839 endoscopy Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000002052 colonoscopy Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 208000004998 Abdominal Pain Diseases 0.000 description 2
- 206010009944 Colon cancer Diseases 0.000 description 2
- 208000002193 Pain Diseases 0.000 description 2
- 241000270295 Serpentes Species 0.000 description 2
- 238000001574 biopsy Methods 0.000 description 2
- 230000000740 bleeding effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000001333 Colorectal Neoplasms Diseases 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 210000001072 colon Anatomy 0.000 description 1
- 208000029742 colonic neoplasm Diseases 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 230000002458 infectious effect Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008855 peristalsis Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Abstract
The invention discloses a medical active continuous endoscope robot. The continuous endoscope robot consists of a plurality of continuous bending assemblies, each continuous bending assembly consists of a plurality of continuous bending joints, each continuous bending joint can realize bending action with the same curvature, each continuous bending assembly is driven by 3 servo motors, and the 3 servo motors drive driving ropes through driving wheels with grooves with different diameters to synchronously control the plurality of continuous bending joints to synchronously perform bending action. When the endoscope is inspected, the robot performs automatic inspection by adopting an ideal path and combining visual navigation and contact force feedback to implement a correction path, so that the full-automatic endoscope can be realized. According to the invention, by synchronously controlling the actions of a plurality of continuous nodes, high-precision continuous bending action is realized, and the problems of poor controllability and low control precision of the traditional underactuated continuous robot are solved.
Description
Technical Field
The invention relates to a continuous robot, in particular to a medical active continuous endoscope robot.
Background
The global latest cancer burden data published by the world health organization international cancer research institute in 2022 shows that the health threat of colon cancer is increasing, and the morbidity and mortality thereof increases year by year. Colonoscopy is one of the main methods of diagnosis and treatment of digestive tract diseases at present, and plays a key role in the discovery and treatment of colorectal cancer. However, due to an invasive operation during colonoscopy, the conventional hose type colonoscope does not have active bending capability, while the passive endoscope robot does not have the capabilities of controllably positioning and checking and performing minimally invasive surgery and the like by means of intestinal physiological peristalsis, a series of complications such as digestive tract bleeding, perforation, abdominal pain and the like can be caused, so that great pain is brought to a patient, abdominal pain, digestive tract bleeding and even perforation can be caused, if infectious shock, life threatening and medical disputes can not be timely found and treated. The traditional continuous robot is mostly of underactuated design, and 2 or 3 servo motors simultaneously control a plurality of bending joints, so that the defects of uncontrolled joints, poor motion smoothness and low control precision exist.
Disclosure of Invention
Aiming at the problems of underactuation, poor flexibility, poor controllability, low control precision and larger bending radius of the traditional medical endoscope robot, which easily lead to the problems of low endoscope inspection efficiency, poor experience of inspected personnel and low automation degree of the inspection process, namely the defects of the traditional endoscope and the active and passive endoscope robots, the invention provides a colon endoscope robot adopting a continuous body type structure. The continuous endoscope robot is a bionic robot, the structure of the continuous endoscope robot is a continuous bending structure designed by imitating a snake motion mechanism, and a plurality of driving ropes are driven to act at different linear speeds through driving wheels provided with grooves with different diameters, so that a plurality of bending node actions are synchronously controlled, and each continuous bending joint can realize bending actions with the same curvature. The robot has excellent bending characteristics, can flexibly change the shape of the robot, and has unique adaptability to the non-structural environments with narrow working spaces such as pipelines, intestinal cavities and the like, so that the pain caused by colonoscopy is reduced, and the problems that the conventional endoscope robot moves slowly in intestinal tracts and is easy to fold at a curve so as not to go forward are solved. The continuous endoscope robot is a bionic robot, and the structure of the continuous endoscope robot is a continuous bending structure designed by imitating a snake motion mechanism.
The technical scheme adopted by the invention for solving the problems is as follows:
the invention comprises a continuous endoscope body, a driving module and a horizontal sliding table;
the control end of the continuous endoscope body is fixedly arranged in the driving module, the driving module is fixedly arranged on the horizontal sliding table, and the driving module slides on the horizontal sliding table, so that the operation end of the continuous endoscope body is pushed back and forth.
The continuous endoscope body comprises a plurality of continuous bending assemblies, a driving rope group, an endoscope execution assembly and a medical rubber sleeve; each continuous bending assembly is fixedly connected with one end of a corresponding driving rope group, the other end of each driving rope group penetrates through at least one continuous bending assembly towards the direction of the driving module and then is connected with the driving module, a plurality of continuous bending assemblies are hinged in sequence to form an endoscope arm, and a medical rubber sleeve is coated outside the endoscope arm; the endoscope arm is axially hollow, the endoscope execution assembly is axially arranged in the endoscope arm, the operation end of the endoscope execution assembly is arranged at one end part of the endoscope arm far away from the driving module, and the control end of the endoscope execution assembly axially penetrates through the endoscope arm and then is connected with the driving module.
The endoscope execution assembly comprises a camera, a light source, a water-gas channel and an instrument channel; the camera, the light source, the water gas channel and the instrument channel are respectively arranged in the endoscope arm at intervals.
Each continuous bending assembly is formed by hinging a plurality of continuous bending joints in sequence, one end of each continuous bending joint close to the operation end is fixedly connected with one end of a corresponding plurality of driving ropes, the other end of the plurality of driving ropes penetrates through at least one continuous bending joint towards the direction of the driving module and then is connected with the driving module, the plurality of driving ropes connected with each continuous bending joint are arranged at intervals along the circumference, and all the driving ropes in each continuous bending assembly form a corresponding driving rope group; in a continuous bending joint section of the continuous bending assembly, which is close to the driving module, a plurality of driving ropes corresponding to a plurality of continuous bending joints are arranged on a plurality of radial lines of the joint section, the number of the radial lines is the same as the number of the driving ropes connected with each continuous bending joint, and the number of the driving ropes on each radial line is the same as the number of the continuous bending joints.
Each continuous bending joint is formed by sequentially connecting a plurality of minimum bending joints, and the minimum bending joint close to the operation end is fixedly connected with a plurality of corresponding driving ropes;
each minimum bending joint has the same structure and comprises a joint disc, a joint ring, a connecting lug, a rivet and a contact pressure sensor; the outer circumferential side surface of the joint disc is provided with a plurality of connecting lugs at intervals along the circumference, one end of each connecting lug is fixedly connected with the joint disc, the other end of each connecting lug is hinged with the joint ring through a rivet, the joint disc is hinged with the joint ring, and at least one contact pressure sensor is fixedly arranged in the outer circumferential side surface of the joint disc between the two connecting lugs; the two connected minimum bending joints are hinged through connecting lugs and rivets, a plurality of circles of through hole rings are arranged in each joint disc, each through hole ring consists of a plurality of through holes which are arranged at equal intervals along the circumference, and each driving rope is fixedly arranged in the corresponding through hole of the joint disc or penetrates through the corresponding through hole.
The driving module comprises a guiding module, a driving wheel, a servo motor, a motor mounting plate, a motor controller, a front mounting cover and a rear mounting cover;
the motor mounting plates are arranged in the front mounting cover and the rear mounting cover, the control end of the endoscope arm penetrates through the front mounting cover and is fixedly connected with the guide module, the guide module is fixedly mounted in the middle of the motor mounting plate, a plurality of driving wheels are fixedly mounted on the motor mounting plate at intervals along the circumference of the outer edge of the guide module, the driving wheels are respectively and coaxially connected with corresponding servo motors, and each servo motor is connected with the motor controller;
each driving wheel has the same structure, a plurality of circles of grooves with different diameters are formed in each driving wheel, each continuous bending assembly is connected with a plurality of driving wheels, and the number of the driving wheels is the same as the number of driving ropes corresponding to each continuous bending joint in the current continuous bending assembly; in each continuous bending assembly, the driving ropes on the same radial line are respectively wound into grooves with different diameters in the same driving wheel after passing through the guide module, the driving ropes on different radial lines are respectively wound into a plurality of corresponding driving wheels after passing through the guide module, the diameters of the grooves, which are arranged from the operation end to the control end, of the driving ropes corresponding to the driving ropes are sequentially reduced, so that the driving of each driving wheel simultaneously drives the plurality of continuous bending joints in the current continuous bending assembly to move corresponding to the driving ropes, and further drives the plurality of continuous bending joints of the current continuous bending assembly to simultaneously bend along corresponding angles, the bending movement of each continuous bending assembly is independently controlled, and finally the bending movement of the whole endoscope arm is controlled.
The servo motor is the same as the driving wheels in number, and is the product of the number of the continuous bending assemblies and the number of the driving ropes corresponding to each continuous bending joint.
The number of grooves on each drive wheel is the same as the number of consecutive flexure joints in each consecutive flexure assembly.
The invention has the beneficial effects that:
according to the invention, by synchronously controlling the actions of a plurality of continuous nodes, high-precision continuous bending action is realized, and the problems of poor controllability and low control precision of the traditional underactuated continuous robot are solved. When the endoscope is used for examination, the robot adopts an ideal path and combines visual navigation and contact force feedback to implement a correction path to automatically examine, high-precision path tracking is realized by utilizing high-precision continuous bending action of the endoscope, and the contact force of the intestinal wall to the endoscope body is reduced as much as possible, so that discomfort of a person to be examined is relieved, and the automation degree of the endoscope examination is improved.
Drawings
FIG. 1 is an overall schematic of one embodiment of the present invention;
FIG. 2 is a schematic view of one embodiment of an endoscopic execution assembly of the present invention;
FIG. 3 is a schematic view of one embodiment of a continuous bending joint of the present invention;
FIG. 4 is a schematic view of a continuous bending assembly and its corresponding drive apparatus in accordance with the present invention;
FIG. 5 is a schematic view of one embodiment of a minimum flexure joint of the present invention;
FIG. 6 is a schematic diagram of one embodiment of a drive mechanism of the present invention;
fig. 7 is an enlarged schematic view of a continuous bending assembly according to the present invention.
In the figure: a continuous endoscope body 101, a driving module 102, and a horizontal sliding table 103; the endoscope actuating assembly 201, the camera 202, the light source 203, the water gas channel 204, the instrument channel 205, the medical rubber sleeve 206, the minimum bending joint 301, the driving cord 302, the continuous bending assembly 401, the guide module 402, the driving wheel 404, the servo motor 405, the joint disc 501, the joint ring 502, the connecting lugs 503, the rivets 504, the contact pressure sensor 505, the motor mounting plate 601, the motor controller 602, the front mounting cover 603, the rear mounting cover 604.
Detailed Description
The invention is further described below with reference to the drawings and examples.
As shown in fig. 1, the present invention includes a continuous endoscope body 101, a driving module 102, and a horizontal sliding table 103;
the control end of the continuous endoscope body 101 is fixedly mounted in the driving module 102, the driving module 102 is fixedly mounted on the horizontal sliding table 103, the horizontal linear degree of freedom is provided, and the driving module 102 slides on the horizontal sliding table 103, so that the operation end of the continuous endoscope body 101 is pushed back and forth.
The continuous endoscope body 101 includes a plurality of continuous bending assemblies 401, a drive train, an endoscope actuation assembly 201, a medical rubber sleeve 206; each continuous bending assembly 401 is fixedly connected with one end of a corresponding driving rope group, the other end of each driving rope group sequentially penetrates through at least one continuous bending assembly 401 towards the direction of the driving module 102 (namely penetrates through the inside of an endoscope arm) and then is connected with a driving wheel 404 of the driving module 102 through a guiding module 402 of the driving module 102, the driving rope groups among the continuous bending assemblies 401 are alternately arranged along the circumference at intervals, the continuous bending assemblies 401 are sequentially hinged to form an endoscope arm, and the medical rubber sleeve 206 is coated outside the endoscope arm; the endoscope arm is axially hollow, the endoscope execution assembly 201 is axially arranged in the endoscope arm, the operation end of the endoscope execution assembly 201 is arranged at one end part of the endoscope arm far away from the driving module 102, and the control end of the endoscope execution assembly 201 is axially penetrated through the endoscope arm and then is connected with the execution assembly of the driving module 102.
As shown in fig. 2, the endoscope execution assembly 201 includes a camera 202, a light source 203, a water gas channel 204, and an instrument channel 205; the camera 202, the light source 203, the water-gas channel 204 and the instrument channel 205 are respectively arranged in the endoscope arm at intervals, other medical instruments such as biopsy forceps and the like can be installed in the instrument channel, and the water-gas channel 204 can be used for injecting gas or water into the intestinal cavity, so that the intestinal cavity is expanded to be convenient for examination.
As shown in fig. 3, 4 and 7, each continuous bending assembly 401 is formed by hinging a plurality of continuous bending joints in turn, one end of each continuous bending joint close to the operation end is fixedly connected with one end of a corresponding plurality of driving ropes 302, the other end of the plurality of driving ropes 302 sequentially passes through at least one continuous bending joint (i.e. passes through the inside of an endoscope arm) towards the driving module 102, and then is connected with a driving wheel 404 of the driving module 102 through a guiding module 402 of the driving module 102, the plurality of driving ropes 302 connected with each continuous bending joint are arranged at intervals along the circumference, all driving ropes 302 in each continuous bending assembly 401 form a corresponding driving rope group, and in this embodiment, the number of driving ropes 302 in each driving rope group is 9; in a continuous bending joint section of the continuous bending assembly 401, which is close to the driving module 102, a plurality of driving ropes 302 corresponding to a plurality of continuous bending joints are arranged on a plurality of radial lines of the joint section, the number of the radial lines is the same as that of the driving ropes 302 connected with each continuous bending joint, and the number of the driving ropes 302 on each radial line is the same as that of the continuous bending joints; in a specific implementation, the number of continuous bending joints and the number of driving ropes 302 corresponding to each continuous bending joint are all 3.
Each continuous bending joint is formed by sequentially connecting a plurality of minimum bending joints 301, the minimum bending joint 301 close to the operation end is fixedly connected with a plurality of corresponding driving ropes 302, and the plurality of driving ropes 302 sequentially pass through the relative positions of the corresponding minimum bending joints 301 and then are connected with driving wheels 404;
as shown in fig. 5, each minimum bend joint 301 is identical in structure and includes a joint disc 501, a joint ring 502, a connecting ear 503, a rivet 504, and a contact pressure sensor 505; the outer circumference side of the joint disc 501 is provided with a plurality of connecting lugs 503 along the circumference at intervals, one end of each connecting lug 503 is fixedly connected with the joint disc 501, the other end of each connecting lug 503 is hinged with the joint ring 502 through a rivet 504, the joint disc 501 is hinged with the joint ring 502, one rotational degree of freedom exists between the joint ring 502 and the connecting lugs 503, the other two connecting lugs and the first two connecting lugs form 180-degree distribution, and finally each minimum bending joint has two rotational degrees of freedom and can bend towards any direction. At least one contact pressure sensor 505 is fixedly arranged in the outer circumferential side surface of the joint disc 501 between the two connecting lugs 503 and is used for detecting the contact force between the continuous endoscope and human tissues, and the contact force between the continuous endoscope and the human tissues is dynamically reduced by adjusting the tension of the driving rope, so that the endoscopy is more comfortable; the two minimum bending joints 301 are hinged through the connecting lugs 503 and the rivets 504, and the connecting lugs 503 between the two minimum bending joints 301 and the connecting lugs 503 of the minimum bending joints 301 are staggered and arranged at intervals. Each of the joint discs 501 is provided with a plurality of through hole rings, each of the through hole rings is composed of a plurality of through holes which are arranged at equal intervals along the circumference, each of the driving ropes 302 is fixedly installed in the corresponding through hole of the joint disc 501 or is penetrated in the corresponding through hole, in a specific implementation, each of the driving ropes 302 is fixedly installed in the through hole of the current joint disc 501 and the through hole of the joint disc 501 penetrating between the current joint disc 501 and the driving module 102, which is opposite to the fixedly installed through hole, so that all the driving ropes 302 are arranged in the endoscope arm.
As shown in fig. 6, the drive module 102 includes a guide module 402, a drive wheel 404, a servo motor 405, a motor mounting plate 601, a motor controller 602, a front mounting cover 603, and a rear mounting cover 604;
the motor mounting plates 601 are arranged in the front mounting cover 603 and the rear mounting cover 604, the control end of the endoscope arm passes through the front mounting cover 603 and is fixedly connected with the guide module 402, the guide module 402 is fixedly arranged in the middle of the motor mounting plate 601, a plurality of driving wheels 404 are fixedly arranged on the motor mounting plate 601 at the outer edge of the guide module 402 at intervals along the circumference, the driving wheels 404 are respectively coaxially connected with the corresponding servo motors 405, and each servo motor 405 is connected with the motor controller 602;
each driving wheel 404 has the same structure, a plurality of circles of grooves with different diameters are formed on each driving wheel 404, each continuous bending assembly 401 is connected with a plurality of driving wheels 404, and the number of the driving wheels 404 is the same as the number of the driving ropes 302 corresponding to each continuous bending joint in the current continuous bending assembly 401; in each continuous bending assembly 401, the driving ropes 302 on the same radial line are respectively wound into grooves with different diameters in the same driving wheel 404 after passing through the guide module 402, the driving ropes 302 on different radial lines are respectively wound into a plurality of corresponding driving wheels 404 after passing through the guide module 402, one driving wheel 404 simultaneously pulls a plurality of driving ropes 403 to act, the diameters of the grooves wound on the driving wheels 404 along a plurality of continuous bending joints arranged from an operation end to a control end are sequentially reduced, and the driving ropes 403 arranged in the grooves with different diameters are pulled at different speeds under the drive of the same servo motor 405 so as to match the driving needs of different continuous bending joints; the driving of each driving wheel 404 simultaneously drives the corresponding driving ropes 302 to move by the plurality of continuous bending joints in the current continuous bending assembly 401, and then drives the plurality of continuous bending joints of the current continuous bending assembly 401 to bend along the corresponding angles simultaneously, so as to independently control the bending motion of each continuous bending assembly 401 and finally control the bending motion of the whole endoscope arm.
In one embodiment of the present invention, the servo motor 405 is the same number as the drive wheels 404, which is the product of the number of continuous bending assemblies 401 and the number of drive ropes 302 corresponding to each continuous bending joint, and the number of grooves on each drive wheel 404 is the same as the number of continuous bending joints within each continuous bending assembly 401 (FIG. 3).
The implementation working process of the invention is as follows:
firstly, an ideal path for the endoscope robot to enter the human body to work is preset according to the human body intestinal model and the configuration of the endoscope robot. When performing endoscopy, the robot performs an automatic inspection by performing a correction path using an ideal path in combination with visual navigation and contact force feedback. When entering into examination, the endoscope acquires an intestinal image through a camera at the tail end of the endoscope, the real-time intestinal image enters into the controller to infer the bending position and the bending degree of the current intestinal tract, an ideal intestinal model is compared with intestinal information acquired in real time, the possible deviation of the application of the ideal examination path in the actual intestinal tract is calculated, and simultaneously, the ideal path is corrected in real time to adapt to the actual intestinal model, so that the contact between the endoscope and the intestinal tract is reduced through active bending. Meanwhile, a pressure sensor on the endoscope robot acquires the contact force of the intestinal wall to the endoscope body, and the bending degree of each continuous bending joint is adjusted in real time through the analysis of the controller, so that the contact force of the intestinal wall to the endoscope body is reduced as much as possible, and the discomfort of a person to be inspected is relieved. Robotic end effectors may use a loaded medical instrument such as a biopsy forceps or the like to perform a endoscopic procedure or treatment.
Therefore, the invention can realize full-automatic endoscopy, greatly reduce the discomfort of the inspected person and the operation difficulty of the inspected person in the traditional endoscopy, and has remarkable technical effect.
Claims (5)
1. The medical active continuous endoscope robot is characterized by comprising a continuous endoscope body (101), a driving module (102) and a horizontal sliding table (103);
the control end of the continuous endoscope body (101) is fixedly arranged in the driving module (102), the driving module (102) is fixedly arranged on the horizontal sliding table (103), and the driving module (102) slides on the horizontal sliding table (103) so that the operation end of the continuous endoscope body (101) is pushed back and forth;
the continuous endoscope body (101) comprises a plurality of continuous bending assemblies (401), a driving rope group, an endoscope executing assembly (201) and a medical rubber sleeve (206); each continuous bending assembly (401) is fixedly connected with one end of a corresponding driving rope group, the other end of each driving rope group penetrates through at least one continuous bending assembly (401) towards the direction of the driving module (102) and then is connected with the driving module (102), a plurality of continuous bending assemblies (401) are hinged in sequence to form an endoscope arm, and a medical rubber sleeve (206) is coated outside the endoscope arm; the endoscope arm is axially hollow, the endoscope execution assembly (201) is axially arranged in the endoscope arm, the operation end of the endoscope execution assembly (201) is arranged at one end part of the endoscope arm far away from the driving module (102), and the control end of the endoscope execution assembly (201) axially penetrates through the endoscope arm and is connected with the driving module (102);
each continuous bending assembly (401) is formed by hinging a plurality of continuous bending joints in sequence, one end of each continuous bending joint close to an operation end is fixedly connected with one end of a corresponding plurality of driving ropes (302), the other end of each driving rope (302) penetrates through at least one continuous bending joint towards the direction of the driving module (102) and then is connected with the driving module (102), the driving ropes (302) connected with each continuous bending joint are arranged at intervals along the circumference, and all the driving ropes (302) in each continuous bending assembly (401) form a corresponding driving rope group; in a continuous bending joint section of the continuous bending assembly (401) close to the driving module (102), a plurality of driving ropes (302) corresponding to a plurality of continuous bending joints are arranged on a plurality of radial lines of the joint section, the number of the radial lines is the same as the number of the driving ropes (302) connected with each continuous bending joint, and the number of the driving ropes (302) on each radial line is the same as the number of the continuous bending joints;
the driving module (102) comprises a guiding module (402), a driving wheel (404), a servo motor (405), a motor mounting plate (601), a motor controller (602), a front mounting cover (603) and a rear mounting cover (604);
the inside of the front mounting cover (603) and the rear mounting cover (604) is provided with a motor mounting plate (601), the control end of the endoscope arm passes through the front mounting cover (603) and is fixedly connected with the guide module (402), the guide module (402) is fixedly mounted in the middle of the motor mounting plate (601), a plurality of driving wheels (404) are fixedly mounted on the motor mounting plate (601) at the outer edge of the guide module (402) at intervals along the circumference, the driving wheels (404) are respectively coaxially connected with the corresponding servo motors (405), and each servo motor (405) is connected with the motor controller (602);
each driving wheel (404) has the same structure, a plurality of circles of grooves with different diameters are formed in each driving wheel (404), each continuous bending assembly (401) is connected with a plurality of driving wheels (404), and the number of the driving wheels (404) is the same as the number of driving ropes (302) corresponding to each continuous bending joint in the current continuous bending assembly (401); in each continuous bending assembly (401), grooves with different diameters in the same driving wheel (404) are respectively wound after the driving ropes (302) on the same radial line pass through the guide module (402), the driving ropes (302) on different radial lines are respectively wound in the corresponding driving wheels (404) after the driving ropes (302) on different radial lines pass through the guide module (402), the diameters of the grooves in the driving wheels (404) are sequentially reduced when the driving ropes (302) corresponding to a plurality of continuous bending joints arranged from an operation end to a control end are wound, so that the driving of each driving wheel (404) simultaneously drives the corresponding driving ropes (302) of the plurality of continuous bending joints in the current continuous bending assembly (401) to move, and then drives the continuous bending joints of the current continuous bending assembly (401) to simultaneously bend along the corresponding angles, thereby realizing independent control of bending motion of each continuous bending assembly (401) and finally controlling bending motion of the whole endoscope arm.
2. The medical active continuous endoscope robot according to claim 1, characterized in that the endoscope execution assembly (201) comprises a camera (202), a light source (203), a water gas channel (204) and an instrument channel (205); a camera (202), a light source (203), a water gas channel (204) and an instrument channel (205) are respectively arranged in the endoscope arm at intervals.
3. The medical active continuous endoscope robot according to claim 1, wherein each continuous bending joint is formed by sequentially connecting a plurality of minimum bending joints (301), and the minimum bending joint (301) near the operation end is fixedly connected with a plurality of corresponding driving ropes (302);
each minimum bending joint (301) has the same structure and comprises a joint disc (501), a joint ring (502), a connecting lug (503), a rivet (504) and a contact pressure sensor (505); a plurality of connecting lugs (503) are circumferentially arranged on the outer circumferential side surface of the joint disc (501) at intervals, one end of each connecting lug (503) is fixedly connected with the joint disc (501), the other end of each connecting lug (503) is hinged with the joint ring (502) through a rivet (504), the joint disc (501) is hinged with the joint ring (502), and at least one contact pressure sensor (505) is fixedly arranged in the outer circumferential side surface of the joint disc (501) between the two connecting lugs (503); the two connected minimum bending joints (301) are hinged through connecting lugs (503) and rivets (504), a plurality of circles of through hole rings are arranged in each joint disc (501), each through hole ring consists of a plurality of through holes which are arranged at equal intervals along the circumference, and each driving rope (302) is fixedly installed in the corresponding through hole of the joint disc (501) or penetrates through the corresponding through hole.
4. The active continuous endoscope robot according to claim 1, wherein the number of servo motors (405) and the number of driving wheels (404) are equal, and the product of the number of continuous bending assemblies (401) and the number of driving ropes (302) corresponding to each continuous bending joint.
5. The active continuous endoscope robot of claim 1, wherein the number of grooves on each drive wheel (404) is the same as the number of continuous bending joints in each continuous bending assembly (401).
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