CN116831737A

CN116831737A - Side-by-side progressive structure natural cavity tract operation robot

Info

Publication number: CN116831737A
Application number: CN202310562146.4A
Authority: CN
Inventors: 王炳强; 田志文; 詹世涛
Original assignee: Shandong Weigao Surgical Robot Co Ltd
Current assignee: Shandong Weigao Surgical Robot Co Ltd
Priority date: 2023-05-17
Filing date: 2023-05-17
Publication date: 2023-10-03

Abstract

The invention relates to a natural cavity surgical robot with a side-by-side progressive structure, which solves the technical problems that a flexible arm in the natural cavity surgical robot in the prior art is unstable and unreliable in movement process and poor in flexibility and cannot accurately adjust the posture of an endoscope.

Description

Side-by-side progressive structure natural cavity tract operation robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a side-by-side progressive structure natural cavity surgical robot.

Background

With the increasing popularity of natural orifice surgery, there is an increasing demand for medical instruments associated with such surgery. The natural cavity surgical robot system utilizes the pipelines which are naturally existed in human body and are communicated with the outside of the body, such as stomach, vagina, urethra, colorectal, esophagus and the like, and surgical instruments are put in, and the endoscope is manually conveyed into the human body, so that the damage to the inner wall of the natural cavity when the endoscope enters the human body can be solved, and the accuracy and stability of a mechanical system can be utilized to improve the surgical quality.

Referring to the invention patent publication numbers CN 111568552A, CN 114668432A and CN 114714370A, in the natural orifice surgical robot in the prior art, the flexible arm has unstable and unreliable motion process, poor flexibility, and can not accurately adjust the posture of the endoscope.

Disclosure of Invention

The invention provides a side-by-side progressive natural cavity surgical robot, which aims to solve the technical problems that a flexible arm in the natural cavity surgical robot in the prior art has unstable and unreliable motion process and poor flexibility and cannot accurately adjust the posture of an endoscope.

The invention adopts a special side-by-side progressive structure, a group of the special side-by-side progressive structure consists of a plurality of bowl-shaped chain links, and three steel wires are used for controlling the advancing route and the space position of the special side-by-side progressive structure and are mainly used for adjusting the lens posture of an endoscope; the other group consists of a plurality of cylindrical chain links with spherical end parts, and the space position of the chain links is controlled by a steel wire, and the chain links are mainly used for fixing the path of the snake bone.

The invention provides a natural cavity surgical robot with a side-by-side progressive structure, which comprises a base, a flexible trunk, a power device, a screw rod transmission device, a chain link pushing device, a trunk support frame, an endoscope mounting cylinder and an endoscope, wherein the flexible trunk is arranged on the base;

The flexible trunk comprises a first steel wire, a second steel wire, a third steel wire, a fourth steel wire, a plurality of bowl-shaped chain links and a plurality of cylindrical chain links with spherical end parts, wherein each bowl-shaped chain link is provided with a bottom circular opening and a side notch, the side notch is communicated with the bottom circular opening, and the bowl-shaped chain links are provided with three wire holes uniformly distributed along the circumferential direction; the cylindrical chain link with the spherical end is provided with a cylindrical body and a positioning protruding part, the cylindrical body is provided with a central wire hole, the front end of the cylindrical body is the spherical end, and the rear end of the cylindrical body is provided with a spherical groove; the bowl-shaped chain links are sequentially stacked together, the first steel wire, the second steel wire and the third steel wire respectively penetrate through three wire holes on each bowl-shaped chain link, side gaps of two adjacent bowl-shaped chain links are aligned, a cylindrical chain link with a spherical end is placed in each bowl-shaped chain link, a positioning protruding part of the cylindrical chain link is positioned in the side gap of the bowl-shaped chain link, the fourth steel wire sequentially penetrates through central wire holes of the cylindrical chain links with the spherical end, the cylindrical chain links with the spherical end are connected in series, and the spherical end of the cylindrical chain link with the spherical end at the rear is embedded into a spherical groove of the cylindrical chain link with the spherical end at the front; the front end of the fourth steel wire is fixedly connected with a fourth metal wire knot, and the fourth metal wire knot is positioned at the center wire hole of the forefront cylindrical chain link with the spherical end part in the flexible trunk;

The power device is connected with the base, and the first steel wire, the second steel wire, the third steel wire and the fourth steel wire of the flexible trunk are respectively connected with the power device;

the screw rod transmission device comprises a first screw rod, a second screw rod, a first guide rail, a second guide rail, a first fixed block base, a second fixed block base, a first driven gear, a second driving gear, a transmission mechanism connecting seat, a first transmission shaft, a second transmission shaft, a first driving shaft, a second driving shaft, a front bearing seat and a rear bearing seat, wherein the front bearing seat and the rear bearing seat are respectively and fixedly connected to a base, the first guide rail and the second guide rail are respectively and fixedly connected to the base, the first guide rail and the second guide rail are arranged side by side, the front end of the first screw rod is connected with the front bearing seat, the rear end of the first screw rod is connected with the rear bearing seat, the front end of the second screw rod is connected with the front bearing seat, and the rear end of the second screw rod is connected with the rear bearing seat; the first fixed block base is sleeved on the first screw rod, the second fixed block base is sleeved on the second screw rod, the first internal threaded hole of the first fixed block base is connected and matched with the external thread of the first screw rod, and the second internal threaded hole of the second fixed block base is connected and matched with the external thread of the second screw rod; the first fixed block base is sleeved on the first guide rail for sliding connection, and the second fixed block base is sleeved on the second guide rail for sliding connection; the first transmission shaft is connected with the rear end of the first screw rod, the second transmission shaft is connected with the rear end of the second screw rod, the driven gear II is fixedly connected with the second transmission shaft, and the driven gear I is fixedly connected with the first transmission shaft; two ends of a first driving shaft are respectively and rotatably connected with the transmission mechanism connecting seat through bearings, and two ends of a second driving shaft are respectively and rotatably connected with the transmission mechanism connecting seat through bearings; the driving gear II is fixedly connected with the driving shaft II, and the driving gear I is fixedly connected with the driving shaft I; the first driving gear is meshed with the first driven gear, and the second driving gear is meshed with the second driven gear; the upper part of the first fixed block base is provided with two connecting holes;

The chain link pushing device comprises a bowl-shaped chain link pushing block and a middle chain link pushing block, wherein the bowl-shaped chain link pushing block is provided with a connecting plate and a pushing plate, the connecting plate is provided with two connecting holes, the middle part of the pushing plate is provided with a pushing cylinder accommodating notch and three steel wire through holes, and the three steel wire through holes are positioned around the pushing cylinder accommodating notch; the middle chain link pushing block is provided with a connecting plate, a pushing plate and a pushing cylinder, the connecting plate of the middle chain link pushing block is provided with two connecting holes, and the pushing cylinder is provided with a central steel wire hole; the pushing plate of the bowl-shaped chain link pushing block is positioned above the pushing plate of the middle chain link pushing block, and the pushing cylinder is positioned in the pushing cylinder accommodating notch of the bowl-shaped chain link pushing block;

the two connecting holes at the upper part of the fixed block base II in the screw rod transmission device are connected with the two connecting holes of the connecting plate in the bowl-shaped chain link pushing block through two screws, and the two connecting holes at the upper part of the fixed block base I are connected with the two connecting holes of the connecting plate in the middle chain link pushing block through two screws;

the first steel wire, the second steel wire and the third steel wire respectively pass through three steel wire through holes in the bowl-shaped chain link pushing block, and the fourth steel wire passes through a central steel wire hole in the middle chain link pushing block;

The rear end of the endoscope mounting cylinder is provided with a spherical groove and three wire holes uniformly distributed along the circumferential direction, and the endoscope is connected with the endoscope mounting cylinder;

the front ends of the first steel wire, the second steel wire and the third steel wire penetrate through three wire holes of the front bowl-shaped chain link in the flexible trunk and then penetrate through three wire holes of the rear end of the endoscope mounting barrel, and the front ends of the first steel wire, the second steel wire and the third steel wire are fixedly connected with metal wire knots respectively;

the trunk support frame is fixedly connected with the base, the trunk support frame is provided with a circular through hole, and the middle part of the flexible trunk penetrates through the circular through hole of the trunk support frame.

Preferably, the endoscope is detachably connected with the endoscope mounting cylinder, a window is arranged on the side face of the endoscope mounting cylinder, a pin connecting seat is connected to the inner wall of the endoscope mounting cylinder close to the window, an endoscope hinge pressing plate is connected to the pin connecting seat of the endoscope mounting cylinder through a pin, the endoscope hinge pressing plate is located at the window of the endoscope mounting cylinder, and a front section pressing plate and a tail pressing plate are connected to the endoscope hinge pressing plate.

Preferably, the power device comprises an upper plate, a lower plate, a guide frame, four fixed columns, four rotary columns and four winch components, wherein the lower plate is fixedly connected with the middle parts of the four fixed columns, the upper plate is fixedly connected with the tops of the four fixed columns, the guide frame is fixedly connected with the lower plate, the upper ends of the rotary columns are rotatably connected with the upper plate, and the lower ends of the rotary columns are rotatably connected with the lower plate; the guide frame is provided with four guide holes; the winch assembly is provided with a winch, the upper part of the winch is rotationally connected with the upper plate through a bearing, the lower part of the winch is rotationally connected with the lower plate through a bearing, and the lower end of the winch assembly extends downwards from the base; the four fixing columns are fixedly connected with the base;

The first steel wire, the second steel wire, the third steel wire and the fourth steel wire respectively penetrate through four guide holes in the guide frame, the first steel wire, the second steel wire, the third steel wire and the fourth steel wire respectively bypass four rotary columns and then respectively wind on winches of four winch components, the four winch components are arranged according to a rectangular layout, the four rotary columns are arranged in a V-shaped layout, and the four rotary columns are located among the four winch components.

Preferably, the winch assembly comprises a winch, a coupler, a driven rotating shaft, an input shaft, a spring and an O-shaped rubber ring, wherein a wire groove is formed in the middle of the winch, the driven rotating shaft is provided with a plug-in part, a bearing mounting part, a sleeving part and a circular boss, the input shaft is provided with a plug-in part, a circular disk part and a sleeving part, the plug-in part of the driven rotating shaft is inserted into the lower end of the coupler, the lower end of the winch is inserted into the upper end of the coupler, the winch is connected with the driven rotating shaft through the coupler, the upper part of the spring is sleeved on the sleeving part of the driven rotating shaft, the lower part of the spring is sleeved on the plug-in part of the input shaft, the plug-in part of the input shaft is inserted into the sleeving part of the driven rotating shaft for fixed connection, the upper end of the spring abuts against the circular boss of the driven rotating shaft, and the lower end of the spring abuts against the circular disk part of the input shaft; the upper part of the winch is connected with the upper plate through a bearing, and the bearing mounting part of the driven rotating shaft is connected with the lower plate through a bearing; four cylinder shells are connected between the base and the lower plate, the sleeve joint part of the input shaft extends downwards from the base, the sleeve joint part and the disc part of the input shaft are positioned in the cylinder shells, the sleeve joint part and the circular boss of the driven rotating shaft are positioned in the cylinder shells, the spring is positioned in the cylinder shells, and the O-shaped rubber ring is extruded between the disc part and the inner wall of the cylinder shells; when the spline shaft of the driving motor in the external power box is inserted into the sleeve joint part, the disc part of the input shaft is separated from the O-shaped rubber ring, the resistance of the O-shaped rubber ring disappears, and when the input shaft rotates, a gap is formed between the disc part and the inner wall of the cylinder shell.

Preferably, the angle α of the side gap of the bowl-shaped link is:

20°＜α＜50°。

preferably, the angle value of α is 30 °.

Preferably, the rear side of the side gap of the bowl-shaped chain link is provided with two rear inclined planes, and the front side of the side gap is provided with two front inclined planes.

Preferably, an instrument channel is connected to the endoscope mounting barrel.

The invention has the beneficial effects that based on clinical operation scenes, a multi-surgical instrument composite operation mode of channel coordination is realized, complex operation requirements are met, complex and various surgical actions can be implemented, and clinical requirements are met.

The flexible trunk movement process is stable, reliable, high in precision, good in flexibility and strong in flexibility, and the posture of the endoscope can be accurately adjusted.

The fixing of the paths completed by the bowl-shaped chain links is realized through the cylindrical chain links with the spherical end parts, and finally, the flexible trunk is tightened, does not loosen and is stable. The rigidity of the flexible trunk is controlled to a certain extent by controlling a plurality of cylindrical chain links with spherical end parts.

The flexible trunk is movable as a whole, and the position of the endoscope is adjustable.

The power device has good stability and high reliability.

In the use process of the invention, a doctor can operate the endoscope in the operation cabin to enter the human body through colorectal, esophagus, urethra, stomach, vagina and the like, so that fatigue caused by operation of the body and errors caused by human factors can be eliminated, if fatigue caused by overload operation can be avoided, the pause function of the invention can be used for carrying out short rest (namely, stopping the motor in the power box) and scratch caused by rapid displacement of the instrument in the human body due to shake of hands or mistaken touch of other people in the operation process can be avoided.

Further features of the invention will be apparent from the description of the embodiments that follows.

Drawings

FIG. 1 is an isometric view of a side-by-side natural orifice surgical robot;

FIG. 2 is an isometric view of the side-by-side natural orifice surgical robot of FIG. 1 from a bottom view;

FIG. 3 is a front view of the side-by-side natural orifice surgical robot shown in FIG. 1;

FIG. 4 is a schematic structural view of a power plant in a side-by-side natural orifice surgical robot;

FIG. 5 is an enlarged view of a portion of the structure shown in FIG. 4;

FIG. 6 is a layout of the guide frame and four winch assemblies in the configuration shown in FIG. 4;

FIG. 7 is a layout view of four winch assemblies, four swing post, of the structure shown in FIG. 4;

FIG. 8 is a schematic structural view of the winch assembly;

FIG. 9 is a schematic structural view of a winch;

FIG. 10 is a schematic view of the shape of a wire wound on a winch;

FIG. 11 is a passive spindle isometric view;

FIG. 12 is a passive spindle isometric view;

FIG. 13 is a front view of a passive spindle;

FIG. 14 is an isometric view of an input shaft;

FIG. 15 is a front view of the input shaft;

FIG. 16 is an isometric view of an input shaft;

FIG. 17 is a schematic illustration of a configuration in which two bowl-shaped links are stacked together and two cylindrical links with spherical ends are placed into the two bowl-shaped links;

FIG. 18 is a right side elevational view of the structure illustrated in FIG. 17;

FIG. 19 is a left side elevational view of the structure illustrated in FIG. 17;

FIG. 20 is an isometric view of the structure shown in FIG. 17;

FIG. 21 is a cross-sectional view of the structure shown in FIG. 17;

FIG. 22 is a cross-sectional view of the structure shown in FIG. 17;

FIG. 23 is an isometric view of a bowl-shaped link;

FIG. 24 is an isometric view of a bowl-shaped link;

FIG. 25 is a right side view of the bowl link;

FIG. 26 is a front view of a bowl link;

FIG. 27 is a left side view of a bowl link;

FIG. 28 is an isometric view of a bowl-shaped link;

FIG. 29 is an isometric view of a bowl-shaped link;

FIG. 30 is an isometric view of a cylindrical link with spherical ends;

FIG. 31 is an isometric view of a cylindrical link with spherical ends;

FIG. 32 is a cross-sectional view of a cylindrical link with spherical ends;

FIG. 33 is a schematic view of two wires passing through the structure shown in FIG. 22;

FIG. 34 is a schematic view of the structure of the screw drive;

FIG. 35 is a schematic view of a lead screw drive;

FIG. 36 is an enlarged view of a portion of the structure shown in FIG. 35;

FIG. 37 is a block layout of a bowl-shaped link pusher block, intermediate link pusher;

fig. 38 is a front view of the structure shown in fig. 37;

FIG. 39 is a cross-sectional view of the structure shown in FIG. 37;

FIG. 40 is an isometric view of a bowl-shaped link pusher block;

Fig. 41 is a front view of the structure shown in fig. 40;

FIG. 42 is a right side elevational view of the structure illustrated in FIG. 40;

FIG. 43 is an isometric view of a bowl-shaped link pusher block;

FIG. 44 is an isometric view of a center link pusher block;

FIG. 45 is a top view of a center link pusher block;

FIG. 46 is an isometric view of a center link pusher block;

FIG. 47 is a top view of the structure shown in FIG. 46;

FIG. 48 is an isometric view of a center link pusher block;

FIG. 49 is a schematic view of the attachment of an endoscope mounting cylinder to the front end of a flexible torso;

FIG. 50 is an enlarged view of a portion of FIG. 49;

FIG. 51 is a schematic structural view of an endoscope mounting barrel, wherein FIG. (a) is an isometric view of the endoscope mounting barrel, FIG. (b) is an isometric view of the endoscope mounting barrel from another perspective, and FIG. (c) is an isometric view of the endoscope mounting barrel from another perspective;

FIG. 52 is a schematic view of the structure of an endoscope mounting cylinder, wherein FIG. (a) is an isometric view of the endoscope mounting cylinder, FIG. (b) is an isometric view of the endoscope mounting cylinder from another perspective, FIG. (c) is a longitudinal sectional view of the endoscope mounting cylinder, and FIG. (d) is a sectional view in the direction A-A in FIG. (c);

FIG. 53 is a schematic view of the structure of an endoscope;

FIG. 54 is a schematic view of the structure of an endoscope hinge pressure plate on an endoscope mounting cylinder in a broken-off state;

FIG. 55 is a schematic view of the structure in which the passive spindle in the winch assembly is rotatably coupled to the lower plate via a bearing;

FIG. 56 is a schematic view of the configuration of the endoscope mounting cylinder coupled to the forward most bowl-shaped link in the flexible torso.

Description of the symbols in the drawings

1. Base, 2. Flexible torso, 205. Endoscope, 206. Instrument channel, 207. Endoscope mounting tube, 207-1. Window, 207-2. Dowel connection seat, 207-3. Spherical recess, 207-4. Wire bore, 208. Endoscope hinge platen, 209. Dowel, 210. Tail platen, 211. Front section platen, 212. Bowl-shaped link, 212-1. Bottom circular opening, 212-2. Wire bore, 212-3. Side gap, 212-3-1. Rear bevel, 212-3-2. Front bevel, 213. Cylindrical link with spherical end, 213-1. Cylindrical body, 213-1-1. Central wire bore, 213-1-2. Spherical end, 213-1-3. Spherical recess, 213-2. Positioning boss. 3. The power device comprises a power device, an upper plate, a lower plate, a fixed column and a cylindrical shell, wherein the power device comprises a power device, an upper plate, a lower plate, a fixed column and a cylindrical shell, and the power device comprises a power device, an upper plate, a lower plate, a cylindrical shell and a cylindrical shell; 4. capstan assembly, 402, guide frame, 403, guide holes, 404, rotary column sleeve 405, capstan 406, spinneret mounting slot 407, wire slot 408, wire knot 409, bearing 410, coupling 411, screw 412, passive shaft 413, input shaft 414, spring 415, O-ring rubber; 5. screw rod transmission device 501-1, first screw rod 501-2, second screw rod 502-1, first guide rail 502-2, second guide rail 503-1, first fixed block base, 503-2, second fixed block base, 504, second driven gear, 505, second driving gear, 506, transmission mechanism connecting seat, 507, bearing, 508, front bearing seat, 509, rear bearing seat, 510, bearing; 511. bowl-shaped chain link pushing blocks 511-1, connecting plates 511-1-1, connecting holes 511-2, pushing plates 511-2-1, steel wire through holes 511-2-2, and pushing cylinder accommodating gaps; 512. the middle chain link pushing block 512-1, the connecting plate 512-1-1, the connecting hole 512-2, the pushing plate 512-3, the pushing cylinder 512-3-1 and the central steel wire hole; a1. first steel wire, a2, second steel wire, a3. third steel wire, a4. fourth steel wire, 515, wire knots, 516, wire knots and 6, trunk support.

Detailed Description

The invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1-3, the side-by-side progressive natural cavity surgical robot comprises a base 1, a flexible trunk 2, a power device 3, a winch assembly 4, a screw rod transmission device 5 and a trunk support frame 6. The four sets of winch assemblies 4 correspond to the four sets of power inputs in the external power box, respectively. The screw rod transmission device 5 corresponds to two groups of power inputs in the external power box respectively, and when the screw rod transmission device 5 works, the endoscope can be controlled to move forwards. The power unit 3 can control the position of the endoscope in space.

As shown in fig. 1, 3 and 4, the power unit 3 mainly comprises 4 groups of winch assemblies 4.

As shown in fig. 3 and 4, the power device 3 includes an upper plate 3-1 and a lower plate 3-2, four fixing columns 3-3 are fixedly connected with the base 1, the lower plate 3-2 is fixedly connected with the middle parts of the four fixing columns 3-3, and the upper plate 3-1 is fixedly connected with the tops of the four fixing columns 3-3. The guide frame 402 is fixedly mounted on the lower plate 3-2. The upper end of the rotary column 404 is rotatably connected to the upper plate 3-1, the lower end of the rotary column 404 is rotatably connected to the lower plate 3-2, and the rotary column 404 can rotate.

The guide frame 402 is provided with four guide holes, and the first steel wire a1, the second steel wire a2, the third steel wire a3 and the fourth steel wire a4 respectively pass through the four guide holes on the guide frame 402. Then, the first, second, third, and fourth wires a1, a2, a3, and a4 are wound around the four rotary posts 404, respectively, and then wound around the four winch assemblies 4, respectively.

The wire changes direction through the swivel post 404 to facilitate winding onto the winch assembly 4.

As shown in fig. 8, the capstan assembly 4 is mainly composed of a capstan 405, a bearing 409, a coupling 410, a driven rotation shaft 412, an input shaft 413, a spring 414, and an o-ring 415. A wire groove 407 is provided in the middle of the capstan 405, and a wire head mounting groove 406 is provided on the end surface of the middle of the capstan 405. The passive rotating shaft 412 is provided with a plug-in part 412-1, a bearing mounting part 412-2, a sleeve joint part 412-3 and a circular boss 412-4. The input shaft 413 is provided with a plug-in portion 413-1, a disc portion 413-2, and a socket portion 413-3. The winch 405 is connected with the driven rotating shaft 412 through a coupling, specifically, the plug-in portion 412-1 of the driven rotating shaft 412 is inserted into the lower end of the coupling 410 (the D-shaped groove at the lower end of the coupling 410 is matched with the plug-in portion 412-1 of the driven rotating shaft 412), the lower end of the winch 405 is inserted into the upper end of the coupling 410, and the screw 411 of the coupling 410 is screwed down to fasten so as to fixedly connect the lower end of the winch 405 with the upper end (i.e. the plug-in portion 412-1) of the driven rotating shaft 412. The upper part of the spring 414 is sleeved on the sleeve joint part 412-3 of the driven rotating shaft 412, the lower part of the spring 414 is sleeved on the plug joint part 413-1 of the input shaft 413, the plug joint part 413-1 of the input shaft 413 is inserted into the sleeve joint part 412-3 of the driven rotating shaft 412 for fixed connection (a D-shaped groove in the sleeve joint part 412-3 is matched with the plug joint part 413-1), the upper end of the spring 414 abuts against the circular boss 412-4 of the driven rotating shaft 412, and the lower end of the spring 414 abuts against the circular disc part 413-2 of the input shaft 413. The upper portion of the capstan 405 is connected to a bearing 409, and the bearing mounting portion 412-2 of the driven shaft 412 is connected to a bearing 409. The O-ring 415 is fitted in the annular groove of the disc portion 413-2 of the input shaft 413. The winch 405 is connected to an assembly of the driven shaft 412 and the input shaft 413 via a coupling, and the winch 405 can be prevented from moving up and down. The D-shaped groove matching structure can limit the relative rotation of the shafts.

The outer ring of one of the bearings 409 is connected to the upper plate 3-1, and the outer ring of the other bearing 409 is connected to the lower plate 3-2, that is, the upper portion of the capstan 405 is rotatably connected to the upper plate 3-1 through the bearing 409, and the passive rotation shaft 412 is rotatably connected to the lower plate 3-2 through the bearing 409.

There are a total of four winch assemblies 4, one winch assembly 4 corresponding to each of the four swing posts 404. As shown in FIG. 55, four cylinder housings 3-4 are fixedly installed between the base 1 and the lower plate 3-2, four cylinder housings 3-4 are located below the lower plate 3-2, a socket 413-3 of the input shaft 413 protrudes downward from the base 1, the socket 413-3 of the input shaft 413, the disk 413-2 are located in the cylinder housing 3-4, a socket 412-3 of the driven shaft 412, a circular boss 412-4 are located in the cylinder housing 3-4, a spring 414 is located in the cylinder housing 3-4, and an O-ring rubber 415 is pressed between the disk 413-2 and the inner wall of the cylinder housing 3-4. The o-ring 415 can increase the rotational resistance and prevent the winch assembly 4 from rotating during transportation or handling of the robot to cause loosening of the wire.

When the side-by-side progressive natural cavity surgical robot is used, the power device 3 is connected and matched with an external power box, the power box is provided with four driving motors, the rotating shafts of the driving motors are spline shafts, the spline shafts are inserted into the sleeve joint parts 413-3, the spline shafts are connected with spline grooves of the sleeve joint parts 413-3 of the input shaft 413, when the driving motors are started, the winch 405 can rotate, and the winch 405 rotates to enable the steel wires to be wound or unwound. When the spline shaft of the driving motor in the power box is inserted into the socket 413-3, the input shaft 413 rises a little way upward, the disc 413-2 is separated from the O-shaped rubber ring 415, the resistance of the O-shaped rubber ring 415 disappears, and when the input shaft 413 rotates, a gap exists between the disc 413-2 and the inner wall of the cylinder housing 3-4.

Referring to fig. 9 and 10, the first wire a1 is wound around the wire groove 407 of the capstan 405, and a wire knot 408 is press-fitted to the rear end of the first wire a1, and the wire knot 408 is fixed in the wire head mounting groove 406 of the capstan 405.

Referring to fig. 7, the four capstan assemblies 4 are arranged in a rectangular configuration, the four rotary posts 404 are arranged in a V-shape, the guide frame 402 is arranged near the V-shape opening, the capstan is arranged near the V-shape tip, and the four rotary posts 404 are arranged between the four capstan assemblies 4, so that the cross-over during the wire winding process can be avoided. The four guide holes of the guide frame 402 are arranged in combination, so that the steel wires can be further prevented from crossing in the moving process.

As shown in fig. 23-29, the bowl-shaped chain link 212 is provided with a bottom circular opening 212-1 and a side notch 212-3, the side notch 212-3 communicates with the bottom circular opening 212-1, and the bowl-shaped chain link 212 is provided with three wire holes 212-2 uniformly distributed in the circumferential direction.

As shown in fig. 30 to 33, a cylindrical link 213 having a spherical end portion is provided with a cylindrical body 213-1, a positioning boss 213-2, the positioning boss 213-2 is connected to a side surface of the cylindrical body 213-1, the cylindrical body 213-1 is provided with a center wire hole 213-1-1, a front end of the cylindrical body 213-1 is the spherical end portion 213-1-2, and a rear end of the cylindrical body 213-1 is provided with a spherical groove 213-1-3.

As shown in fig. 17-22, a plurality of bowl-shaped chain links 212 are stacked one on top of the other (behind the front sleeve), and the plurality of bowl-shaped chain links 212 are connected in series by a first wire, a second wire, and a third wire through three wire holes 212-2 in each bowl-shaped chain link 212, respectively. The side notches 212-3 of adjacent two bowl links 212 are aligned. A cylindrical chain link 213 with a spherical end is arranged in each bowl-shaped chain link 212, and a positioning convex part 213-2 of the cylindrical chain link 213 is positioned in a side notch 212-3 of the bowl-shaped chain link 212, so that the cylindrical chain link 213 is limited and cannot rotate; a fourth wire is passed through the center wire holes 213-1-1 of the plurality of cylindrical links 213 having spherical ends in sequence, that is, the plurality of cylindrical links 213 having spherical ends are connected in series, and the spherical ends 213-1-2 of the cylindrical links 213 having spherical ends at the rear are inserted into the spherical grooves 213-1-3 of the cylindrical links 213 having spherical ends at the front.

Referring to fig. 33, a wire knot 516 is press-fitted to the front end of the fourth wire a4, and the wire knot 516 is located at the center wire hole 213-1-1 of the foremost cylindrical link 213 having a spherical end in the flexible trunk, thereby positioning the front end of the fourth wire a 4.

As shown in fig. 40-43, the bowl-shaped link pushing block 511 is provided with a connecting plate 511-1 and a pushing plate 511-2, the connecting plate 511-1 is provided with two connecting holes 511-1-1, the middle part of the pushing plate 511-2 is provided with a pushing cylinder accommodating notch 511-2-2 and three steel wire through holes 511-2-1, and the three steel wire through holes 511-2-1 are positioned around the pushing cylinder accommodating notch 511-2-2.

As shown in fig. 44-48, the intermediate link pushing block 512 is provided with a connecting plate 512-1, a pushing plate 512-2, and a pushing cylinder 512-3, and the connecting plate 512-1 is provided with two connecting holes 512-1-1. The pushing cylinder 512-3 is provided with a central wire hole 512-3-1.

The first wire a1, the second wire a2, and the third wire a3 pass through three wire vias 511-2-1 in the bowl link pusher block 511, respectively, and the fourth wire a4 passes through a center wire hole 512-3-1 in the intermediate link pusher block 512.

As shown in fig. 34, the screw rod transmission device 5 includes a first screw rod 501-1, a second screw rod 501-2, a first guide rail 502-1, a second guide rail 502-2, a first fixed block base 503-1, a second fixed block base 503-2, a second driven gear 504, a second driving gear 505, a transmission mechanism connecting seat 506, a bearing 507, a bearing 510, a front bearing seat 508, a rear bearing seat 509, the front bearing seat 508 and the rear bearing seat 509 are respectively and fixedly mounted on the base 1, the first guide rail 502-1 and the second guide rail 502-2 are arranged side by side, the front end of the first screw rod 501-1 is connected with a bearing in the front bearing seat 508, the rear end of the first screw rod 501-1 is connected with a bearing in the rear bearing seat 509, and the rear end of the second screw rod 501-2 is connected with a bearing in the rear bearing seat 509; the first screw 501-1 is rotatable under the support of the front bearing block 508 and the rear bearing block 509, and the second screw 501-2 is rotatable under the support of the front bearing block 508 and the rear bearing block 509; the first fixed block base 503-1 is provided with a first internal thread hole, the second fixed block base 503-2 is provided with a second internal thread hole, the first fixed block base 503-1 is sleeved on the first screw rod 501-1, the second fixed block base 503-2 is sleeved on the second screw rod 501-2, the first internal thread hole of the first fixed block base 503-1 is matched with the external thread of the first screw rod 501-1 in a connecting mode, the second internal thread hole of the second fixed block base 503-2 is matched with the external thread of the second screw rod 501-2 in a connecting mode, when the first screw rod 501-1 rotates, the first fixed block base 503-1 can translate, and when the second screw rod 501-2 rotates, the second fixed block base 503-2 can translate. The first fixed block base 503-1 is sleeved on the first guide rail 502-1 for sliding connection, and the second fixed block base 503-2 is sleeved on the second guide rail 502-2 for sliding connection. The first transmission shaft is connected with the rear end of the first screw rod 501-1, the second transmission shaft is connected with the rear end of the second screw rod 501-2, the second driven gear 504 is fixedly connected with the second transmission shaft, and the first driven gear is fixedly connected with the first transmission shaft; two ends of a first driving shaft are rotatably connected with the transmission mechanism connecting seat 506 through two bearings 507 (the bearings 507 are positioned above in the figure, the two bearings 507 are arranged up and down), and two ends of the second driving shaft are rotatably connected with the transmission mechanism connecting seat 506 through two bearings 510 (the bearings 510 are positioned above in the figure, and the two bearings 510 are arranged up and down); the driving gear II 505 is fixedly connected with the driving shaft II, and the driving gear I is fixedly connected with the driving shaft I; the first driving gear meshes with the first driven gear, and the second driving gear 505 meshes with the second driven gear 504. The second driven gear 504 is driven to rotate clockwise or anticlockwise through the clockwise or anticlockwise rotation of the second driving gear 505 arranged on the transmission mechanism connecting seat 506, the second driven gear 504 and the first screw rod 501-1 are in synchronous motion after being connected rigidly, and the first screw rod 501-1 rotates to drive the first fixed block base 503-1 to advance or retreat under the guiding action of the first guide rail 502-1. Similarly, the second screw rod 501-2 rotates to drive the second fixed block base 503-2 to advance or retreat along the second guide rail 502-2. When the robot is used, the external power box is in butt joint with the screw rod transmission device 5, the rotating shafts of the two gear motors in the external power box penetrate through the base 1, the rotating shafts of the two gear motors are respectively connected with the first driving shaft and the second driving shaft, and the two gear motors are started to drive the first driving shaft and the second driving shaft to rotate.

Referring to fig. 36, two connection holes are provided at the upper portion of the second fixing block base 503-2, and two connection holes 503-1-1 are provided at the upper portion of the first fixing block base 503-1. Two screws penetrate through two connecting holes in the upper part of the second fixed block base 503-2 and then are connected with two connecting holes 511-1-1 of a connecting plate 511-1 in the bowl-shaped chain link pushing block 511, so that the connecting plate 511-1 of the bowl-shaped chain link pushing block 511 is fixedly connected with the upper part of the second fixed block base 503-2, and the bowl-shaped chain link pushing block 511 is fixedly connected with the second fixed block base 503-2. Similarly, two screws are used to pass through two connecting holes 503-1-1 on the upper part of the first fixed block base 503-1 and then are connected with two connecting holes 512-1-1 on the connecting plate 512-1 in the intermediate link pushing block 512, so that the connecting plate 512-1 of the intermediate link pushing block 512 is fixedly arranged on the upper part of the first fixed block base 503-1, and the intermediate link pushing block 512 is fixedly connected with the first fixed block base 503-1.

The pushing plate 511-2 is located above the pushing plate 512-2, and the pushing cylinder 512-3 is located in the pushing cylinder accommodating notch 511-2-2 in the middle of the pushing plate 511-2.

As shown in fig. 51 and 52, a window 207-1 is provided on the side surface of the endoscope mounting tube 207, a pin connection seat 207-2 is connected to the inner wall of the endoscope mounting tube 207 near the window 207-1, and a spherical groove 207-3 and three wire holes 207-4 uniformly distributed in the circumferential direction are provided at the rear end of the endoscope mounting tube 207.

50-54, the endoscope 205 is detachably mounted in the endoscope mounting barrel 207, specifically, the endoscope hinge pressing plate 208 is hinged with the pin connection seat 207-2 of the endoscope mounting barrel 207 through a pin 209, the endoscope hinge pressing plate 208 is located at a window 207-1 of the endoscope mounting barrel 207, the front section pressing plate 211 is fixedly connected with the endoscope hinge pressing plate 208, the tail section pressing plate 210 is fixedly connected with the endoscope hinge pressing plate 208, when the endoscope 205 is mounted, the endoscope hinge pressing plate 208 is firstly opened outwards (in the state shown in FIG. 54), then the endoscope 205 is placed in the inner cavity of the endoscope mounting barrel 207, then the endoscope 205 is pushed inwards, the end face of the rear end of the endoscope 205 abuts against the tail section pressing plate 210, the tail section pressing plate 210 is forced to drive the endoscope hinge pressing plate 20 to be closed (in the state shown in FIG. 50), the front section pressing plate 211 is just clamped in a clamping groove 205-1 on the side face of the endoscope 205, and the endoscope 205 is fixed in the inner cavity of the endoscope mounting barrel 207.

As shown in fig. 56, the forefront bowl-shaped chain link 212 in the flexible trunk is embedded in the spherical groove 207-3 at the rear end of the endoscope mounting barrel 207, the first steel wire a1 passes through the wire hole 212-2 of the bowl-shaped chain link and then passes through the wire hole 207-4, and a metal wire knot 515 is fixedly pressed at the front end of the first steel wire a1, and the metal wire knot 515 is positioned at the wire hole 207-4, so that the front end of the first steel wire a1 is positioned; similarly, the second steel wire and the third steel wire respectively pass through two wire holes 212-2 of the bowl-shaped chain link and then pass through the other two wire holes 207-4, and the front ends of the second steel wire and the third steel wire are also in crimping connection with the metal wire knot, and the metal wire knot is positioned at the corresponding wire holes 207-4 to realize the positioning of the front ends of the second steel wire and the third steel wire.

When the row-type natural cavity surgical robot is used, the power device 3 is connected and matched with an external power box. The winch assembly 4 rotates to enable the first steel wire, the second steel wire and the third steel wire to pay off or take up, the first steel wire, the second steel wire and the third steel wire take up or pay off are matched to achieve omni-directional bending of the flexible trunk 2 (for example, the second steel wire is taken up, the first steel wire and the third steel wire pay off, and then the flexible trunk is bent towards the second steel wire), and therefore position adjustment on the space of the endoscope 205 can be achieved through the three steel wires. When the flexible trunk is bent to a desired state under the control of three steel wires, the middle chain link pushing block 512 is driven to move forwards, meanwhile, the fourth steel wire is paid off, the fixation of the paths completed by the plurality of bowl-shaped chain links 212 is realized, and finally, the flexible trunk is stretched, not loosened and stable.

The trunk support frame 6 is fixedly arranged at the forefront end of the base, the middle part of the flexible trunk passes through a circular through hole of the trunk support frame 6, and the circular through hole plays a supporting role on the flexible trunk.

When it is necessary to move the endoscope 205 forward, the bowl-shaped link pushing block 511 is driven to move forward, the pushing plate 511-2 of the bowl-shaped link pushing block 511 pushes the rearmost bowl-shaped link 212 in the flexible trunk forward, the rearmost bowl-shaped link 212 pushes the next bowl-shaped link forward, and so on, the rear bowl-shaped link pushes the front bowl-shaped link to transmit force, so that the foremost bowl-shaped link 212 in the flexible trunk pushes the endoscope mounting cylinder 207 forward, simultaneously the first wire, the second wire and the third wire are paid out, finally the flexible trunk is moved forward as a whole, the endoscope 205 in the endoscope mounting cylinder 207 is moved forward, the endoscope 205 reaches a designated position is realized, at this time, the intermediate link pushing block 512 is driven to move forward (simultaneously, the fourth wire is paid out), the pushing plate 512-2 of the intermediate link pushing block 512 pushes the rearmost cylindrical link 213 with spherical end in the flexible trunk forward, the rearmost cylindrical link 213 with spherical end pushes the next cylindrical link with spherical end forward, and so on, the rear cylindrical link with spherical end pushes the front cylindrical link with spherical end to transmit force, so that the foremost cylindrical link with spherical end in the flexible trunk pushes against the foremost bowl link, and at this time, the flexible trunk is stable, tight and not loose. Next, when the whole flexible trunk is required to be retreated, the bowl-shaped chain link pushing block 511 and the middle chain link pushing block 512 are driven to synchronously move backwards, and simultaneously, the first steel wire, the second steel wire, the third steel wire and the fourth steel wire are subjected to wire winding operation, so that the flexible trunk moves backwards along with the endoscope. It should be noted that another way to retract the whole flexible trunk is to drive the middle link pushing block 512 to move backward and simultaneously perform the wire winding operation on the fourth wire, and then drive the bowl link pushing block 511 to move backward and simultaneously perform the wire winding operation on the first wire, the second wire and the third wire.

Referring to fig. 27, the range of angle α of the side notch 212-3 of the bowl link 212 may generally be: the optimum angle value of alpha is 30 degrees, and the guiding effect of the cylindrical chain link 213 with the spherical end is best under the condition of 30 degrees, wherein alpha is more than 20 degrees and less than 50 degrees, and the cylindrical chain link 213 with the spherical end moves smoothly.

Three instrument channels 206 are mounted at the front end of the endoscope mounting barrel 207, through which instrument channels 206 surgical instruments can be passed during surgery, the instrument channels 206 supporting the surgical instruments.

It should be noted that, in order to ensure that the cylindrical chain link 213 having the spherical end portion moves more smoothly in the bowl-shaped chain link 212 without jamming, as shown in fig. 24, 25, 27, and 29, two rear inclined surfaces 212-3-1 are provided at the rear side of the side surface notch 212-3 of the bowl-shaped chain link, and two front inclined surfaces 212-3-2 are provided at the front side of the side surface notch 212-3. When the cylindrical link 213 having a spherical end moves forward in the channel formed by the plurality of side indentations 212-3, it may happen occasionally that the positioning boss 213-2 does not face the side indentation 212-3 (deviation in the radial direction) and the positioning boss 213-2 can slide into the side indentation 212-3 along the rear slope 212-3-1, that is, the positioning boss 213-2 slides into the channel. Similarly, when the cylindrical link 213 having a spherical end moves backward in the channel formed by the plurality of side indentations 212-3, it may happen that the positioning boss 213-2 does not face the side indentation 212-3 (deviation in the radial direction) and the positioning boss 213-2 can slide into the side indentation 212-3 along the front slope 212-3-2, that is, the positioning boss 213-2 slides into the channel. It can be seen that providing the inclined surface improves the reliability of the product.

The endoscope and the flexible trunk reach the focus through the natural cavity of the human body. During the surgical procedure, the image signals acquired by the endoscope 205 are transmitted to a computer by wireless transmission techniques. Endoscope 205 is a prior art capsule endoscope that carries a wireless transmission module.

The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one skilled in the art is informed by this disclosure, other configurations of parts, driving devices and connection modes are adopted without creatively designing similar structures and embodiments without departing from the spirit of the present invention, and the present invention shall not be limited by the scope of the present invention.

Claims

1. The natural cavity surgical robot with the side-by-side progressive structure is characterized by comprising a base, a flexible trunk, a power device, a screw rod transmission device, a chain link pushing device, a trunk support frame, an endoscope mounting cylinder and an endoscope;

the flexible trunk comprises a first steel wire, a second steel wire, a third steel wire, a fourth steel wire, a plurality of bowl-shaped chain links and a plurality of cylindrical chain links with spherical end parts, wherein the bowl-shaped chain links are provided with bottom circular openings and side notches, the side notches are communicated with the bottom circular openings, and the bowl-shaped chain links are provided with three wire holes uniformly distributed along the circumferential direction; the cylindrical chain link with the spherical end part is provided with a cylindrical body and a positioning protruding part, the cylindrical body is provided with a central wire hole, the front end of the cylindrical body is the spherical end part, and the rear end of the cylindrical body is provided with a spherical groove; the bowl-shaped chain links are sequentially stacked together, the first steel wire, the second steel wire and the third steel wire respectively penetrate through three wire holes on each bowl-shaped chain link, side gaps of two adjacent bowl-shaped chain links are aligned, a cylindrical chain link with a spherical end is placed in each bowl-shaped chain link, a positioning protruding part of the cylindrical chain link is positioned in the side gap of the bowl-shaped chain link, the fourth steel wire sequentially penetrates through central wire holes of the cylindrical chain links with the spherical end, the cylindrical chain links with the spherical end are connected in series, and the spherical end of the cylindrical chain link with the spherical end is embedded into a spherical groove of the cylindrical chain link with the spherical end at the front; the front end of the fourth steel wire is fixedly connected with a fourth metal wire knot, and the fourth metal wire knot is positioned at the center wire hole of the forefront cylindrical chain link with the spherical end part in the flexible trunk;

the screw rod transmission device comprises a first screw rod, a second screw rod, a first guide rail, a second guide rail, a first fixed block base, a second fixed block base, a first driven gear, a second driving gear, a transmission mechanism connecting seat, a first transmission shaft, a second transmission shaft, a first driving shaft, a second driving shaft, a front bearing seat and a rear bearing seat, wherein the front bearing seat and the rear bearing seat are respectively and fixedly connected to a base, the first guide rail and the second guide rail are respectively and fixedly connected to the base, the first guide rail and the second guide rail are arranged side by side, the front end of the first screw rod is connected with the front bearing seat, the rear end of the first screw rod is connected with the rear bearing seat, and the front end of the second screw rod is connected with the front bearing seat; the first fixed block base is sleeved on the first screw rod, the second fixed block base is sleeved on the second screw rod, the first internal threaded hole of the first fixed block base is connected and matched with the external thread of the first screw rod, and the second internal threaded hole of the second fixed block base is connected and matched with the external thread of the second screw rod; the first fixed block base is sleeved on the first guide rail for sliding connection, and the second fixed block base is sleeved on the second guide rail for sliding connection; the first transmission shaft is connected with the rear end of the first screw rod, the second transmission shaft is connected with the rear end of the second screw rod, the second driven gear is fixedly connected with the second transmission shaft, and the first driven gear is fixedly connected with the first transmission shaft; two ends of the first driving shaft are respectively and rotatably connected with the transmission mechanism connecting seat through bearings, and two ends of the second driving shaft are respectively and rotatably connected with the transmission mechanism connecting seat through bearings; the driving gear II is fixedly connected with the driving shaft II, and the driving gear I is fixedly connected with the driving shaft I; the first driving gear is meshed with the first driven gear, and the second driving gear is meshed with the second driven gear; the upper part of the first fixed block base is provided with two connecting holes;

2. The side-by-side progressive architecture natural cavity surgical robot of claim 1, wherein the endoscope is detachably connected with an endoscope mounting cylinder, a window is arranged on the side surface of the endoscope mounting cylinder, a pin connecting seat is connected to the inner wall of the endoscope mounting cylinder near the window, an endoscope hinge pressing plate is connected to the pin connecting seat of the endoscope mounting cylinder through a pin, the endoscope hinge pressing plate is positioned at the window of the endoscope mounting cylinder, and a front section pressing plate and a tail pressing plate are connected to the endoscope hinge pressing plate.

3. The side-by-side progressive structure natural cavity surgical robot of claim 1, wherein the power device comprises an upper plate, a lower plate, a guide frame, four fixed columns, four rotary columns and four winch components, the lower plate is fixedly connected with the middle parts of the four fixed columns, the upper plate is fixedly connected with the tops of the four fixed columns, the guide frame is fixedly connected with the lower plate, the upper end of the rotary column is rotatably connected with the upper plate, and the lower end of the rotary column is rotatably connected with the lower plate; the guide frame is provided with four guide holes; the winch assembly is provided with a winch, the upper part of the winch is rotationally connected with the upper plate through a bearing, the lower part of the winch is rotationally connected with the lower plate through a bearing, and the lower end of the winch assembly extends downwards from the base; the four fixing columns are fixedly connected with the base;

the first steel wire, the second steel wire, the third steel wire and the fourth steel wire respectively penetrate through four guide holes in the guide frame, the first steel wire, the second steel wire, the third steel wire and the fourth steel wire respectively wind on winches of four winch components after respectively bypassing four rotating columns, the four winch components are arranged according to a rectangular layout, the four rotating columns are arranged in a V-shaped layout, and the four rotating columns are arranged among the four winch components.

4. The side-by-side progressive natural cavity surgical robot according to claim 3, wherein the winch assembly comprises a winch, a coupler, a passive rotating shaft, an input shaft, a spring and an o-shaped rubber ring, a wire groove is formed in the middle of the winch, the passive rotating shaft is provided with a plug-in part, a bearing mounting part, a socket joint part and a circular boss, the input shaft is provided with a plug-in part, a disc part and a socket joint part, the plug-in part of the passive rotating shaft is inserted into the lower end of the coupler, the lower end of the winch is inserted into the upper end of the coupler, the winch is connected with the passive rotating shaft through the coupler, the upper part of the spring is sleeved on the socket joint part of the passive rotating shaft, the lower part of the spring is sleeved on the plug-in part of the input shaft, the plug-in part of the passive rotating shaft is inserted into the socket joint part of the passive rotating shaft for fixed connection, the upper end of the spring is abutted against the circular boss of the passive rotating shaft, the lower end of the spring is abutted against the disc part of the input shaft, and the o-shaped rubber ring is sleeved in the annular groove of the disc part of the input shaft; the upper part of the winch is connected with the upper plate through a bearing, and the bearing mounting part of the driven rotating shaft is connected with the lower plate through a bearing; four cylinder shells are connected between the base and the lower plate, the sleeve joint part of the input shaft extends downwards from the base, the sleeve joint part and the disc part of the input shaft are positioned in the cylinder shells, the sleeve joint part and the circular boss of the driven rotating shaft are positioned in the cylinder shells, the spring is positioned in the cylinder shells, and the O-shaped rubber ring is extruded between the disc part and the inner wall of the cylinder shells; when the spline shaft of the driving motor in the external power box is inserted into the sleeve joint part, the disc part of the input shaft is separated from the O-shaped rubber ring, the resistance of the O-shaped rubber ring disappears, and when the input shaft rotates, a gap is formed between the disc part and the inner wall of the cylinder shell.

5. The side-by-side progressive architecture natural cavity surgical robot of claim 1, wherein the angle α of the side gap of the bowl-shaped link is:

20°＜α＜50°。

6. the side-by-side progressive architecture natural cavity surgical robot of claim 5, wherein the angle value of a is 30 °.

7. The side-by-side progressive architecture natural cavity surgical robot of claim 1, wherein the rear side of the side gap of the bowl-shaped link is provided with two rear bevels and the front side of the side gap is provided with two front bevels.

8. The side-by-side progressive architecture natural cavity surgical robot of claim 1, wherein the endoscope mounting barrel is coupled with an instrument channel.