WO2022110312A1 - 一种软式内窥镜操控机器人 - Google Patents

一种软式内窥镜操控机器人 Download PDF

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Publication number
WO2022110312A1
WO2022110312A1 PCT/CN2020/135100 CN2020135100W WO2022110312A1 WO 2022110312 A1 WO2022110312 A1 WO 2022110312A1 CN 2020135100 W CN2020135100 W CN 2020135100W WO 2022110312 A1 WO2022110312 A1 WO 2022110312A1
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WIPO (PCT)
Prior art keywords
flexible endoscope
unit
flexible
endoscope
motor
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PCT/CN2020/135100
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English (en)
French (fr)
Inventor
刘浩
于涛
林鹏
武文杰
何啸
闫斌
彭丽华
杨云生
Original Assignee
中国科学院沈阳自动化研究所
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Publication of WO2022110312A1 publication Critical patent/WO2022110312A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

Definitions

  • the invention relates to a medical robot, in particular to a soft endoscope manipulation robot.
  • Digestive, urinary, respiratory and other natural cavity diseases seriously endanger people's health.
  • the incidence and mortality of gastric cancer, bile duct cancer, lung cancer, bladder cancer and other diseases are increasing year by year, while flexible endoscopes such as gastroscope, bronchial Endoscopy, flexible urology, endoscopic ultrasonography, duodenoscopy and other interventional treatments have become the main treatment methods for natural orifice diseases due to their advantages of small incision and quick recovery.
  • the purpose of the present invention is to provide a soft endoscope manipulation robot, so as to solve the problem that traditional Chinese medicine practitioners need to cooperate with many people to operate surgical instruments, cause fatigue in long-term operation, and cannot accurately obtain soft endoscope mediators.
  • a soft endoscope manipulation robot comprising a soft endoscope support unit and a soft endoscope main operation robot arranged on the soft endoscope support unit, wherein the soft endoscope main operation robot includes A flexible endoscope positioning unit, a flexible endoscope delivery unit, a flexible endoscope operating unit and a flexible endoscope following unit, wherein the flexible endoscope positioning unit and the flexible endoscope supporting unit connection, the flexible endoscope operation unit is connected with the flexible endoscope positioning unit through the flexible endoscope follow unit; the flexible endoscope operation unit is used for connecting with the flexible endoscope, and controls The flexible endoscope acts; the flexible endoscope delivery unit is arranged on the flexible endoscope positioning unit, and is used for clamping and delivering the flexible endoscope.
  • the flexible endoscope positioning unit includes a first joint, a flange, a first connecting rod, an adapter plate and a mirror-holding arm, wherein the first joint and the flange are arranged at one end of the first connecting rod, and the first connecting rod is The other end of the endoscope is connected with the mirror-holding arm through an adapter plate, and the mirror-holding arm is connected with the flexible endoscope delivery unit.
  • the flexible endoscope following unit includes the second link of the follower unit, the second joint of the follower unit, the third link of the follower unit, the third joint of the follower unit, the fourth link of the follower unit, and the fourth link of the follower unit.
  • the flexible endoscope operation unit includes a mounting base plate and a flexible endoscope fixing mechanism, an adapter fixing plate, a large pulsator operator, a small pulsator operator, a forceps lifter operator, and a flexible endoscope fixing mechanism arranged on the installation base plate.
  • the first rotary driving mechanism, the second rotary driving mechanism and the third rotary driving mechanism wherein the small pulsator operator, the large pulsator operator and the clamp lifter operator are installed coaxially from the inside to the outside and all can be rotated, and the first The rotary driving mechanism, the second rotary driving mechanism and the third rotary driving mechanism are respectively connected with the forceps lifter operator, the large pulsator operator and the small pulsator operator;
  • the installation bottom plate is connected;
  • the flexible endoscope fixing mechanism is used for fixing the flexible endoscope, and the flexible endoscope is connected with the forceps lifter operator, the large pulsator operator and the small pulsator operator.
  • the first rotary drive mechanism includes a first motor, a pinion gear, a large gear and a motor mounting plate, wherein the motor mounting plate is connected to the mounting base plate, the first motor is mounted on the motor mounting plate and the output end is connected to the motor mounting plate.
  • a pinion gear is connected; the large gear is connected to the tong lifter operator and meshes with the pinion gear.
  • the second rotary drive mechanism includes a second motor and a small synchronous belt, and the output end of the second motor is connected to the large pulsator operator through the small synchronous belt;
  • the third rotary drive mechanism includes a third motor and a large synchronous belt, and the output end of the third motor is connected to the small pulsator operator through the large synchronous belt.
  • the flexible endoscope conveying unit includes a conveying unit frame and a first-stage synchronous belt installed on the conveying unit frame, a sensor fixing flange, a torque sensor, a motor I, a driving wheel, a passive wheel, and a second-stage synchronous belt and clamping mechanism, wherein the output end of the motor I is connected with the sensor fixing flange through the first-stage synchronous belt, the sensor fixing flange is connected with one end of the torque sensor, the other end of the torque sensor is connected with a driving wheel, and the driving wheel is connected by
  • the second-stage synchronous belt is connected with another driving wheel;
  • the clamping mechanism is provided with two driven wheels, and the two driven wheels cooperate with the two driving wheels to realize the clamping and operation of the flexible endoscope respectively. delivery.
  • the clamping mechanism includes a motor II, a rack, a gear, a movable plate and a linear sliding block, wherein the movable plate is connected with the frame of the conveying unit through the linear sliding block; the rack is arranged on the movable plate and is connected with the linear sliding block.
  • the blocks are parallel; the motor II is arranged on the frame of the conveying unit, and its output end is connected with a gear, and the gear meshes with the rack; the two driven wheels are rotatably arranged on the movable plate.
  • the flexible endoscope support unit includes a chassis, a chassis shell, a lifting slide, a column, a first support arm, and a second support arm, wherein the bottom of the chassis is provided with wheels, and the chassis shell is provided on the outer side of the chassis; the The lift slide table is arranged on the top of the chassis shell, the upright column is connected with the lift slide table, one end of the first support arm is connected with the upright post, and the other end is rotatably connected with the second support arm.
  • the flexible endoscope manipulation robot further includes a flexible endoscope coaxial instrument operation unit, and the flexible endoscope coaxial instrument operation unit includes a flexible sheath drive mechanism, a driver motor box, a flexible endoscope, and a flexible endoscope.
  • a sheath tube, a guide wire conveying and clamping mechanism and a guide wire wherein the flexible sheath tube driving mechanism and the guide wire conveying and clamping mechanism are arranged on the driver motor box, and the flexible sheath tube driving mechanism controls the robot through a flexible endoscope
  • the connecting unit is connected with the flexible endoscope; one end of the flexible sheath is connected with the flexible sheath driving mechanism, and the other end is inserted into the flexible endoscope after passing through the flexible endoscope manipulation robot connecting unit.
  • the flexible sheath tube driving mechanism is used for driving the flexible sheath tube to bend; the guide wire conveying and clamping mechanism is used for conveying the guide wire, and the guide wire is inserted into the flexible sheath tube.
  • the invention cooperates with the soft endoscope master operation robot and the soft endoscope coaxial instrument operation robot, and can assist the doctor to perform remote operation through the master-slave operation of the robot, thereby reducing the probability of the doctor being irradiated by X-rays.
  • the present invention cooperates with the flexible endoscope positioning and conveying unit to realize the flexible intervention of the flexible endoscope, and at the same time, the flexible endoscope control unit can realize the flexibility of the flexible endoscope. Control, so as to assist the doctor to complete the surgical operation accurately and efficiently.
  • the present invention makes the operation process more intuitive for the doctor, and under the condition of image guidance, the doctor can be targeted, the operation is more convenient, and the safety of the operation can be improved by increasing the perception.
  • the invention can extract quantified operation data, more intuitively regulate human operation, and increase operation safety.
  • the invention designs a robot system to replace the manual operation of the doctor, greatly reduces the surgical risk through the fusion of sensor information, and is expected to improve the intelligence of the flexible endoscopic intervention.
  • Fig. 1 is the axonometric view of the soft endoscope manipulation robot of the present invention
  • FIG. 2 is a front view of a flexible endoscope manipulation robot of the present invention
  • FIG. 3 is a schematic structural diagram of a support unit in the present invention.
  • FIG. 4 is a schematic structural diagram of a positioning, conveying, and following unit in the present invention.
  • FIG. 5 is a schematic structural diagram of a flexible endoscope positioning unit in the present invention.
  • FIG. 6 is a schematic structural diagram of a flexible endoscope following unit in the present invention.
  • FIG. 7 is a schematic structural diagram of a flexible endoscope operating unit in the present invention.
  • FIG. 8 is a schematic structural diagram of a flexible endoscope in the present invention.
  • FIG. 9 is one of the structural schematic diagrams of the flexible endoscope delivery unit in the present invention.
  • Fig. 10 is the second structural schematic diagram of the flexible endoscope delivery unit in the present invention.
  • FIG. 11 is the third structural schematic diagram of the flexible endoscope delivery unit in the present invention.
  • FIG. 13 is the second schematic diagram of the structure of the coaxial instrument operating unit of the flexible endoscope in the present invention.
  • 100 is the patient
  • 200 is the hospital bed
  • 300 is the flexible endoscope positioning unit
  • 301 is the first joint
  • 302 is the flange
  • 303 is the first link
  • 304 is the adapter plate
  • 305 is the mirror arm
  • 400 is the flexible endoscope conveying unit
  • 401 is the first-stage synchronous belt
  • 402 is the sensor fixing flange
  • 403 is the torque sensor
  • 404 is the motor I
  • 405 is the motor II
  • 406 is the output shaft
  • 407 is the driving wheel
  • 408 is the driven wheel
  • 409 is the second-stage synchronous belt
  • 410 is the clamping mechanism
  • 411 is the rack
  • 412 is the gear
  • 413 is the movable plate
  • 414 is the linear slider
  • 450 is the soft endoscope
  • 500 is the Flexible endoscope operation unit
  • 501 is a flexible endoscope fixing mechanism
  • 502 is an adapter fixing plate
  • 503 is a mounting base plate
  • a flexible endoscope manipulation robot provided by the present invention includes a flexible endoscope support unit 700 and a flexible endoscope main body disposed on the flexible endoscope support unit 700
  • the operation robot, the main operation robot of the flexible endoscope includes a flexible endoscope positioning unit 300, a flexible endoscope delivery unit 400, a flexible endoscope operation unit 500 and a flexible endoscope following unit 600, wherein the flexible endoscope
  • the flexible endoscope positioning unit 300 is connected to the flexible endoscope supporting unit 700, and the flexible endoscope operating unit 500 is connected to the flexible endoscope positioning unit 300 through the flexible endoscope following unit 600;
  • the flexible endoscope The endoscope operation unit 500 is used for connecting with the flexible endoscope 450 and controlling the movement of the flexible endoscope 450;
  • the flexible endoscope delivery unit 400 is arranged on the flexible endoscope positioning unit 300 for clamping and The flexible endoscope 450 is delivered.
  • the flexible endoscope support unit 700 includes a chassis 702 , a chassis housing 703 , a lift slide 704 , a column 705 , a first support arm 706 , and a second support arm 707 , wherein
  • the bottom of the chassis 702 is provided with wheels 701, the chassis shell 703 is covered on the outside of the chassis 702; the lift slide 704 is set on the top of the chassis shell 703, and the column 705 is connected with the lift slide 704, so that the column 705 and its upper parts can go up and down move.
  • One end of the first support arm 706 is connected to the upright column 705 , and the other end is rotatably connected to the second support arm 707 through a rotary joint.
  • the flexible endoscope positioning unit 300 , the flexible endoscope delivery unit 400 , the flexible endoscope operating unit 500 and the flexible endoscope following unit 600 constitute a flexible endoscope Type endoscope main operation robot.
  • the flexible endoscope positioning unit 300 includes a first joint 301 , a flange 302 , a first link 303 , an adapter plate 304 and a mirror-holding arm 305 , wherein the first The joint 301 and the flange 302 are arranged at one end of the first link 303 , the first joint 301 is used as a base to connect with the second support arm 707 of the support unit 700 , and the other end of the first link 303 is connected to the holder through the adapter plate 304 .
  • the scope arm 305 is connected, and the scope arm 305 is connected to the flexible endoscope delivery unit 400 .
  • the flexible endoscope follower unit 600 includes a follower unit second link 601 , a follower unit second joint 602 , a follower unit third link 603 , and a follower unit connected in sequence.
  • the third joint 604 , the fourth link 605 of the follower unit, the fourth joint 606 of the follower unit, the joint connector 607 and the transition link 608 wherein the second link 601 of the follower unit and the flange of the flexible endoscope positioning unit 300 302 is connected, and the transition link 608 is connected with the flexible endoscope operation unit 500 .
  • the flexible endoscope following unit 600 can also achieve the purpose of following the delivery of the flexible endoscope by changing the composition sequence of each part.
  • the flexible endoscope operation unit 500 includes a mounting base plate 503 and a flexible endoscope fixing mechanism 501 , an adapter fixing plate 502 , and a large pulsator arranged on the mounting base plate 503 .
  • the manipulator manipulator 507 is installed coaxially from the inside to the outside and can be rotated.
  • the first rotational drive mechanism, the second rotational drive mechanism and the third rotational drive mechanism are respectively connected with the clamp lifter manipulator 507, the big pulsator manipulator 505 and the small pulsator.
  • the manipulator 506 is driven and connected;
  • the flexible endoscope fixing mechanism 501 is connected to the installation base plate 503 through the adapter fixing plate 502;
  • the flexible endoscope fixing mechanism 501 is used to fix the flexible endoscope 450, and the flexible endoscope 450 It is connected to the caliper lifter operator 507 , the large pulsator operator 505 and the small pulsator operator 506 .
  • the first rotary drive mechanism includes a first motor 508 , a pinion gear 504 , a large gear 511 and a motor mounting plate 512 , wherein the motor mounting plate 512 is connected to the mounting base plate 503 , and the first motor 508 is mounted on the motor mounting plate 512 The upper and output ends are connected with the pinion gear 504 ;
  • the second rotary drive mechanism includes a second motor 509 and a small synchronous belt 510, and the output end of the second motor 509 is drivingly connected to the large pulsator operator 505 through the small synchronous belt 510;
  • the third rotary drive mechanism includes a third motor 513 and a large synchronous belt Belt 514, the output end of the third motor 513 is connected with the small wave wheel operator 506 through the large synchronous belt 514.
  • the flexible endoscope 450 is the manipulation object of the mechanism.
  • the flexible endoscope 450 is a commercially available product.
  • the model is Olympus TJF-Q190V as an example. Its structure includes a forceps lifter 451, a large dial 452, a small dial 453, a surgical instrument channel 454, and a scope 455. .
  • the above-mentioned flexible endoscope manipulation robot takes the flexible endoscope as the manipulation object, and positions the flexible endoscope through the flexible endoscope fixing mechanism 501, and then uses the large pulsator manipulator 505, the small pulsator manipulator 506, the lift
  • the forceps manipulator 507 controls the forceps lifter 451 , the large dial 452 and the small dial 453 respectively to realize the bending of the front end of the endoscope, and the flexible endoscope delivery unit 400 realizes the delivery of the scope body 455 through friction.
  • the flexible endoscope conveying unit 400 includes a conveying unit frame, a first-stage synchronous belt 401 installed on the conveying unit frame, a sensor fixing flange 402, Torque sensor 403, motor I 404, driving wheel 407, driven wheel 408, second-stage synchronous belt 409 and clamping mechanism 410, wherein the output end of motor I 404 is connected with the first-stage synchronous belt 401, and the first-stage synchronous belt 401 is connected with the torque
  • the input end of the sensor 403 is connected, the torque sensor 403 is installed on the frame of the conveying unit through the sensor fixing flange 402, the output end of the torque sensor 403 is connected with a driving wheel 407, and the driving wheel 407 is connected with another
  • the driving wheel 407 is connected, and the two driving wheels 407 can rotate synchronously through the second-stage synchronous belt 409; the clamping mechanism 410 is provided with two driven wheels 408, and the two driven wheels 408 are under the
  • the clamping mechanism 410 includes a motor II 405 , a rack 411 , a gear 412 , a movable plate 413 and a linear slider 414 , wherein the movable plate 413 is connected to the linear slider 414 through the linear slider 414 .
  • the frame of the conveying unit is connected; the rack 411 is arranged on the movable plate 413 and is parallel to the linear slider 414; the motor II 405 is arranged on the frame of the conveying unit, and its output end is connected with the gear 412, and the gear 412 meshes with the rack 411; two
  • the driven wheel 408 is rotatably arranged on the movable plate 413 .
  • the motor II 405 is connected with the gear 412 and drives the movable plate 413 to move up and down through the cooperation of the rack 411 and the gear 412.
  • the movable plate 413 is fixedly connected with the driven wheel 408 to realize the clamping movement.
  • the flexible endoscope manipulation robot of the present invention further includes a flexible endoscope coaxial instrument operation unit 900, and the flexible endoscope coaxial instrument operation unit 900 is provided with On another flexible endoscope supporting unit 700 , the flexible endoscope main operation robot and the coaxial auxiliary instrument operation robot cooperate with each other to complete the implantation intervention operation.
  • the flexible endoscope coaxial instrument operation unit 900 includes a flexible sheath driving mechanism 901 , a driver motor box 902 , a flexible sheath 903 , and a guide wire feeding and clamping mechanism 904 and guide wire 905, wherein the flexible sheath drive mechanism 901 and the guide wire conveying clamping mechanism 904 are arranged on the driver motor box 902, and the flexible sheath drive mechanism 901 controls the robot connection unit 800 and the flexible endoscope through the flexible endoscope.
  • the endoscope 450 is connected; one end of the flexible sheath tube 903 is connected with the flexible sheath tube driving mechanism 901, and the other end is inserted into the flexible endoscope 450 after passing through the flexible endoscope manipulation robot connection unit 800, and the flexible sheath is inserted into the flexible endoscope 450.
  • the tube driving mechanism 901 is used to drive the flexible sheath 903 to bend; the guide wire delivery clamping mechanism 904 is used to deliver the guide wire 905 , and the guide wire 905 is inserted into the flexible sheath 903 .
  • the flexible endoscope manipulation robot connection unit 800 achieves the purpose of limiting by setting a middle lumen.
  • the starting end of the middle lumen is connected to the instrument insertion end of the flexible endoscope, and the other end of the middle lumen is connected to the flexible endoscope.
  • the mirror manipulation robot is connected with the coaxial instrument manipulation unit.
  • the flexible sheath driving mechanism 901 includes a fixed base plate 908 , a reel 907 disposed on the fixed base plate 908 , a flexible sheath fixing member 909 , and a spring tube pressing member 910 and the reel shaft fixing mechanism 911, wherein the reel 907 is arranged between the reel shaft fixing mechanism 911 and the fixing bottom plate 908, and is used for winding the driving tendon of the flexible sheath tube 903; the flexible sheath tube fixing member 909 and the spring
  • the tube pressing member 910 is arranged at the front end of the reel 907, the flexible sheath tube fixing member 909 is used to fix the flexible sheath tube 903, and the spring tube pressing member 910 is used to press the flexible sheath tube 903 to drive the spring outside the tendon Tube.
  • the driver motor box 902 drives the winding wheel 907 to rotate, and the winding wheel 907 rotates to realize the winding or release of the driving tendon, and then realize the bending action of the flexible
  • the guide wire conveying and clamping mechanism 904 includes a conveying clamping mechanism fixing base plate 913 and a guide wire conveying wheel 914 , a guide wire clamping mechanism 915 and a screw micro-moving knob 916 disposed on the conveying clamping mechanism fixing base plate 913 .
  • the guide wire clamping mechanism 915 can move in the direction close to or away from the guide wire conveying wheel 914 , and the screw micro-motion knob 916 is connected with the guide wire clamping mechanism 915 for adjusting the position of the guide wire clamping mechanism 915 .
  • the guide wire clamping mechanism 915 includes a guide wire clamping wheel, and the guide wire clamping wheel and the guide wire conveying wheel 914 clamp the guide wire 905, and the guide wire 905 is conveyed through rotation.
  • the invention cooperates with the soft endoscope master operation robot and the soft endoscope coaxial instrument operation robot, and can assist the doctor to perform remote operation through the master-slave operation of the robot, thereby reducing the probability of the doctor being irradiated by X-rays.
  • the invention changes the operation mode from "relying on experience and tentative operation” to "refined robot operation guided by visual information", which greatly reduces the risk of surgery, and improves the intervention of flexible endoscopes through the fusion of vision and sensor information. degree of intelligence.

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Abstract

一种软式内窥镜操控机器人，包括软式内窥镜支撑单元(700)及设置于软式内窥镜支撑单元(700)上的软式内窥镜主操作机器人，软式内窥镜主操作机器人包括软式内窥镜定位单元(300)、软式内窥镜输送单元(400)、软式内窥镜操作单元(500)及软式内窥镜跟随单元(600)，其中软式内窥镜定位单元(300)与软式内窥镜支撑单元(700)连接，软式内窥镜操作单元(500)通过软式内窥镜跟随单元(600)与软式内窥镜定位单元(300)连接；软式内窥镜操作单元(500)用于与软式内窥镜(450)连接，并且控制软式内窥镜(450)动作；软式内窥镜输送单元(400)设置于软式内窥镜定位单元(300)上，用于夹持和输送软式内窥镜(450)。该软式内窥镜操控机器人通过对软式内窥镜(450)的精准操控，结合远程遥控操作，避免X射线对医生的辐射，融合传感信息，实现智能化机器人介入。

Description

一种软式内窥镜操控机器人 技术领域
本发明涉及医疗机器人，特别涉及一种软式内窥镜操控机器人。
背景技术
消化、泌尿、呼吸等自然腔道疾病严重危害人民的身体健康，比如胃癌、胆管癌、肺癌、膀胱癌等疾病发病率和死亡率呈逐年上升的趋势，而软式内窥镜如胃镜、支气管镜、泌尿软镜、超声内镜、十二指肠镜等介入治疗因其创口小、恢复快等优点已经成为自然腔道或者经自然腔道疾病的最主要治疗方式。
由于自然腔道的手术操作空间狭窄且封闭，操作过程精细复杂，所以手术器械需要非常高的灵巧性去顺应腔道的解剖结构，并需要精细的控制来指向目标靶点，但现有技术中用于软式内镜的手术器械缺乏独立的自由度，仅依靠内镜的弯曲来实现器械的运动，并且需要医生护士协调完成器械的手动控制，控制精度低且劳动强度大，非常容易造成生理疲劳。在一些狭窄的空间作业时，往往由于器械灵巧度不够而浪费大量的时间去调整器械的位置及方向，降低了手术的效率及安全性。而一些复杂的手术如经内镜逆行性胆胰管造影术(ERCP)，由于其涉及的手术器械种类多，并且需要多支器械协同操作，因而需要多名医护人员协作，这也大大增加了医疗成本和手术效果的不可控性。此外，现有器械的视觉反馈仅局限于软式内镜前端集成的相机，器械本身并不具备力觉传感，当器械进入狭窄的腔道后无法准确获取输送力信息，超选插管完全依靠经验来进行试探性的手术操作，给手术带来了非常高的并发症风险，软式内镜操作与把持都需要医生来完成，长时间的手术过程会造成医生的疲劳并且影响手术效果。上述技术障碍都直接影响着软式内镜手术的发展以及在临床中的推广应用。
发明内容
针对上述问题，本发明的目的在于提供一种软式内窥镜操控机器人，以解 决现有技术中医师操作手术器械需要多人协同、长时间操作存在疲劳、无法准确获取软式内窥镜介入力信息且会受到X射线辐射的问题。
为了实现上述目的，本发明采用以下技术方案：
一种软式内窥镜操控机器人，包括软式内窥镜支撑单元及设置于软式内窥镜支撑单元上的软式内窥镜主操作机器人，所述软式内窥镜主操作机器人包括软式内窥镜定位单元、软式内窥镜输送单元、软式内窥镜操作单元及软式内窥镜跟随单元，其中软式内窥镜定位单元与所述软式内窥镜支撑单元连接，所述软式内窥镜操作单元通过软式内窥镜跟随单元与软式内窥镜定位单元连接；所述软式内窥镜操作单元用于与软式内窥镜连接，并且控制软式内窥镜动作；所述软式内窥镜输送单元设置于所述软式内窥镜定位单元上，用于夹持和输送所述软式内窥镜。
所述软式内窥镜定位单元包括第一关节、法兰、第一连杆、转接板及持镜臂，其中第一关节和法兰设置于第一连杆的一端，第一连杆的另一端通过转接板与持镜臂连接，所述持镜臂与所述软式内窥镜输送单元连接。
所述软式内窥镜跟随单元包括依次连接的跟随单元第二连杆、跟随单元第二关节、跟随单元第三连杆、跟随单元第三关节、跟随单元第四连杆、跟随单元第四关节、关节连接件及过渡连杆，其中跟随单元第二连杆与所述软式内窥镜定位单元连接，所述过渡连杆与所述软式内窥镜操作单元连接。
所述软式内窥镜操作单元包括安装底板及设置于所述安装底板上的软式内窥镜固定机构、转接固定板、大波轮操作器、小波轮操作器、抬钳器操作器、第一旋转驱动机构、第二旋转驱动机构和第三旋转驱动机构，其中小波轮操作器、大波轮操作器及抬钳器操作器由内到外同轴安装且均可转动，所述第一旋转驱动机构、第二旋转驱动机构和第三旋转驱动机构分别与抬钳器操作器、大波轮操作器及小波轮操作器传动连接；所述软式内窥镜固定机构通过转接固定板与安装底板连接；所述软式内窥镜固定机构用于固定软式内窥镜，所述软式内窥镜与抬钳器操作器、大波轮操作器及小波轮操作器连接。
所述第一旋转驱动机构包括第一电机、小齿轮、大齿轮及电机安装板，其中电机安装板与所述安装底板连接，所述第一电机安装在所述电机安装板上并且输出端与小齿轮连接；所述大齿轮与所述抬钳器操作器连接，并且与所述小 齿轮啮合。
所述第二旋转驱动机构包括第二电机和小同步带，所述第二电机的输出端通过小同步带与所述大波轮操作器传动连接；
所述第三旋转驱动机构包括第三电机和大同步带，所述第三电机的输出端通过大同步带与所述小波轮操作器传动连接。
所述软式内窥镜输送单元包括输送单元框架及安装在该输送单元框架上的第一级同步带、传感器固定法兰、扭矩传感器、电机Ⅰ、主动轮、被动轮、第二级同步带及夹紧机构，其中电机Ⅰ的输出端通过第一级同步带与传感器固定法兰连接，传感器固定法兰与扭矩传感器的一端连接，扭矩传感器的另一端与一主动轮连接，该主动轮通过第二级同步带与另一主动轮连接；所述夹紧机构上设有两个被动轮，两个被动轮分别与两个主动轮协同作用下实现所述软式内窥镜的夹持和输送。
所述夹紧机构包括电机Ⅱ、齿条、齿轮、活动板及直线滑块，其中活动板通过直线滑块与所述输送单元框架连接；所述齿条设置于活动板上，且与直线滑块平行；所述电机Ⅱ设置于所述输送单元框架上，其输出端与齿轮连接，所述齿轮与所述齿条啮合；两个所述被动轮可转动地设置于所述活动板上。
所述软式内窥镜支撑单元包括底盘、底盘外壳、升降滑台、立柱、第一支撑臂、第二支撑臂，其中底盘的底部设有车轮，底盘外壳罩设于底盘的外侧；所述升降滑台设置于底盘外壳的顶部，所述立柱与所述升降滑台连接，所述第一支撑臂的一端与所述立柱连接，另一端与所述第二支撑臂转动连接。
所述的软式内窥镜操控机器人，还包括软式内窥镜同轴器械操作单元，所述软式内窥镜同轴器械操作单元包括可弯曲鞘管驱动机构、驱动器电机盒、可弯曲鞘管、导丝输送夹紧机构及导丝，其中可弯曲鞘管驱动机构和导丝输送夹紧机构设置于驱动器电机盒上，所述可弯曲鞘管驱动机构通过软式内窥镜操控机器人连接单元与所述软式内窥镜连接；可弯曲鞘管的一端与可弯曲鞘管驱动机构连接，另一端穿过软式内窥镜操控机器人连接单元后插入软式内窥镜内，所述可弯曲鞘管驱动机构用于驱动可弯曲鞘管弯曲；所述导丝输送夹紧机构用于输送导丝，所述导丝插设于可弯曲鞘管内。
本发明的优点与积极效果为：
本发明通过软式内窥镜主操作机器人与软式内窥镜同轴器械操作机器人相配合，通过机器人的主从操作能够辅助医师进行远程操作，从而降低医师被X射线辐射的概率。
本发明通过设计软式内窥镜跟随单元，与软式内窥镜定位输送单元相互协同，实现软式内窥镜柔顺介入，同时软式内窥镜操控单元可以实现软式内窥镜的灵活操控，从而辅助医生精准、高效完成手术操作。
本发明通过结合视觉图像信息，让医生在操作过程中更加直观，在图像引导的条件下，让医生有的放矢，更加便于操作，能够通过感知的增加提升作业的安全性。
本发明通过引入扭矩传感器、长度传感器，能够提取量化的操作数据，更加直观的规范人的操作，增加操作安全性。
本发明设计机器人系统代替医师手动操作，通过传感器信息融合，大大地减小了手术风险，有望提高软式内镜介入的智能化程度。
附图说明
图1为本发明软式内窥镜操控机器人的轴测图；
图2为本发明软式内窥镜操控机器人的主视图；
图3为本发明中支撑单元的结构示意图；
图4为本发明中定位、输送、跟随单元的结构示意图；
图5为本发明中软式内窥镜定位单元的结构示意图；
图6为本发明中软式内窥镜跟随单元的结构示意图；
图7为本发明中软式内窥镜操作单元的结构示意图；
图8为本发明中软式内窥镜的结构示意图；
图9为本发明中软式内窥镜输送单元的结构示意图之一；
图10为本发明中软式内窥镜输送单元的结构示意图之二；
图11为本发明中软式内窥镜输送单元的结构示意图之三；
图12为本发明中软式内窥镜同轴器械操作单元的结构示意图之一；
图13为本发明中软式内窥镜同轴器械操作单元的结构示意图之二。
图中：100为患者，200为病床，300为软式内窥镜定位单元，301为第一 关节，302为法兰，303为第一连杆，304为转接板，305为持镜臂，400为软式内窥镜输送单元，401为第一级同步带，402为传感器固定法兰，403为扭矩传感器，404为电机Ⅰ，405为电机Ⅱ，406为输出轴，407为主动轮，408为被动轮，409为第二级同步带，410为夹紧机构，411为齿条，412为齿轮，413为活动板，414为直线滑块，450为软式内窥镜，500为软式内窥镜操作单元，501为软式内窥镜固定机构，502为转接固定板，503为安装底板，504为小齿轮，505为大波轮操作器，506为小波轮操作器，507为抬钳器操作器，508为第一电机，509为第二电机，510为小同步带，511为大齿轮，512为电机安装板，513为第三电机，514为大同步带，600为软式内窥镜跟随单元，601为跟随单元第二连杆，602为跟随单元第二关节，603为跟随单元第三连杆，604为跟随单元第三关节，605为跟随单元第四连杆，606为跟随单元第四关节，607为关节连接件，608为过渡连杆，700为软式内窥镜支撑单元，701为车轮，702为底盘，703为底盘外壳，704为升降滑台，705为立柱，706为第一支撑臂，707为第二支撑臂707，800为软式内窥镜操控机器人连接单元，900为软式内窥镜同轴器械操作单元，901为可弯曲鞘管驱动机构，902为驱动器电机盒，903为可弯曲鞘管，904为导丝输送夹紧机构，905为导丝，907为绕线轮，908为固定底板，909为可弯曲鞘管固定件，910为弹簧管压紧件，911为绕线轮轴固定机构，913为输送夹紧机构固定底板，914为导丝输送轮，915为导丝夹紧机构，916为螺旋微动旋钮。
具体实施方式
为了使本发明的目的、技术方案和优点更加清楚，下面结合附图和具体实施例对本发明进行详细描述。
如图1-2所示，本发明提供的一种软式内窥镜操控机器人，包括软式内窥镜支撑单元700及设置于软式内窥镜支撑单元700上的软式内窥镜主操作机器人，软式内窥镜主操作机器人包括软式内窥镜定位单元300、软式内窥镜输送单元400、软式内窥镜操作单元500及软式内窥镜跟随单元600，其中软式内窥镜定位单元300与软式内窥镜支撑单元700连接，软式内窥镜操作单元500通过软式内窥镜跟随单元600与软式内窥镜定位单元300连接；软式内窥镜操作 单元500用于与软式内窥镜450连接，并且控制软式内窥镜450动作；软式内窥镜输送单元400设置于软式内窥镜定位单元300上，用于夹持和输送软式内窥镜450。
如图3所示，本发明的实施例中，软式内窥镜支撑单元700包括底盘702、底盘外壳703、升降滑台704、立柱705、第一支撑臂706、第二支撑臂707，其中底盘702的底部设有车轮701，底盘外壳703罩设于底盘702的外侧；升降滑台704设置于底盘外壳703的顶部，立柱705与升降滑台704连接，使立柱705及其上方部件可以上下移动。第一支撑臂706的一端与立柱705连接，另一端通过旋转关节与第二支撑臂707转动连接。
如图4所示，本发明的实施例中，软式内窥镜定位单元300、软式内窥镜输送单元400、软式内窥镜操作单元500及软式内窥镜跟随单元600组成软式内窥镜主操作机器人。
如图5所示，本发明的实施例中，软式内窥镜定位单元300包括第一关节301、法兰302、第一连杆303、转接板304及持镜臂305，其中第一关节301和法兰302设置于第一连杆303的一端，第一关节301作为底座与支撑单元700的第二支撑臂707相连接，第一连杆303的另一端通过转接板304与持镜臂305连接，持镜臂305与软式内窥镜输送单元400连接。
如图6所示，本发明的实施例中，软式内窥镜跟随单元600包括依次连接的跟随单元第二连杆601、跟随单元第二关节602、跟随单元第三连杆603、跟随单元第三关节604、跟随单元第四连杆605、跟随单元第四关节606、关节连接件607及过渡连杆608，其中跟随单元第二连杆601与软式内窥镜定位单元300的法兰302连接，过渡连杆608与软式内窥镜操作单元500连接。
软式内窥镜跟随单元600也可通过改变各个零件的组成顺序来达到软式内镜跟随输送的目的。
如图7所示，本发明的实施例中，软式内窥镜操作单元500包括安装底板503及设置于安装底板503上的软式内窥镜固定机构501、转接固定板502、大波轮操作器505、小波轮操作器506、抬钳器操作器507、第一旋转驱动机构、第二旋转驱动机构和第三旋转驱动机构，其中小波轮操作器506、大波轮操作器505及抬钳器操作器507由内到外同轴安装且均可转动，第一旋转驱动机构、 第二旋转驱动机构和第三旋转驱动机构分别与抬钳器操作器507、大波轮操作器505及小波轮操作器506传动连接；软式内窥镜固定机构501通过转接固定板502与安装底板503连接；软式内窥镜固定机构501用于固定软式内窥镜450，软式内窥镜450与抬钳器操作器507、大波轮操作器505及小波轮操作器506连接。
本实施例中，第一旋转驱动机构包括第一电机508、小齿轮504、大齿轮511及电机安装板512，其中电机安装板512与安装底板503连接，第一电机508安装在电机安装板512上并且输出端与小齿轮504连接；大齿轮511与抬钳器操作器507连接，并且与小齿轮504啮合。第二旋转驱动机构包括第二电机509和小同步带510，第二电机509的输出端通过小同步带510与大波轮操作器505传动连接；第三旋转驱动机构包括第三电机513和大同步带514，第三电机513的输出端通过大同步带514与小波轮操作器506传动连接。
如图8所示，本发明的实施例中，软式内窥镜450为机构的操控对象。软式内窥镜450为市购产品，型号以奥林巴斯TJF-Q190V为例，其结构包含抬钳器451、大拨轮452、小拨轮453、手术器械腔道454、镜体455。上述软式内窥镜操控机器人以软式内窥镜为操控对象，通过软式内窥镜固定机构501将软式内窥镜定位，随后通过大波轮操作器505、小波轮操作器506、抬钳器操作器507分别控制抬钳器451、大拨轮452、小拨轮453，实现内窥镜前端弯曲，软式内窥镜输送单元400通过摩擦力实现镜体455的输送。
如图9、图10所示，本发明的实施例中，软式内窥镜输送单元400包括输送单元框架及安装在该输送单元框架上的第一级同步带401、传感器固定法兰402、扭矩传感器403、电机Ⅰ404、主动轮407、被动轮408、第二级同步带409及夹紧机构410，其中电机Ⅰ404的输出端与第一级同步带401连接，第一级同步带401与扭矩传感器403的输入端连接，扭矩传感器403通过传感器固定法兰402安装在输送单元框架上，扭矩传感器403的输出端与一主动轮407连接，该主动轮407通过第二级同步带409与另一主动轮407连接，经第二级同步带409实现两个主动轮407同步旋转运动；夹紧机构410上设有两个被动轮408，两个被动轮408分别与两个主动轮407协同作用下实现软式内窥镜450的夹持和输送。本实施例中，第一级同步带401与第二级同步带409平行设置于输送 单元框架的两端。
如图10、图11所示，本发明的实施例中，夹紧机构410包括电机Ⅱ405、齿条411、齿轮412、活动板413及直线滑块414，其中活动板413通过直线滑块414与输送单元框架连接；齿条411设置于活动板413上，且与直线滑块414平行；电机Ⅱ405设置于输送单元框架上，其输出端与齿轮412连接，齿轮412与齿条411啮合；两个被动轮408可转动地设置于活动板413上。电机Ⅱ405与齿轮412连接，通过齿条411和齿轮412的相互配合带动活动板413上下运动，活动板413与被动轮408固连，从而实现夹紧运动。
如图1所示，在上述实施例的基础上，本发明的软式内窥镜操控机器人还包括软式内窥镜同轴器械操作单元900，软式内窥镜同轴器械操作单元900设置于另一软式内窥镜支撑单元700上，软式内窥镜主操作机器人与同轴辅助器械操作机器人相互配合完成植介入手术。
如图12所示，本发明实施例中，软式内窥镜同轴器械操作单元900包括可弯曲鞘管驱动机构901、驱动器电机盒902、可弯曲鞘管903、导丝输送夹紧机构904及导丝905，其中可弯曲鞘管驱动机构901和导丝输送夹紧机构904设置于驱动器电机盒902上，可弯曲鞘管驱动机构901通过软式内窥镜操控机器人连接单元800与软式内窥镜450连接；可弯曲鞘管903的一端与可弯曲鞘管驱动机构901连接，另一端穿过软式内窥镜操控机器人连接单元800后插入软式内窥镜450内，可弯曲鞘管驱动机构901用于驱动可弯曲鞘管903弯曲；导丝输送夹紧机构904用于输送导丝905，导丝905插设于可弯曲鞘管903内。
软式内窥镜操控机器人连接单元800通过设置中间腔道达到限位的目的，中间腔道的起始端与软式内镜的器械插入端相连接，中间腔道的另一端与软式内窥镜操控机器人同轴器械操作单元相连接。
如图13所示，本发明的实施例中，可弯曲鞘管驱动机构901包括固定底板908及设置于固定底板908上的绕线轮907、可弯曲鞘管固定件909、弹簧管压紧件910及绕线轮轴固定机构911，其中绕线轮907设置于绕线轮轴固定机构911和固定底板908之间，用于缠绕可弯曲鞘管903的驱动腱；可弯曲鞘管固定件909和弹簧管压紧件910设置于绕线轮907的前端，可弯曲鞘管固定件909用于固定可弯曲鞘管903，弹簧管压紧件910用于压紧可弯曲鞘管903驱动腱 外侧的弹簧管。驱动器电机盒902驱动绕线轮907转动，绕线轮907转动实现驱动腱的缠绕或释放，进而通过驱动腱的拉动实现可弯曲鞘管903的弯曲动作。
本实施例中，导丝输送夹紧机构904包括输送夹紧机构固定底板913及设置于输送夹紧机构固定底板913上的导丝输送轮914、导丝夹紧机构915及螺旋微动旋钮916，其中导丝夹紧机构915可沿靠近或远离导丝输送轮914的方向移动，螺旋微动旋钮916与导丝夹紧机构915连接，用于调整导丝夹紧机构915的位置。具体地，导丝夹紧机构915包括导丝夹紧轮，导丝夹紧轮与导丝输送轮914夹紧导丝905，并且通过转动实现导丝905的输送。
本发明通过软式内窥镜主操作机器人与软式内窥镜同轴器械操作机器人相配合，通过机器人的主从操作能够辅助医师进行远程操作，从而降低医师被X射线辐射的概率。本发明将操作方式从“依靠经验、尝试性操作”转变为“依据视觉信息引导的精细化机器人操作”，大大地减小了手术风险，通过视觉、传感器信息融合，提高了软式内镜介入的智能化程度。
以上所述仅为本发明的实施方式，并非用于限定本发明的保护范围。凡在本发明的精神和原则之内所作的任何修改、等同替换、改进、扩展等，均包含在本发明的保护范围内。

Claims (10)

  1. 一种软式内窥镜操控机器人，其特征在于，包括软式内窥镜支撑单元(700)及设置于软式内窥镜支撑单元(700)上的软式内窥镜主操作机器人，所述软式内窥镜主操作机器人包括软式内窥镜定位单元(300)、软式内窥镜输送单元(400)、软式内窥镜操作单元(500)及软式内窥镜跟随单元(600)，其中软式内窥镜定位单元(300)与所述软式内窥镜支撑单元(700)连接，所述软式内窥镜操作单元(500)通过软式内窥镜跟随单元(600)与软式内窥镜定位单元(300)连接；所述软式内窥镜操作单元(500)用于与软式内窥镜(450)连接，并且控制软式内窥镜(450)动作；所述软式内窥镜输送单元(400)设置于所述软式内窥镜定位单元(300)上，用于夹持和输送所述软式内窥镜(450)。
  2. 根据权利要求1所述的软式内窥镜操控机器人，其特征在于，所述软式内窥镜定位单元(300)包括第一关节(301)、法兰(302)、第一连杆(303)、转接板(304)及持镜臂(305)，其中第一关节(301)和法兰(302)设置于第一连杆(303)的一端，第一连杆(303)的另一端通过转接板(304)与持镜臂(305)连接，所述持镜臂(305)与所述软式内窥镜输送单元(400)连接。
  3. 根据权利要求1所述的软式内窥镜操控机器人，其特征在于，所述软式内窥镜跟随单元(600)包括依次连接的跟随单元第二连杆(601)、跟随单元第二关节(602)、跟随单元第三连杆(603)、跟随单元第三关节(604)、跟随单元第四连杆(605)、跟随单元第四关节(606)、关节连接件(607)及过渡连杆(608)，其中跟随单元第二连杆(601)与所述软式内窥镜定位单元(300)连接，所述过渡连杆(608)与所述软式内窥镜操作单元(500)连接。
  4. 根据权利要求1所述的软式内窥镜操控机器人，其特征在于，所述软式内窥镜操作单元(500)包括安装底板(503)及设置于所述安装底板(503)上的软式内窥镜固定机构(501)、转接固定板(502)、大波轮操作器(505)、小波轮操作器(506)、抬钳器操作器(507)、第一旋转驱动机构、第二旋转驱动机构和第三旋转驱动机构，其中小波轮操作器(506)、大波轮操作器(505)及抬钳器操作器(507)由内到外同轴安装且均可转动，所述第一旋转驱动机构、第二旋转驱动机构和第三旋转驱动机构分别与抬钳器操作器(507)、大波轮操作器(505)及小波轮操作器(506)传动连接；所述软式内窥镜固定机构(501) 通过转接固定板(502)与安装底板(503)连接；所述软式内窥镜固定机构(501)用于固定软式内窥镜(450)，所述软式内窥镜(450)与抬钳器操作器(507)、大波轮操作器(505)及小波轮操作器(506)连接。
  5. 根据权利要求4所述的软式内窥镜操控机器人，其特征在于，所述第一旋转驱动机构包括第一电机(508)、小齿轮(504)、大齿轮(511)及电机安装板(512)，其中电机安装板(512)与所述安装底板(503)连接，所述第一电机(508)安装在所述电机安装板(512)上并且输出端与小齿轮(504)连接；所述大齿轮(511)与所述抬钳器操作器(507)连接，并且与所述小齿轮(504)啮合。
  6. 根据权利要求4所述的软式内窥镜操控机器人，其特征在于，所述第二旋转驱动机构包括第二电机(509)和小同步带(510)，所述第二电机(509)的输出端通过小同步带(510)与所述大波轮操作器(505)传动连接；
    所述第三旋转驱动机构包括第三电机(513)和大同步带(514)，所述第三电机(513)的输出端通过大同步带(514)与所述小波轮操作器(506)传动连接。
  7. 根据权利要求1所述的软式内窥镜操控机器人，其特征在于，所述软式内窥镜输送单元(400)包括输送单元框架及安装在该输送单元框架上的第一级同步带(401)、传感器固定法兰(402)、扭矩传感器(403)、电机Ⅰ(404)、主动轮(407)、被动轮(408)、第二级同步带(409)及夹紧机构(410)，其中电机Ⅰ(404)的输出端通过第一级同步带(401)与传感器固定法兰(402)连接，传感器固定法兰(402)与扭矩传感器(403)的一端连接，扭矩传感器(403)的另一端与一主动轮(407)连接，该主动轮(407)通过第二级同步带(409)与另一主动轮(407)连接；所述夹紧机构(410)上设有两个被动轮(408)，两个被动轮(408)分别与两个主动轮(407)协同作用下实现所述软式内窥镜(450)的夹持和输送。
  8. 根据权利要求7所述的软式内窥镜操控机器人，其特征在于，所述夹紧机构(410)包括电机Ⅱ(405)、齿条(411)、齿轮(412)、活动板(413)及直线滑块(414)，其中活动板(413)通过直线滑块(414)与所述输送单元框架连接；所述齿条(411)设置于活动板(413)上，且与直线滑块(414)平 行；所述电机Ⅱ(405)设置于所述输送单元框架上，其输出端与齿轮(412)连接，所述齿轮(412)与所述齿条(411)啮合；两个所述被动轮(408)可转动地设置于所述活动板(413)上。
  9. 根据权利要求1所述的软式内窥镜操控机器人，其特征在于，所述软式内窥镜支撑单元(700)包括底盘(702)、底盘外壳(703)、升降滑台(704)、立柱(705)、第一支撑臂(706)、第二支撑臂(707)，其中底盘(702)的底部设有车轮(701)，底盘外壳(703)罩设于底盘(702)的外侧；所述升降滑台(704)设置于底盘外壳(703)的顶部，所述立柱(705)与所述升降滑台(704)连接，所述第一支撑臂(706)的一端与所述立柱(705)连接，另一端与所述第二支撑臂(707)转动连接。
  10. 根据权利要求1所述的软式内窥镜操控机器人，其特征在于，还包括软式内窥镜同轴器械操作单元(900)，所述软式内窥镜同轴器械操作单元(900)包括可弯曲鞘管驱动机构(901)、驱动器电机盒(902)、可弯曲鞘管(903)、导丝输送夹紧机构(904)及导丝(905)，其中可弯曲鞘管驱动机构(901)和导丝输送夹紧机构(904)设置于驱动器电机盒(902)上，所述可弯曲鞘管驱动机构(901)通过软式内窥镜操控机器人连接单元(800)与所述软式内窥镜(450)连接；可弯曲鞘管(903)的一端与可弯曲鞘管驱动机构(901)连接，另一端穿过软式内窥镜操控机器人连接单元(800)后插入软式内窥镜(450)内，所述可弯曲鞘管驱动机构(901)用于驱动可弯曲鞘管(903)弯曲；所述导丝输送夹紧机构(904)用于输送导丝(905)，所述导丝(905)插设于可弯曲鞘管(903)内。
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CN115211977B (zh) * 2022-08-09 2023-08-18 哈尔滨工业大学 一种面向单孔手术的模块化绳驱动的连续体机器人系统
CN115399892A (zh) * 2022-11-01 2022-11-29 吉林大学 一种用于辅助支气管镜诊疗的系统
CN115399892B (zh) * 2022-11-01 2023-02-03 吉林大学 一种用于辅助支气管镜诊疗的系统
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CN117562485A (zh) * 2023-11-27 2024-02-20 济南显微智能科技有限公司 一种可调节的蛇骨型3d内窥镜
CN117562485B (zh) * 2023-11-27 2024-06-14 济南显微智能科技有限公司 一种可调节的蛇骨型3d内窥镜
CN117942170A (zh) * 2024-03-26 2024-04-30 北京云力境安科技有限公司 一种器械输送长度的控制方法、设备及存储介质

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