WO2023039931A1

WO2023039931A1 - Control device for flexible surgical instrument, and endoscopic surgical robot system

Info

Publication number: WO2023039931A1
Application number: PCT/CN2021/120622
Authority: WO
Inventors: 李凌; 沈光国; 辜嘉; 李文超
Original assignee: 苏州中科华影健康科技有限公司
Priority date: 2021-09-15
Filing date: 2021-09-26
Publication date: 2023-03-23
Also published as: CN114010320B; CN114010320A

Abstract

A control device for a flexible surgical instrument, and an endoscopic surgical robot system. In the control device, a bending mechanism (22) is connected to an effector and is used for driving the effector to bend; one end of an adjustment pull cord is connected to the bending mechanism (22), and applies a pulling force to drive the bending mechanism (22) to bend in a preset direction; and a drive assembly comprises a base plate (1), a rotation drive assembly and a deflection resetting member (25), wherein the rotation drive assembly is rotatably arranged relative to the base plate (1) and connected to the other end of the adjustment pull cord in a driving manner; the rotation drive assembly controls the angle of rotation by means of a drive electric motor; two ends of the deflection resetting member (25) are respectively fixedly connected to the base plate (1) and the rotation drive assembly, and the deflection resetting member (25) is used to provide the rotation drive assembly with an eccentric tension torque towards an initial position. A bending angle of the surgical instrument can be automatically controlled by means of the rotation drive assembly, which solves the technical problem of inconvenient adjustment of the corresponding angle and positioning of a flexible endoscope arranged on a surgery assistant robot. In addition, the deflection resetting member (25) can ensure the resetting and maintain the tensioning of the adjustment pull cord.

Description

A flexible surgical instrument control device and endoscopic surgical robot system

technical field

The invention relates to the field of medical instruments, in particular to a flexible surgical instrument control device and an endoscopic surgical robot system.

Background technique

Endoscope is a testing instrument that integrates traditional optics, ergonomics, precision machinery, modern electronics, mathematics, and software. With image sensor, optical lens, light source lighting, mechanical device, etc., it can enter the stomach through the oral cavity or enter the body through other natural channels. Endoscopes can be used to see lesions that cannot be displayed by X-rays. Therefore, endoscopes play a very important role in medical diagnosis. Among them, flexible endoscopes use a built-in metal snake bone joint and are connected to it by pulling The method of manipulating the wire makes it bend to achieve the angular adjustment of the endoscope head.

With the extensive development of minimally invasive surgery, surgical assistant robots have played an increasingly important role in minimally invasive surgery. Hold an endoscope and operate with surgical instruments in your right hand. It reduces the difficulty of the operation, ensures the stability of the instrument during the operation, and prevents the shaking of the endoscope screen due to fatigue caused by the doctor's hand holding the mirror for a long time, thus affecting the safety and quality of the operation. For example, Patent Application No. 201810353515.8 discloses a mirror-holding surgical robot based on the distal central motion mechanism, which combines the remote central motion mechanism to control the posture of the endoscope to visit the surgical area. The accurate positioning of the human tissue in this way has the advantages of flexible movement and fine movement. During the operation, it can replace the doctor to hold the endoscope, and follow the surgical instruments to make timely and appropriate adjustments, so that the surgical field of view is accurately and stably presented to the doctor. At the same time, it can liberate the left hand of the doctor and change it from one-handed operation mode to two-handed operation mode, which reduces the labor intensity of the doctor, and combines the advantages of stability and precision of the robot with the experience of the doctor, ensuring the stability of the endoscope image at the same time , improving the quality of surgery.

However, in the prior art, the outer catheter of the surgical instrument on the surgical auxiliary robot is basically rigid and cannot be applied to a flexible endoscope, and it is not convenient to adjust the corresponding angle and position the flexible endoscope on the surgical auxiliary robot. It is also impossible to maintain a stable angle for a long time, and it is prone to slack.

Therefore, it is necessary to provide a device capable of stably and accurately adjusting the angle of the flexible instrument on the endoscopic surgical machine to solve the above technical problems.

Contents of the invention

In order to solve the above technical problems, the first aspect of the present invention provides a flexible surgical instrument control device, including:

Execution;

a bending structure, the bending mechanism is connected to the actuator, and is used to drive the actuator to bend;

Adjust the pull cord, one end of the adjust pull cord is connected to the bending mechanism, and is used to drive the bending mechanism to bend toward a preset direction by applying a pulling force;

A drive assembly, the drive assembly includes a bottom plate, a rotation drive assembly and a deflection reset member, the rotation drive assembly is rotatably arranged relative to the bottom plate and is drivingly connected to the other end of the adjustment pull cord; the rotation drive assembly is driven by a drive motor Control the rotation angle;

Two ends of the deflection reset member are respectively fixedly connected with the bottom plate and the rotation drive assembly, and are used to provide the rotation drive assembly with a biasing torque toward an initial position.

Further preferably: the deflection reset member is a coil spring, one end of the outer side of the coil spring is clamped and fixed with the bottom plate, the rotation drive assembly passes through the deflection reset member, and the inner end of the deflection reset member is connected to the bottom plate The outer surface of the rotating drive assembly is fixedly connected.

Further preferably: there are four adjustment pull cords, and the connection positions of the four adjustment pull cords and the bending structure are evenly distributed, and the rotation drive components are in four groups, respectively connected to each of the adjustment pull cords. Connect the other end of the rope.

Further preferably, the drive assembly further includes a guide wheel, and the adjustment pull cord is wound around the guide wheel and connected to the rotation drive assembly.

Further preferably, the four rotating drive assemblies are arranged in a rectangular shape, the guide wheels are four, and are arranged in the middle of the four rotating drive assemblies, and the guide wheels are symmetrically arranged in pairs up and down.

Further preferably, each of the adjustment drawcord sleeves is provided with a drawstring spring tube, and the adjustment drawcords extend out of the stay cord spring tubes and are wound around the guide wheels.

Further preferably: it also includes an actuator, the actuator is an instrument forceps, one end of the actuator is connected to the actuator, and is used to drive the opening and closing of the instrument forceps, and the other end of the actuator is connected to the instrument forceps. The opening and closing drive mechanism is connected.

Further preferably: the actuator is a hard steel wire, the actuator is sheathed in the wire spring tube, the actuator is connected to the opening and closing drive mechanism after passing through the wire spring tube, the A compression spring providing thrust is connected to the actuator driving member.

Further preferably: it also includes a flexible outer conduit, one end of the flexible outer conduit is connected to the bending structure, and the other end is connected to the pipe fixing seat of the bottom plate, and the adjustment pull cord passes through the flexible outer conduit and the bending structure connect;

The base plate is connected with an advance and retreat drive assembly, and the advance and retreat drive assembly is used to drive the base plate to drive the flexible outer conduit forward or backward.

In addition, the present application also provides an endoscopic surgical robot system, including a controller and the above-mentioned flexible surgical instrument control device, the controller is used to adjust the angle and direction according to the target of the actuator, and control the rotation drive component rotation.

Implementing the present invention has the following beneficial effects:

1. The over-rotational drive assembly enables automatic control of the bending angle of the surgical instrument, which solves the technical problem that it is difficult to adjust the corresponding angle and position the flexible endoscope when it is set on the surgical auxiliary robot;

2. When there is no external force from the driving motor, due to the pre-stored tension force in the wire rope, the rotating shaft may rotate in the opposite direction, resulting in the relaxation of the wire rope, and the existence of the deflection reset part keeps the rotating shaft moving towards the neutral position. The force of rotation makes the wire rope always in the initial tension state;

3. The motor can be connected with the controller, and the controller converts the corresponding direction and angle of the execution end required by the operator into the angle that the drive motor should rotate, and then the controller controls the rotation of the drive motor to achieve this without the need for users Consider how much to control the rotation of the shaft, the control is more convenient and precise;

4. The hard steel wire clamps the human tissue under the thrust of the compression spring and maintains the clamping state, without providing additional driving force. When it needs to be opened, directly push the actuator to control the movement of the actuator;

5. The lead screw mechanism drives the entire bottom plate and the components arranged on it to advance and retreat at the same time, so that the flexible outer catheter can move relative to the insertion tube of the mirror body, so that the driving components on the entire bottom plate also advance and retreat together to realize the push of the entire instrument automation.

Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

1 is a schematic diagram of the overall structure of an embodiment of the present invention;

Fig. 2 is a top view of an embodiment of the present invention;

Fig. 3 is a partially enlarged view of a rotary drive assembly according to an embodiment of the present invention;

Fig. 4 is a structural schematic diagram of the rotating drive assembly according to the embodiment of the present invention after removing the reel and the outer cover of the reel;

Fig. 5 is a structural schematic diagram of an embodiment of the present invention when a forward and backward drive assembly is provided;

Fig. 6 is a partially enlarged view of the instrument forceps and the bending mechanism of the embodiment of the present invention;

Fig. 7 is a schematic structural view of the bending of the instrument forceps in the scope insertion tube according to the embodiment of the present invention.

The corresponding reference signs in the embodiments of the present application are as follows:

Bottom plate 1; reel 2; reel cover 3; bearing 4; guide wheel 5; steel wire spring tube fixing seat 6; spring tube fixing base 7; Rope spring tube fixing part 10; connecting column 11; compression spring 12; compression fixing bracket 13; opening and closing drive mechanism 14; pull rope spring tube 15; first steel wire rope 16; second steel wire rope 17; third steel wire rope 18; fourth steel wire rope 19; driving shaft 20; instrument forceps 21; bending mechanism 22; flexible outer catheter 23; ; Instrument channel 29 .

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention. Examples of the described embodiments are shown in the drawings, wherein like or similar reference numerals designate like or similar elements or elements having the same or similar functions throughout.

In order to solve the problem that the flexible endoscope is installed on the surgical auxiliary robot in the prior art, it is not convenient to adjust the corresponding angle and perform positioning, nor can it maintain a stable angle for a long time, and it is prone to loosening. By rotating the drive assembly, the The bending angle of the surgical instrument can be automatically controlled, which solves the technical problem that it is difficult to adjust the corresponding angle and position the flexible endoscope when it is set on the surgical auxiliary robot.

Specifically, the corresponding effects are described in conjunction with the following examples:

Example

As shown in Figures 1-7: In this embodiment, a flexible surgical instrument control device is included, which is used to control the internal bending direction and angle of the actuator after entering the human body cavity. In the center is the instrument forceps 21, which can also be other instruments for performing surgical operations, such as an electric knife, and can also be used for other flexible tubular instruments with actuators that need to adjust the angle and bend during the operation. In this embodiment, the actuator can enter the human body through the instrument channel 29, extend out of the instrument channel 29 after entering, and then be bent after corresponding control, and then the actuator is driven and controlled by the actuator driver 27 to complete the operation. Specifically, the driving member 27 may be a hard steel wire rope that realizes opening and closing of the instrument forceps 21 by pushing and pulling.

In order to make the bending of the actuator controllable, a bending mechanism 22 is connected to the rear end of the actuator, and the mechanism 22 is connected to the actuator to drive the bending of the actuator; in this embodiment, the specific connection method is that the instrument clamp The rear end is welded on the bending mechanism 22, and other fixing methods are also possible. One end of the adjusting pull cord used to control the bending mechanism to bend is connected to the bending mechanism 22, and is used to drive the bending mechanism 22 to bend toward a preset direction by applying a pulling force; specifically, the bending mechanism 22 is a snake bone structure , is specifically a four-way snake bone, which is driven in four directions by connecting four pull ropes; that is, the adjustment pull ropes correspondingly include the first steel wire rope 16, the second steel wire rope 17, the third steel wire rope 18 and the fourth steel wire rope 19, four adjustment wire ropes The connecting positions of the stay cords and the bending mechanism 22 are evenly distributed.

In the prior art, the operator usually controls the bending of the snake bone by manually controlling the pulling distance of the wire rope. However, this operation process requires the operator to have certain experience, and it is prone to insufficient control accuracy or low stability. The problem. And this operation method is generally used in manual operation instruments, and there is no effective solution for snake bone control in surgical robots. In this embodiment, a driving assembly is provided. The driving assembly includes a bottom plate 1, a rotating driving assembly and a deflection reset member 25. The rotating driving assembly is arranged to rotate relative to the bottom plate 1 and is drivingly connected to the other end of the adjustment pull cord; the rotating driving assembly passes through The driving motor controls the rotation angle. Specifically, in this embodiment, the drive motor can be connected to the controller, and the controller converts the angle that the drive motor should rotate according to the corresponding direction and angle of the execution end required by the operator, and then controls the drive motor through the controller. Rotate to achieve. The required direction and angle of the execution end can be input through artificial parameters, or manually operated through an external entity or virtual simulation device, which is more in line with the operator's feel, and then transformed into the actual execution end through the operator's virtual operation action. Direction and angle to control.

In this embodiment, since there are four sets of rotating drive assemblies corresponding to the four adjustment pull cords, they are respectively connected to the other end of each adjustment pull cord. The controller is electrically connected to the driving motors corresponding to the four rotating drive components, and is used to control the rotation angle of each driving motor. The rotation angle of each motor is converted by the controller according to the corresponding direction and angle of the execution end required by the operator. Specifically, in this embodiment, the rotating drive assembly includes: a rotating shaft 20, a reel 2, a reel cover 3 and a bearing 4, the rotating shaft 20 is drivingly connected to the output shaft of the driving motor, and rotates according to the rotation of the driving motor, The reel 2 is fixed on the rotating shaft 20, and rotates together with the rotation. The reel 2 is fixedly connected with an adjustment pull cord, which is used to drive and adjust the winding degree of the stay cord on the reel 2, thereby gradually tightening the adjustment pull. The rope is used to control the corresponding bending direction of the snake bone; the bearing 4 is used to reduce the friction force during relative rotation between the parts. In this embodiment, the outer cover 3 of the reel 3 is fixedly connected to the reel 2 and the rotating shaft 20 through a fixing member, and can also compress and fix the wire rope on the reel at the same time.

Since there are four adjusting pull ropes, in order to make the first steel wire rope 16, the second steel rope 17, the third steel wire rope 18, and the fourth steel wire rope 19 not be intertwined and affect each other when driving, and in order to effectively save and integrate space, a guide wheel is also included. 5. The adjusting pull cord is wound around the guide wheel 5 and connected to the rotating drive assembly, which is used to guide each adjusting pull cord in different directions, ensuring the tension and direction change of the pull cord, so that the four rotating drive assemblies can The bottom plate 1 is symmetrically divided, and the four rotating drive assemblies are arranged in a rectangular shape. There are four guide wheels 5, which are arranged in the middle of the four rotating drive assemblies. It is arranged symmetrically up and down, and is arranged in the middle of the four rotating drive assemblies.

Each adjustment stay cord cover is provided with a stay cord spring tube 15, and the adjustment stay cord stretches out from the stay cord spring tube 15 and is wound on the guide wheel 5; Misalignment also increases the stiffness of the pulling snake; and, in the present embodiment, a drawstring spring tube fixing seat 9 is further provided to cooperate with the stay cord spring tube fixture 10, so that the stay cord spring tube 15 can be stably placed on the on base plate 1. The bending of the snake bone is driven by adjusting the drawstring, which passes through the drawstring spring tube 15, and one end of the drawstring spring tube 15 is welded on the connecting shaft of the flexible outer catheter close to the snake bone section, and the other end is connected to the drawstring spring tube fixing seat 9 on.

In this embodiment, the two ends of the deflection reset member 25 are respectively fixedly connected with the bottom plate 1 and the rotation drive assembly, and are used to provide the rotation drive assembly with a biasing torque toward the initial position, and the function is to keep the rotation shaft of the rotation drive assembly in the neutral position, and the rotation shaft Forced deflection, constant force spring plus reverse force, when the external force is eliminated, the rotating shaft 20 will return to the neutral position, so as to ensure that the steel wire rope on the snake bone is in a tensioned state, and the four corresponding steel wire ropes return to the neutral position on the four rotating shafts. Next, the snake bone can be quickly returned to the next adjustment control. Correspondingly, when installing and setting, when the rotating shaft is in the middle position, the first steel wire rope 16, the second steel wire rope 17, the third steel wire rope 18 and the fourth steel wire rope 19 are all in the position of the tight but not stretched bending mechanism (snake bone). state, when the rotating shaft 20 rotates in the tensioning direction, that is, when the rotating shaft corresponding to the first steel wire rope 16 and the second steel wire rope 17 rotates clockwise, and when the rotating shaft corresponding to the third steel wire rope 18 and the fourth steel wire rope 19 rotates counterclockwise , the steel wire rope will be pulled by tension, thus pulling the snake bone to bend; and when there is no external force from the drive motor, due to the pre-existing tension force in the steel wire rope, the rotating shaft may rotate in the opposite direction, resulting in the relaxation of the steel wire rope, and the deflection resets. The existence of part 25 is that the rotating shaft keeps being subjected to the power of turning towards the neutral position, so that the steel wire rope is always in the initial tension state.

Specifically, the deflection return member 25 is a coil spring, one end of the outer side of the coil spring is clamped and fixed with the bottom plate 1, the rotation drive assembly passes through the deflection return member 25, and the inner end of the coil spring is fixedly connected to the outer surface of the rotation drive assembly, preferably Ground, it may be that one end of the inner side of the coil spring is fixedly connected with the rotating shaft. In other embodiments, other forms of elastic devices can also be used to achieve reset.

In addition, in this embodiment, it also includes an execution driver 27. When the execution member is an instrument forceps 21, one end of the execution drive 27 is connected to the instrument forceps 21 for driving the opening and closing of the instrument forceps 21, and the other end of the execution drive 27 is Connected with the opening and closing drive mechanism 14, the opening and closing drive mechanism 14 is specifically a connecting rod, which can push and pull the opening and closing of the instrument forceps 21 by manually or electrically controlling the action of the connecting rod. In other embodiments, when the actuator is other When using a device, the linkage design can also be used to control the corresponding action of the device through the push-pull action.

Preferably, in this embodiment, the actuator driver 27 is a hard steel wire, and the actuator driver 27 is sheathed in the wire spring tube 28, and the actuator driver 27 passes through the wire spring tube 28 and is connected with the opening and closing drive mechanism 14 to execute The driving member 27 is connected with a compression spring 12 that provides a thrust to it, so as to ensure that the initial state of the clip of the instrument forceps 21 is in a closed state. thrust, so that the instrument forceps 21 are opened, and after the tissue to be clamped is aligned, the opening and closing drive mechanism 14 is slowly released, and the hard steel wire clamps and maintains the human tissue under the thrust of the compression spring 12 In the clamping state, no additional driving force is required.

Further, for the wire spring tube 28, in the present embodiment, a wire spring tube fixing base 6 and a spring tube fixing base 7 are also provided, the spring tube fixing base 7 is provided with a wire spring tube fixing base 6, and the wire spring tube fixing base 6 is used for fixing steel wire spring tube 28.

In addition, in the embodiment of the present application, a flexible outer conduit 23 is also included. One end of the flexible outer conduit 23 is connected to the bending mechanism 22, and the other end is connected to the pipe fixing seat of the bottom plate 1. Specifically, the bottom plate 1 is fixedly provided with an outer conduit fixing Seat 8, flexible outer catheter 23 is fixedly arranged on the outer catheter fixing seat 8; the adjustment stay rope passes through the inside of the flexible outer catheter 23 and is connected to the snake bone, and the actuator 27 is connected to the instrument forceps 21 after passing through the inside of the flexible outer catheter 23.

The flexible outer catheter 23 is made of bendable flexible material, and can be inserted into the instrument channel 29 of the scope insertion tube 28, and enters the inside of the human body together with the insertion of the scope insertion tube 28, and then moves relative to the insertion scope insertion tube 28, and stretches out the scope. The body is inserted into the tube 28, and the instrument forceps 21 are synchronously driven to enter the inside of the human body. Further bending control and clamping operation of the instrument forceps 21 are performed through the control of the rotating drive assembly and the control of the opening and closing drive mechanism 14 .

In order to realize that the flexible outer catheter can move relative to the insertion tube 28 of the lens body and extend out of the nozzle of the lens body insertion tube 28, in this embodiment, the base plate 1 is connected with an advance and retreat drive assembly 24, and the advance and retreat drive assembly 24 is used to drive the base plate 1 to drive the flexible tube. The outer catheter 23 advances or retreats.

Specifically, the advance and retreat drive assembly 24 includes a screw mechanism, which drives and connects a drive plate, and the drive plate is fixedly connected to the base plate 1, thereby driving the entire base plate 1 and the components arranged on it to advance and retreat at the same time, thereby realizing a flexible exterior. The catheter is movable relative to the insertion scope insertion tube 28 . Preferably, a connecting column 11 is also provided on the base plate 1 for connecting a protective case or other mounting plates.

Working principle, according to the description of the above-mentioned embodiment, when using the flexible surgical instrument control device of the present application, first, insert the mirror body insertion tube 28 into the human body cavity to reach the lesion position, the instrument forceps 21, the bending mechanism 22 and the flexible outer The catheter 23 enters together with the scope insertion tube 28;

The lead screw mechanism in the advance and retreat drive assembly 24 starts to move, drives the bottom plate 1, drives the flexible outer catheter 23 fixed on the outer catheter fixing seat 8 to move relative to the insertion tube 28 of the mirror body, and stretches out the mouth of the mirror body insertion tube 28, so that the instrument The pliers reach the operating position;

Control the opening and closing driving mechanism 14, pull the opening and closing driving mechanism 14 to make it overcome the thrust of the compression spring 12, so that the instrument forceps 21 are opened;

The overdrive motor is connected to the controller, and the controller converts it into the angle that the drive motor should rotate according to the corresponding direction and angle of the actuator required by the operator, and then controls the rotation of the drive motor through the controller to realize the rotation of the drive assembly. Thus driving the rotation angles of the winding wheels corresponding to the first steel wire rope 16, the second steel wire rope 17, the third steel wire rope 18 and the fourth steel wire rope 19, the steel wire rope drives the snake bone to bend in the corresponding direction, thereby further aligning the tissue to be strengthened; After the tissue to be clamped is aligned, the opening and closing drive mechanism 14 is slowly released, and the hard steel wire clamps the human tissue under the thrust of the compression spring 12 and maintains the clamping state, thereby performing the corresponding surgical operation , such as cutting, etc.

In addition, this embodiment also provides an endoscopic surgical robot system, including a controller and the aforementioned flexible surgical instrument control device, the controller is used to adjust the angle and direction of the actuator according to the target, and control the rotation of the rotary drive assembly.

Preferably, in this embodiment, a control method is also included, which is executed by the controller, including, according to the corresponding direction and angle of the execution end required by the operator, converting it into the angle that the drive motor should rotate, and then controlling the drive motor through the controller. The motor rotates under control. After reaching the preset rotation angle, stop the driving force of the driving motor and keep it at the current position. After the operation is completed, cancel the corresponding motor driving force, so that the rotating shaft returns to the neutral position under the action of the coil spring. The control program corresponding to the above control method can be stored in the storage medium of the controller;

Optionally, in this embodiment, the above-mentioned storage medium may include but not limited to: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk Various media that can store program codes such as discs or optical discs.

The present invention also provides a device, the device includes a processor and a memory, at least one instruction, at least one program, code set or instruction set are stored in the memory, the at least one instruction, the at least one program, The code set or instruction set is loaded and executed by the processor to realize the above control method.

The memory can be used to store software programs and modules, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store operating systems, application programs required by functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices. Correspondingly, the memory may also include a memory controller to provide processor access to the memory.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts not described in detail in certain embodiments, reference may be made to relevant descriptions of other embodiments.

Those skilled in the art can also understand that various illustrative logical blocks, units, and steps listed in the embodiments of the present invention can be implemented by electronic hardware, computer software, or a combination of both. To clearly demonstrate the interchangeability of hardware and software, the various illustrative components, units and steps above have generically described their functions. Whether such functions are implemented by hardware or software depends on the specific application and overall system design requirements. Those skilled in the art may use various methods to implement the described functions for each specific application, but such implementation should not be understood as exceeding the protection scope of the embodiments of the present invention.

The specific embodiments described above have further described the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention and are not intended to limit the scope of the present invention. Protection scope, within the spirit and principles of the present invention, any modification, equivalent replacement, improvement, etc., shall be included in the protection scope of the present invention.

Claims

A flexible surgical instrument control device, characterized in that it comprises:

Execution;

a bending mechanism (22), the bending mechanism (22) is connected to the actuator, and is used to drive the actuator to bend;

Adjust the pull cord, one end of the adjust pull cord is connected to the bending mechanism (22), and is used to drive the bending mechanism (22) to bend toward a preset direction by applying a pulling force;

A drive assembly, the drive assembly includes a bottom plate (1), a rotation drive assembly and a deflection reset member (25), the rotation drive assembly is arranged to rotate relative to the bottom plate (1) and is drivingly connected to the other end of the adjustment pull cord ; The rotation drive assembly controls the rotation angle through the drive motor;

Both ends of the deflection reset member (25) are respectively fixedly connected with the bottom plate (1) and the rotation drive assembly, and are used to provide the rotation drive assembly with a biasing torque toward an initial position.
The flexible surgical instrument control device according to claim 1, characterized in that: the deflection reset member (25) is a coil spring, and one end outside the coil spring is clamped and fixed with the base plate (1) to rotate the drive assembly Pass through the deflection reset member, and one end of the inner side of the coil spring is fixedly connected with the outer surface of the rotating drive assembly.
The flexible surgical instrument control device according to claim 1, characterized in that:

There are four adjusting stay cords, and the connection positions between the four adjust stay cords and the bending mechanism (22) are evenly distributed, and the rotation drive components are in four groups, respectively connected to each of the adjust stay cords the other end of the connection.
The flexible surgical instrument control device according to claim 3, characterized in that:

The drive assembly also includes a guide wheel (5), and the adjustment pull cord is wound around the guide wheel (5) and connected with the rotation drive assembly.
The flexible surgical instrument control device according to claim 4, characterized in that:

The four rotating drive assemblies are arranged in a rectangular shape, and there are four guide wheels (5), which are arranged in the middle of the four rotating drive assemblies, and the guide wheels (5) are symmetrically arranged in pairs up and down.
The flexible surgical instrument control device according to claim 4, characterized in that:

Each of the adjusting stay cord sleeves is provided with a stay cord spring tube (15), and the adjust stay cord stretches out from the stay cord spring tube (15) and is wound on the guide wheel (5).
The flexible surgical instrument control device according to claim 1, characterized in that:

It also includes an execution drive member (27), the execution member is an instrument clamp (21), one end of the execution drive member (27) is connected to the execution member, and is used to drive the opening and closing of the instrument clamp (21), The other end of the actuating drive member (27) is connected with the opening and closing drive mechanism (14).
The flexible surgical instrument control device according to claim 1, characterized in that:

The actuator (27) is a hard steel wire, the actuator (27) is sleeved in the wire spring tube (28), and the actuator (27) passes through the wire spring tube (28) Afterwards, it is connected with the opening-closing drive mechanism (14), and a compression spring (12) providing thrust thereon is connected to the actuator drive member (27).
The flexible surgical instrument control device according to claim 1, characterized in that:

It also includes a flexible outer conduit (23), one end of the flexible outer conduit (23) is connected to the bending mechanism (22), and the other end is connected to the pipe fixing seat of the bottom plate (1), and the adjustment pull cord passes through the The flexible outer catheter (23) is connected with the bending mechanism (22);

The base plate (1) is connected with an advance and retreat drive assembly (24), and the advance and retreat drive assembly (24) is used to drive the base plate (1) to drive the flexible outer conduit (23) forward or backward.
An endoscopic surgical robot system, characterized in that it includes a controller and the flexible surgical instrument control device according to any one of claims 1-9, the controller is used to adjust the angle and direction according to the target of the actuator , to control the rotation of the rotation drive assembly.