CN113662500A - Digestive endoscope robot - Google Patents

Abstract

A robot for digestive endoscopy relates to a robot. The invention aims to solve the problems that when an existing endoscope is used by a doctor to perform an operation on a patient, the endoscope is difficult to accurately control to walk and is polluted by secretion, vomit or excrement of the patient, and the doctor is easy to fatigue due to long-term standing and holding of the endoscope, so that the examination or treatment quality is influenced. The endoscope body of the invention is detachably arranged on the endoscope body pushing device; the mechanical arm system comprises a conveying device, a rotating mechanism, an adjustable mechanical arm and a base, wherein the adjustable mechanical arm is arranged on the base, and the conveying device and the rotating mechanism are respectively arranged on two sides of the tail end of the adjustable mechanical arm; the adjustable arm is "S" shape dysmorphism arm, and the upper portion of dysmorphism arm extends to the upper right side slope, and scope mirror body pusher and the scope mirror body are installed on adjustable arm, and scope mirror body pusher and the scope mirror body are located the homonymy of adjustable arm. The invention is used in the operation process of the digestive system of the human body.

Description

Digestive endoscope robot

Technical Field

The invention relates to a surgical robot, in particular to a digestive endoscope robot, which completes an endoscope operation by adopting a remote platform or remote control mode and belongs to the field of medical equipment.

Background

In the traditional diagnosis and treatment operation, a medical worker needs to stand on one side of a patient to hold an endoscope, and in the operation process, a doctor holds an endoscope handle with the left hand in the whole process and controls a large knob (controlling the head end of the endoscope to bend in the up-down direction) and a small knob (controlling the head end of the endoscope to bend in the left-right direction) to control the bending direction and angle of the front end of the endoscope so as to control the running direction of the endoscope; meanwhile, the endoscope body is held by the right hand to control the advancing and retreating of the endoscope and assist in axial rotation; thereby accurately and smoothly completing the endoscope operation. The endoscope can be controlled to move accurately by regulating the size of the two knobs simultaneously, so that smooth and accurate examination or treatment is very important, but most doctors are difficult to realize, the doctors need to stand in front of the patients, the possibility of being polluted by secretion, vomit or excrement of the patients exists, and meanwhile, the doctors are easy to fatigue due to the fact that the doctors stand for a long time to hold the endoscope by hands, and the examination or treatment quality is influenced.

In summary, when a doctor uses a digestive endoscope to perform an operation on a patient, the possibility that the endoscope is difficult to accurately control to walk and is polluted by secretions, vomit or excrement of the patient exists, and the problem that the doctor is easy to fatigue due to long-term standing and holding of the endoscope, and the examination or treatment quality is affected is caused.

Disclosure of Invention

The invention aims to solve the problems that when an existing endoscope is used by a doctor to perform an operation on a patient, the endoscope is difficult to accurately control to walk and is polluted by secretion, vomit or excrement of the patient, and the doctor is easy to fatigue due to long-term standing and holding of the endoscope, so that the examination or treatment quality is influenced. Further provides the digestive endoscope robot.

The technical scheme of the invention is as follows: the digestive endoscope robot comprises a mechanical arm system, an endoscope body pushing device and an endoscope body, wherein the endoscope body is detachably arranged on the endoscope body pushing device; the mechanical arm system comprises a conveying device, a rotating mechanism, an adjustable mechanical arm and a base, wherein the adjustable mechanical arm is arranged on the base, and the conveying device and the rotating mechanism are respectively arranged on two sides of the tail end of the adjustable mechanical arm; the adjustable mechanical arm comprises an S-shaped special-shaped arm, the upper portion of the special-shaped arm extends towards the upper right in an inclined mode, the endoscope body pushing device and the endoscope body are installed on the special-shaped arm, and the endoscope body pushing device and the endoscope body are located on the same side of the special-shaped arm.

Compared with the prior art, the invention has the following effects:

1. the invention is a complete robot system for digestive endoscopy, which can replace human hands to finish the operation of endoscopic surgery, a doctor sits in front of an operation control platform and realizes all functions of the traditional endoscopic operation through remote control of an operation control handle (referring to a handle on a main control platform 7), the doctor is more comfortable and safer, and the pollution of secretion, vomit or excrement of a patient is effectively avoided.

2. The invention designs the steel wire one driving piece and the steel wire two driving piece to directly drive the steel wire structure of the endoscope handle, the two driving pieces are independent, and the direct driving mode avoids the influence of the structural return difference on the control precision. The first steel wire driving part and the second steel wire driving part are driven by the motor to drive the gear, the gear transmission precision is high, and errors are hardly accumulated after long-time work. Therefore, the invention can simultaneously and accurately finish the operation of the double knobs and reduce the false action caused by slight trembling of a doctor. Meanwhile, the design can realize remote (different place) remote control operation, so that the real-time remote consultation of high-end experts becomes possible.

3. The invention can complete all actions of the traditional endoscope (namely 1, controlling the head end of the endoscope to freely rotate in different directions (the endoscope can be bent upwards by 210 degrees), 2, controlling the endoscope body to advance or advance and retreat, 3, controlling the endoscope body to complete a series of actions such as 360-degree rotation and the like, thereby easily, effectively and accurately completing the examination or treatment work under the endoscope), simultaneously can avoid the pollution risk existing in the operation of the endoscope at a near platform and the reduction of the operation quality of the endoscope caused by fatigue caused by long-time standing and manual operation, and realizes the remote platform and remote operation with high precision and high comfort degree through the design of mechanisms such as a motor and the like.

The high precision of the invention mainly lies in two points: the first point is that the driving mechanism is provided with a first steel wire driving piece and a second steel wire driving piece, and directly drives the steel wire structure of the endoscope handle, the first steel wire driving piece and the second steel wire driving piece are independent from each other, and the influence of the structural return difference on the control precision is avoided by a direct-drive mode. The first steel wire driving part and the second steel wire driving part are driven by the motor to drive the gear, the gear transmission precision is high, and errors are hardly accumulated after long-time work. The second point is that the conveying device is designed with a structure that a single motor, a positive and negative rotation screw rod and an air cylinder are matched together. The clamping mirror body is more stable, the precision of the screw rod driving form is high, and the movement is continuous.

In addition, in the conveying device, the force sensor is arranged at the position, where the screw nut is positioned in the air cylinder, so that the resistance applied to the conveying mirror body can be sensed and fed back to an operator in real time. The position of the force sensor is reasonably designed, so that the resistance is more accurately detected and the interference is small.

Drawings

Figure 1 is an isometric view of an endoscopic scope of the present invention not mounted on a robotic arm system 6; figure 2 is an isometric view of the endoscopic scope of the present invention mounted on a robotic arm system 6; FIG. 3 is a schematic diagram of the robotic arm system 6; fig. 4 is a schematic structural view of the conveying apparatus 1; fig. 5 is a structural schematic view of the stationary casing 10; FIG. 6 is a schematic structural diagram of the swing mechanism 11; FIG. 7 is a schematic view of a first drive of the feed mechanism 12; FIG. 8 is a schematic view of a second drive of the feed mechanism 12; FIG. 9 is a schematic view of the third embodiment of the feed mechanism 12; fig. 10 is a schematic structural view of the rotating device 2;

fig. 11 is a schematic structural view of the adjustable robot arm 3; fig. 12 is a sectional view of the connection holder 31; FIG. 13 is a schematic structural view of the contoured arm 35; fig. 14 is a schematic structural view of the base 4; fig. 15 is a schematic structural view of the endoscope body 5; fig. 16 is a schematic structural view of the drive mechanism housing 21; fig. 17 is a schematic structural view of the drive mechanism 22; fig. 18 is a schematic structural view of the console 7. Figure 19 is a cross-sectional view of the drive member.

Detailed Description

The technical scheme of the invention is not limited to the specific embodiments listed below, and any reasonable combination of the specific embodiments is included.

The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 18, and includes a mechanical arm system 6, an endoscope body pushing device and an endoscope body 5, wherein the endoscope body 5 is detachably mounted on the endoscope body pushing device, so as to facilitate disinfection and avoid secondary pollution; the mechanical arm system 6 comprises a conveying device 1, a rotating mechanism 2, an adjustable mechanical arm 3 and a base 4, wherein the adjustable mechanical arm 3 is arranged on the base 4, and the conveying device 1 and the rotating mechanism 2 are respectively arranged on two sides of the tail end of the adjustable mechanical arm 3; the adjustable mechanical arm 3 comprises an S-shaped special-shaped arm 35, the upper part of the special-shaped arm 35 extends obliquely to the upper right, and the upper part of the special-shaped arm plays the following roles: the gravity center of the whole special-shaped arm 35 with the installed endoscope body pushing device and the installed endoscope body 5 is overlapped with the center of the rotating shaft connected with the gravity center in the vertical direction, and the whole special-shaped arm 35 is convenient to adjust. Scope mirror body pusher and the scope mirror body 5 install on special-shaped arm 35, and scope mirror body pusher and the scope mirror body 5 are located special-shaped arm 35's homonymy for scope mirror body pusher and the scope mirror body 5 are convenient for location and position synchronization mutually, and relative position is fixed, can not produce position error when the arm motion of machinery.

Before the endoscope is used, preoperative preparation is convenient, the contact part with the endoscope body is a disposable part, disinfection is convenient, and safety is high. The robot endoscope main body is integrally disinfected, and the robot endoscope main body is integrally connected with the mechanical arm system 6 after being disinfected and is connected with an external endoscope host. The endoscope is placed into the delivery device 1, passes through the front end buckle 1207 and the rear end buckle 1208 of fig. 7, and is placed into the whole of fig. 7.

The digestion scope robot of this embodiment can drive the rotatory required angle of scope mirror body 5 through rotary device in arbitrary direction and angular adjustment through arm system 6, drives scope mirror body 5 through special-shaped arm 35 and moves towards patient's direction, and the scope of scope mirror body 5 is sent into/is returned the mirror body through conveyor 1 steadily continuously, can realize the rotation of mirror body around self axis simultaneously.

The conveying device 1 of the embodiment can stably and continuously feed/withdraw the endoscope body of the endoscope body 5 and the special-shaped arm 35 drive the endoscope body 5 to move towards the direction of a patient synchronously, and the conveying device 1 can realize that the rotation of the endoscope body around the axis of the conveying device is synchronous with the rotation of the endoscope body 5 driven by the rotating device of the mechanical arm system 6.

The second embodiment is as follows: referring to fig. 4 to describe the present embodiment, the endoscope body pushing device of the present embodiment includes a fixed housing 10 and a feeding mechanism 12, the feeding mechanism 12 is installed in the fixed housing 10, and the feeding mechanism 12 includes a feeding motor 1212, a transmission mechanism and two clamping moving mechanisms; the two clamping moving mechanisms are driven by the transmission mechanism driven by the feeding motor 1212 to move in opposite directions, and when one clamping moving mechanism is in a clamping state, the other clamping moving mechanism is in a loosening state. The continuous feeding of the endoscope is realized through the one-open-one-close cooperative fit of the two clamping moving mechanisms, and the whole pushing process is stable. Other components and connections are the same as those in the first embodiment.

The third concrete implementation mode: the present embodiment is described with reference to fig. 7, the clamping and moving mechanism of the present embodiment includes a horizontal moving support 1219, an air cylinder 1220 and an air cylinder clamping jaw 1221, the air cylinder 1220 and the air cylinder clamping jaw 1221 are mounted on the horizontal moving support 1219, the air cylinder 1220 controls the opening and closing of the air cylinder clamping jaw 1221 through ventilation and deflation, the air cylinder clamping jaw 1221 is used for clamping an endoscope body, and the horizontal moving support 1219 is connected with a transmission mechanism to realize horizontal movement relative to the fixed housing 10. So set up, under the drive of cylinder, realize opening and shutting fast of cylinder clamping jaw, by horizontal migration support propelling movement, the flexible operation is reliable again. Other components and connection relationships are the same as those in the first or second embodiment.

The fourth concrete implementation mode: referring to fig. 7, the transmission mechanism of the present embodiment includes a driving gear 1213 connected to the feeding motor 1212, a driven gear 1214 engaged with the driving gear 1213, and two lead screws 1215 coaxially and fixedly connected to the driven gear 1214 and having opposite rotation directions, wherein each of the two lead screws 1215 is rotatably mounted with a lead screw nut 1217 fixedly connected to the horizontal moving bracket 1219; the feeding motor 1212 drives the two lead screws 1215 to rotate in the same direction, so as to drive the two lead screw nuts 1217 on the two lead screws 1215 to move in opposite directions, and further drive the horizontal moving bracket 1219 to move in opposite directions. So set up, two sections lead screws of opposite direction of rotation have been adopted in this kind of transmission mode one, can effectual improvement transmission efficiency, only need a motor can realize the relative motion of two horizontal migration supports 1219, saved the occupation space and the manufacturing cost of device greatly to owing to only use a motor, need not face complicated synchronous control scheduling problem. Meanwhile, the lead screw 1215 is driven to rotate by the driven gear 1214, the lead screw 1215 drives the lead screw nut 1217 to do linear motion, and finally the lead screw nut 1217 drives the horizontal moving bracket 1219 to move, so that the whole transmission process is high in precision. Other components and connection relations are the same as those of any one of the first to third embodiments.

The fifth concrete implementation mode: referring to fig. 8, the transmission mechanism of the present embodiment includes two driving gears 1213 respectively connected to the two feeding motors 1212, two driven gears 1214 respectively engaged with the two driving gears 1213, two lead screws 1215 coaxially and fixedly connected to the two driven gears 1214, the two lead screws 1215 being located on a straight line and having two non-interfering bearings connected to a joint, and a lead screw nut 1217 fixedly connected to the horizontal moving bracket 1219 being rotatably mounted on each of the two lead screws 1215; the two feeding motors 1212 respectively drive the two segments of lead screws 1215 to rotate, so as to drive the two lead screw nuts 1217 on the two segments of lead screws 1215 to move in opposite directions, and further drive the horizontal moving bracket 1219 to move in opposite directions. The two sections of the lead screw 1215 in the embodiment have the same or opposite rotating directions; when the rotation directions are the same, the driving directions of the two feeding motors 1212 are opposite at the same time; when the rotation directions are opposite, the driving directions of the two feeding motors 1212 at the same time are the same. With the arrangement, as a second transmission mode, the embodiment connects two bearings which do not interfere with each other at the joint of the two lead screws 1215, so that the two lead screws 1215 are driven independently, and compared with the first transmission mode, the requirement on the feeding motor 1212 is reduced. Other components and connection relations are the same as those of any one of the first to fourth embodiments.

The sixth specific implementation mode: referring to fig. 8, the driving mechanism of this embodiment further includes a guiding rod 1205 and a guiding rail 1211, the guiding rod 1205 and the guiding rail 1211 are both fixed in the fixed housing 10 and are used for providing support and moving guidance for the horizontal moving bracket 1219, a nut mounting bracket 1216 is sleeved on the guiding rod 1205, a lead screw nut 1217 is fixedly installed on the nut mounting bracket 1216, and the horizontal moving bracket 1219 and the nut mounting bracket 1216 are relatively fixed and slidably installed on the guiding rail 1211. So set up, be convenient for guarantee scope horizontal movement's stationarity. Other components and connection relations are the same as those of any one of the first to fifth embodiments.

The seventh embodiment: referring to fig. 9, the transmission mechanism of the present embodiment includes two gears 1230 respectively connected to the two feeding motors 1212, and a rack 1231 horizontally disposed with respect to the fixed housing 10 and engaged with the two gears, wherein the feeding motor 1212 is fixed to the horizontally moving bracket 1219, and the driving gear 1230 rotates to drive the horizontally moving bracket 1219 to move in a translational manner with respect to the rack 1231. According to the arrangement, the transmission mode of a nut-screw pair is omitted in the third transmission scheme, the transmission mode of a gear and a rack is directly adopted, the structure is simple, and the linear motion precision is high. Other components and connection relations are the same as those of any one of the first to sixth embodiments.

The specific implementation mode is eight: referring to fig. 7, the driving mechanism of this embodiment further includes a guide rod 1205 and a guide rail 1211, the guide rod 1205 and the guide rail 1211 are both fixed in the fixed housing 10 and are used for providing support and moving guide for the horizontal moving bracket 1219, a motor mounting bracket 1216 is sleeved on the guide rod 1205, the feeding motor 1212 is fixedly mounted on the motor mounting bracket 1216, the horizontal moving bracket 1219 and the motor mounting bracket 1216 are relatively fixed and slidably mounted on the guide rail 1211, and the rack 1231 is fixedly mounted on the side surface of the guide rail 1211 close to the feeding motor 1212. With such an arrangement, the structure is compact, and other components and connection relations are the same as those of any one of the first to seventh embodiments.

The specific implementation method nine: in the present embodiment, the U-shaped groove 1232 is formed in the guide rail 1211, the sliding shaft 1233 having a size corresponding to the U-shaped groove 1232 is mounted on the horizontal moving bracket 1219, and the sliding shaft 1233 is fitted into the U-shaped groove 1232, as described with reference to fig. 7. So set up for horizontal migration support 1219's removal is more smooth and steady, and then guarantees patient's comfortable degree. Other components and connections are the same as in any of the previous embodiments.

The detailed implementation mode is ten: describing the present embodiment with reference to fig. 4 and 5, the endoscope body pushing device 1 of the present embodiment includes a fixed housing 10, a turning mechanism 11 and a feeding mechanism 12, the feeding mechanism 12 is installed in the fixed housing 10, the turning mechanism 11 is installed outside the fixed housing 10, and the turning mechanism 11 drives the feeding mechanism 12 to rotate on the fixed housing 10 around its own axis; the fixed housing 10 includes an arc housing 1001, a tablet housing 1002, a front bushing 1003, a rear bushing 1004, and a rotary photoelectric switch 1005, the tablet housing 1002 is mounted at a side end of the arc housing 1001 and is integrated into a whole, wherein the front bushing 1003 is fixedly mounted at a front end of the arc housing 1001, the rear bushing 1004 is fixed on the tablet housing 1002, the rotary photoelectric switch 1005 is fixedly mounted on the tablet housing 1002, and the rotary photoelectric switch 1005 is located at left and right sides of the rear bushing 1004. Other components and connections are the same as in any of the previous embodiments.

In the embodiment, the driving assembly is matched with the clamping moving mechanism and the rotating mechanism 2, so that the functions of advancing and retreating the clamping endoscope and rotating around the axis of the whole body are realized. The feeding mechanism driving assembly adopts a customized screw rod, so that the feeding process can be ensured to be continuous, stable and uninterrupted. Install the mirror body of robot scope on rotary mechanism 2, can make the mirror body at arbitrary direction and angular adjustment, special-shaped arm 35 drives the mirror body of robot scope and removes towards patient's direction, and the mirror body is advanced/returned to the scope of mirror body through scope mirror body pusher 1 steadily continuously, can realize the rotation of mirror body around self axis simultaneously.

The endoscope body pushing device 1 can stably and continuously feed/return the endoscope body of the endoscope body 5 and the special-shaped arm 35 drive the endoscope body 5 to move towards the direction of a patient synchronously, and the endoscope body pushing device 1 can realize that the endoscope body rotates around the axis of the endoscope body to drive the robot endoscope body to rotate synchronously.

As described with reference to fig. 7 to 9, the feeding mechanism 12 includes a front stop plate 1201, an arc plate 1202, a rear stop plate 1203, a guide bar 1205, a large gear 1206, a front end latch 1207, a rear end latch 1208, a front end photoelectric switch 1209, a rear end photoelectric switch 1210, a guide rail 1211, a feeding motor 1212, a clamping moving mechanism, a force sensor 1218, a horizontal moving support 1219, an air cylinder 1220, an air cylinder clamping jaw 1221, a slider 1222, a photoelectric trigger plate 1223, a symmetrical clamping moving mechanism 1224, and a photoelectric trigger arc 1225; the front baffle 1201 and the rear baffle 1203 are respectively installed at two ends of the opening side of the arc plate 1202, the front end and the rear end of the guide rod 1205 are respectively connected with the front baffle 1201 and the rear baffle 1203, the large gear 1206 is installed on the outer side wall of the rear baffle 1203, the photoelectric trigger cambered surface 1225 is installed on the rear baffle 1203, the photoelectric trigger cambered surface 1225 is positioned below the large gear 1206, the front end buckle 1207 and the rear end buckle 1208 are respectively installed on the front baffle 1201 and the large gear 1206, the horizontal moving support 1219 is installed in the arc plate 1202, the air cylinder 1220 is installed on the horizontal moving support 1219, the front end photoelectric switch 1209 and the rear end photoelectric switch 1210 are horizontally installed on the air cylinder 1220 from front to back, the clamping moving mechanism is installed in the arc plate 1202, the clamping moving mechanism moves horizontally along the guide rod 1205, the front end of the force sensor 1218 is installed in front of the clamping moving mechanism, the rear end of the force sensor 1218 is installed on the left protrusion of the horizontal moving support 1219, the cylinder clamping jaw 1221 is installed on the cylinder 1220, the slider 1222 is installed on the horizontal moving bracket 1219, the slider 1222 is in sliding fit with the guide rail 1211, the photoelectric trigger plate 1223 is installed on the right side surface of the horizontal moving bracket 1219 for triggering the front photoelectric switch 1209 and the rear photoelectric switch 1210 during the linear movement of the cylinder 1220, and the symmetrical clamping moving mechanism 1224 is installed on the inner side wall of the rear baffle 1203. The force sensor is arranged between the motor driving part and the lens clamping device, can sense pressure or pulling force in the integral forward or backward movement process, and can feed back the real-time resistance sense of a doctor.

In the rotation process, the clamping jaw of the cylinder clamping jaw 1221 or the clamping jaw of the symmetrical clamping moving mechanism 1224 has to clamp the mirror body, so that the mirror body is driven to rotate around the axis of the mirror body. In the clockwise rotation process, when the rotation angle exceeds 90 degrees, the photoelectric trigger arc 1225 triggers the left switch of the rotary photoelectric switch 1005, and at this time, the controller sends a signal to rotate the rotary motor 1101 in the reverse direction. In the process of counterclockwise rotation, when the photoelectric trigger arc 1225 triggers the right switch of the rotary photoelectric switch 1005, the controller sends a signal to rotate the rotary motor 1101 again, and the operations are repeated to achieve the functions of rotary reversing and protection.

When the feed motor 1212 rotates, the driven gear 1214 and the lead screw 1215 rotate together, and the lead screw 1215 is designed to rotate in the right-hand half and left-hand half. When feed motor 1212 rotates in the forward direction, lead screw 1215 rotates, and lead screw nut 1217, which is fixed to nut mount 1216, moves from the forward to the backward direction, and thus, pushes force sensor 1218 from the forward to the backward direction, and force sensor 1218 generates an electrical signal. The force sensor 1218 then pushes the horizontal moving bracket 1219 to move the cylinder 1220 and its associated components from front to back, while the symmetrical clamp moving mechanism 1224 moves from back to front. The force sensor 1218 is under pressure in the movement from front to back and the force sensor of the symmetrical clamp movement mechanism 1224 is under tension. When moving from back to front, the compression and tension forces are reversed. In this way, the force sensing function is achieved when pushing forward and pulling backward.

When both structures go to the middle position, the feeding motor 1212 rotates in the reverse direction to drive the cylinder 1220 and its related components to move forward from the back, and the symmetrical clamp moving mechanism 1224 moves forward from the front. The moving position limit of the cylinder 1220 is sensed by the front photoelectric switch 1209 and the rear photoelectric switch 1210, when the cylinder 1220 moves to the forefront end, the photoelectric trigger plate 1223 triggers the front photoelectric switch 1209 to send a signal to the control system, so that the feeding motor 1212 is rotated reversely, and when the cylinder 1220 moves to the rearmost end, the photoelectric trigger plate 1223 triggers the rear photoelectric switch 1210 to continue sending a signal to the control system. In this manner, symmetrical movement of the air cylinder 1220 and associated components and the symmetrical clamp movement mechanism 1224 is achieved, with both forward and rearward movement occurring.

As described with reference to fig. 10, the present rotation mechanism 2 includes a housing 2001, a rotation motor mounting bracket 2002, a rotation motor 2003, a rotation coupling 2004, a rotation encoder 2005, and a bevel pinion 2006, the rotation motor mounting bracket 2002 is mounted in the housing 2001, the rotation motor 2003 is mounted on the rotation motor mounting bracket 2002 in the housing 2001, the rotation encoder 2005 is connected to an output shaft of the rotation motor 2003 through the rotation coupling 2004, and the bevel pinion 2006 is connected to the rotation coupling 2004. The rotation angle of the endoscope can be conveniently measured.

As explained with reference to fig. 11, the adjustable robot arm 3 includes a connecting base 31, a first passive arm 32, a second passive arm 33, a key 34, and a shaped arm 35; the connecting base 31 is vertically slidably mounted on the base 4, one end of the first driven arm 32 is horizontally rotatably mounted on the connecting base 31, one end of the second driven arm 33 is horizontally rotatably mounted on the other end of the first driven arm 32, the special-shaped arm 35 is rotatably mounted on the other end of the second driven arm 33, and the key 34 is mounted on the special-shaped arm 35. And the robot endoscope can be conveniently provided with multi-degree-of-freedom displacement.

As described with reference to fig. 12, the connecting base 31 includes a base lower cover 3101, a stator fixing base 3102, a brake stator 3103, a brake rotor 3104, a rotor connecting member 3105, a hollow shaft 3106, a base housing 3107, a lower bearing 3108 and an upper bearing 3109, the base lower cover 3101 is mounted on the lower end surface of the base housing 3107, the stator fixing base 3102 is mounted on the base lower cover 3101, the brake stator 3103 is mounted on the stator fixing base 3102, the brake rotor 3104 is mounted on the brake stator 3103, the hollow shaft 3106 is connected with the brake rotor 3104 through the rotor connecting member 3105, and the lower bearing 3108 and the upper bearing 3109 are mounted between the hollow shaft 3106 and the inner side wall of the base housing 3107. Facilitating connection with the base 4.

As explained with reference to fig. 12, the first driven arm 32 includes a driven arm housing 3201 and a driven arm upper cover 3202, the driven arm housing 3201 is mounted on the base housing 3107, the driven arm upper cover 3202 is mounted on the driven arm housing 3201, and the driven arm housing 3201 and the driven arm upper cover 3202 rotate with the rotation of the hollow shaft 3106. The up-and-down movement is convenient to realize under the driving of the connecting seat 31, and the rotation can be realized at the same time.

As described with reference to fig. 13, the special-shaped arm 35 of the present embodiment includes a left housing 3501, a right housing 3502, a tip seat 3503, a cloth-blocking drum 3504, a screw supporting side 3505, a long screw 3506, a screw fixing side 3507, a screw coupling 3508, a long screw motor 3509, a slide rail fixing bracket 3510, a long slide rail 3511, a long slider 3512, a nut connector 3513, a clamp 3514, and a long screw nut 3515; the left casing 3501 and the right casing 3502 are sequentially connected from left to right and are inclined towards the upper right, the tail end seat 3503 is installed on the left casing 3501, the cloth blocking rollers 3504 are respectively installed at four corners in the right casing 3502, two ends of the long screw 3506 are respectively installed in the right casing 3502 through a screw fixing side 3507 and a screw supporting side 3505, the long screw motor 3509 is installed in the right casing 3502 and is connected with the long screw 3506 through a screw coupling 3508, the long screw nut 3515 is installed on the long screw 3506 through a nut connecting piece 3513, the clamp 3514 is installed on the nut connecting piece 3513, the long slide rail 3511 is installed on the right casing 3502 through a slide rail fixing frame 3510 and is located at one side of the long screw 3506, the long slider 3512 is slidably installed on the long slide rail 3511, and the nut connecting piece 3513 is slidably matched with the long slide rail 3511. So as to provide power for the mirror body to move at the lower left and the upper right.

As described with reference to fig. 14, the base 4 of the present embodiment includes a base 41, a column 42, an electrical cabinet 43, a module motor 44, and a linear module 45, wherein the column 42 is installed on the base 41, the electrical cabinet 43 is installed inside the column 42, the electrical cabinet 43 is located at the lower portion of the column 42, the linear module 45 is vertically installed at the upper portion of the column 42, the module motor 44 is installed at the lower end of the linear module 45, an output shaft of the module motor 44 is connected to a lead screw of the linear module 45, and a slider of the linear module 45 is connected to the connecting seat 31. Base 41 can be convenient for remove required position with pusher according to actual need, and simultaneously, straight line module 45 can provide accurate vertical direction's displacement for the mirror body.

The working principle of the endoscope body pushing device 1 is explained with reference to fig. 1 to 14:

in a particular operation, the front end latch 1207, the rear end latch 1208, and the cylinder jaw 1221 need to be in contact with the scope body, and are designed to be disposable, considering the disinfection problem. The front end fastener 1207 and the rear end fastener 1208 have the functions of ensuring that the endoscope body can well realize linear motion even if the endoscope body is flexible, and the cylinder clamping jaws have the functions of clamping the endoscope to move forwards or backwards. The place contacted with the lens body is designed into a disposable piece to ensure the safety.

Before an operation, the central holes of the rear end fastener 1208 and the front end fastener 1207 are sequentially penetrated through an endoscope to be used, and the distance is adjusted. Meanwhile, the control system sends an instruction to the front cylinder and the rear cylinder, the clamping jaws of the cylinders are loosened, the front end clamping buckle 1207 and the rear end clamping buckle 1208 which are sleeved on the endoscope are inserted into the front baffle plate 1201 and the large gear 1206, then the control system sends an instruction, the clamping jaws of the cylinders of the symmetrical clamping moving mechanisms 1224 clamp the endoscope, and preoperative preparation is completed. Compared with the reference 1, the structure of the reference 1 requires that the endoscope be accurately loaded into the mechanism, and the operation of doctors and nurses is hardly convenient. The invention has convenient preoperative preparation, and the contact part with the endoscope body is a disposable part, thus being convenient for disinfection.

In operation, firstly, the feeding motor 1212 rotates forwards, the air cylinder clamping jaws of the symmetrical clamping moving mechanism 1224 clamp the endoscope, the air cylinder clamping jaws 1221 are loosened, the symmetrical clamping moving mechanism 1224 clamps the endoscope to move forwards in the backward and forward movement process, and the action is marked as state one; when the photoelectric trigger plate 1223 triggers the rear-end photoelectric switch 1210, the feeding motor 1212 rotates reversely, the cylinder jaws of the symmetrical clamping and moving mechanism 1224 are loosened, the cylinder jaws 1221 clamp the endoscope, the cylinder 1220 and related components clamp the endoscope to move forward in the forward and backward movement process, and the action is recorded as state two; when the front-end optoelectronic switch 1209 is triggered by the optoelectronic trigger plate 1223, the state returns to the first state. If the endoscope is retreated, the opening and closing of the clamping jaws are reversed, and the like, the endoscope can be continuously fed or withdrawn, and only one motor is used.

After surgery, all cylinder jaws are released, the front end clasp 1207, the rear end clasp 1208 and the endoscope body are taken out together, and the front end clasp 1207, the rear end clasp 1208 and all cylinder jaws are directly discarded.

Another implementation of the feed mechanism 12 is shown in fig. 7. Compared with the figure 5, the screw rod is divided into a front end and a rear end from the middle, and the front end and the rear end are respectively in positive and negative rotation. Each section of screw rod is driven by one motor, the two motors are symmetrically arranged oppositely, the driving structures are mirrored, the driving time is staggered, and the same control effect as the single-motor scheme shown in the figure 5 can be realized.

As shown in fig. 10, the rotation mechanism 2 includes a housing 2001, a rotation motor mounting bracket 2002, a rotation motor 2003, a rotation coupling 2004, a rotation encoder 2005, and a bevel pinion 2006. The rotating motor mounting bracket 2002 is fixed to the housing 2001, and the rotating motor 2003 and the rotary encoder 2005 are fixed to the rotating motor mounting bracket 2002. The rotary coupling 2004 connects the rotary motor 2003 and the bevel pinion 2006. The housing 2001 is designed with an arc-shaped slot for mechanical spacing. When the endoscope body device is matched with the endoscope body device, the endoscope body device can be driven to rotate around the axis of the endoscope body device.

As shown in fig. 11, the adjustable robot arm 3 includes a small base 31, a first passive arm 32, a second passive arm 33, a key 34, and a special-shaped arm 35. The components are connected in sequence, wherein the joints of the small base 31 and the first driven arm 32 can rotate relatively, the joints of the first driven arm 32 and the second driven arm 33 can rotate relatively, and the joints of the second driven arm 33 and the special-shaped arm 35 can rotate relatively. The keys 34 are mounted to the upper housing of the profiled arm 35.

As shown in fig. 12, the small base 31 and the first driven arm 32 include a base lower cover 3101, a stator fixing base 3102, a brake stator 3103, a brake rotor 3104, a rotor connecting member 3105, a hollow shaft 3106, a base housing 3107, a lower bearing 3108, an upper bearing 3109, a driven arm housing 3201, and a driven arm upper cover 3202. The stator fixing base 3102 is fixed with a brake stator 3103, the brake rotor 3104 is fixed with a rotor connecting piece 3105, and the rotor connecting piece 3105 fixes a hollow shaft 3106 and a driven arm housing 3201 in sequence. Other joints of the mechanical arm are similar to the above and are not described in detail.

The electromagnetic clutch can be controlled to be powered on by pressing the key 34, and powered off when the key is released. When the electromagnetic clutch is powered on, the brake rotor 3104 and the upper part thereof can rotate around the axis, similarly, the rotation angle of the other two joints can be adjusted at will, the key 34 is pressed before the operation, the electromagnetic clutch is loosened, the adjustable mechanical arm 3 can be operated, and the endoscope body pushing device 1 is positioned at a proper position of a sickbed. After the button 34 is released, the clutch is locked, all joints cannot rotate, and the whole robot keeps stable.

As shown in fig. 13, the special-shaped arm 35 includes a left housing 3501, a right housing 3502, a tip seat 3503, a cloth blocking drum 3504, a screw supporting side 3505, a long screw 3506, a screw fixing side 3507, a screw coupling 3508, a long screw motor 3509, a slide rail fixing bracket 3510, a long slide rail 3511, a long slider 3512, a nut connector 3513, a caliper 3514, and a long screw nut 3515. The end seat 3503 is fixed between the left housing 3501 and the right housing 3502, which form an integral large arm, and the rest of the components are installed in the right housing 3502. The cloth-blocking rollers 3504 are disposed at four corners of the right housing 3502, respectively, for supporting the cloth-blocking and sliding smoothly. The left end and the right end of the long lead screw 3506 are respectively arranged on a lead screw supporting side 3505 and a lead screw fixing side 3507, the right side of the long lead screw 3506 is connected with a long lead screw motor 3509 through a lead screw coupler 3508, and a long lead screw nut 3515 can rotate on the lead screw. The long slide rail 3511 is mounted on the slide rail fixing frame 3510 and is parallel to the long lead screw 3506, the long slide block 3512 and the clamp 3514 can slide along the long slide rail 3511, and the nut connecting piece 3513 simultaneously connects the long lead screw nut 3515 and the clamp 3514.

When the long lead screw motor 3509 rotates, the long lead screw 3506 is driven to rotate, so that the long lead screw nut 3515 drives the caliper 3514 through the nut connecting piece 3513 to realize translational motion, and the long slider 3512 and the caliper 3514 are fixed with the rotating device 2. Therefore, the long lead screw motor 3509 rotates to drive the rotating device 2 to move forwards and backwards integrally. Along with the feeding or the withdrawal of the endoscope body pushing device 1, the rotating device 2 keeps synchronous advancing or retreating, and the feeding stability is ensured.

As shown in fig. 14, the base 4 includes a base 41, a column 42, an electrical cabinet 43, a module motor 44, and a linear module 45. The module motor 44 is connected with a lead screw of the linear module 45, and a sliding block of the linear module 45 is fixed with the small base 31.

Depressing the two buttons on the right side of the button 34 controls forward and reverse rotation of the module motor 44. When the module motor 44 corotates, the linear module 45 drives the whole adjustable mechanical arm 3, the endoscope body pushing device 1 and the rotating device 2 to translate upwards, and to translate downwards when rotating reversely in the same way. And the left button of the key 34 is matched for positioning the robot before operation.

The concrete implementation mode eleven: referring to fig. 15, the present embodiment is described, and includes a driving mechanism housing 21, a driving mechanism 22 and an endoscope handle 23, wherein the endoscope handle 23 is installed in the driving mechanism housing 21, the driving mechanism 22 is installed in the driving mechanism housing 21 and located at the lower end of the endoscope handle 23, and the driving mechanism 22 controls the bending angle of the end of the endoscope handle 23 by driving the rotation of the steel wire in the endoscope handle 23. Other components and connections are the same as in any of the previous embodiments.

Before the endoscope is used, preoperative preparation is convenient, the contact part with the endoscope body is a disposable part, disinfection is convenient, and safety is high. Carry out whole disinfection to robot scope mirror body main part, whole after the disinfection links to each other with arm system 6, even goes up external scope host computer, can perform the operation after the conveyor is put into to the mirror body.

The digestion scope robot of this embodiment can be in arbitrary direction and angular adjustment through arm system 6, drives the required angle of robot scope main part 5 rotation through rotary device, drives robot scope main part 5 through special-shaped arm 35 and moves towards patient's direction, and the scope of scope main part 5 of robot scope is sent into/is returned the mirror body through conveyor 1 steadily continuously, can realize the mirror body simultaneously around the rotation of self axis.

The conveying device 1 of the embodiment can stably and continuously feed/withdraw the endoscope body of the robot endoscope main body 5 and the special-shaped arm 35 drive the robot endoscope main body 5 to move towards the direction of a patient synchronously, and the conveying device 1 can realize that the rotation of the endoscope body around the axis of the endoscope body is synchronous with the rotation of the robot endoscope main body 5 driven by the rotating device of the mechanical arm system 6.

The specific implementation mode twelve: referring to fig. 16, the drive mechanism housing 21 of the present embodiment includes an upper enclosure housing 2101, a lower enclosure housing 2102, a ferrule 2103, a bevel gear shaft 2104, a large bevel gear 2105, and an end nut 2106, the upper enclosure housing 2101 is mounted on the lower enclosure housing 2102, the ferrule 2103 is mounted on one end surface of the upper enclosure housing 2101 in the width direction and one end surface of the upper enclosure housing 2104 in the length direction, the bevel gear shaft 2104 is mounted on the other end surface of the upper enclosure housing 2101 in the width direction, the large bevel gear 2105 is mounted on the bevel gear shaft 2104, and the end nut 2106 is mounted on the end of the bevel gear shaft. With this arrangement, the bevel pinion 2006 of the rotating device 2 is meshed with the bevel pinion 2105 of the driving mechanism housing 21, and the driving mechanism housing 21 can be driven to rotate around its own axis in the rotating device 2. Other components and connections are the same as in any of the previous embodiments.

The specific implementation mode is thirteen: referring to fig. 15, the driving mechanism 22 of the present embodiment includes a first driving unit and a second driving unit, and the first driving unit and the second driving unit respectively drive one steel wire in the handle 23 of the endoscope and drive the corresponding steel wire to zoom. So set up, through driving two steel wires respectively, guarantee the drive accuracy. Other components and connections are the same as in any of the previous embodiments.

In the prior art with the publication number CN103767659A, the angle control of the endoscope is realized by driving the dial wheel of the driving handle to drive the rotation of the steel wire. The driving mechanism of the embodiment can directly drive the steel wire to move, a shifting wheel in the prior art is omitted, and then the front end of the mirror body is driven to bend towards all directions, so that the use is flexible. In addition, the embodiment also adopts a laminated multi-layer gear structure, so that the structure is more stable, the precision is high, the space is saved, and the problems of precision reduction and the like caused by belt transmission abrasion are solved. In addition, the steel wire driving piece is directly inserted into the steel wire buckle of the endoscope handle, the structure is simplified, the driving precision is improved, and the handle is simpler to install.

The steel wire motor of this embodiment drives a steel wire pinion and rotates, and a steel wire pinion and a steel wire gear engagement transmission, a steel wire gear pass through the buckle and drive a steel wire driving piece and rotate, and a steel wire driving piece direct drive scope handle inside steel wire is rotatory. Because the steel wire is directly driven to transmit, the influence of the structure return difference on the transmission precision is avoided. And the structure is simple, and the handle is convenient to install. The driving of the steel wire II with the structure is similar, and the steel wire I big gear and the steel wire II big gear, and the steel wire I driving part and the steel wire II driving part are directly matched with the bearings and independently rotate. The installation mode is the range upon range of installation, and stable in structure precision is high. The gear transmission has extremely small error and the long-time working precision can not be reduced.

The specific implementation mode is fourteen: referring to fig. 17 for explaining the present embodiment, the first driving unit of the present embodiment includes a wire motor 2201, a wire motor mounting bracket 2202, a wire pinion 2203, a wire encoder 2204, a wire gearwheel 2205, a gearwheel surrounding bracket 2211, a wire bearing 2212 and a wire driving member 2213,

a wire-motor mounting rack 2202 is installed in the driving mechanism housing 21, a wire-motor 2201 is installed on the wire-motor mounting rack 2202, a wire-pinion 2203 is connected with an output shaft of the wire-motor 2201, and a wire-encoder 2204 is installed at the lower end of the wire-pinion 2203 and used for detecting the rotating angle of the wire-pinion 2203;

the steel wire one big gear 2205 is rotatably installed in the driving mechanism housing 21, the steel wire one big gear 2205 is engaged with the steel wire one small gear 2203, the steel wire one driving part 2213 is installed on the upper end surface of the steel wire one big gear 2205, the big gear surrounding frame 2211 is rotatably installed on the steel wire one driving part 2213 through a steel wire one bearing 2212, the upper end of the steel wire one driving part 2213 is clamped on one steel wire in the endoscope handle 23, wherein the upper part of the steel wire one big gear 2205 is fixedly connected with the outer side wall of the lower part of the steel wire one driving part 2213, and the steel wire one big gear 2205 drives the steel wire one driving part 2213 to synchronously rotate. So set up, the meshing mode that adopts the gear carries out precision measurement and feedback to a steel wire pinion pivoted angle simultaneously to steel wire transmission power, avoids losing the problem that changes or the transmission precision is poor to lead to the mirror body turned angle inaccurate, and then the effectual steel wire precision of zooming of having guaranteed of this embodiment. Other components and connections are the same as in any of the previous embodiments.

The concrete implementation mode is fifteen: referring to fig. 17 for explaining the present embodiment, the second driving unit of the present embodiment includes a second wire motor 2206, a second wire motor mounting bracket 2207, and a second wire pinion 2208, a second wire encoder 2209, a second wire gearwheel 2210 and a second wire driving piece 2214, wherein the second wire motor mounting rack 2207 is mounted in the driving mechanism casing 21, the second wire motor 2206 is mounted on the second wire motor mounting rack 2207, the second wire pinion 2208 is connected with the output shaft of the second wire motor 2206, the second wire gearwheel 2210 is rotatably mounted in the driving mechanism casing 21, the second wire gearwheel 2210 is engaged with the second wire pinion 2208, the second wire encoder 2209 is mounted at the lower end of the second wire gearwheel 2210, the second wire driving piece 2214 is embedded in the first wire driving piece 2213 and connected with the second wire gearwheel 2210, and the upper end of the second wire driving piece 2214 is connected with the other wire clamped in the endoscope handle 23.

So set up, detect the angle that two bull gears 2210 of steel wire rotated through two encoders 2209 of steel wire, effectively improved the control accuracy to the mirror body steel wire. Other components and connections are the same as in any of the previous embodiments.

The specific implementation mode is sixteen: referring to fig. 19, the first steel wire driving member 2213 of this embodiment is a step-shaped hollow cylindrical member, and the uppermost end of the first steel wire driving member 2213 is provided with an inward-concave slot for connecting a steel wire. The lower end of the wire-driving piece 2213 is provided with two fasteners, and the wire-driving piece 2213 is connected with the wire-gearwheel 2205 through the two fasteners.

So set up, through the draw-in groove with steel wire firm connection, guarantee the angle that the steel wire rotated, guarantee through the buckle that the angle that a steel wire driving piece 2213 rotated is exactly the angle that a steel wire gear wheel 2205 rotated. Other components and connections are the same as in any of the previous embodiments.

Seventeenth embodiment: referring to fig. 19, the second driving member 2214 of the present embodiment is a stepped hollow column, and the second driving member 2214 of the present embodiment is a solid column, so as to ensure the structural strength of the second driving member 2214, and the top of the second driving member 2214 of the present embodiment is provided with an indent for connecting a steel wire. The two driving pieces 2214 of steel wire are equipped with two buckles at the bottom, and two driving pieces 2214 of steel wire are connected with two bull gears 2210 of steel wire through two buckles, and the two driving pieces of steel wire are equipped with the indent draw-in groove in the top.

So set up, the buckle can guarantee synchronous with the turned angle of two gear wheels 2210 of steel wire, and the draw-in groove is convenient for firmly fix the steel wire. Other components and connections are the same as in any of the previous embodiments.

The specific implementation mode is eighteen: referring to fig. 19, the second wire driver 2214 of this embodiment is formed such that the inner diameter of the step is smaller than the inner diameter of the first wire driver 2213.

So set up, effectively save space, the structure is small and exquisite, and the driving process is stable, accurate moreover. Other components and connections are the same as in any of the previous embodiments.

The detailed embodiment is nineteen: referring to fig. 19, the second driving unit of this embodiment further includes a connector 2215 and a rolling body 2216, the first wire driver 2213 is connected to the connector 2215 by a screw, the connector 2215 is coaxially and interstitially sleeved with the second wire driver 2214, the second wire driver 2214 and the connector 2215 do not interfere with each other and rotate independently, the rolling body 2216 is rotatably installed at a lower portion of the second wire driver 2214 and the connector 2215, and the rolling body 2216 is located in an inner concave of the second wire driver 2214. Other components and connections are the same as in any of the previous embodiments.

The first wire driving member 2213 and the second wire driving member 2214 are coaxially sleeved and do not interfere with each other and rotate independently. So set up, effectively save space, control is more nimble. Other components and connection relationships are the same as those in any one of the first to eighth embodiments.

In this embodiment, the steel wire driving member 2213 and the connecting member 2215 are made into a single piece, so as to overcome the problems that the prior art makes the single piece into a whole, which is difficult to process and difficult to ensure the processing precision, and the split components are convenient for processing and manufacturing, assembling, and repairing and replacing the connecting member 2215.

In addition, the rolling element 2216 is arranged between the connecting piece 2215 and the steel wire two driving piece 2214 in the embodiment, and the rolling element 2216 not only can make the relative rotation between the connecting piece 2215 and the steel wire two driving piece 2214 smoother, but also can ensure the gap between the connecting piece 2215 and the steel wire two driving piece 2214, thereby effectively preventing the problem of part abrasion caused by eccentric rotation between the connecting piece 2215 and the steel wire two driving piece 2214, reducing friction force and prolonging the service life of the driving unit.

As shown in fig. 18, the console 7 includes a table top 70, a display 71, a left hand handle 72, a right hand handle 73, and a linear motor 74. Wherein the right hand handle 72 is mounted on a linear motor 74. The main control desk and the mechanical arm system are connected through a cable, and the endoscopic surgery is completed in a remote control mode (that is, an operator is not beside a patient and controls the endoscope before the console connected with the endoscope through the cable at a certain distance away from the patient) or a remote control mode (that an operator is not beside the patient and controls the endoscope before the console connected with the endoscope through a radio/network at a longer distance away from the patient).

The button of the left-hand handle is used for controlling the functions of the endoscope handle such as water and air supply button, suction button, fixation, electronic dyeing, amplification and the like, the right-hand handle is pushed forward and retreated to control the endoscope body to synchronously advance and retreat, and the rotation of the right-hand handle around the axis can control the whole endoscope to synchronously rotate around the axis. When the force sensor 1218 senses that the resistance is larger than a certain value, the control system controls the linear motor to apply synchronous resistance to the forward and backward movement of the right-hand handle, so as to ensure the safety in the operation process.

The working principle of the endoscope body 5 is as follows:

as described with reference to fig. 15 to 18, the robot endoscope main body 5 includes a drive mechanism housing 21, a drive mechanism 22, and an endoscope handle 23. The drive mechanism 22 is mounted in the drive mechanism case 21, and the drive mechanism case 21 is mounted on the housing 2001 of the rotation mechanism 2 so as to be rotatable about its own axis.

Drive mechanism housing 21 includes an upper enclosed housing 2101, a lower enclosed housing 2102, a ferrule 2103, a bevel gear shaft 2104, a large bevel gear 2105, and an axial end nut 2106. The bevel gear shaft 2104, ferrule 2103 and lower enclosing housing 2102 are all fixed to the upper enclosing housing 2101. A large bevel gear 2105 and a stub nut 2106 are mounted in turn on the bevel gear shaft 2104. The drive mechanism case 21 is integrally fitted to the rotating mechanism, the large bevel gear 2105 is engaged with the small bevel gear 2006, and the rotating motor 2003 rotates to integrally rotate the drive mechanism case 21. The function of cutting ferrule 2103 is the handle chucking of scope. The functions of water and air supply, screenshot, dyeing and the like are realized by electric signals of an endoscope host, and can be controlled by a doctor remotely or remotely.

The driving mechanism casing 21 is integrally matched with the rotating mechanism, and a sealing ring is arranged between the bevel gear shaft 2106 and the shell 2001 and used for disinfection and water prevention. The large bevel gear 2107 meshes with the small bevel gear 2006, and the rotating motor 2003 rotates to rotate the drive mechanism case 21 as a whole. The axial spacing of big bevel gear 2107 on bevel gear axle 2106 has been guaranteed to axle head nut 2108, guarantees the meshing reliability.

The wire-motor 2201 is arranged on a wire-motor mounting rack 2202 and is connected with a wire-pinion 2203, and a wire-encoder 2204 is used for detecting the rotating angle of the wire-pinion 2203; the second wire motor 2206 is mounted on the second wire motor mounting frame 2207 and is connected to the second wire pinion 2208. The first steel wire motor mounting rack 2202 and the second steel wire motor mounting rack 2207 are fixed on the upper surrounding shell 2101, and the mounting positions adopt the slotted hole design, so that the center distance of gear meshing can be conveniently adjusted. The other parts are sequentially installed in a matching way from bottom to top, namely a steel wire two encoder 2209, a steel wire two bull gear 2210, a steel wire one bull gear 2205, a steel wire one bull gear bearing 2212, a bull gear surrounding frame 2211, a steel wire one driving piece 2213, a steel wire two driving piece 2214 and an endoscope handle 23. Wherein the wire-one pinion 2203 is engaged with the wire-one gearwheel 2205, and the wire-one gearwheel 2205 and the wire-one driving piece 2213 are relatively fixed by internal snap; the second wire pinion 2208 is engaged with the second wire gearwheel 2210, and the second wire gearwheel 2210 and the second wire driving member 2214 are fixed relatively by an internal buckle. When the first wire motor 2201 and the second wire motor 2206 rotate, the first wire driving member 2213 and the second wire driving member 2214 are driven to rotate the wire inside the endoscope handle 23, respectively, so as to control the bending of the distal end. The second wire encoder 2209 is used for detecting the angle of the second wire gearwheel 2210.

Arc-shaped grooves are designed below the first steel wire gearwheel 2205 and the second steel wire gearwheel 2210, and protrusions are arranged at corresponding positions of the lower surrounding shell 2102 to realize mechanical limiting in a matching manner.

The invention realizes endoscope operation by remote station and remote control. In the traditional diagnosis and treatment operation, a medical worker stands on one side of a patient to hold an endoscope to complete endoscope operation, and in the operation process, a doctor holds an endoscope handle by a left hand in the whole process and controls a large knob (controlling the head end of the endoscope to bend in the up-down direction) and a small knob (controlling the head end of the endoscope to bend in the left-right direction) to control the bending direction and angle of the front end of the endoscope so as to control the running direction of the endoscope; meanwhile, the endoscope body is held by the right hand to control the advancing and retreating of the endoscope and assist in axial rotation; thereby accurately and smoothly completing the endoscope operation. The endoscope can be controlled to move accurately by regulating the size of the two knobs simultaneously, so that smooth and accurate examination or treatment is very important, but most doctors are difficult to realize, the doctors need to stand in front of the patients, the possibility of being polluted by secretion, vomit or excrement of the patients exists, and meanwhile, the doctors are easy to fatigue due to the fact that the doctors stand for a long time to hold the endoscope by hands, and the examination or treatment quality is influenced.

The robot endoscope main body part comprises an endoscope body system, an endoscope steering control system and a suction and gas supply water supply system, wherein the endoscope steering control system is controlled by a machine (electrically), and the original regulating and controlling systems such as fixation, electronic dyeing, amplification and the like. The endoscope main body is connected with a special endoscope host light source system. The mechanical arm system comprises an endoscope conveying (advancing and retreating) device, a rotary control device, an adjustable mechanical arm and a base. A doctor before the operation can adjust the position of the endoscope conveying device through the controllable mechanical arm to enable the inner lens end to be aligned with the oral cavity of a patient; the mechanical arm system can complete the operations of endoscope feeding, withdrawing, axial rotation and the like, and meanwhile, a doctor can feel the feeding resistance in the operation process; the main control platform 7 is connected with the mechanical arm system and the robot endoscope main body through cables. The doctor sits before the main control platform, through brake valve lever, controls the scope and accomplishes: 1. controlling the head end of the endoscope to freely rotate in different directions (the endoscope can be bent upwards by 210 degrees); 2. controlling the endoscope body to advance or retreat; 3. the endoscope body is controlled to complete a series of actions such as 360-degree rotation, and the like, so that the examination or treatment under the endoscope can be easily, effectively and accurately completed.

The invention ensures that the endoscope operation is safer, more reliable and more accurate, and the doctor can operate the endoscope more comfortably and easily.

Claims (10)

1. A robot for digestive endoscopy, comprising: the endoscope pushing device comprises a mechanical arm system (6), an endoscope body pushing device and an endoscope body (5), wherein the endoscope body (5) is detachably arranged on the endoscope body pushing device;

the mechanical arm system (6) comprises a conveying device (1), a rotating mechanism (2), an adjustable mechanical arm (3) and a base (4), wherein the adjustable mechanical arm (3) is arranged on the base (4), and the conveying device (1) and the rotating mechanism (2) are respectively arranged on two sides of the tail end of the adjustable mechanical arm (3); the adjustable mechanical arm (3) comprises an S-shaped special-shaped arm (35), the upper part of the special-shaped arm (35) extends towards the upper right in an inclined mode, and the endoscope body pushing device and the endoscope body (5) are both mounted on the special-shaped arm (35).

2. The robot for digestive endoscopy of claim 1, wherein: the endoscope body pushing device comprises a fixed shell (10) and a feeding mechanism (12), wherein the feeding mechanism (12) is arranged in the fixed shell (10), and the feeding mechanism (12) comprises a feeding motor (1212), a transmission mechanism and two clamping moving mechanisms; the two clamping moving mechanisms are driven by the transmission mechanism driven by the feeding motor (1212) to move along opposite directions respectively, and when one clamping moving mechanism is in a clamping state, the other clamping moving mechanism is in a loosening state.

3. The robot for digestive endoscopy of claim 2, wherein: the clamping moving mechanism comprises a horizontal moving support (1219), an air cylinder (1220) and an air cylinder clamping jaw (1221), the air cylinder (1220) and the air cylinder clamping jaw (1221) are installed on the horizontal moving support (1219), the air cylinder (1220) controls the opening and closing of the air cylinder clamping jaw (1221) through ventilation and deflation, the air cylinder clamping jaw (1221) is used for clamping an endoscope body, and the horizontal moving support (1219) is connected with a transmission mechanism to realize the relative movement of the fixed shell (10) in the horizontal direction.

4. The robot for digestive endoscopy of claim 3, wherein: the transmission mechanism comprises a driving gear (1213) connected with the feeding motor (1212), a driven gear (1214) meshed with the driving gear (1213) and two sections of lead screws (1215) coaxially and fixedly connected with the driven gear (1214) and having opposite rotation directions, wherein the two sections of lead screws (1215) are respectively and rotatably provided with a lead screw nut (1217) fixedly connected with the horizontal moving bracket (1219); the feeding motor (1212) drives the two sections of lead screws (1215) to rotate in the same direction, drives the two lead screw nuts (1217) on the two sections of lead screws (1215) to move in opposite directions, and further drives the horizontal moving bracket (1219) to move in opposite directions.

5. The robot for digestive endoscopy of claim 4, wherein: the transmission mechanism comprises two driving gears (1213) respectively connected with the two feeding motors (1212), driven gears (1214) respectively meshed with the two driving gears (1213), two sections of lead screws (1215) respectively and coaxially and fixedly connected with the two driven gears (1214), the two sections of lead screws (1215) are positioned on a straight line, the joint of the two sections of lead screws (1215) is connected with two bearings which do not interfere with each other, and the two sections of lead screws (1215) are respectively and rotatably provided with a lead screw nut (1217) fixedly connected with the horizontal moving support (1219); the two feeding motors (1212) respectively drive the two sections of lead screws (1215) to rotate, and drive the two lead screw nuts (1217) on the two sections of lead screws (1215) to move in opposite directions, so as to drive the horizontal moving bracket (1219) to move in opposite directions.

6. The robot for digestive endoscopy of claim 5, wherein: the two sections of the screw rods (1215) are screwed in the same direction or in opposite directions; when the rotation directions are the same, the driving directions of the two feeding motors (1212) at the same time are opposite; when the rotation directions are opposite, the driving directions of the two feeding motors (1212) at the same time are the same.

7. The robot for digestive endoscopy of claim 1, 2, 3, 4, 5, or 6, wherein: the endoscope body 5 comprises a driving mechanism shell (21), a driving mechanism (22) and an endoscope handle (23), the endoscope (23) is arranged in the driving mechanism shell (21), and the driving mechanism (22) is arranged in the driving mechanism shell (21) and is positioned at the lower end of the endoscope handle (23);

the driving mechanism (22) comprises a first driving unit and a second driving unit, wherein the first driving unit and the second driving unit are arranged in an up-down double-layer mode and respectively adopt a gear pair to directly drive a steel wire in the endoscope handle (23) and drive the corresponding steel wire to zoom so as to control the bending angle of the tail end of the endoscope handle (23).

8. The robot for digestive endoscopy of claim 7, wherein: the driving mechanism shell (21) comprises an upper surrounding shell (2101), a lower surrounding shell (2102), a clamping sleeve (2103), a bevel gear shaft (2104), a large bevel gear (2105) and an end nut (2106), wherein the upper surrounding shell (2101) is installed on the lower surrounding shell (2102), the clamping sleeve (2103) is installed on one end face in the width direction and one end face in the length direction of the upper surrounding shell (2101), the bevel gear shaft (2104) is installed on the other end face in the width direction of the upper surrounding shell (2101), the large bevel gear (2105) is installed and sleeved on the bevel gear shaft (2104), and the end nut (2106) is installed at the end part of the bevel gear shaft (2104).

9. The robot for digestive endoscopy of claim 8, wherein: the first driving unit comprises a steel wire-motor (2201), a steel wire-motor mounting frame (2202), a steel wire-pinion (2203), a steel wire-encoder (2204), a steel wire-bull gear (2205), a bull gear surrounding frame (2211), a steel wire-bearing (2212) and a steel wire-driving piece (2213),

a steel wire one motor mounting rack (2202) is arranged in the driving mechanism shell (21), a steel wire one motor (2201) is arranged on the steel wire one motor mounting rack (2202), a steel wire one pinion (2203) is connected with an output shaft of the steel wire one motor (2201), and a steel wire one encoder (2204) is arranged at the lower end of the steel wire one (2203) and used for detecting the rotating angle of the steel wire one pinion (2203);

a steel wire big gear (2205) is rotatably arranged in the driving mechanism shell (21), the steel wire big gear (2205) is meshed with a steel wire small gear (2203), a steel wire driving piece (2213) is arranged on the upper end surface of the steel wire big gear (2205), a big gear surrounding frame (2211) is rotatably arranged on the steel wire driving piece (2213) through a steel wire bearing (2212), the upper end of the steel wire driving piece (2213) is clamped on a steel wire in the endoscope handle (23), wherein the upper part of the steel wire big gear (2205) is fixedly connected with the outer side wall of the lower part of the steel wire driving piece (2213).

10. The robot for digestive endoscopy of claim 9, wherein: the second driving unit comprises a second steel wire motor (2206), a second steel wire motor mounting rack (2207), a second steel wire pinion (2208), a second steel wire encoder (2209), a second steel wire gearwheel (2210) and a second steel wire driving piece (2214),

a steel wire two-motor mounting rack (2207) is arranged in the driving mechanism shell (21), a steel wire two-motor (2206) is arranged on the steel wire two-motor mounting rack (2207), a steel wire two-pinion (2208) is connected with an output shaft of the steel wire two-motor (2206),

the steel wire two-gear wheel (2210) is rotatably arranged in the driving mechanism shell (21), the steel wire two-gear wheel (2210) is meshed with the steel wire two-pinion (2208), the steel wire two-encoder (2209) is arranged at the lower end of the steel wire two-gear wheel (2210), the steel wire two-driving piece (2214) is embedded in the steel wire one-driving piece (2213) and is connected with the steel wire two-gear wheel (2210), and the upper end of the steel wire two-driving piece (2214) is clamped on the other steel wire in the endoscope handle (23).

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