CN113662500B

CN113662500B - Digestive endoscopy robot

Info

Publication number: CN113662500B
Application number: CN202110969599.XA
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Harbin Peitong Technology Development Co ltd
Current assignee: Harbin Peitong Technology Development Co ltd
Priority date: 2021-08-23
Filing date: 2021-08-23
Publication date: 2025-03-28
Anticipated expiration: 2041-08-23
Also published as: CN113662500A

Abstract

A digestive endoscope robot relates to a robot. The present invention aims to solve the problems that when existing doctors use digestive endoscopes to perform surgery on patients, it is difficult to accurately control the movement of the endoscope and the possibility of being contaminated by the patient's secretions, vomit or excrement, and that long-term standing and holding the endoscope will cause the doctor to be easily fatigued, thereby affecting the quality of inspection or treatment. The endoscope body of the present invention is detachably mounted on an endoscope body pushing device; the robotic arm system includes a conveying device, a rotating mechanism, an adjustable robotic arm and a base, the adjustable robotic arm is mounted on the base, and the conveying device and the rotating mechanism are respectively mounted on both sides of the end of the adjustable robotic arm; the adjustable robotic arm is an "S"-shaped special-shaped arm, and the upper part of the special-shaped arm extends obliquely to the upper right, the endoscope body pushing device and the endoscope body are mounted on the adjustable robotic arm, and the endoscope body pushing device and the endoscope body are located on the same side of the adjustable robotic arm. The present invention is used in human digestive system surgery.

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 station or remote control mode, and belongs to the field of medical equipment.

Background

The traditional diagnosis and treatment operation needs to be carried out by a medical staff standing on one side of a patient to hold the endoscope, a medical staff is used for holding the handle of the endoscope by a left hand in the whole process of operation, and two knobs which are large (for regulating the bending of the end of the inner lens in the up-down direction) and small (for regulating the bending of the end of the inner lens in the left-right direction) are regulated to control the bending direction and the angle of the front end of the endoscope so as to control the running direction of the endoscope, and meanwhile, a right hand-held endoscope body is used for controlling the advancing and the retreating of the endoscope and assisting in axial rotation, so that the operation of the endoscope can be accurately and smoothly completed. The endoscope running can be accurately controlled by simultaneously regulating the size of the two knobs, so that smooth and accurate examination or treatment is very important, but most doctors are difficult to achieve, and the doctors need to stand in front of the patient, so that the possibility of being polluted by secretion, vomit or excrement of the patient exists, and meanwhile, the doctor is easy to fatigue due to standing the endoscope in the hand for a long time, so that the quality of examination or treatment is affected.

In summary, when the existing doctor performs an operation on a patient using a digestive endoscope, the possibility that the endoscope is difficult to accurately control and is polluted by secretions and vomit or excretions of the patient exists, and the problem that the doctor is easy to fatigue due to long-term standing of the handheld endoscope, so that the quality of examination or treatment is affected is solved.

Disclosure of Invention

The invention aims to solve the problems that when the traditional doctor uses a digestive endoscope to perform operation on a patient, the running of the endoscope is difficult to accurately control, the endoscope is polluted by secretion and vomit or excrement of the patient, and the doctor is easy to fatigue due to long-term standing of the endoscope and further the quality of examination or treatment is affected. Further provided is a digestive endoscope robot.

The technical scheme is that 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, the adjustable mechanical arm is arranged on the base, 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 part of the special-shaped arm extends obliquely to the upper right, the endoscope body pushing device and the endoscope body are arranged on the special-shaped arm, and the endoscope body pushing device and the endoscope body are positioned on the same side of the special-shaped arm.

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

1. The invention relates to a complete digestive endoscope robot system, which can replace hands to complete the operation of an endoscope operation, a doctor sits in front of a control console and realizes all functions of the traditional endoscope operation through remote control of the control handle (the handle on the main control console 7), and the doctor is more comfortable and safer, so that the pollution caused by secretion and vomit or excrement of a patient is effectively avoided.

2. The invention designs the steel wire first driving piece and the steel wire second driving piece which directly drive the steel wire structure of the endoscope handle, the steel wire first driving piece and the steel wire second driving piece are independent, and the influence of structural return difference on control precision is avoided in a direct driving mode. The first steel wire driving piece and the second steel wire driving piece are driven by the motor to drive the gears, so that the gear transmission precision is high, and almost no error is accumulated after long-time work. Therefore, the invention can accurately finish the operation of the double knobs at the same time and reduce the misoperation caused by slight tremble of doctors. Meanwhile, the design can realize remote (remote) control operation, so that the instant remote consultation of high-end specialists is possible.

3. The invention can complete all actions of the traditional endoscope (namely 1, control the endoscope end to freely rotate in different directions (the endoscope can be upwards bent for 210 degrees), 2, control the endoscope body to advance or advance and retreat, 3, control 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 avoiding the degradation of the operation quality of the endoscope caused by the pollution risk existing in the operation of the near-stage endoscope and the fatigue caused by long-time standing and manual operation, and realizing the remote operation with high precision and high comfort by the design of mechanisms such as a motor.

The high precision of the invention is mainly characterized in that the first point is a driving mechanism, a steel wire first driving piece and a steel wire second driving piece are designed to directly drive the steel wire structure of the endoscope handle, the two are independent, and the influence of structural return difference on the control precision is avoided in a direct driving mode. The first steel wire driving piece and the second steel wire driving piece are driven by the motor to drive the gears, so that the gear transmission precision is high, and almost no error accumulation exists after long-time work. The second point is the conveyor, has designed single motor, positive and negative screw and the structure of cylinder cooperation jointly. The clamping mirror body is more stable, the precision of the screw driving form is high, and the movement is coherent.

In addition, in the conveying device, the force sensor is designed at the position of the lead screw nut at the air cylinder, so that the resistance of the lens body during conveying can be sensed, and the resistance can be fed back to an operator in real time. The position design of the force sensor is reasonable, so that the resistance is detected more accurately, and the interference is small.

Drawings

Fig. 1 is an isometric view of an endoscope body of the present invention which is not mounted on the mechanical arm system 6, fig. 2 is an isometric view of an endoscope body of the present invention which is mounted on the mechanical arm system 6, fig. 3 is a schematic view of a structure of the mechanical arm system 6, fig. 4 is a schematic view of a structure of the conveying device 1, fig. 5 is a schematic view of a structure of a fixed housing 10, fig. 6 is a schematic view of a structure of a slewing mechanism 11, fig. 7 is a schematic view of a first transmission mode of a feed mechanism 12, fig. 8 is a schematic view of a second transmission mode of the feed mechanism 12, fig. 9 is a schematic view of a third transmission mode of the feed mechanism 12, fig. 10 is a schematic view of a structure of a rotating device 2, fig. 11 is a schematic view of an adjustable mechanical arm 3, fig. 12 is a cross-sectional view of a connecting seat 31, fig. 13 is a schematic view of a special-shaped arm 35, fig. 14 is a schematic view of a structure of a base 4, fig. 15 is a schematic view of a structure of the endoscope body 5, fig. 16 is a schematic view of a structure of a driving mechanism housing 21, fig. 17 is a schematic view of a driving mechanism 22, and fig. 18 is a schematic view of a structure of a main control console 7. Fig. 19 is a cross-sectional view of the driver.

Detailed Description

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

The first 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 be convenient for disinfection and avoid secondary pollution, the mechanical arm system 6 includes a conveying device 1, a rotating mechanism 2, an adjustable mechanical arm 3 and a base 4, the adjustable mechanical arm 3 is mounted on the base 4, the conveying device 1 and the rotating mechanism 2 are respectively mounted on two sides of the tail end of the adjustable mechanical arm 3, the adjustable mechanical arm 3 includes an S-shaped special-shaped arm 35, and the upper part of the special-shaped arm 35 extends obliquely upwards to the right, so that the gravity center of the whole special-shaped arm 35 with the endoscope body pushing device and the endoscope body 5 mounted coincides with the center of a rotating shaft connected with the special-shaped arm 35 in the vertical direction, so as to be convenient for the whole adjustment of the special-shaped arm 35. The endoscope body pushing device and the endoscope body 5 are arranged on the special-shaped arm 35, and the endoscope body pushing device and the endoscope body 5 are positioned on the same side of the special-shaped arm 35, so that the endoscope body pushing device and the endoscope body 5 are convenient to position and synchronize in position, are fixed in relative position, and cannot generate position errors when the mechanical arm moves.

Before the endoscope is used, the endoscope is convenient to prepare before operation, and the contact area with the endoscope body is a disposable part, so that the endoscope is convenient to disinfect and high in safety. The robot endoscope main body is integrally disinfected, and the whole body after the disinfection is connected with the mechanical arm system 6 and connected with an external endoscope main body. The mirror body is put into the conveyor 1, passes through the front end buckle 1207 and the rear end buckle 1208 in fig. 7, and is put into the whole in fig. 7.

The digestive endoscope robot of this embodiment can be adjusted in any direction and angle through the mechanical arm system 6, drives the endoscope body 5 through the rotating device and rotates required angle, drives the endoscope body 5 through the special-shaped arm 35 and moves towards the direction of the patient, and smoothly and continuously advances/withdraws the endoscope of the endoscope body 5 through the conveying device 1, and simultaneously can realize the rotation of the endoscope body around the axis thereof.

The conveying device 1 of the present embodiment is synchronous to smoothly and continuously advance/retract the endoscope of the endoscope body 5 and to drive the endoscope body 5 to move toward the patient by the special-shaped arm 35, and the conveying device 1 can realize that the rotation of the endoscope body around the axis thereof is synchronous to the rotation of the endoscope body 5 by the rotating device of the mechanical arm system 6.

In a second embodiment, referring to fig. 4, an endoscope body pushing device of the present embodiment includes a fixed housing 10 and a feeding mechanism 12, where the feeding mechanism 12 is installed in the fixed housing 10, the feeding mechanism 12 includes a feeding motor 1212, a transmission mechanism, and two clamping moving mechanisms, and the two clamping moving mechanisms are driven by the transmission mechanism driven by the feeding motor 1212 to move in opposite directions, respectively, and when one clamping moving mechanism is in a clamped state, the other clamping moving mechanism is in a released state. The continuous feeding of the endoscope is realized through the cooperation of the two clamping moving mechanisms which are opened and closed, and the whole pushing process is stable. Other components and connection relationships are the same as those of the first embodiment.

In a third embodiment, referring to fig. 7, the clamping and moving mechanism of the present embodiment includes a horizontal moving bracket 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 bracket 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 the endoscope body, and the horizontal moving bracket 1219 is connected with the transmission mechanism to realize the movement in the horizontal direction relative to the fixed housing 10. So set up, under the drive of cylinder, realize the quick opening and shutting of cylinder clamping jaw, by horizontal migration support propelling movement again, the flexible operation is reliable. Other components and connection relationships are the same as those of the first or second embodiment.

In a fourth embodiment, 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 meshed with the driving gear 1213, and two screw rods 1215 coaxially and fixedly connected to the driven gear 1214 and having opposite rotation directions, wherein a screw nut 1217 fixedly connected to the horizontal moving bracket 1219 is rotatably mounted on each of the two screw rods 1215, and the feeding motor 1212 drives the two screw rods 1215 to rotate in the same direction, so as to drive the two screw nuts 1217 on the two screw rods 1215 to move in opposite directions, thereby driving the horizontal moving bracket 1219 to move in opposite directions. So set up, adopted the two sections screw rods that revolve to opposite in this kind of transmission mode one, can effectually improve transmission efficiency, only need a motor can realize the relative motion of two horizontal migration brackets 1219, saved occupation space and manufacturing cost of device greatly to because only use a motor, need not face complicated synchronous control scheduling problem. Meanwhile, the driven gear 1214 drives the screw rod 1215 to rotate, the screw rod 1215 drives the screw rod nut 1217 to linearly move, and finally the screw rod nut 1217 drives the horizontal moving bracket 1219 to move, so that the whole transmission process is high in precision. Other compositions and connection relationships are the same as any one of the first to third embodiments.

In a fifth embodiment, referring to fig. 8, the transmission mechanism of the present embodiment includes two driving gears 1213 connected to the two feeding motors 1212, driven gears 1214 meshed with the two driving gears 1213, two screws 1215 coaxially and fixedly connected to the two driven gears 1214, two screw nuts 1217 rotatably mounted on the two screws 1215 and fixedly connected to the horizontal moving support 1219, and two screw nuts 1217 rotatably mounted on the two screws 1215 and driving the two screws 1215 to move in opposite directions, thereby driving the horizontal moving support 1219 to move in opposite directions. The two sections of the screw rod 1215 in this embodiment have the same or opposite rotation directions, when the rotation directions are the same, the driving directions of the two feeding motors 1212 at the same time are opposite, and when the rotation directions are opposite, the driving directions of the two feeding motors 1212 at the same time are the same. So set up, as transmission mode two, this embodiment is through being connected with two mutually noninterfere bearings at the junction of two sections lead screw 1215, makes the drive of two sections lead screw 1215 independent each other, compares in transmission mode one, has reduced the requirement to the feed motor 1212, and this embodiment simple structure moreover, and the transmission is more steady, nimble. Other compositions and connection relationships are the same as those in any one of the first to fourth embodiments.

In a sixth embodiment, referring to fig. 8, the transmission mechanism of the present embodiment further includes a guide rod 1205 and a guide rail 1211, where the guide rod 1205 and the guide rail 1211 are both fixed in the fixed housing 10 and used for providing support and moving guidance for the horizontal moving bracket 1219, a nut mounting bracket 1216 is sleeved on the guide rod 1205, a screw nut 1217 is fixedly mounted on the nut mounting bracket 1216, and the horizontal moving bracket 1219 and the nut mounting bracket 1216 are relatively fixed and slidably mounted on the guide rail 1211. So set up, be convenient for guarantee endoscope horizontal movement's stationarity. Other compositions and connection relationships are the same as those in any one of the first to fifth embodiments.

In a seventh embodiment, referring to fig. 9, the transmission mechanism of the present embodiment includes two gears 1230 connected to two feeding motors 1212, a rack 1231 horizontally disposed with respect to the fixed housing 10 and meshed with the two gears simultaneously, the feeding motor 1212 is fixed to the horizontal moving bracket 1219, and the driving gears 1230 rotate to drive the horizontal moving bracket 1219 to move in translation with respect to the rack 1231. The transmission mode of the nut screw pair is omitted in the transmission scheme III, the transmission mode of the gear rack is directly adopted, the structure is simple, and the linear motion precision is high. Other compositions and connection relationships are the same as those in any one of the first to sixth embodiments.

In an eighth embodiment, referring to fig. 7, the transmission mechanism of the present embodiment further includes a guide rod 1205 and a guide rail 1211, where the guide rod 1205 and the guide rail 1211 are both fixed in the fixed housing 10 and used for providing support and moving guidance 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 a side surface of the guide rail 1211 near the feeding motor 1212. The arrangement is compact, and other components and connection relations are the same as any one of the first to seventh embodiments.

In a ninth embodiment, referring to fig. 7, a U-shaped groove 1232 is formed in the guide rail 1211 of the present embodiment, and a sliding shaft 1233 having a size matching the U-shaped groove 1232 is mounted on the horizontal moving bracket 1219, and the sliding shaft 1233 is mounted in the U-shaped groove 1232. So arranged, the movement of the horizontal movement bracket 1219 is made smoother and smoother, thereby ensuring the comfort level of the patient. Other compositions and connection relationships are the same as in any of the embodiments described above.

In the tenth embodiment, referring to fig. 4 and 5, the endoscope body pushing apparatus 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 about its own axis, the fixed housing 10 includes an arc housing 1001, a flat housing 1002, a front bushing 1003, a rear bushing 1004 and a rotary photoelectric switch 1005, the flat housing 1002 is installed at a side end of the arc housing 1001 and is integrated, wherein the front bushing 1003 is fixedly installed at a front end of the arc housing 1001, the rear bushing 1004 is fixedly installed on the flat housing 1002, the rotary photoelectric switch 1005 is fixedly installed on the flat housing 1002, and the rotary photoelectric switch 1005 is located at left and right sides of the rear bushing 1004. Other compositions and connection relationships are the same as in any of the embodiments described above.

In the present embodiment, the driving assembly cooperates with the clamping and moving mechanism and the rotating mechanism 2 to realize the functions of forward and backward movement of the clamping endoscope and integral rotation around the axis. The driving component of the feeding mechanism adopts a customized screw rod, so that the continuous, stable and uninterrupted feeding process can be ensured. The endoscope body of the robot endoscope is arranged on the rotating mechanism 2, the endoscope body can be adjusted in any direction and angle, the special-shaped arm 35 drives the endoscope body of the robot endoscope to move towards the direction of a patient, the endoscope body pushing device 1 stably and continuously pushes/withdraws the endoscope body, and meanwhile, the rotation of the endoscope body around the axis of the endoscope body can be realized.

The endoscope body pushing device 1 stably and continuously drives the endoscope body 5 to move towards the direction of the patient by the endoscope body feeding/retracting device of the endoscope body 5 and the special-shaped arm 35 in synchronization, and the rotation of the endoscope body around the axis of the endoscope body pushing device 1 can drive the robot endoscope body to synchronously rotate.

As described with reference to fig. 7 to 9, the feeding mechanism 12 includes a front barrier 1201, an arc 1202, a rear barrier 1203, a guide rod 1205, a large gear 1206, a front buckle 1207, a rear buckle 1208, a front photoelectric switch 1209, a rear photoelectric switch 1210, a guide rail 1211, a feeding motor 1212, a gripping moving mechanism, a force sensor 1218, a horizontal moving bracket 1219, a cylinder 1220, a cylinder jaw 1221, a slider 1222, a photoelectric trigger plate 1223, a symmetrical gripping moving mechanism 1224, and a photoelectric trigger arc 1225; the front baffle 1201 and the rear baffle 1203 are respectively mounted at both ends of the opening side of the arc plate 1202, the front and rear ends of the guide rod 1205 are respectively connected with the front baffle 1201 and the rear baffle 1203, the large gear 1206 is mounted on the outer side wall of the rear baffle 1203, the photoelectric trigger cambered surface 1225 is mounted on the rear baffle 1203, and the photoelectric trigger cambered surface 1225 is positioned below the large gear 1206, the front end clasp 1207 and the rear end clasp 1208 are respectively mounted on the front baffle 1201 and the large gear 1206, the horizontal movement bracket 1219 is mounted in the arc plate 1202, the cylinder 1220 is mounted on the horizontal movement bracket 1219, the front end photoelectric switch 1209 and the rear end photoelectric switch 1210 are horizontally mounted on the cylinder 1220 from front to rear, the clamping moving mechanism is mounted in the arc plate 1202, and the clamping moving mechanism moves horizontally along the guide rod 1205, the front end of the force sensor 1218 is mounted on the front part of the clamping moving mechanism, the rear end of the force sensor 1218 is mounted on the left side projection of the horizontal movement bracket 1219, the cylinder clamping jaw 1221 is mounted on the cylinder 1220, the sliding block 1219 is mounted on the horizontal movement bracket 1219, and the sliding block 1211 is matched with the guide rail 1211, the photoelectric switch 1223 is mounted on the right side of the photoelectric switch 1219 for moving horizontally in the front side of the photoelectric switch 1209, the symmetrical clamp movement mechanism 1224 is mounted on the inside wall of the tailgate 1203. The force sensor is arranged between the motor driving piece and the clamping mirror body device, and can sense the pressure or the tension in the whole forward or backward movement process and feed back the real-time resistance sense to doctors.

In the rotation, the cylinder clamping jaw 1221 or the clamping jaw of the symmetrical clamping moving mechanism 1224 is required 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 the controller sends a signal to reverse the rotary motor 1101. In the counterclockwise rotation process, when the photoelectric trigger cambered surface 1225 triggers the right side switch of the rotary photoelectric switch 1005, the controller sends a signal to make the rotary motor 1101 reverse again, so that the rotation reversing and protecting effects are achieved repeatedly.

When the feed motor 1212 rotates, the driven gear 1214 rotates together with the lead screw 1215, and the lead screw 1215 adopts a front half right-handed design and a rear half left-handed design. When the feed motor 1212 rotates in the forward direction, the screw 1215 rotates, and the screw nut 1217 fixed to the nut mount 1216 moves from the front to the rear, thereby pushing the force sensor 1218 to move from the front to the rear, and the force sensor 1218 generates an electric signal. The force sensor 1218 in turn pushes the horizontal movement bracket 1219 to move the air cylinder 1220 and its associated components from front to back, while the symmetrical gripping and moving mechanism 1224 moves from back to front. The force sensor 1218 is stressed in the forward-backward movement, and the force sensor of the symmetrical gripping moving mechanism 1224 is stressed. When moving from back to front, the compression and tension forces are reversed. In this way, the force sensing function is achieved both when pushing forward and when pulling backward.

When both structures are moved to the neutral position, the feed motor 1212 rotates in reverse, driving the air cylinder 1220 and its associated components to move forward from back to front, while the symmetrical gripping and moving mechanism 1224 moves forward to back. The limit of the movement position of the air cylinder 1220 is sensed by the front end photoelectric switch 1209 and the rear end photoelectric switch 1210, when the air cylinder 1220 moves to the forefront end, the photoelectric trigger plate 1223 triggers the front end photoelectric switch 1209 to send a signal to the control system to enable the feeding motor 1212 to reverse rotation, and when the air cylinder 1220 moves to the rearmost end, the photoelectric trigger plate 1223 triggers the rear end photoelectric switch 1210 to continue to send a signal to the control system. In this way, symmetrical movement of the air cylinder 1220 and its associated components and symmetrical gripping movement mechanism 1224 is achieved, with forward and rearward movement occurring simultaneously.

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

Referring to fig. 11, the adjustable mechanical arm 3 includes a connecting seat 31, a first driven arm 32, a second driven arm 33, a key 34 and a special-shaped arm 35, wherein the connecting seat 31 is vertically slidably mounted on the base 4, one end of the first driven arm 32 is horizontally rotatably mounted on the connecting seat 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. The displacement with multiple degrees of freedom is conveniently provided for the robot endoscope.

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

As described with reference to fig. 12, the first passive arm 32 includes a passive arm housing 3201 and a passive arm cover 3202, the passive arm housing 3201 is mounted on the base housing 3107, the passive arm cover 3202 is mounted on the passive arm housing 3201, and the passive arm housing 3201 and the passive arm cover 3202 rotate with rotation of the hollow shaft 3106. The vertical movement is convenient to realize under the drive of the connecting seat 31, and the rotation can be realized.

As described with reference to fig. 13, the profiled arm 35 of the present embodiment includes a left housing 3501, a right housing 3502, a terminal seat 3503, a cloth blocking roller 3504, a screw supporting side 3505, a screw 3506, a screw fixing side 3507, a screw coupling 3508, a screw motor 3509, a slide rail fixing frame 3510, a long slide rail 3511, a long slider 3512, a nut connecting member 3513, a clamp 3514 and a screw nut 3515, wherein the left housing 3501 and the right housing 3502 are sequentially connected from left to right and are inclined upward to the right, the terminal seat 3503 is mounted on the left housing 3501, the cloth blocking roller 3504 is mounted at four corners in the right housing 3502, both ends of the screw 3506 are mounted in the right housing 3502 through the screw fixing side 3507 and the screw supporting side 3505, the screw motor 3509 is mounted in the right housing 3502, and is connected with the screw 3506 through the coupling 3508, the nut connecting member 3513 is mounted on the long screw shaft fixing frame 356, the clamp 3514 is mounted on the long screw nut 3513 is mounted on the long slide rail fixing frame 3512, and the clamp 3514 is mounted on the slide rail fixing frame 3511, and the long slider is mounted on the long slide rail fixing frame 3511, and is mounted on the long slide rail fixing frame 3511. The power for the movement of the lower left and the upper right of the mirror body is conveniently provided.

Referring 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, the column 42 is mounted on the base 41, the electrical cabinet 43 is mounted inside the column 42, the electrical cabinet 43 is located at the lower portion of the column 42, the linear module 45 is vertically mounted on the upper portion of the column 42, the module motor 44 is mounted at the lower end of the linear module 45, an output shaft of the module motor 44 is connected with a screw of the linear module 45, and a slider of the linear module 45 is connected with the connection base 31. The base 41 can be convenient for remove pusher to required position according to actual need, simultaneously, the straight line module 45 can provide accurate vertical direction's displacement for the mirror body.

The operation principle of the endoscope body pushing device 1 will be described with reference to fig. 1 to 14:

In a specific procedure, the front end clasp 1207, the rear end clasp 1208, and the cylinder jaw 1221 need to be in contact with the scope to be designed as a disposable piece, considering the sterilization problem. The front end buckle 1207 and the rear end buckle 1208 are used for ensuring that the endoscope body can better realize linear motion even if the endoscope body is flexible, and the cylinder clamping jaw is used for clamping the endoscope to move forwards or backwards. The contact area with the lens body is designed to be a disposable part, so that the safety is ensured.

Before the operation, the center holes of the back end clamp 1208 and the front end clamp 1207 sequentially penetrate through the endoscope to be used, and the distance is adjusted. Simultaneously, the control system sends instructions to the front cylinder and the rear cylinder, the cylinder clamping jaw is loosened, at the moment, the front end clamping buckle 1207 and the rear end clamping buckle 1208 sleeved on the endoscope are inserted into the front baffle 1201 and the large gear 1206, then the control system sends instructions, the cylinder clamping jaw of the symmetrical clamping moving mechanism 1224 clamps the endoscope, and the preoperative preparation is completed. The invention has convenient preoperative preparation, and the contact area with the endoscope body is a disposable part, thereby being convenient for disinfection.

In operation, the motor 1212 is first fed forward, the cylinder clamping jaw of the symmetrical clamping moving mechanism 1224 clamps the endoscope, the cylinder clamping jaw 1221 is released, the symmetrical clamping moving mechanism 1224 moves forward from the backward and forward movement clamping the endoscope, the action is recorded as a first state, when the photoelectric trigger plate 1223 triggers the rear photoelectric switch 1210, the motor 1212 is fed reversely, the cylinder clamping jaw of the symmetrical clamping moving mechanism 1224 is released, the cylinder clamping jaw 1221 clamps the endoscope, the cylinder 1220 and related components move forward from the forward and backward movement clamping the endoscope, the action is recorded as a second state, and when the photoelectric trigger plate 1223 triggers the front photoelectric switch 1209, the action is recorded as a second state. If the endoscope is retracted, the opening and closing of the clamping jaw are reversed, and the endoscope can be continuously fed in or withdrawn by the same method, and only one motor is used.

After the operation, all the cylinder clamping jaws are loosened, the front end clamping buckle 1207, the rear end clamping buckle 1208 and the mirror body are taken out together, and the front end clamping buckle 1207, the rear end clamping buckle 1208 and all the cylinder clamping jaws are directly discarded.

As shown in fig. 7, another implementation of feed mechanism 12. Compared with fig. 5, the screw is divided into front and rear ends from the middle, and the front and rear ends are respectively rotated in the forward direction and the reverse direction. Each section of screw rod is driven by one motor, the two motors are symmetrically arranged relatively, the driving structure is mirror image, the driving time is staggered, and the same control effect as that of the single motor scheme shown in fig. 5 can be realized.

As shown in fig. 10, the rotary mechanism 2 includes a housing 2001, a rotary motor mount 2002, a rotary motor 2003, a rotary coupling 2004, a rotary encoder 2005, and a bevel pinion 2006. The rotary electric machine mount 2002 is fixed to the housing 2001, and the rotary electric machine 2003 and the rotary encoder 2005 are fixed to the rotary electric machine mount 2002. The rotary coupling 2004 connects the rotary motor 2003 and the bevel pinion 2006. The housing 2001 is designed with an arcuate slot for mechanical restraint. When mated with an endoscopic scope device, the scope device may be driven to rotate about its own axis.

As shown in fig. 11, the adjustable mechanical arm 3 includes a small base 31, a first passive arm 32, a second passive arm 33, a key 34, and a shaped arm 35. The parts are connected in sequence, wherein the small base 31 and the joint of the first driven arm 32 can rotate relatively, the joint of the first driven arm 32 and the second driven arm 33 can rotate relatively, and the joint of the second driven arm 33 and the special-shaped arm 35 can rotate relatively. The key 34 is mounted to the upper housing of the shaped 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 connection 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 mount 3102 is fixed to a brake stator 3103, a brake rotor 3104 is fixed to a rotor connector 3105, and the rotor connector 3105 sequentially fixes a hollow shaft 3106 and a driven arm housing 3201. Other joints of the mechanical arm are similar to the above joints, and will not be described in detail.

Pressing key 34 controls the electromagnetic clutch to be energized and de-energized when released. When the electromagnetic clutch is electrified, the brake rotor 3104 and the upper part thereof can rotate around the axis, the rotation angle of the other two joints can be adjusted at will, the key 34 is pressed before operation, the electromagnetic clutch is released, and the adjustable mechanical arm 3 can be operated, so that the endoscope body pushing device 1 is positioned at a proper position of a sickbed. After the key 34 is released, the clutch is locked, all joints cannot rotate, and the whole robot is stable.

As shown in fig. 13, the shaped arm 35 includes a left housing 3501, a right housing 3502, a tip seat 3503, a cloth cylinder 3504, a screw support side 3505, a long screw 3506, a screw fixing side 3507, a screw coupling 3508, a long screw motor 3509, a slide rail fixing frame 3510, a long slide rail 3511, a long slide block 3512, a nut connector 3513, a clamp 3514, and a long screw nut 3515. The end socket 3503 is fixed between the left and right shells 3501, 3502, and the three constitute a large integral arm, and the rest of the components are all installed in the right shell 3502. The cloth guide rollers 3504 are respectively disposed at four corners of the right housing 3502 for supporting the cloth and sliding it smoothly. The left and right ends of the long screw 3506 are respectively arranged on a screw supporting side 3505 and a screw fixing side 3507, the right side is connected with a long screw motor 3509 through a screw coupler 3508, and a long screw nut 3515 can rotate on the screw. The long slide rail 3511 is mounted on the slide rail fixing frame 3510, parallel to the long 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 is connected with the long screw nut 3515 and the clamp 3514.

When the long screw motor 3509 rotates, the long screw 3506 is driven to rotate, so that the long screw nut 3515 drives the clamp 3514 to realize translational motion through the nut connecting piece 3513, and the long sliding block 3512 and the clamp 3514 are fixed with the rotating device 2. Thus, the rotation of the long screw motor 3509 is realized to drive the whole rotating device 2 to advance and retreat. Along with the feeding or retracting of the endoscope body by the endoscope body pushing device 1, the rotating device 2 keeps synchronous advancing or retracting, 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 screw of the linear module 45, and a slider of the linear module 45 is fixed with the small base 31.

Pressing the right two buttons of the key 34 controls the forward and reverse rotation of the module motor 44. When the module motor 44 rotates forward, 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 translates downwards when rotating reversely. The left button of the key 34 is matched for the preoperative robot to swing.

In an eleventh embodiment, the present embodiment is described with reference to fig. 15, and includes a driving mechanism housing 21, a driving mechanism 22, and an endoscope handle 23, wherein the endoscope handle 23 is mounted in the driving mechanism housing 21, the driving mechanism 22 is mounted in the driving mechanism housing 21 and is located at the lower end of the endoscope handle 23, and the driving mechanism 22 controls the bending angle of the distal end of the endoscope handle 23 by driving the rotation of the wire in the endoscope handle 23. Other compositions and connection relationships are the same as in any of the embodiments described above.

Before the endoscope is used, the endoscope is convenient to prepare before operation, and the contact area with the endoscope body is a disposable part, so that the endoscope is convenient to disinfect and high in safety. The endoscope body main body of the robot endoscope is integrally disinfected, the whole endoscope body main body is connected with the mechanical arm system 6 after disinfection, an external endoscope host is connected, and the endoscope body can be operated after being put into a conveying device.

The digestive endoscope robot of this embodiment can be adjusted in any direction and angle by the mechanical arm system 6, drives the robot endoscope main body 5 to rotate by a required angle by the rotating device, drives the robot endoscope main body 5 to move toward the patient direction by the special-shaped arm 35, smoothly and continuously advances/withdraws the endoscope of the robot endoscope main body 5 to the endoscope body by the conveying device 1, and simultaneously can realize the rotation of the endoscope body around the axis of the endoscope body.

The conveying device 1 of the present embodiment is synchronous in that the endoscope feeding/retracting of the robot endoscope body 5 and the movement of the robot endoscope body 5 toward the patient are smoothly and continuously performed, and the conveying device 1 can realize that the rotation of the endoscope body around the axis thereof and the rotation of the robot endoscope body 5 by the rotation device of the mechanical arm system 6 are synchronous.

In a twelfth embodiment, the drive mechanism housing 21 according to the present embodiment is described with reference to fig. 16, and includes an upper surrounding housing 2101, a lower surrounding housing 2102, a ferrule 2103, a bevel gear shaft 2104, a large bevel gear 2105, and a shaft end nut 2106, wherein the upper surrounding housing 2101 is mounted on the lower surrounding housing 2102, the ferrule 2103 is mounted on one side end surface in the width direction and one side end surface in the length direction of the upper surrounding housing 2101, the bevel gear shaft 2104 is mounted on the other side end surface in the width direction of the upper surrounding housing 2101, the large bevel gear 2105 is mounted and sleeved on the bevel gear shaft 2104, and the shaft end nut 2106 is mounted on the end portion of the bevel gear shaft 2104. So arranged, the small bevel gear 2006 of the rotating device 2 is meshed with the large bevel gear 2105 of the driving mechanism housing 21, so that the driving mechanism housing 21 can be driven to rotate around the axis of the driving mechanism housing in the rotating device 2. Other compositions and connection relationships are the same as in any of the embodiments described above.

In a thirteenth embodiment, the driving mechanism 22 of the present embodiment includes a first driving unit and a second driving unit, which respectively drive one wire in the endoscope handle 23 and drive the corresponding wire to zoom, with reference to fig. 15. So set up, through driving two steel wires respectively, guarantee the driving accuracy. Other compositions and connection relationships are the same as in any of the embodiments described above.

In the prior art with the publication number of CN103767659A, the angle control of the endoscope is realized by driving the rotation of the steel wire through the thumb wheel of the driving handle. The driving mechanism of the embodiment can directly drive the steel wire to move, omits a poking wheel in the prior art, and further drives the front end of the mirror body to bend towards all directions, so that the use is flexible. In addition, the multi-layer gear structure is further stable, high in precision and space-saving, and the problems of precision reduction and the like caused by abrasion of belt transmission are avoided. 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 first motor of the steel wire drives the first pinion of the steel wire to rotate, the first pinion of the steel wire is meshed with the first gear wheel of the steel wire to drive the first driving piece of the steel wire to rotate through the buckle, and the first driving piece of the steel wire directly drives the steel wire inside the endoscope handle to rotate. Because the steel wire is directly driven to drive, the influence of structural 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 is the same as that of the steel wire II, and the steel wire I large gear, the steel wire II large gear, the steel wire I driving piece and the steel wire II driving piece are directly matched with bearings and rotate independently. The installation mode is lamination installation, and the stable structure precision is high. The error of the gear transmission is extremely small, and the long-time working precision is not reduced.

Fourteenth description of the embodiment referring to fig. 17, the first driving unit of the present embodiment includes a wire-motor 2201, a wire-motor mount 2202, a wire-pinion 2203, a wire-encoder 2204, a wire-large gear 2205, a large gear surrounding frame 2211, a wire-bearing 2212 and a wire-driver 2213,

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

The wire-big gear 2205 is rotatably installed in the driving mechanism shell 21, the wire-big gear 2205 is meshed with the wire-small gear 2203, the wire-big driving piece 2213 is installed on the upper end face of the wire-big gear 2205, the big gear surrounding frame 2211 is rotatably installed on the wire-big driving piece 2213 through the wire-big gear 2212, the upper end of the wire-big gear 2213 is clamped on one wire in the endoscope handle 23, wherein the upper portion of the wire-big gear 2205 is fixedly connected with the outer side wall of the lower portion of the wire-big gear 2213, and the wire-big gear 2205 drives the wire-big driving piece 2213 to synchronously rotate. So set up, adopt the engagement mode of gear to transmit power to the steel wire, carry out accurate measurement and feedback to the pivoted angle of steel wire pinion simultaneously, avoid losing the problem that changes or transmission precision is poor to lead to mirror rotation angle inaccurate, and then this embodiment effectually guaranteed the steel wire precision of zooming. Other compositions and connection relationships are the same as in any of the embodiments described above.

Fifteenth embodiment, the second driving unit of the present embodiment includes a wire two motor 2206, a wire two motor mount 2207, a wire two pinion 2208, a wire two encoder 2209, a wire two large gear 2210, and a wire two driving member 2214, the wire two motor mount 2207 is mounted in the driving mechanism housing 21, the wire two motor 2206 is mounted on the wire two motor mount 2207, the wire two pinion 2208 is connected with an output shaft of the wire two motor 2206, the wire two large gear 2210 is rotatably mounted in the driving mechanism housing 21, the wire two large gear 2210 is meshed with the wire two pinion 2208, the wire two encoder 2209 is mounted at a lower end of the wire two large gear 2210, the wire two driving member 2214 is embedded in the wire one driving member 2213 and connected with the wire two large gear 0, and an upper end of the wire two driving member 2214 is connected with another wire clamped in the endoscope handle 23.

So set up, detect the angle that wire two gear wheels 2210 rotated through wire two encoder 2209, effectively improved the control accuracy to the mirror body steel wire. Other compositions and connection relationships are the same as in any of the embodiments described above.

In a sixteenth embodiment, referring to fig. 19, the wire-driving member 2213 of the present embodiment is a stepped hollow column member, and an inner concave clamping groove for connecting the wire is formed at the uppermost end of the wire-driving member 2213. The lower end of the wire-driven member 2213 is provided with two buckles, and the wire-driven member 2213 is connected with the wire-large gear 2205 through the two buckles.

So set up, firmly connect the steel wire through the draw-in groove, guarantee the angle that the steel wire was turned over, guarantee the angle that a steel wire driving piece 2213 was turned over through the buckle and be the angle that a steel wire gear wheel 2205 was turned over. Other compositions and connection relationships are the same as in any of the embodiments described above.

Seventeenth embodiment, referring to fig. 19, the upper half part of the second wire driving member 2214 in this embodiment is a stepped hollow column member, the lower half part of the second wire driving member 2214 is a solid column member, so that the structural strength of the second wire driving member 2214 is ensured, and the uppermost end of the second wire driving member 2214 is provided with a concave clamping groove for connecting the wire. The lowest end of the second steel wire driving piece 2214 is provided with two buckles, the second steel wire driving piece 2214 is connected with the second steel wire large gear 2210 through the two buckles, and the uppermost end of the second steel wire driving piece is provided with an inward concave clamping groove.

So set up, the buckle can guarantee to be synchronous with the turned angle of steel wire two gear 2210, and the draw-in groove is convenient for firmly fix the steel wire. Other compositions and connection relationships are the same as in any of the embodiments described above.

In the eighteenth embodiment, the second wire driving member 2214 of the present embodiment has a stepped member with an inner diameter smaller than that of the first wire driving member 2213, as described with reference to fig. 19.

So set up, effectively save space, the structure is small and exquisite, and the drive process is stable, accurate moreover. Other compositions and connection relationships are the same as in any of the embodiments described above.

The second driving unit of this embodiment further includes a connection member 2215 and a rolling element 2216, where the first driving member 2213 is connected to the connection member 2215 by a screw, the connection member 2215 is coaxially and intermittently sleeved with the second driving member 2214, the second driving member 2214 and the connection member 2215 do not interfere with each other and rotate independently, the rolling element 2216 is mounted on the connection portion between the second driving member 2214 and the lower portion of the connection member 2215 in a rolling manner, and the rolling element 2216 is located in an inner pit of the second driving member 2214. Other compositions and connection relationships are the same as in any of the embodiments described above.

The first wire driving member 2213 and the second wire driving member 2214 are coaxially sleeved and do not interfere with each other and independently rotate. The arrangement effectively saves space and is more flexible to control. Other compositions and connection relationships are the same as those in any one of the first to eighth embodiments.

The steel wire driving member 2213 and the connecting member 2215 are manufactured into separate members in the present embodiment, so as to overcome the problems that the existing method of manufacturing the steel wire driving member 2213 and the connecting member 2215 into a whole is difficult to process and difficult to ensure the processing precision, and the separate members are convenient to process and manufacture, assemble and overhaul and replace the connecting member 2215.

In addition, the rolling bodies 2216 are arranged between the connecting piece 2215 and the steel wire two driving piece 2214 in the embodiment, the rolling bodies 2216 not only enable the relative rotation between the connecting piece 2215 and the steel wire two driving piece 2214 to be smoother, but also can ensure the gap between the connecting piece 2215 and the steel wire two driving piece 2214, further effectively prevent the problem of part abrasion caused by eccentric rotation between the connecting piece 2215 and the steel wire two driving piece 2214, reduce friction force and improve 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 table and the mechanical arm system are connected through a cable, and the endoscope operation is finished by adopting a remote control mode (namely, an operator does not exist beside a patient and controls the endoscope in front of the control table connected with the endoscope through a cable) or a remote control mode (namely, the operator does not exist beside the patient and controls the endoscope in front of the control table connected with the endoscope through a radio/network and having a longer distance from the patient).

The button of the left hand handle is used for controlling functions of the endoscope handle such as water and air supplying button, the suction button, the fixing image, the electronic dyeing, the amplifying and the like, the right hand handle is pushed forward and pulled back to control synchronous forward and pull back of the endoscope body, and the rotation of the right hand handle around the axis can control the whole endoscope to realize synchronous rotation 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 that the safety in the operation process is ensured.

Working principle of the endoscope body 5:

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

The drive mechanism housing 21 includes an upper surrounding housing 2101, a lower surrounding housing 2102, a ferrule 2103, a bevel gear shaft 2104, a large bevel gear 2105, and a shaft end nut 2106. The bevel shaft 2104, ferrule 2103 and lower surrounding housing 2102 are all secured to the upper surrounding housing 2101. A large bevel gear 2105 and a shaft end nut 2106 are mounted on the bevel gear shaft 2104 in turn. The entire driving mechanism housing 21 is engaged with the rotating mechanism, the large bevel gear 2105 is engaged with the small bevel gear 2006, the rotating motor 2003 rotates, and the driving mechanism housing 21 rotates as a whole. The clamping sleeve 2103 is used for clamping the endoscope handle. The functions of water and air supply, screenshot, dyeing and the like are realized by the electric signals of the endoscope host computer, and can be controlled by a doctor remotely or a remote station.

The drive mechanism housing 21 is integrally coupled to a rotary mechanism, and a seal ring is provided between the bevel gear shaft 2106 and the housing 2001 for sterilization and waterproofing. The large bevel gear 2107 meshes with the small bevel gear 2006, the rotary motor 2003 rotates, and the drive mechanism housing 21 integrally rotates. The shaft end nut 2108 ensures the axial limit of the large bevel gear 2107 on the bevel gear shaft 2106 and ensures the meshing reliability.

The wire one motor 2201 is mounted on the wire one motor mounting frame 2202 and is connected with the wire one pinion 2203, the wire one encoder 2204 is used for detecting the rotating angle of the wire one pinion 2203, and the wire two motor 2206 is mounted on the wire two motor mounting frame 2207 and is connected with the wire two pinion 2208. The first wire motor mounting frame 2202 and the second wire motor mounting frame 2207 are both fixed on the upper surrounding shell 2101, and the mounting positions are designed by long round holes, so that the center distance of gear engagement can be conveniently adjusted. The other components are assembled in sequence from bottom to top, and the sequence is a wire two encoder 2209, a wire two large gear 2210, a wire one large gear 2205, a wire one large gear bearing 2212, a large gear surrounding frame 2211, a wire one driving piece 2213, a wire two driving piece 2214 and an endoscope handle 23. Wherein wire one pinion 2203 is meshed with wire one bull gear 2205, wire one bull gear 2205 is relatively fixed with wire one driver 2213 by an internal buckle, wire two pinion 2208 is meshed with wire two bull gear 2210, and wire two bull gear 2210 is relatively fixed with wire two driver 2214 by an internal buckle. When the first wire motor 2201 and the second wire motor 2206 rotate, the first wire driving piece 2213 and the second wire driving piece 2214 are driven to rotate respectively, so as to control the bending of the tail end. The wire two encoder 2209 is used to detect the angle through which the wire two large gear 2210 rotates.

Arc grooves are designed below the first steel wire big gear 2205 and the second steel wire big gear 2210, protrusions are arranged at corresponding positions of the lower surrounding shell 2102, and mechanical limiting is achieved through cooperation.

The invention adopts a remote station and remote control mode to realize endoscope operation. The traditional diagnosis and treatment operation needs to be completed by a medical staff standing on one side of a patient and holding an endoscope by hand, in the operation process, a doctor holds an endoscope handle by hand in the whole process, controls two knobs of a large knob (for controlling the bending of an inner lens end in the up-down direction) and a small knob (for controlling the bending of the inner lens end in the left-right direction) to control the bending direction and the angle of the front end of the endoscope so as to control the running direction of the endoscope, and meanwhile, needs to use a right-hand holding endoscope body to control the advancing and retreating of the endoscope and assist in axial rotation, so that the operation of the endoscope can be accurately and smoothly completed. The endoscope running can be accurately controlled by simultaneously regulating the size of the two knobs, so that smooth and accurate examination or treatment is very important, but most doctors are difficult to achieve, and the doctors need to stand in front of the patient, so that the possibility of being polluted by secretion, vomit or excrement of the patient exists, and meanwhile, the doctor is easy to fatigue due to standing the endoscope in the hand for a long time, so that the quality of examination or treatment is affected.

The robot endoscope main body part comprises an endoscope body system, an endoscope steering control system, a suction, air supply and water supply system and an original image fixing, electronic dyeing, amplifying and other regulating and controlling systems which are all controlled by machinery (electric control). 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. The preoperative doctor can adjust the position of the endoscope conveying device through the steerable mechanical arm to enable the inner lens end to be aligned with the oral cavity of a patient, the mechanical arm system can finish the operations of feeding, withdrawing, axially rotating and the like of the endoscope, meanwhile, the doctor can feel the feeding resistance in the operation process, and the main console 7 is connected with the mechanical arm system and the robot endoscope main body through cables. The doctor sits in front of the main control console and controls the endoscope to finish a series of actions such as 1 controlling the end of the inner lens 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, and 3 controlling the endoscope body to finish 360-degree rotation and the like, thereby easily, effectively and accurately finishing the examination or treatment work under the endoscope.

The invention ensures that the endoscope operation is safer, more reliable and more accurate, and the operation doctor is more comfortable and relaxed.

Claims

1. The digestive endoscope robot is characterized by comprising 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) obliquely extends to the right and upper side, so that the gravity center of the whole special-shaped arm (35) provided with the endoscope body pushing device and the endoscope body (5) coincides with the center of a rotating shaft connected with the special-shaped arm in the vertical direction, the whole special-shaped arm (35) is convenient to adjust, the endoscope body pushing device and the endoscope body (5) are both arranged on the special-shaped arm (35), and the endoscope body pushing device and the endoscope body (5) are positioned on the same side of the special-shaped arm (35), so that the endoscope body pushing device and the endoscope body (5) are convenient to position and synchronous, are fixed in relative positions, no position error is generated when the mechanical arm moves, the endoscope body pushing device comprises a fixed shell (10) and a feeding mechanism (12), the feeding mechanism (12) is arranged in the fixed shell (10), and the feeding mechanism (12) comprises a feeding motor (1212), 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;

The endoscope body (5) comprises a driving mechanism shell (21), a driving mechanism (22) and an endoscope handle (23), wherein the endoscope handle (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 which are arranged in an up-down double-layer mode, and a gear pair is respectively adopted to directly drive one steel wire in the endoscope handle (23) and drive the scaling of the corresponding steel wire to control the bending angle of the tail end of the endoscope handle (23).

2. The digestive endoscope robot according to claim 1, wherein the holding and moving mechanism comprises a horizontal moving bracket (1219), an air cylinder (1220) and an air cylinder clamping jaw (1221), the air cylinder (1220) and the air cylinder clamping jaw (1221) are arranged on the horizontal moving bracket (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 bracket (1219) is connected with the transmission mechanism to realize the movement relative to the horizontal direction of the fixed housing (10).

3. The digestive endoscope robot according to claim 2, 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 screw rods (1215) coaxially and fixedly connected with the driven gear (1214) in opposite rotation directions, screw rod nuts (1217) fixedly connected with the horizontal moving bracket (1219) are respectively rotatably arranged on the two sections of screw rods (1215), and the feeding motor (1212) drives the two sections of screw rods (1215) to rotate in the same direction, so that the two screw rod nuts (1217) on the two sections of screw rods (1215) are driven to move in opposite directions, and the horizontal moving bracket (1219) is driven to move in opposite directions.

4. The digestive endoscope robot according to claim 3, wherein the transmission mechanism comprises two driving gears (1213) connected with the two feeding motors (1212) respectively, driven gears (1214) meshed with the two driving gears (1213) respectively, two sections of screw rods (1215) coaxially and fixedly connected with the two driven gears (1214) respectively, two non-interfering bearings are connected at the joint of the two sections of screw rods (1215) on the same straight line, one screw rod nut (1217) fixedly connected with the horizontal moving bracket (1219) is rotatably arranged on the two sections of screw rods (1215) respectively, the two feeding motors (1212) respectively drive the two sections of screw rods (1215) to rotate, and the two screw rod nuts (1217) on the two sections of screw rods (1215) are driven to move in opposite directions, so that the horizontal moving bracket (1219) is driven to move in opposite directions.

5. The digestive endoscope robot according to claim 4, wherein the two screw rods (1215) are identical or opposite in rotation direction, when the screw rods are identical in rotation direction, the two feed motors (1212) are opposite in driving direction at the same time, and when the screw rods are opposite in rotation direction, the two feed motors (1212) are identical in driving direction at the same time.

6. The digestive endoscope robot according to claim 5, wherein the driving mechanism housing (21) comprises an upper surrounding housing (2101), a lower surrounding housing (2102), a cutting ferrule (2103), a bevel gear shaft (2104), a large bevel gear (2105) and a shaft end nut (2106), the upper surrounding housing (2101) is mounted on the lower surrounding housing (2102), the cutting ferrule (2103) is mounted on one side end face in the width direction and one side end face in the length direction of the upper surrounding housing (2101), the bevel gear shaft (2104) is mounted on the other side end face in the width direction of the upper surrounding housing (2101), the large bevel gear (2105) is mounted and sleeved on the bevel gear shaft (2104), and the shaft end nut (2106) is mounted on the end portion of the bevel gear shaft (2104).

7. The digestive endoscopy robot of claim 6, wherein the first driving unit comprises a wire-motor (2201), a wire-motor mounting frame (2202), a wire-pinion (2203), a wire-encoder (2204), a wire-large gear (2205), a large gear surrounding frame (2211), a wire-bearing (2212) and a wire-driving member (2213),

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

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

8. The digestive endoscopy robot of claim 7, wherein the second driving unit comprises a wire two motor (2206), a wire two motor mounting bracket (2207), a wire two pinion (2208), a wire two encoder (2209), a wire two large gear (2210) and a wire two driving member (2214),

The wire two motor mounting frame (2207) is arranged in the driving mechanism shell (21), the wire two motor (2206) is arranged on the wire two motor mounting frame (2207), the wire two pinion (2208) is connected with the output shaft of the wire two motor (2206),

The steel wire two large gear (2210) is rotatably arranged in the driving mechanism shell (21), the steel wire two large gear (2210) is meshed with the steel wire two small gear (2208), the steel wire two encoder (2209) is arranged at the lower end of the steel wire two large gear (2210), the steel wire two driving piece (2214) is embedded in the steel wire one driving piece (2213) and connected with the steel wire two large gear (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).