Master-slave flexible endoscope robot system

摘要

The flexible endoscope robot slave system includes an endoscope main body portion, a flexible long shaft that extends from the endoscope main body and can be loaded with at least one tendon-driven robot endoscope device, and the endoscope main body portion. A docking station that can be connected, and a moving mechanism for selectively longitudinally moving the endoscopic instrument within the flexible elongate shaft when the endoscope body is connected. The moving mechanism can hold and selectively move an actuator that drives each robot endoscopic instrument by the tendon. At least one degree of freedom (DOF) of robot instrument movement is controlled by a pair of actuators and a corresponding pair of tendons. The drive fitting structure detachably connects the actuator to the adapter structure for driving each endoscopic instrument. Tendon pretension can occur automatically under programmable control. Roll joints that do not have a tendon crimp structure can be employed in robotic endoscopic instruments to reduce tendon wear and roll joint space volume.