Special multi-degree-of-freedom flexible endoscope robot for otolaryngology department based on concentric tube continuum

The invention relates to a concentric tube continuum-based multi-degree-of-freedom flexible endoscope robot special for the otolaryngology department, which comprises a concentric tube continuum, and the concentric tube continuum comprises an outer tube, a middle tube, an inner tube and a camera which are sequentially nested from outside to inside; the device further comprises a rotation control module for driving the concentric tube continuum to rotate and a linear control module for driving the concentric tube continuum to linearly move. The linear control module transmits power to the concentric tube continuum through a lead screw nut device, and linear motion of the concentric tube continuum is completed; the rotation control module transmits power to the concentric tube continuum through a synchronous belt wheel structure, and rotation motion of the concentric tube continuum is completed. The concentric tube continuum can realize six-degree-of-freedom movement, can complete the observation ...