Surgical robot and micro-pushing device using the same

Abstract

The present invention provides a surgical robot and a micro-pushing device using the same. A syringe mounting seat is assembled at the end of the robotic arm of the surgical robot, and a syringe cannula module is assembled on the syringe mounting seat; the micro-pushing device includes: a micro-pushing structure, a clamping structure, and a linkage structure. A syringe plunger module is assembled on the micro-pushing structure; the clamping structure clamps at the end of the robotic arm and is connected to the micro-pushing structure through the linkage structure; when the linkage structure slides along the clamping structure, it drives the micro-pushing structure to slide, and, the syringe plunger module slides under the drive of the micro-pushing structure, so that the medical medium is pushed from the syringe plunger module to the syringe cannula module and reaches the lesion position of the patient through the syringe cannula module; when the linkage structure is fixed relative to the clamping structure, the micro-pushing structure drives the syringe plunger module to slide, so that the medical medium is pushed from the syringe plunger module to the syringe cannula module and reaches the lesion position of the patient through the syringe cannula module.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and particularly to a surgical robot and a micro-injection device using the same. Background Art

[0002] The emergence of surgical robots has greatly improved the efficiency of surgeries. During surgeries, it is usually necessary to inject some medical media into the patient's body. In the prior art, it is usually manually injected by surgical staff (including surgical assistants) using a syringe. On the one hand, there is a problem of low injection accuracy, and on the other hand, it requires high experience and skills of the surgical staff. Summary of the Invention

[0003] Embodiments of the present invention provide a surgical robot and a micro-injection device using the same to overcome or alleviate the above problems.

[0004] The technical solution adopted by the present invention is as follows:

[0005] A micro-injection device applied to a surgical robot, wherein the end of the robotic arm of the surgical robot is equipped with a syringe mounting seat, and a syringe sleeve module is mounted on the syringe mounting seat;

[0006] The micro-injection device includes: a micro-injection structure, a clamping structure, and a linkage structure. A syringe push rod module is mounted on the micro-injection structure; the clamping structure clamps the end of the robotic arm and is connected to the micro-injection structure through the linkage structure;

[0007] When the linkage structure slides along the clamping structure, it drives the micro-injection structure to slide, and the syringe push rod module slides under the drive of the micro-injection structure, so that the medical medium is pushed from the syringe push rod module to the syringe sleeve module and reaches the lesion position of the patient through the syringe sleeve module;

[0008] When the linkage structure is fixed relative to the clamping structure, the micro-injection structure drives the syringe push rod module to slide, so that the medical medium is pushed from the syringe push rod module to the syringe sleeve module and reaches the lesion position of the patient through the syringe sleeve module.

[0009] Optionally, the syringe push rod module includes: a syringe push rod and a syringe housing. The syringe housing contains the medical medium, and the micro-injection structure pushes the syringe push rod to slide in the inner cavity of the syringe housing, so that the medical medium is pushed from the syringe push rod module to the syringe sleeve module.

[0010] Optionally, the micro-pushing structure includes: a power source, a transmission structure, and a sliding structure. The power source is connected to the transmission structure, and the power generated by the power source is transmitted to the sliding structure through the transmission structure, causing the sliding structure to slide, so as to drive the syringe plunger module to slide, enabling the medical medium to be pushed from the syringe plunger module to the syringe barrel module and reaching the lesion location of the patient through the syringe barrel module.

[0011] Optionally, the power source includes: a motor and a motor mount. The transmission structure includes a lead screw, and the sliding structure includes a sliding block and a guide rail:

[0012] The motor is assembled on the motor mount and connected to the lead screw to drive the lead screw to rotate;

[0013] The sliding block is threaded on the lead screw and can slide along the guide rail under the drive of the rotation of the lead screw;

[0014] The syringe plunger module straddles the motor mount, with one end assembled on the sliding block and the other end communicating with the syringe barrel module, so as to drive the syringe plunger module to slide when the sliding block slides along the guide rail, enabling the medical medium to be pushed from the syringe plunger module to the syringe barrel module and reaching the lesion location of the patient through the syringe barrel module.

[0015] Optionally, a groove is provided on the sliding block, and one end of the syringe plunger module is stuck in the groove.

[0016] Optionally, a bridging bracket is provided on the motor mount to enable the syringe plunger module to straddle the motor mount, with one end assembled on the sliding block and the other end communicating with the syringe barrel module.

[0017] Optionally, the syringe barrel module includes: an injection needle cannula and an injection needle adapter. The injection needle adapter is assembled at the end of the robotic arm, and the injection needle cannula is assembled in the injection needle adapter to inject the medical medium pushed by the syringe plunger module into the lesion location of the patient.

[0018] Optionally, the injection needle adapter has a concave platform to assemble the injection needle cannula in the injection needle adapter through the concave platform.

[0019] Optionally, the syringe barrel module includes: an injection needle cannula inner core, which is assembled in the injection needle cannula before the working end of the syringe barrel module reaches the lesion location and is removed from the injection needle cannula after reaching the lesion location.

[0020] Optionally, an instrument fixing structure is assembled at the end of the robotic arm, and the injection needle adapter is assembled on the instrument fixing structure.

[0021] Optionally, the linkage structure includes: a connecting rod and a first clamping unit. The connecting rod is movably connected to the first clamping unit. The first clamping unit is assembled on the connecting rod. The first clamping unit is clamped on a fixed shaft. Moreover, the micro-pushing structure is fixed on the fixed shaft, so that the linkage structure is bridged between the clamping structure and the micro-pushing structure.

[0022] Optionally, the linkage structure further includes:

[0023] a locking unit, connected to the first clamping unit, for adjusting the clamping force of the first clamping unit and the micro-pushing structure on the fixed shaft.

[0024] Optionally, the clamping structure includes:

[0025] a main body frame;

[0026] a position adjusting unit, arranged on the main body frame and connected to the linkage structure to drive the linkage structure to slide along the main body frame.

[0027] Optionally, the position adjusting unit includes:

[0028] a driving force unit, arranged at one end of the main body frame, for generating a driving force;

[0029] a transmission unit, running through the main body frame from one end to the other end of the main body frame and connected to the connecting rod to drive the connecting rod to slide along the main body frame.

[0030] Optionally, a slideway is arranged on the main body frame, so that the connecting rod slides along the slideway when sliding along the main body frame.

[0031] Optionally, the clamping structure further includes: a second clamping unit, connected to the main body frame and clamping at the end of the robotic arm.

[0032] A surgical robot includes: a robotic arm, a micro-pushing structure, a clamping structure, and a linkage structure. A syringe assembly seat is assembled at the end of the robotic arm, and a syringe cannula module is assembled on the syringe assembly seat; a syringe push rod module is assembled on the micro-pushing structure; the clamping structure clamps at the end of the robotic arm and is connected to the micro-pushing structure through the linkage structure;

[0033] When the linkage structure slides along the clamping structure, it drives the micro-pushing structure to slide. Moreover, the syringe push rod module slides under the drive of the micro-pushing structure, so that the medical medium is pushed from the syringe push rod module to the syringe cannula module and reaches the lesion position of the patient through the syringe cannula module;

[0034] When the linkage structure is fixed relative to the clamping structure, the micro-pushing structure drives the syringe push rod module to slide, so that the medical medium is pushed from the syringe push rod module to the syringe cannula module and reaches the lesion position of the patient through the syringe cannula module.

[0035] In the following embodiments of the present application, the micro-pushing device applying a surgical robot includes: a micro-pushing structure, a clamping structure, and a linkage structure. A syringe plunger module is assembled on the micro-pushing structure; the clamping structure is clamped at the end of the robotic arm and is connected to the micro-pushing structure through the linkage structure; when the linkage structure slides along the clamping structure, it drives the micro-pushing structure to slide, and, the syringe plunger module slides under the drive of the micro-pushing structure, so that the medical medium is pushed from the syringe plunger module to the syringe cannula module and reaches the lesion position of the patient through the syringe cannula module; when the linkage structure is fixed relative to the clamping structure, the micro-pushing structure drives the syringe plunger module to slide, so that the medical medium is pushed from the syringe plunger module to the syringe cannula module and reaches the lesion position of the patient through the syringe cannula module, thereby facilitating the cooperation with the surgical process of the surgical robot, improving the accuracy of medical medium injection, and reducing the requirements for the experience and level of surgical personnel. Description of the Drawings

[0036] Figure 1 It is a schematic structural diagram of a micro-pushing device.

[0037] Figure 2A It is one of the schematic diagrams of the micro-pushing structure in the embodiment of the present application.

[0038] Figure 2B It is the second schematic diagram of the micro-pushing structure in the embodiment of the present application.

[0039] Figure 3 It is the schematic diagram of the micro-pushing structure in the embodiment of the present application.

[0040] Figure 4A It is one of the schematic diagrams of the syringe cannula module in the embodiment of the present application.

[0041] Figure 4B It is the installation schematic diagram of the injection needle cannula in the embodiment of the present application.

[0042] Figure 4C It is the internal schematic diagram of the syringe cannula module in the embodiment of the present application.

[0043] Figure 4D It is the second schematic diagram of the syringe cannula module in the embodiment of the present application.

[0044] Figure 5A It is one of the schematic structural diagrams of the linkage structure in the embodiment of the present application.

[0045] Figure 5B It is the second schematic structural diagram of the linkage structure in the embodiment of the present application.

[0046] Figure 6A It is one of the assembly schematic diagrams of the linkage structure and the clamping structure in the embodiment of the present application.

[0047] Figure 6BThis is the second assembly schematic diagram of the linkage structure and the clamping structure in the embodiment of the present application.

[0048] Figure 6C This is the third assembly schematic diagram of the linkage structure and the clamping structure in the embodiment of the present application. Detailed implementation manners

[0049] To make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0050] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0051] The micro-pushing device provided by the embodiment of the present application is applied to a surgical robot. For this purpose, the surgical robot may include: a robotic arm and a micro-pushing device. A syringe mounting seat is assembled at the end of the robotic arm, and a syringe cannula module is assembled on the syringe mounting seat; the micro-pushing device includes a micro-pushing structure, a clamping structure, and a linkage structure. A syringe plunger module is assembled on the micro-pushing structure; the clamping structure clamps at the end of the robotic arm and is connected to the micro-pushing structure through the linkage structure; when the linkage structure slides along the clamping structure, it drives the micro-pushing structure to slide, and the syringe plunger module slides under the drive of the micro-pushing structure, so that the medical medium is pushed from the syringe plunger module to the syringe cannula module and reaches the lesion position of the patient through the syringe cannula module; when the linkage structure is fixed relative to the clamping structure, the micro-pushing structure drives the syringe plunger module to slide, so that the medical medium is pushed from the syringe plunger module to the syringe cannula module and reaches the lesion position of the patient through the syringe cannula module.

[0052] During use, by controlling the robotic arm to move to a specified position, on this basis, the micro-pushing device provided by the embodiment of the present application is used to push the medical medium to the lesion position of the patient.

[0053] Here, it should be noted that the following exemplary description of the micro-pushing device also applies to the surgical robot. The surgical robot is not particularly limited. For example, it can be a neurosurgical robot or a dental surgical robot.

[0054] The following embodiments exemplarily illustrate the above micro-pushing device.

[0055] Figure 1 It is a schematic structural diagram of a micro-pushing device. As Figure 1 shown, for the convenience of explaining the use of the micro-pushing device, Figure 1 the end 100 of the robotic arm is schematically shown.

[0056] The micro-pushing device includes: a micro-pushing structure 101, a clamping structure 102, and a linkage structure 103. A syringe plunger module 104 is assembled on the micro-pushing structure 101; the clamping structure 102 clamps the end 100 of the robotic arm and is connected to the micro-pushing structure 101 through the linkage structure 103;

[0057] When the linkage structure 103 slides along the clamping structure 102, it drives the micro-pushing structure 101 to slide, and the syringe plunger module 104 slides under the drive of the micro-pushing structure 101, so that the medical medium is pushed from the syringe plunger module 104 to the syringe cannula module 105 and reaches the lesion position of the patient through the syringe cannula module 105;

[0058] When the linkage structure 103 is fixed relative to the clamping structure 102, the micro-pushing structure 101 drives the syringe plunger module 104 to slide, so that the medical medium is pushed from the syringe plunger module 104 to the syringe cannula module 105 and reaches the lesion position of the patient through the syringe cannula module 105.

[0059] Exemplarily, referring to Figure 1 , the syringe plunger module 104 includes: a syringe plunger 114 and a syringe housing 124. The syringe housing 124 contains the medical medium. The micro-pushing structure 101 pushes the syringe plunger 114 to slide in the inner cavity of the syringe housing 124, so that the medical medium is pushed from the syringe plunger module 104 to the syringe cannula module 105.

[0060] The medical medium is determined according to the application scenario, such as it can be a liquid medicine or cells.

[0061] Figure 2A It is one of the schematic diagrams of the micro-pushing structure in the embodiments of the present application. Figure 2B It is the second schematic diagram of the micro-pushing structure in the embodiments of the present application. As Figure 2A shown, the micro-pushing structure is described in combination with the clamping structure. The micro-pushing structure 101 includes: a power source 111, a transmission structure 121, and a sliding structure 131. The power source 111 is connected to the transmission structure 121, and the power generated by the power source 111 is transmitted to the sliding structure 131 through the transmission structure 121, so that the sliding structure 131 slides to drive the syringe plunger module 104 to slide, so that the medical medium is pushed from the syringe plunger module 104 to the syringe cannula module 105 and reaches the lesion position of the patient through the syringe cannula module 105.

[0062] A housing may be provided around the power source 111, the transmission structure 121, and the sliding structure 131 ( Figure 2A - 2B not shown in the figure) to enclose the power source 111, the transmission structure 121, and the sliding structure 131 within the housing.

[0063] Refer to Figure 2A - Figure 2B As shown, the power source 111 includes: a motor 1111 and a motor mounting seat 1112. The transmission structure 121 includes a lead screw. The sliding structure 131 includes a sliding block 1311 and a guide rail 1312. The motor is, for example, a stepper motor.

[0064] The motor 1111 is assembled on the motor mounting seat 1112 and connected to the lead screw to drive the lead screw to rotate.

[0065] The sliding block 1311 is sleeved on the lead screw and can slide along the guide rail 1312 under the drive of the rotation of the lead screw.

[0066] The syringe plunger module 104 straddles the motor mounting seat 1112. One end is assembled on the sliding block 1311, and the other end is communicated with the syringe barrel module 105. When the sliding block 1311 slides along the guide rail 1312, the syringe plunger module 104 is driven to slide, so that the medical medium is pushed from the syringe plunger module 104 to the syringe barrel module 105 and reaches the lesion site of the patient through the syringe barrel module 105.

[0067] Figure 3 This is a schematic diagram of the micro-pushing structure in the embodiment of the present application. As Figure 3 shown, omitting the end of the robotic arm, a groove S is provided on the sliding block 1311, and one end of the syringe plunger module 104 is stuck in the groove S. Exemplarily, specifically, the syringe plunger 114 is stuck in the groove S.

[0068] Refer to Figure 3 again. A bridging bracket D is provided on the motor mounting seat 1112, so that the syringe plunger module 104 straddles the motor mounting seat 1112. One end is assembled on the sliding block 1311, and the other end is communicated with the syringe barrel module 105.

[0069] Exemplarily, a control signal can be sent to the motor by the host computer to control the rotation of the motor, and then drive the lead screw to rotate, so as to realize the electric control of the micro-pushing structure. When the rotation of the motor is not controlled by the host computer, the micro-pushing structure can be driven to slide by sliding the above-mentioned linkage structure along the clamping structure, which is equivalent to realizing the manual control of the micro-pushing structure. Alternatively, the distance between the syringe plunger module 104 and the lesion site can be accurately controlled by combining manual control and electric control.

[0070] Refer to Figure 3, a nut F is engaged with a lead screw. The nut is fixed to a slider 1311. During the rotation of the lead screw, the nut is driven to move, and then the slider 1311 is driven to slide along a guide rail 1312.

[0071] Figure 4A One of the schematic diagrams of the syringe cannula module in the embodiment of the present application. Figure 4D Another schematic diagram of the syringe cannula module in the embodiment of the present application. As Figure 4A , Figure 4D As shown, the syringe cannula module 105 includes: an injection needle cannula 115 and an injection needle adapter 125. The injection needle adapter 125 is assembled at the end 100 of the robotic arm, and the injection needle cannula 115 is assembled in the injection needle adapter 125 to inject the medical medium pushed by the syringe plunger module 104 into the lesion site of the patient. For example, specifically, the medical medium from the syringe housing 124 is pushed into the injection needle cannula 115.

[0072] Exemplarily, the syringe housing 124 and the injection needle cannula 115 can be communicated, so as to facilitate the medical medium to flow from the syringe plunger module into the injection needle cannula 115 of the syringe cannula module and reach the lesion site.

[0073] Figure 4B The installation schematic diagram of the injection needle cannula in the embodiment of the present application. The injection needle adapter 125 has a concave platform E to assemble the injection needle cannula 115 in the injection needle adapter 125 through the concave platform E to prevent the injection needle cannula 115 from shaking.

[0074] Figure 4C The internal schematic diagram of the syringe cannula module in the embodiment of the present application. As Figure 4C shown, the syringe cannula module 105 includes: an injection needle cannula inner core 135, which is assembled in the injection needle cannula 115 before the working end of the syringe cannula module 105 reaches the lesion site and is taken out from the injection needle cannula 115 after reaching the lesion site, so as to prevent part of the human tissue from entering the injection needle cannula 115 during the process of the injection needle cannula 115 penetrating into the lesion of the patient, causing blockage, so that the medical medium cannot reach the lesion site. For example, if the lesion site is in the brain, it can be avoided that when the injection needle cannula 115 enters the precise brain nucleus, part of the brain tissue enters the injection needle cannula 115, causing the cannula to be blocked and possibly causing more damage to other tissues of the patient.

[0075] Exemplarily, the length of the injection needle cannula inner core 135 is slightly longer than the length of the injection needle cannula 115, so as to effectively avoid the entry of human tissue into the injection needle cannula 115 during the process of the injection needle cannula 115 penetrating into the lesion of the patient, causing blockage, and can effectively reduce the damage to the normal tissues of other parts of the patient.

[0076] In addition, an injection needle 145 is disposed within the injection needle cannula 115. The length of the injection needle 145 is longer than that of the injection needle cannula 115, thereby avoiding excessive damage to the patient. When the lesion is located in the brain, it is possible to avoid the thicker cannula directly entering the precise brain nucleus, and only let the thinner injection needle enter the brain nucleus, thereby reducing the brain damage caused during the operation. By providing the inner core 135 of the injection needle cannula, it is also possible to prevent brain tissue from entering the injection needle 145 during the penetration into the patient's lesion, causing blockage of the injection needle 145.

[0077] Exemplarily, when the working end of the injection needle cannula 115 reaches the lesion position, the inner core 135 of the injection needle cannula is removed, and then the injection needle cannula 115 is docked with the syringe housing 124 to make them communicate, facilitating the flow of the medical medium.

[0078] Exemplarily, referring to Figure 4B 、 4C shown, the injection needle adapter 125 can be a split structure, facilitating the assembly of the injection needle cannula 115 into the injection needle adapter 125, and the removal of the injection needle cannula 115 and the inner core 135 of the injection needle cannula from the injection needle adapter 125. The split structure can be fastened together by a screw-nut structure.

[0079] Referring to the above Figure 4A , the end 100 of the robotic arm is equipped with an instrument fixing structure 100A, and the injection needle adapter 125 is assembled on the instrument fixing structure 100A.

[0080] Exemplarily, the instrument fixing structure 100A can be a claw-shaped structure, which can include a base and a claw structure. The base is assembled at the end 100 of the robotic arm, the claw structure is assembled on the base, and the injection needle adapter 125 is assembled on the claw structure, thereby realizing the assembly of the injection needle adapter 125 on the instrument fixing structure 100A.

[0081] Here, the specific structure of the instrument fixing structure 100A is only for illustrative purposes and is not a unique limitation.

[0082] Figure 5A One of the schematic structural diagrams of the linkage structure according to the embodiment of the present application; Figure 5B One of the schematic structural diagrams of the linkage structure according to the embodiment of the present application. To cooperate with the description of the linkage structure, Figure 5A 、 Figure 5B shows a part of the structure of the micro-pushing structure, and the clamping structure is omitted. As Figure 5A 、 5BAs shown, the linkage structure 103 includes: a connecting rod 113 and a first clamping unit 123. The connecting rod 113 is movably connected to the first clamping unit 123. The first clamping unit 123 is assembled on the connecting rod 113 and clamped on a fixed shaft 133. Moreover, the micro-pushing structure 101 is fixed on the fixed shaft 133, so that the linkage structure 103 is bridged between the clamping structure 102 and the micro-pushing structure 101.

[0083] Exemplarily, the motor mount is installed on the fixed shaft and then clamped on the fixed shaft by the first clamping unit, thereby realizing the assembly of the micro-pushing structure on the linkage structure. Additionally, by adjusting the position of the linkage structure on the fixed shaft, the distance between the injection needle cannula 115 and the lesion site can be adjusted.

[0084] See Figure 5A - 5B As shown, the linkage structure 103 further includes: a locking unit 143, connected to the first clamping unit 123, for adjusting the clamping force of the first clamping unit 123 and the micro-pushing structure 101 on the fixed shaft 133. The locking unit can be, for example, a manual structure.

[0085] During the locking process, the clamping degree of the first clamping unit 123 is increased, thereby enhancing the clamping force. Of course, by reducing the clamping degree of the first clamping unit 123, the clamping force is reduced, facilitating the removal of the micro-pushing structure 101 and the clamping structure.

[0086] The above linkage structure will be further exemplarily described below in conjunction with the clamping structure.

[0087] Figure 6A It is one of the assembly schematic diagrams of the linkage structure and the clamping structure in the embodiment of the present application. Figure 6B It is the second assembly schematic diagram of the linkage structure and the clamping structure in the embodiment of the present application. Figure 6C It is the third assembly schematic diagram of the linkage structure and the clamping structure in the embodiment of the present application.

[0088] As Figure 6A - 6C shown, the clamping structure 102 includes: a main body frame 112; a position adjustment unit 122, arranged on the main body frame 112 and connected to the linkage structure 103 to drive the linkage structure 103 to slide along the main body frame 112.

[0089] Furthermore, in the linkage structure 103, one end of the connecting rod 113 is provided with a first clamping unit 123, and the other end is provided with a sliding wing 153 and a slider 163. The sliding wing 153 is arranged on both the left and right sides of the slider 163 and straddles the main body frame 112. The slider 163 is located in the main body frame, so that the slider 163 can slide along the lead screw 1222.

[0090] The main body frame is provided with a hollow part. The slider 1121 is accommodated in the hollow part, and the sliding wings 1122 are sleeved on the left and right sides of the hollow part, so that the connecting rod 113 is integrally sleeved on the main body frame 101, enabling the linkage structure to slide along the main body frame 101.

[0091] A slideway C is provided on the main body frame 112, such that the connecting rod 113 slides along the slideway C when sliding along the main body frame 112. This slideway is, for example, provided in the hollow part, thereby enabling the two sliders to be embedded in the main body frame and slide along the main body frame.

[0092] Furthermore, scale marks can be provided on the main body frame, facilitating the precise control of the sliding distance of the linkage structure relative to the clamping structure, further driving the micro-pushing structure to slide, so as to control the distance of the micro-pushing structure relative to the lesion position.

[0093] Exemplarily, as Figure 6A - Figure 6C shown, the position adjustment unit 122 includes:

[0094] A driving force unit 1221, provided at one end of the main body frame 112, for generating a driving force;

[0095] A transmission unit 1222, extending from one end to the other end of the main body frame 112, penetrating through the main body frame 112 and connected to the connecting rod 113 to drive the connecting rod 113 to slide along the main body frame 112.

[0096] The driving force unit 1221 can be a manual driving mode or an electric driving mode. The transmission unit 1222 can be based on a bearing or a lead screw mode.

[0097] Specifically, in this embodiment, the driving force unit 1221 can be manually driven, specifically a rotating handle; and the transmission unit 1222 is, for example, a lead screw specifically.

[0098] Specifically, if the main body frame 101 is a frame structure, that is, there is a hollow part on the main body frame, the lead screw passes through the hollow part, and one end of the lead screw is connected to the driving force unit 1221 provided at one end of the main body frame, and the other end is connected to the other end of the main body frame. Specifically, the lead screw passes through the slider 163, and by rotating the driving force unit 1221, such as a rotating handle, the lead screw is driven to rotate, thereby driving the slider 163 to slide, and further driving the linkage structure 103 to slide along the main body frame 101.

[0099] Referring to Figure 6A shown, the clamping structure 102 further includes: a second clamping unit 132, connected to the main body frame 112 and clamping at the end 100 of the robotic arm. For example, the second clamping unit 132 is connected to the main body frame 112 through a connecting rod 142. This connecting rod is, for example, a hollow structure, thereby reducing the weight of the clamping structure.

[0100] Specifically, the second clamping unit 132 includes an adjusting handle 1321, a locking lead screw (not shown in the figure), a lead screw base 1322, and a clamping end 1323. The locking lead screw is disposed on the lead screw base 1322. The locking lead screw is connected to the adjusting handle 1321. The adjusting handle 1321 drives the locking lead screw to rotate to adjust the tightness of the clamping of the second clamping unit 114 at the end of the robotic arm, so as to adapt to the ends of robotic arms of different size specifications.

[0101] The clamping end 1323 may include, for example, a limiting ring 13231 and a locking rod 13232. The locking rod is connected between the two limiting rings so that the limiting ring 1141 can slide along the locking rod to clamp the end of the robotic arm.

[0102] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0103] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0104] The above embodiments are only specific embodiments of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit it. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: Any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions recorded in the foregoing embodiments or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A micro-pushing device applied to a surgical robot, characterized in that, The end of the robotic arm of the surgical robot is equipped with a syringe mounting seat, and a syringe cannula module is mounted on the syringe mounting seat; The micro-pushing device includes: a micro-pushing structure, a clamping structure, and a linkage structure. A syringe plunger module is mounted on the micro-pushing structure; the clamping structure clamps the end of the robotic arm and is connected to the micro-pushing structure through the linkage structure; When the linkage structure slides along the clamping structure, it drives the micro-pushing structure to slide, and the syringe plunger module slides under the drive of the micro-pushing structure, so that the medical medium is pushed from the syringe plunger module to the syringe cannula module and reaches the lesion position of the patient through the syringe cannula module; When the linkage structure is fixed relative to the clamping structure, the micro-pushing structure drives the syringe plunger module to slide, so that the medical medium is pushed from the syringe plunger module to the syringe cannula module and reaches the lesion position of the patient through the syringe cannula module; [[ID= ​ 2. The micro-pushing device according to claim 1, characterized in that ​ 3. The micro-pushing device according to claim 1, characterized in that, ​ ​ ​ ​ ​ 4. The micro-pushing device according to claim 1, characterized in that, ​ 5. The micro-pushing device according to claim 4, characterized in that, ​ 6. The micro-pushing device according to claim 1, characterized in that, ​ ​ ​ 7. The micro-pushing device according to claim 6, characterized in that, ​ A driving force unit is provided at one end of the main frame and is used to generate a driving force; A transmission unit is arranged along one end to the other end of the main frame, penetrates through the main frame, and is connected to the connecting rod to drive the connecting rod to slide along the main frame.

8. A surgical robot, characterized in that, It includes: A robotic arm, a micro-pushing structure, a clamping structure, and a linkage structure. A syringe assembly seat is assembled at the end of the robotic arm, and a syringe cannula module is assembled on the syringe assembly seat; A syringe plunger module is assembled on the micro-pushing structure; the clamping structure clamps at the end of the robotic arm and is connected to the micro-pushing structure through the linkage structure; When the linkage structure slides along the clamping structure, it drives the micro-pushing structure to slide, and the syringe plunger module slides under the drive of the micro-pushing structure, so that the medical medium is pushed from the syringe plunger module to the syringe cannula module and reaches the lesion position of the patient through the syringe cannula module; When the linkage structure is fixed relative to the clamping structure, the micro-pushing structure drives the syringe plunger module to slide, so that the medical medium is pushed from the syringe plunger module to the syringe cannula module and reaches the lesion position of the patient through the syringe cannula module; The micro-pushing structure includes: a power source, a transmission structure, and a sliding structure. The power source is connected to the transmission structure, and the power generated by the power source is transmitted to the sliding structure through the transmission structure, so that the sliding structure slides to drive the syringe plunger module to slide, so that the medical medium is pushed from the syringe plunger module to the syringe cannula module and reaches the lesion position of the patient through the syringe cannula module; The linkage structure includes: a connecting rod and a first clamping unit. The connecting rod is movably connected to the first clamping unit. The first clamping unit is assembled on the connecting rod. The first clamping unit clamps on a fixed shaft, and the micro-pushing structure is fixed on the fixed shaft, so that the linkage structure straddles between the clamping structure and the micro-pushing structure.

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