Assistive therapy system

Abstract

The present invention discloses an auxiliary treatment system, which comprises: a manipulator, the manipulator comprises a palm and a plurality of fingers, the plurality of fingers are arranged at intervals on the palm, each of the fingers comprises a flexible connection tube and a mounting sleeve, the mounting sleeve is flexibly connected to the palm and sleeved outside the flexible connection tube, one end of the flexible connection tube passes through the mounting sleeve and extends into the palm, and a first driving member and a treatment device are arranged near the other end of the flexible connection tube, the first driving member is connected to the treatment device and is used to drive the treatment device to extend out of the flexible connection tube or retract into the flexible connection tube; a terminal system, the terminal system is electrically connected to the manipulator, and is used to train and control the manipulator to work; a display, the display is electrically connected to the terminal system and the manipulator respectively. The present invention improves surgical accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an auxiliary treatment system. Background Art

[0002] With the development of the times, humans have conquered many difficult and complicated diseases, but many diseases remain unsolved. These involve the precise completion of surgery, which cannot be accurately completed by humans at this stage. For example, in cases of thoracoscopic surgery, the surgeon may experience chest pain after surgery. This is because even highly skilled human doctors cannot avoid damaging the patient's intercostal nerves during surgery. For example, when performing nasal examinations on patients with rhinitis, the examining doctor cannot fully and carefully examine every part of the nasal cavity, and the surgery is generally performed after the internal examination. The two cannot be performed together, and the patient must run back and forth between several departments.

[0003] In summary, it can be seen that human doctors lack accuracy when performing surgery.

[0004] In view of the above-mentioned defects, it is necessary to provide a new auxiliary treatment system. Summary of the Invention

[0005] The main purpose of the present invention is to provide an auxiliary treatment system, which aims to solve the problem of insufficient precision of human doctors when performing surgery.

[0006] To achieve the above objectives, the present invention provides an auxiliary treatment system, which includes:

[0007] A manipulator comprising a palm and a plurality of fingers, wherein the plurality of fingers are spaced apart on the palm, each finger comprising a flexible connecting tube and a mounting sleeve, wherein the mounting sleeve is flexibly connected to the palm and sleeved on the outside of the flexible connecting tube, one end of the flexible connecting tube passes through the mounting sleeve and extends into the palm, and a first driving member and a therapeutic device are provided near the other end of the flexible connecting tube, wherein the first driving member is connected to the therapeutic device and is used to drive the therapeutic device to extend out of or retract into the flexible connecting tube;

[0008] a terminal system, the terminal system being electrically connected to the manipulator and being used to train and control the manipulator to perform work;

[0009] A display is electrically connected to the terminal system and the manipulator respectively.

[0010] Optionally, a plurality of hose actuators are provided in the flexible connecting tube, the plurality of hose actuators are arranged at intervals and a movement gap is formed between any two adjacent hose actuators, conductors are provided at both ends of each hose actuator, and the terminal system can energize the conductors to make any two adjacent hose actuators move closer to or away from each other and drive the flexible connecting tube to expand and contract.

[0011] Optionally, the manipulator also includes a flexible protective tube, which is sleeved on the outside of the flexible connecting tube, and a through hole is opened on the flexible protective tube; a second driving member and a first reel are provided in the palm, and the flexible connecting tube extends from the through hole and is wound around the outside of the first reel, and the second driving member is used to drive the first reel to rotate so that the first reel can retract or release the flexible connecting tube relative to the flexible protective tube.

[0012] Optionally, a third driving member and a second reel are further provided in the palm, the flexible protective tube is wound around the second reel, and the third driving member is used to drive the second reel to rotate so that the second reel retracts or releases the flexible protective tube.

[0013] Optionally, the finger also includes a plurality of protective flaps, which are arranged outside the mounting sleeve along the outer periphery of the mounting sleeve, and the protective flaps are located at the end of the mounting sleeve away from the palm and are rotatably connected to the mounting sleeve; a fourth driving member is installed on the mounting sleeve, and the fourth driving member is used to drive the plurality of protective flaps to move away from or approach each other so that the mounting sleeve is exposed or covered.

[0014] Optionally, the protective flap shell has two oppositely arranged side edges, the distance between the two side edges is gradually reduced in the direction away from the mounting sleeve, and the protective flap shell protrudes outward to form an avoidance groove, and a protective strip is provided around the notch of the avoidance groove.

[0015] Optionally, the manipulator further includes a turntable, a mounting post and a fifth driving member, the turntable is mounted on the mounting post, the palm is mounted on the turntable, and the fifth driving member is used to drive the turntable to rotate relative to the mounting post.

[0016] Optionally, the palm is provided with a plurality of flexible telescopic parts, and one flexible telescopic part is provided between any two adjacent mounting sleeves.

[0017] Optionally, the treatment device is an electron microscope device or a surgical device, the electron microscope device is used to detect the internal conditions of the human body, and the surgical device is used to cooperate with the electron microscope device and perform surgery.

[0018] Optionally, the electron microscope device is further provided with a temperature sensor, a humidity sensor, an infrared sensor, an air pressure sensor, a micro camera and a displacement sensor.

[0019] In the technical solution of the present invention, a manipulator can replace a doctor in performing minimally invasive surgery, thereby improving the accuracy of the surgery; through the flexible connecting tube, the first driving member and the treatment device provided in the manipulator, the first driving member can drive the flexible connecting tube so that the treatment device connected to the flexible connecting tube can freely extend and retract or perform other movements to complete the surgery on the patient; through the mounting sleeve provided in the manipulator, the internal flexible connecting tube can be protected, while cooperating with other fingers and palms to achieve the picking up of objects. Through the terminal system electrically connected to the manipulator, the manipulator can be trained and the scene simulation can be performed to achieve the best surgical conditions. At the same time, the terminal system can also be used to control the manipulator, realizing the entire medical auxiliary treatment environment, so that the manipulator reaches a high level of surgical level. Through the displays respectively connected to the terminal system and the manipulator, the patient's surgical site can be observed during surgery, and the manipulator-related data can be displayed, so that the user can fully understand the surgical situation and improve the accuracy of the surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0021] Figure 1 This is a structural diagram of an embodiment of an auxiliary treatment system;

[0022] Figure 2 This is a schematic diagram of the connection between the flexible connecting tube and the treatment device according to one embodiment;

[0023] Figure 3 It is a structural schematic diagram of an embodiment of a flexible connecting pipe internal hose actuator;

[0024] Figure 4 Schematic diagram of the scenario for driving the flexible connecting tube and the flexible protective tube to move;

[0025] Figure 5 It is a schematic diagram of the structure when the protective valve shell is closed;

[0026] Figure 6 It is a schematic diagram of the structure when the protective valve shell is opened;

[0027] Figure 7 is a structural schematic diagram of a fourth driving member;

[0028] Figure 8 This is a schematic diagram of the flexible connecting tube extending from the flexible protective tube inside the finger;

[0029] Figure 9 This is a schematic diagram of the structure of the flexible protective tube inside the finger;

[0030] Figure 10 Schematic diagram of surgical equipment or electron microscope equipment inside the flexible connecting tube inside the finger.

[0031] Description of Figure Numbers:

[0032] Label name Label name 01 monitor 02 terminal system 03 Control Module 10 Robot 11 protective strips 12 Protective valve shell 13 Joint soft tissue 14 Flexible telescopic parts 15 Mounting Column 16 Protective valve housing rotation axis 18 Mounting sleeve 19 palm 22 Flexible protective tube 23 Flexible connecting pipe 24 Treatment equipment 25 surgical equipment 26 Electron microscope equipment 27 Second reel 28 First reel 29 turntable 30 finger 231 convex groove 232 Exercise gap 234 Conductors 235 Conductors 241 groove 2411 First driving member 2311 First driving member 181 Fourth driving member 121 Fourth driving member

[0033] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0035] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0036] In addition, the terms "first," "second," and so on, used in this disclosure are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referenced. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this disclosure, "plurality" means at least two, such as two or three, unless otherwise specifically defined.

[0037] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0038] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0039] The present invention proposes an auxiliary treatment system, which aims to solve the problem of insufficient precision of human doctors when performing surgery.

[0040] Please refer to Figure 1 and Figure 2 , Figure 1 This is a structural diagram of the auxiliary treatment system. Figure 2 is a schematic diagram of the connection between the flexible connecting tube and the treatment equipment;

[0041] The auxiliary treatment system of the present invention includes a manipulator 10, which includes a palm 19 and multiple fingers 30. The multiple fingers 30 are arranged at intervals on the palm 19, and each finger 30 includes a flexible connecting tube 23 and a mounting sleeve 18. The mounting sleeve 18 is flexibly connected to the palm 19 and is sleeved on the outside of the flexible connecting tube 23. One end of the flexible connecting tube 23 passes through the mounting sleeve 18 and extends into the palm 19, and a first driving member 2411 and a treatment device 24 are provided near the other end of the flexible connecting tube 23. The first driving member 2411 is connected to the treatment device 24 and is used to drive the treatment device 24 to extend out of the flexible connecting tube 23 or retract into the flexible connecting tube 23; a terminal system 02, the terminal system 02 is electrically connected to the manipulator 10; a display 01, the display 01 is electrically connected to the terminal system 02 and the manipulator 10 respectively.

[0042] In this embodiment, the number of fingers 30 in the manipulator 10 can be 1, 2, 3 or 5, etc. Those skilled in the art can set different numbers of fingers 30 according to the usage scenario, and the present invention is not limited here. A mounting sleeve 18 is provided in each finger 30 to achieve a flexible connection between the finger 30 and the palm 19, and to achieve the bending of the finger 30. When there are multiple fingers 30, the other fingers 30 can be used to pick up items, while also protecting the flexible connecting tube 23 provided in the mounting sleeve 18. The finger 30 also includes a flexible connecting tube 23 provided in the mounting sleeve 18. A plurality of actuators are provided in the flexible connecting tube 23, which can achieve the extension and free movement of the flexible connecting tube 23. One end of the flexible connecting tube 23 passes through the mounting sleeve 18 and penetrates into the palm 19, and a first driving member 2411 and a treatment device 24 are provided near the other end of the flexible connecting tube 23. For details, please refer to Figure 2The end of the flexible connecting tube 23 connected to the treatment device 24 is provided with a groove 231, and the end of the treatment device 24 connected to the flexible connecting tube 23 is provided with a protrusion 241. A first driving member 2411 is provided on the surface of both the groove 231 and the protrusion 241. Specifically, the first driving member 2411 is an electromagnetic induction device. When the electromagnetic induction device is energized, the electromagnetic force between one end of the treatment device 24 and one end of the flexible connecting tube 23 is changed by adjusting the current of the two electromagnetic induction devices, thereby causing the treatment device 24 to extend and retract. When the treatment device 24 is needed, the treatment device 24 is moved out, and when it is not needed, the treatment device is retracted into the flexible connecting tube 23. The treatment device 24 includes an electron microscope and a surgical device. It should be noted that the electron microscope and the surgical device are respectively provided on different fingers 30.

[0043] The terminal system 02 is electrically connected to the manipulator 10 and is used to train and control the manipulator 10. The terminal system 02 also includes a control module 03. The display 01 can be used to display detailed data on the operating area during training or surgical operations performed by the terminal system 02. For example, the process of using the terminal system 02, display 01, and manipulator 10 to perform treatment training on a patient with rhinitis is as follows: Specifically, the terminal system 02 includes a control module 03. Under the control of the control module 03, the flexible connecting tube 23 is controlled, and the first drive member 2411 of the control system is used to move the electron microscope in the treatment device 24. Then, the human body is subjected to a detection training in the experimental phase. By spraying physiological saline on the rhinitis patient (this process can be performed by other functional fingers 30 of the manipulator 10, similar to the robot fingers 30 equipped with electron microscopes or surgical instruments), by varying the spray dosage, spray pressure, and other variables, the sensors in the electron microscope detect the spray process feedback that best suits the patient. Based on the feedback, the surgical instrument is controlled to perform appropriate localized abnormality excision. In addition, the surgical equipment in the treatment device 24 can also be trained on simulated human skin and flesh tissue to seek to minimize wound damage and optimize suturing, and feed back a series of real-time experimental detection data to the display 01 for display.

[0044] In the technical solution of the present invention, a manipulator 10 can replace a doctor in performing minimally invasive surgery, improving surgical accuracy. The flexible connecting tube 23, first drive member 2411, and treatment device 24 provided in the manipulator 10 enable the first drive member 2411 to drive the flexible connecting tube 23, allowing the treatment device 24 connected to the flexible connecting tube 23 to freely extend or retract, or perform other movements, thereby completing the operation on the patient. The mounting sleeve 18 provided in the manipulator 10 protects the flexible connecting tube 23 within, while cooperating with the other fingers 30 and palm 19 to pick up objects. A terminal system 02 electrically connected to the manipulator 10 can train the manipulator 10 and perform scenario simulations to achieve optimal surgical conditions. The terminal system 02 can also be used to control the manipulator 10, creating a complete medical-assisted treatment environment and enabling the manipulator 10 to achieve a high level of surgical proficiency. A display 01 connected to the terminal system 02 and the manipulator 10, respectively, allows observation of the patient's surgical site during surgery and displays data related to the manipulator 10, allowing the user to fully understand the surgical situation and improve surgical accuracy.

[0045] Among them, such as Figure 3 As shown, Figure 3 Schematic diagram of the structure of the hose actuator inside the flexible connecting tube; as an embodiment, the flexible connecting tube 23 is provided with a plurality of hose actuators 233, the plurality of hose actuators 233 being arranged at intervals and a movement gap 232 being formed between any two adjacent hose actuators 233, and a conductor 235 (234) being provided at both ends of each hose actuator 233. It should be noted that reference numerals 235 and 245 represent similar components and are denoted by the same names. In the following embodiments, they are all similar components and will not be described in detail. The terminal system 02 can energize the conductors 235 (234) to move any two adjacent hose actuators 233 closer to or farther from each other and drive the flexible connecting tube 23 to expand and contract.

[0046] For theoretical support in this embodiment, please refer to the document "Soft Wall-Climbing Robots," published on Web of Science on December 19, 2018. This document describes an actuator capable of rapid, cyclical deformation, enabling the robot's climbing motion. In this embodiment, the number of hose actuators 233 is at least two. Those skilled in the art may also configure a different number of hose actuators 233 as needed to achieve movement of the flexible connecting tube 23. Motion gaps 232 are formed between the multiple hose actuators 233 to accommodate deformation of the hose actuators 233 and enable autonomous movement of the hose actuators 233. Conductors 235 (234) are provided at both ends of the hose actuator 233. When the conductors 235 (234) are energized by the control module 03 in the terminal system 02, the voltage between the conductors 235 (234) at both ends of the hose actuator 233 can be changed to cause the hose actuator 233 to deform, such as to expand or contract, thereby causing any two adjacent hose actuators 233 to move closer to or further away from each other and drive the flexible connecting tube 23 to expand or contract. One side of the hose actuator 233 can also be controlled to expand or contract, causing the flexible connecting tube 23 to bend, etc. By controlling the expansion and contraction of the flexible connecting tube 23, the movement of the treatment device 24 connected to the flexible connecting tube 23 can be flexibly controlled. In addition, since the flexible connecting tube 23 is provided on the mounting sleeve 18, the movement of the flexible connecting tube 23 can also drive the mounting sleeve 18 to move, completing operations such as picking up items.

[0047] Further, if Figure 4 As shown, Figure 4 This is a schematic diagram of driving the flexible connecting tube and the flexible protective tube to move. As another embodiment, the manipulator 10 further includes a flexible protective tube 22, which is sleeved outside the flexible connecting tube 23 and located inside the mounting sleeve 18. A through hole (not shown) is defined in the flexible protective tube 22. A second driving member (not shown) and a first reel 28 are disposed within the palm 19. The flexible connecting tube 23 extends from the through hole (not shown) and is wound around the first reel 28.

[0048] Furthermore, a third driving member (not shown) and a second reel 27 are provided in the palm 19 , and the flexible protective tube 22 is wound around the second reel 27 ;

[0049] In this embodiment, the manipulator 10 further includes a flexible protective tube 22 positioned between the mounting sleeve 18 and the flexible connecting tube 23. A through hole (not shown) is provided on the side of the flexible protective tube 22 near the palm 19 for exposing the flexible connecting tube 23 disposed therein and protecting the flexible protective tube 22. A second driving member (not shown) and a first reel 28 are disposed within the palm 19. The second driving member (not shown) is a micromotor configured to drive the first reel 28 to rotate, thereby retracting or extending the flexible connecting tube 23 relative to the flexible protective tube 22, thereby achieving the retraction and extension of the flexible protective tube 22.

[0050] The third drive member (not shown) is a micromotor that drives the second reel 27 to rotate, thereby retracting or extending the flexible protective tube 22. For example, when a surgical procedure is required, the third drive member (not shown) can be driven to rotate the second reel clockwise, extending the flexible connecting tube 23 and, in turn, releasing the therapeutic device 24 within the flexible connecting tube 23 to facilitate surgical procedures. When the surgical procedure is not required, the third drive member (not shown) can be driven to rotate the second reel counterclockwise, retracting the flexible connecting tube 23 and stowing the therapeutic device 24 and the flexible connecting tube 23. Furthermore, the second and third drive members (not shown) can be configured to rotate at different speeds to achieve asynchronous extension and retraction of the flexible protective tube 22 and the flexible connecting tube 23.

[0051] In this embodiment, by providing a flexible protective tube 22, a second driving member (not shown), a first reel 28, a third driving member (not shown) and a second reel 27, the flexible protective tube 22 and the flexible connector can be retracted and extended, so that the therapeutic device 24 at one end of the flexible connector has a larger range of movement, thereby completing operations of different complexities.

[0052] In one embodiment, Figure 5 , Figure 6 As shown, Figure 7 As shown, Figure 5 This is a schematic diagram of the structure when the protective valve shell is closed. Figure 6 This is a schematic diagram of the structure when the protective valve shell is opened. Figure 7 Schematic diagram of the structure of the fourth driving member.

[0053] The finger 30 also includes a plurality of protective flaps 12, which are arranged outside the mounting sleeve 18 along the outer periphery of the mounting sleeve 18. The protective flaps 12 are located at one end of the mounting sleeve 18 away from the palm 19 and are rotatably connected to the mounting sleeve 18; a fourth driving member 181 (121) is installed on the mounting sleeve 18.

[0054] In this embodiment, the number of the protective flap shells 12 can be 2, 3, 4 or 5, etc., and those skilled in the art can set different numbers of protective flap shells 12 as needed, and the present invention does not limit this; the protective flap shells 12 are arranged along the outer periphery of the mounting sleeve 18 and outside the mounting sleeve 18, for protecting the above-mentioned flexible connecting tube 23 and flexible protective tube 22, and the protective flap shell 12 is located at one end of the palm 19 and is rotatably connected to the mounting sleeve 18. Specifically, a protective flap shell rotation axis 16 is provided between the protective flap shell 12 and the mounting sleeve 18, and the protective flap shell 12 can be driven by the fourth driving member 181 (121) to revolve around the protective flap shell rotation axis 16 to make the protective flap shells 12 move away from or close to each other so that the mounting sleeve 18 is exposed or shielded.

[0055] Among them, the fourth driving member 181 (121) is an electromagnetic induction device, and an electromagnetic induction device is provided on the surface of one end of the protective flap shell 12 connected to the mounting sleeve 18. Similarly, an electromagnetic induction device is provided on the end of the mounting sleeve 18 connected to the protective flap shell 12. When the electromagnetic induction device is energized, the magnetic force between the two end surfaces is changed by controlling the current on the two electromagnetic induction devices, thereby causing the protective flap shell 12 to rotate around the protective flap shell rotation axis 16.

[0056] In addition, the mounting sleeve 18 also includes a protective sleeve 20, which is arranged at an end away from the palm 19. The protective sleeve 20 and the mounting sleeve 18 are sealed by a joint software so that one end of the mounting sleeve 18 and the protective sleeve 20 can be bent, wherein the joint software is a flexible material, such as rubber, etc. The protective sleeve 20 is sleeved on the outside of the flexible protective tube 22 so that the flexible protective tube 22 can perform telescopic movement relative to the protective sleeve 20, and the protective valve shells 12 are close to or away from each other, so that the protective sleeve 20 in the mounting sleeve 18 is exposed or covers the protective sleeve 20.

[0057] In addition, in the above embodiment, the protective flap 12 has two oppositely disposed side edges, the distance between the two side edges is gradually reduced in the direction away from the mounting sleeve 18, and the protective flap 12 protrudes outward to form an escape groove, and the notch of the escape groove is surrounded by a protective strip 11;

[0058] In this embodiment, the avoidance groove is used to accommodate the protective sleeve 20, and the protective strip 11 provided at the notch of the avoidance groove is used to prevent the protective valve shells 12 from colliding and being damaged when multiple protective valve shells 12 approach each other.

[0059] In another embodiment, Figure 1and Figure 10 As shown, the manipulator 10 also includes a turntable 29, a mounting post 15 and a fifth driving member. The turntable 29 is mounted on the mounting post 15, and the palm 19 is mounted on the turntable 29. The fifth driving member is used to drive the turntable 29 to rotate relative to the mounting post 15.

[0060] In this embodiment, the fifth driving member can be a motor for driving the turntable 29 to rotate relative to the mounting column 15, so that the palm 19 connected to the turntable 29 can rotate with the turntable 29, providing the manipulator 10 with more movement directions.

[0061] Furthermore, the palm 19 has a plurality of flexible telescopic members 14 , and a flexible telescopic member 14 is provided between any two adjacent mounting sleeves 18 ;

[0062] In this embodiment, any two adjacent mounting sleeves 18 are sealed together by the flexible telescopic member 14. The flexible telescopic member 14 can be made of any flexible material, such as rubber, and the present invention does not limit the type of flexible material. By providing the flexible telescopic member 14 between the two mounting sleeves 18, the two fingers 30 can be extended and closed, completing the humanoid function of the manipulator 10 and meeting the need for picking up objects.

[0063] Furthermore, the treatment device 24 is an electron microscope device 26 or a surgical device 25;

[0064] Furthermore, the electronic microscope device 26 is provided with a temperature sensor, a humidity sensor, an infrared sensor, an air pressure sensor, a micro camera and a displacement sensor;

[0065] In this embodiment, the electron microscope device 26 is used to detect the internal conditions of the human body. Specifically, the temperature sensor is used to detect the temperature inside the human body, the humidity sensor is used to detect the humidity inside the human body, the air pressure sensor is used to detect the local air pressure inside the human body, the infrared sensor is used for physical local detection of the human body, the displacement sensor senses the position of the detection device inside the human body, and the miniature camera is used to monitor the detection part. The above series of sensors can be set at any position on the electron microscope device 26, and the present invention is not limited to this. The surgical device 25 can be equipped with a scalpel 261 and other equipment to perform surgery based on the data detected by the electron microscope. Since the present invention is used for minimally invasive surgery, the specification of the scalpel can be 3mm. This improves the success rate and accuracy of the surgery.

[0066] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An auxiliary treatment system, characterized in that: The auxiliary treatment system comprises: A manipulator, the manipulator comprises a palm and a plurality of fingers, the plurality of fingers are arranged on the palm at intervals, each of the fingers comprises a flexible connecting tube and a mounting sleeve, the mounting sleeve is flexibly connected to the palm and sleeved on the outside of the flexible connecting tube, one end of the flexible connecting tube passes through the mounting sleeve and extends into the palm, and a first driving member and a therapeutic device are arranged near the other end of the flexible connecting tube, the first driving member is connected to the therapeutic device and is used to drive the therapeutic device to extend out of the flexible connecting tube or retract into the flexible connecting tube, the finger further comprises a plurality of protective valve shells, the plurality of protective valve shells are arranged outside the mounting sleeve along the outer periphery of the mounting sleeve, the protective valve shells are located at one end of the mounting sleeve away from the palm and are rotatably connected to the mounting sleeve; a fourth driving member is installed on the mounting sleeve, the fourth driving member is used to drive the plurality of protective valve shells to move away from or approach each other so that the mounting sleeve is exposed or shielded; A terminal system, the terminal system is electrically connected to the manipulator and is used to train and control the manipulator to work; A display, the display being electrically connected to the terminal system and the manipulator respectively; Among them, a plurality of hose actuators are arranged in the flexible connecting tube, the plurality of hose actuators are arranged at intervals and a movement gap is formed between any two adjacent hose actuators, and conductors are arranged at both ends of each hose actuator. The terminal system can energize the conductors to make any two adjacent hose actuators approach or move away from each other and drive the flexible connecting tube to expand and contract.

2. The auxiliary treatment system according to claim 1, characterized in that: The manipulator also includes a flexible protective tube, which is sleeved on the outside of the flexible connecting tube and located in the mounting sleeve, and a through hole is opened on the flexible protective tube; a second driving member and a first reel are arranged in the palm, the flexible connecting tube extends from the through hole and is wound around the outside of the first reel, and the second driving member is used to drive the first reel to rotate so that the first reel can retract or release the flexible connecting tube relative to the flexible protective tube.

3. The auxiliary treatment system according to claim 2, characterized in that: A third driving member and a second reel are also provided in the palm, the flexible protective tube is wound around the second reel, and the third driving member is used to drive the second reel to rotate so that the second reel retracts or releases the flexible protective tube.

4. The auxiliary treatment system according to claim 1, characterized in that: The protective flap shell has two oppositely arranged side edges, the distance between the two side edges is gradually reduced in the direction away from the mounting sleeve, and the protective flap shell protrudes outward to form an avoidance groove, and a protective strip is arranged around the notch of the avoidance groove.

5. The auxiliary treatment system according to any one of claims 1 to 4, characterized in that: The manipulator further comprises a turntable, a mounting post and a fifth driving member, wherein the turntable is mounted on the mounting post, the palm is mounted on the turntable, and the fifth driving member is used to drive the turntable to rotate relative to the mounting post.

6. The auxiliary treatment system according to any one of claims 1 to 4, characterized in that: The palm is provided with a plurality of flexible telescopic parts, and one flexible telescopic part is arranged between any two adjacent mounting sleeves.

7. The auxiliary treatment system according to any one of claims 1 to 4, characterized in that: The treatment device is an electron microscope device or a surgical device. The electron microscope device is used to detect the internal conditions of the human body, and the surgical device is used to cooperate with the electron microscope device and perform surgery.

8. The auxiliary treatment system according to claim 7, characterized in that: The electronic microscope device is also provided with a temperature sensor, a humidity sensor, an infrared sensor, an air pressure sensor, a micro camera and a displacement sensor.

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