An adjustable bend sheath surgical robot

Abstract

This invention provides an adjustable curved sheath surgical robot, comprising a carriage, an adjusting arm, and an adjustable curved sheath electric control mechanism. A moving component is located at the bottom of the carriage for moving the adjustable curved sheath surgical robot; a lifting component is located on the carriage, the output end of which is connected to the head end of the adjusting arm for driving the adjusting arm to rise and fall. The end of the adjusting arm is connected to the adjustable curved sheath electric control mechanism, and the adjusting arm has a rotation joint and a pitch joint for driving the adjustable curved sheath electric control mechanism to rotate and pitch. The adjustable curved sheath electric control mechanism is used to install and operate the adjustable curved sheath. This invention replaces traditional manual surgery with an electrically controlled adjustable curved sheath surgical robot, which can reduce the burden on doctors and reduce the risk of transmission of lung infectious diseases.

Description

Technical Field

[0001] This invention belongs to the field of adjustable bending sheath technology, and particularly relates to an adjustable bending sheath surgical robot. Background Technology

[0002] With the development of medical technology, disease diagnosis and treatment are gradually moving towards intelligence, minimally invasive procedures, and precision. Examination of natural cavities in the human body, such as the bronchi and gastrointestinal tract, can be achieved through bronchoscopy or gastroscopy. Adjustable flexible sheaths are a key technology and structure of these flexible endoscopes.

[0003] Currently, adjustable bending sheaths are still operated manually by doctors during surgery, which carries the risk of infectious diseases and requires a high level of surgical skill from the doctors. Summary of the Invention

[0004] To address the above problems, the present invention provides an adjustable bending sheath surgical robot, including a trolley, an adjusting arm, and an adjustable bending sheath electric control mechanism;

[0005] The trolley is equipped with a moving component at its bottom for moving the adjustable bending sheath surgical robot; the trolley is equipped with a lifting component, the output end of which is connected to the head end of the adjusting arm for driving the adjusting arm to rise and fall.

[0006] The end of the adjusting arm is connected to the electric control mechanism of the adjustable bending sheath. The adjusting arm is provided with a rotation joint and a pitch joint, which are used to drive the electric control mechanism of the adjustable bending sheath to rotate and pitch.

[0007] The adjustable bendable sheath electric control mechanism is used to install and operate the adjustable bendable sheath.

[0008] In one embodiment, the movable component is a plurality of casters mounted on the bottom of the trolley.

[0009] In one embodiment, the trolley is also equipped with a handrail.

[0010] In one embodiment, the pitch joint is located at the end of the adjusting arm.

[0011] In one embodiment, the adjustable bending sheath electric control mechanism is located on the front side of the trolley via the adjusting arm;

[0012] The pitch angle of the pitch joint is between 0 degrees and a preset angle. When the pitch angle is 0 degrees, the adjustable bending sheath electric control mechanism is in a vertical state. The pitch joint drives the adjustable bending sheath electric control mechanism to tilt backward to reach the preset angle.

[0013] The length direction of the adjustable bending sheath electric control mechanism is the same as the length direction of the adjustable bending sheath.

[0014] In one embodiment, the preset angle is 90 degrees.

[0015] In one embodiment, the preset angle is between 0 and 30 degrees.

[0016] In one embodiment, the output end of the pitch joint is connected to a mounting plate, and the adjustable bending sheath electric control mechanism is connected to the mounting plate.

[0017] In one embodiment, the rotary joint drives the adjustable bending sheath electric control mechanism to rotate in the horizontal plane, and the pitch joint drives the adjustable bending sheath electric control mechanism to rotate in the vertical plane.

[0018] In one embodiment, the adjusting arm is provided with a plurality of rotary joints, and the rotation axes of the plurality of rotary joints are parallel to each other.

[0019] In one embodiment, the adjustable bending sheath electric control mechanism includes a clamp, a rotation module, and a sliding module;

[0020] The sliding module is fixedly connected to the end of the adjusting arm, and the output end of the sliding module is connected to the fixed end of the rotating module for driving the rotating module to slide.

[0021] The output end of the rotation module is provided with a rotation seat, the clamp is mounted on the rotation seat, and the rotation module is used to drive the clamp to rotate through the rotation seat.

[0022] The clamp is used to clamp the adjustable curved sheath; the clamp is provided with a knob, which is connected to the curved rod on the adjustable curved sheath, and the knob is inserted into the rotating shaft on the rotating seat. The rotation of the rotating shaft drives the knob to rotate, thereby driving the curved rod to rotate; the clamp is provided with a notch for the function button on the adjustable curved sheath to extend, and a button rod is connected to the rotating seat through a driver. The driver drives the button rod to move, thereby squeezing or separating it from the function button.

[0023] In one embodiment, the fixed end of the sliding module is a slide table, and the slide table is provided with a guide mechanism for guiding the tube body in the adjustable curved sheath; the guide mechanism includes:

[0024] Multiple spaced-apart support members are connected by elastic members. When the elastic member is compressed, the distance between two support members connected to it decreases. All support members are provided with guide holes, and all guide holes are located on the same straight line to form a channel for accommodating and guiding the slender and flexible medical device.

[0025] The guide portion, which is connected to all of the support members, is used to ensure that the axis of all the guide holes always coincides with the straight line.

[0026] In one embodiment, the adjusting arm includes one pitch joint, three rotation joints, and two arm bodies;

[0027] The three rotary joints are the first rotary joint, the second rotary joint, and the third rotary joint, and the two arm bodies are the first arm body and the second arm body;

[0028] The fixed end and output end of the first rotary joint are respectively connected to the output end of the lifting assembly and the first end of the first arm body; the fixed end and output end of the second rotary joint are respectively connected to the second end of the first arm body and the first end of the second arm body; and the fixed end and output end of the third rotary joint are respectively connected to the second end of the second arm body and the pitch joint.

[0029] Because the present invention adopts the above technical solution, it has the following advantages and positive effects compared with the prior art:

[0030] The adjustable bending sheath surgical robot provided by this invention enables the operation of the adjustable bending sheath during surgery via electronic control. During surgery, the robot is moved to the surgical position via a trolley. The adjustable bending sheath is adjusted to the required position using a lifting assembly and adjusting arm. The adjustable bending sheath is then electrically operated via an electric control mechanism, thus replacing manual operation by the surgeon. Furthermore, because the adjustable bending sheath surgical robot of this invention can complete the surgery electronically, eliminating the need for manual operation by the surgeon, the risk of infectious diseases is reduced, and the skill requirements for surgeons are lowered. Attached Figure Description

[0031] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention.

[0032] Figure 1 This is a schematic diagram of the structure of an adjustable bending sheath surgical robot according to the present invention;

[0033] Figure 2 This is a schematic diagram of the adjustable bending sheath surgical robot of the present invention from another perspective;

[0034] Figure 3 This is a schematic diagram of the structure of a trolley according to the present invention;

[0035] Figure 4This is a schematic diagram of the structure of an adjusting arm according to the present invention;

[0036] Figure 5 This is a schematic diagram of the structure of an adjustable bending sheath electric control mechanism according to the present invention;

[0037] Figure 6 This is a schematic diagram of an adjustable bendable sheath.

[0038] Figure 7 This is a schematic diagram of the structure of a clamp according to the present invention;

[0039] Figure 8 This is a schematic diagram of the structure of a rotating module according to the present invention;

[0040] Figure 9 This is a schematic diagram of the structure of a sliding module according to the present invention;

[0041] Figure 10 This is a schematic diagram of the structure of a guide mechanism in its deployed state according to the present invention;

[0042] Figure 11 This is a schematic diagram of the guide mechanism in its retracted state according to the present invention;

[0043] Figure 12 This is a schematic diagram of the installation of the guide mechanism and support frame of the present invention.

[0044] Explanation of reference numerals in the attached figures:

[0045] 1: Trolley; 11: Casters; 12: Handrail; 13: Lifting column;

[0046] 2: Adjusting arm; 21: First rotary joint; 22: Second rotary joint; 23: Third rotary joint; 24: Pitch joint; 25: Mounting plate;

[0047] 3: Adjustable bending sheath electric control mechanism; 31: Clamp; 311: Housing; 312: Clamp cover; 313: Magnet; 314: Knob; 32: Rotary module; 321: Rotary seat; 322: Sliding seat; 323: Rotary shaft; 324: Button lever; 33: Sliding module; 331: Slide table; 332: Slide plate; 333: Balance weight; 334: Handle; 335: Support frame;

[0048] 4: Guiding mechanism; 41: Support component; 411: Guide hole plate; 412: First plate; 413: Second plate; 414: Third plate; 42: Guide post; 421: Limiting component; 43: Spring; 44: Nut; 45: Mounting post; 46: Outer cover;

[0049] 5: Bronchoscope; 51: Handle; 52: Function button; 53: Bend rod; 54: Tube body;

[0050] 6: Infusion pump system; 7: Sterile sleeve; 8: Oral cavity. Detailed Implementation

[0051] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0052] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of components with the same structure or function is shown schematically, or only one is labeled. In this document, "one" can mean not only "only one" but also "more than one".

[0053] See Figures 1 to 4 This embodiment provides an adjustable curved sheath surgical robot, including a carriage 1, an adjusting arm 2, and an adjustable curved sheath electric control mechanism 3. The carriage 1 has a moving component at its bottom for moving the adjustable curved sheath surgical robot; the carriage 1 has a lifting component, the output end of which is connected to the head end of the adjusting arm 2 for driving the adjusting arm 2 to rise and fall. The end of the adjusting arm 2 is connected to the adjustable curved sheath electric control mechanism 3. The adjusting arm 2 has a rotation joint and a pitch joint 24 for driving the adjustable curved sheath electric control mechanism 3 to rotate and pitch. The adjustable curved sheath electric control mechanism 3 is used to install and operate the adjustable curved sheath 5.

[0054] During surgery, the adjustable curved sheath surgical robot is moved to the surgical position via the trolley 1. The adjustable curved sheath 5 is adjusted to the required position during the operation via the lifting assembly and adjusting arm 2. The adjustable curved sheath 5 is electrically operated via the adjustable curved sheath electric control mechanism 3, thus replacing manual operation by the doctor for the adjustable curved sheath surgery. This embodiment uses an electrically controlled adjustable curved sheath surgical robot to replace traditional manual surgery, which can reduce the burden on doctors and reduce the risk of transmission of lung infectious diseases.

[0055] The structure of this embodiment will now be described. As a commonly used adjustable sheath, the bronchoscope will be used as an example in this embodiment for detailed explanation.

[0056] The trolley 1 contains most of the electronic components required for its operation, including the trolley 1 and the adjusting arm 2. The moving components can be multiple casters 11 mounted on the bottom of the trolley 1. In this embodiment, there are four casters 11, all of which are swivel casters; in other embodiments, the number and structure of the casters 11 can be different, and this is not limited here. A handrail 12 can be provided on the rear side of the trolley 1. Together with the swivel casters, medical personnel can use the handrail 12 to push the trolley 1 to make translational movements in any direction.

[0057] The main body of the lifting assembly can be housed inside the trolley 1, with its output end extending out of the upper surface of the trolley 1 and slidably connected to it. Specifically, the output end of the lifting assembly can be a lifting column 13, while the drive unit can employ a structure combining an electric telescopic rod, a motor, and a lead screw and nut, etc., without any specific limitations. The lifting column 13 can support the adjusting arm 2, the adjustable bending sheath electric control mechanism 3, and the bronchoscope 5.

[0058] A mounting surface can also be provided on the trolley 1 to house the injection pump system 6.

[0059] The adjustable bending sheath electric control mechanism 3 is located on the front side of the trolley 1 via the adjusting arm 2. The pitch joint 24 is located at the end of the adjusting arm 2, and the adjustable bending sheath electric control mechanism 3 is connected to the pitch joint 24. Specifically, the output end of the pitch joint 24 can be connected to a mounting plate 25, and the adjustable bending sheath electric control mechanism 3 is connected to the mounting plate 25.

[0060] The rotary joint drives the adjustable curved sheath electric control mechanism 3 to rotate in the horizontal plane, and the pitch joint 24 drives the adjustable curved sheath electric control mechanism 3 to rotate in the vertical plane. It should be noted that the horizontal and vertical planes are under ideal conditions. In reality, due to uneven ground, the actual planes may have slight angular deviations from the horizontal and vertical planes.

[0061] The pitch angle of the pitch joint 24 is between 0 degrees and a preset angle. When the pitch angle is 0 degrees, the adjustable bending sheath electric control mechanism 3 is in a vertical state (the length direction of the adjustable bending sheath electric control mechanism 3 is the same as the length direction of the bronchoscope 5, that is, the bronchoscope 5 is also in a vertical state at this time). The pitch joint 24 drives the adjustable bending sheath electric control mechanism 3 to tilt backward to reach the preset angle. Preferably, the preset angle is 30 degrees.

[0062] The adjusting arm 2 is equipped with multiple rotary joints, and the rotation axes 323 of the multiple rotary joints are parallel to each other.

[0063] Specifically, in this embodiment, the adjusting arm 2 includes a pitch joint 24, three rotation joints, and two arm bodies. The three rotation joints are a first rotation joint 21, a second rotation joint 22, and a third rotation joint 23, and the two arm bodies are a first arm body and a second arm body. The fixed end and output end of the first rotation joint 21 are connected to the output end of the lifting assembly and the first end of the first arm body, respectively. The fixed end and output end of the second rotation joint 22 are connected to the second end of the first arm body and the first end of the second arm body, respectively. The fixed end and output end of the third rotation joint 23 are connected to the second end of the second arm body and the pitch joint 24, respectively. In other embodiments, the number and connection relationships of the pitch joint 24, rotation joints, and arm bodies can be set according to actual conditions, and are not limited here.

[0064] The adjustable bending sheath electric control mechanism 3 can perform operations such as advancing and rotating the bronchoscope 5, bending the lever 53, and controlling the function buttons 52 to perform bronchoalveolar lavage or liquid biopsy. The specific structure of the adjustable bending sheath electric control mechanism 3 is not limited; this embodiment provides one structure, including a clamp 31, a rotating module 32, and a sliding module 33, such as... Figure 5 As shown.

[0065] A bronchoscope is a medical device inserted through the mouth or nose into a patient's lower respiratory tract for observation, biopsy sampling, and bacteriological and cytological examination of lesions in the lobes, segments, and subsegments of the lungs. Commonly used bronchoscopes consist of the following components: Figure 6 As shown, the doctor holds the handle 51 of the bronchoscope 5 and inserts the tube 54 of the bronchoscope 5 into the patient's bronchus. The doctor can rotate the handle 51, bend the tube 53, and perform special functions using the function button 52.

[0066] Clamp 31 is used to fix the bronchoscope 5 (actually the part that fixes the handle 51), such as Figure 7 As shown, it mainly consists of a housing 311, a clamp cover 312, a magnet 313, and a knob 314. After placing the bronchoscope 5 into the housing 311, the clamp cover 312 is closed, and then locked using a spring clip or bolt and nut locking structure to completely fix the bronchoscope 5 to the clamp 31. The magnet 313 is used to attach the clamp 31 with the bronchoscope 5 to the rotating module 32 for magnetic fixation. The magnetic fixation method is simple, convenient, and allows for quick assembly and disassembly. The knob 314 is connected to the bent rod 53 on the inside of the housing 311, allowing the bent rod 53 to rotate with the knob 314; the knob 314 can have a locking interface on the outside of the housing 311. The clamp 31 has a notch for the extension of the function button 52 on the bronchoscope 5.

[0067] Rotating module 32, as Figure 8As shown, the bronchoscope 5 includes a sliding seat 322, a rotating seat 321, a button lever 324, and a rotating shaft 323. The rotating seat 321, driven by a motor, rotates in conjunction with the sliding seat 322, thereby rotating the bronchoscope 5. The button lever 324 is driven by a drive component mounted on the rotating seat 321, specifically by the extension and retraction of a motor, causing the pulley at its end to contact, press, or separate from the function button 52 on the bronchoscope 5, thus operating the function button 52. The rotating shaft 323 engages with a knob 314 on the clamp 31. The rotating shaft 323 inserts into a locking interface on the knob 314, creating a locking connection. This allows the rotating shaft 323 to rotate, driving the bending rod 53 through the knob 314, thus bending the bronchoscope 5. In this way, the bending motion of the bronchoscope 5 is converted into a rotational motion, facilitating motor input operation.

[0068] Sliding module 33, for example Figure 9 As shown. The slide 331 is equipped with guide rails, sliders, pulleys, etc., to drive the slide plate 332 and the counterweight 333 to slide. A sliding seat 322 is installed on the slide plate 332, thereby driving the bronchoscope 5 to move back and forth. The counterweight 333 and the slide plate 332 are located on opposite sides of the synchronous belt, used to balance the free sliding of the slide plate 332 and the structures connected to it under gravity. Guide mechanisms 4 can be installed on the support frame 335 to guide and support the tube body 54. When the adjustable bending sheath electric control mechanism 3 is installed on the adjusting arm 2, the doctor can operate it by holding the handle 334, which is labor-saving and convenient.

[0069] Specifically, the guiding mechanism 4 may include multiple spaced-apart support members 41 and guide sections. The support members 41 are connected by elastic members; when the elastic members are compressed, the distance between two connected support members 41 decreases. All support members 41 are provided with guide holes, and all guide holes are located on the same straight line, forming a channel for accommodating and guiding the tube body 54. The guide sections are connected to all support members 41 respectively, and are used to ensure that the axis of all guide holes always coincides with a straight line.

[0070] The guide mechanism 4 has a fixed end at one end and a free end at the other end along a straight line. The support member 41 at the fixed end is provided with a mounting part for connecting with the support frame 335. In use, the front end of the tube 54 (the end that first enters the human body) extends from the free end through the channel to the fixed end and then enters the human body; while the handle 51 at the end of the tube 54 (the other end opposite to the end that first enters the human body) presses against the support member 41 at the free end and continues to move, compressing the elastic member, thereby shortening the overall length of the guide mechanism 4.

[0071] The mounting section includes a mounting post 45 and an outer cover 46. The mounting post 45 is connected to the support member 41 at the fixed end and is located on the side away from the free end. The mounting post 45 passes through the slot on the support frame 335 and is threadedly connected to the outer cover 46. After the outer cover 46 is tightened, the support member 41 at the fixed end is locked onto the support frame 335, preventing rotation or loosening. More specifically, the mounting post 45 can be located at the guide hole, and corresponding through holes are provided on the mounting post 45 and the outer cover 46 for the tube body 54 to pass through. This installation method does not affect the use of the sterile sleeve 7. In scenarios where the sterile sleeve 7 needs to be used, simply put the sterile sleeve 7 on the support frame 335 first, and then use the above method to install the sterilized guide mechanism 4 onto the support frame 335 through the sterile sleeve 7. In this way, the sterilized guide mechanism 4 can be isolated from the unsterilized support frame 335.

[0072] The handle 51 abuts against the support member 41 at the free end, and the tube 54 is inserted through the guide hole. When the elastic member is compressed to its shortest state, the adjacent support member 41 abuts against the guide hole. This design ensures that when all elastic members are compressed to their shortest state, the overall length of the guide mechanism 4 is the shortest, allowing the tube 54 to extend into the human body as far as possible and avoiding the phenomenon of not being able to reach the lesion point. The elastic member can be a spring 43, with each end of the spring 43 connected to the corresponding two support members 41.

[0073] The guide section includes multiple guide posts 42, each guide post 42 being connected to two adjacent support members 41, and at least one guide post 42 is provided between adjacent support members 41. Of the two support members 41 connected to the guide post 42, at least one guide post 42 passes through and is slidably connected to it, with the sliding direction being the aforementioned linear direction. A spring 43 is sleeved on the guide post 42, with its two ends abutting against the corresponding two support members 41.

[0074] The support member 41 includes at least two of the following: a guide hole plate 411, a first plate 412, and a second plate 413. Specifically, the support member 41 at the free end includes at least the guide hole plate 411 and the second plate 413, the support member 41 at the fixed end includes at least the guide hole plate 411 and the first plate 412, and the remaining support members 41 include the guide hole plate 411, the first plate 412, and the second plate 413. The first plate 412 is not provided on the support member 41 at the free end, and the second plate 413 is not provided on the support member 41 at the fixed end, which has advantages such as reducing weight. The number of the remaining support members 41 is three, but in other embodiments, the number can be increased or decreased without limitation.

[0075] A guide hole is provided on the guide hole plate 411, and the first plate 412 and the second plate 413 are respectively connected to the guide hole plate 411. The first plate 412 and the second plate 413 are used to connect the guide post 42. In two adjacent support members 41, the guide post 42 is connected to the first plate 412 of the support member 41 facing the fixed end and the second plate 413 of the support member 41 facing the free end. Specifically, in the same support member 41, the first plate 412 and the guide hole plate 411 have the same thickness and are located in the same plane. The second plate 413 is parallel to the guide hole plate 411 and is located on the side of the guide hole plate 411 facing the free end. The second plate 413 and the guide hole plate 411 are connected by a vertical plate. In actual design, it should be noted that the design of the specific positions of the first plate 412, the second plate 413, etc., needs to consider that the guide mechanism 4 will not cause interference to the guide post 42 and other structures during the movement.

[0076] Both the first plate 412 and the second plate 413 are provided with through holes, which are matched with the guide post 42 for the guide post 42 to pass through. One end of the guide post 42 is provided with a limiting member 421, and the other end passes through the through holes on the first plate 412 and the second plate 413 in sequence, or passes through the through holes on the second plate 413 and the first plate 412 in sequence and is then threaded with a nut 44, thereby realizing the connection between the guide post 42 and the first plate 412 and the second plate 413.

[0077] In practice, a gap may inevitably occur between the guide post 42 and the through hole, causing a deviation between the sliding direction of the guide post 42 and the support member 41 and the expected direction. Therefore, a third plate 414 parallel to the guide hole plate 411 is provided between the first plate 412 and the second plate 413, and the third plate 414 is connected to the vertical plate; the third plate 414 is provided with a through hole matching the guide post 42, through which the guide post 42 passes, thereby reducing the possibility of deviation between the sliding direction of the guide post 42 and the support member 41 and the expected direction, as well as the deviation value when deviation occurs. Alternatively, two or more guide posts 42 can be provided between two adjacent support members 411, thereby reducing the possibility of deviation between the sliding direction of the guide post 42 and the support member 41 and the expected direction, as well as the deviation value when deviation occurs.

[0078] The entire support component 41 can be integrally molded.

[0079] Figure 10 The diagram shows the guide mechanism 4 in its extended state, with two adjacent support members 41 pushed apart by springs 43. When the guide mechanism 4 is in its fully compressed state, as shown... Figure 11 As shown, all the support members 41 are tightly attached to the guide plate 411 in sequence.

[0080] When the handle 51 is away from the guide mechanism 4, the guide mechanism 4 is in an extended state, and the section of tube 54 passing through the guide mechanism 4 remains supported, that is, it remains straight and does not bend. The length of the tube 54 that can be supported is the length of the guide mechanism 4 at this time.

[0081] When the handle 51 moves towards the oral cavity 8 and encounters the support member 41 at the free end, the guide mechanism 4 begins to be compressed. As the handle 51 moves to a position close to the oral cavity 8, all the supports 41 of the guide mechanism 4 abut against each other, and the guide mechanism 4 is compressed to its limit (e.g., Figure 11 (As shown). Since the guide posts 42 are staggered, the structures will not interfere with each other when the guide mechanism 4 is compressed.

[0082] A problem with conventional support mechanisms is that, in their fully compressed state, they have a significant thickness, resulting in a considerable distance between the handle 51 and the oral cavity 8. This prevents the tube 54 from fully extending into the body, potentially hindering its reach to the lesion. The guide mechanism 4 in this embodiment avoids this problem. Figure 11 As shown, in a fully compressed state, the handle 51 can reach a position close to the oral cavity 8, and the tube 54 can be almost completely inserted into the oral cavity 8, avoiding the problem that the bronchoscope 5 cannot reach the lesion deeply.

[0083] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they shall still fall within the protection scope of the present invention.

Claims

1. An adjustable bend sheath surgical robot, characterized by, The trolley, the adjusting arm and the electric control mechanism of the adjustable bending sheath tube are included; The bottom of the trolley is provided with a moving assembly for moving the adjustable bending sheath tube surgical robot; the trolley is provided with a lifting assembly, the output end of the lifting assembly is connected with the first end of the adjusting arm, and the lifting assembly is used for driving the adjusting arm to lift; The end of the adjusting arm is connected with the electric control mechanism of the adjustable bending sheath tube, the adjusting arm is provided with a rotating joint and a pitching joint, and the rotating joint and the pitching joint are used for driving the electric control mechanism of the adjustable bending sheath tube to rotate and pitch; The electric control mechanism of the adjustable bending sheath tube is used for mounting and operating the adjustable bending sheath tube. The electric control mechanism of the adjustable bending sheath tube includes a clamp, a rotating module and a sliding module. The sliding module is fixedly connected with the end of the adjusting arm, the output end of the sliding module is connected with the fixed end of the rotating module, and the sliding module is used for driving the rotating module to slide. The output end of the rotating module is provided with a rotating seat, the clamp is mounted on the rotating seat, and the rotating module is used for driving the clamp to rotate through the rotating seat. The clamp is used for clamping the adjustable bending sheath tube; the clamp is provided with a knob, the knob is connected with a bending rod on the adjustable bending sheath tube, the knob is inserted with a rotating shaft on the rotating seat, the rotating shaft rotates to drive the knob to rotate, thereby driving the bending rod to rotate; the clamp is provided with a notch for a function button on the adjustable bending sheath tube to extend out, the rotating seat is connected with a button rod through a driver, and the driver drives the button rod to move to press or separate from the function button. The fixed end of the sliding module is a sliding table, the sliding table is provided with a guide mechanism for guiding a pipe body in the adjustable bending sheath tube; the guide mechanism includes a plurality of support pieces arranged at intervals and guide portions; the support pieces are connected through elastic pieces, the interval between the two support pieces connected with the compressed elastic piece is reduced; all the support pieces are provided with guide holes, all the guide holes are located on the same straight line to form a channel for accommodating and guiding an elongated and soft medical instrument; the guide portions are connected with all the support pieces respectively, and are used for limiting the axis of all the guide holes to always coincide with the straight line; The guide portion includes a plurality of guide columns, each guide column is connected with two adjacent support pieces, and at least one guide column is arranged between the adjacent support pieces; of the two support pieces connected with the guide column, the guide column penetrates and is in sliding connection with at least one of the two support pieces, and the sliding direction is the straight line direction; The elastic piece is a spring, and the spring is sleeved on the guide column and abuts against the corresponding two support pieces at both ends.

2. The adjustable bend sheath surgical robot of claim 1, wherein, The moving assembly is a plurality of casters mounted on the bottom of the trolley.

3. The adjustable bend sheath surgical robot of claim 1, wherein, The trolley is further provided with a handrail.

4. The adjustable bend sheath surgical robot of claim 1, wherein, The pitching joint is arranged at the end of the adjusting arm.

5. The steerable sheath surgical robot of claim 4, wherein, The electric control mechanism of the adjustable bending sheath tube is arranged on the front side of the trolley through the adjusting arm; The electric control mechanism of the adjustable bending sheath tube is arranged on the front side of the trolley through the adjusting arm; The pitch angle of the pitch joint is between 0 degree and a preset angle, the pitch angle is 0 degree, the adjustable bending sheath electric control mechanism is in a vertical state, and the pitch joint drives the adjustable bending sheath electric control mechanism to recline to the preset angle. The length direction of the adjustable bending sheath electric control mechanism is the same as the length direction of the adjustable bending sheath.

6. The steerable sheath surgical robot of claim 5, wherein, The preset angle is 90 degrees.

7. The steerable sheath surgical robot of claim 5, wherein, The preset angle is between 0 and 30 degrees.

8. The steerable sheath surgical robot of claim 4, wherein, The output end of the pitch joint is connected with a mounting plate, and the adjustable bending sheath electric control mechanism is connected to the mounting plate.

9. The adjustable bend sheath surgical robot of claim 1, wherein, The rotation joint drives the adjustable bending sheath electric control mechanism to rotate in a horizontal plane, and the pitch joint drives the adjustable bending sheath electric control mechanism to rotate in a vertical plane.

10. The adjustable bend sheath surgical robot of claim 1, wherein, A plurality of rotation joints are arranged on the adjusting arm, and the rotation axes of the plurality of rotation joints are parallel to each other.

11. The steerable sheath surgical robot of claim 4, wherein, The adjusting arm comprises one pitch joint, three rotation joints and two arm bodies. The three rotation joints are a first rotation joint, a second rotation joint and a third rotation joint, and the two arm bodies are a first arm body and a second arm body. The fixed end and the output end of the first rotation joint are connected with the output end of the lifting assembly and the first end of the first arm body respectively, the fixed end and the output end of the second rotation joint are connected with the second end of the first arm body and the first end of the second arm body respectively, and the fixed end and the output end of the third rotation joint are connected with the second end of the second arm body and the pitch joint respectively.

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