An intelligent resectoscope configured in a natural channel surgical robot

Abstract

An intelligent resectoscope configured for a natural channel surgical robot comprises an electric resectoscope (301) and an end effector (302) combined together; the electric resectoscope (301) comprises an intelligent resectoscope box (3011) at the rear and a semi-surgical manipulator at the front. The intelligent resectoscope configured for the natural channel surgical robot removes the operating portion of the surgical manipulator, and the end effector does not need to be designed with a complex and bulky clamping component to accommodate the operating portion of the surgical manipulator, thereby greatly simplifying the structure of the end effector, reducing the weight of the end effector, and making the end effector lighter and more portable.

Description

Technical Field

[0001] The present invention belongs to the field of machinery, and particularly relates to an intelligent resectoscope configured in a natural channel surgical robot. Background Art

[0002] In clinical applications, the existing endoscope systems and handle structures are designed entirely according to the operating habits of human hands, making them difficult to grasp by robotic arms and resulting in poor precision. There is an urgent need to design an intelligent resectoscope that is easy for robotic arms to grasp.

[0003] Since the 1990s, robot-assisted minimally invasive surgery has experienced rapid development. A variety of surgical robotic systems have been successfully applied clinically, attracting significant attention from the medical and scientific communities worldwide. Surgical robotic systems integrate numerous emerging disciplines, enabling minimally invasive, intelligent, and digital surgical procedures. In recent years, surgical robots have been widely used worldwide, performing procedures in a variety of disciplines, including urology, obstetrics and gynecology, cardiac surgery, thoracic surgery, hepatobiliary surgery, gastrointestinal surgery, and otolaryngology. A surgical robot generally consists of three main components: 1. a surgical control system; 2. a 3D imaging video platform; and 3. a robotic arm. The operator obtains information about the patient's surgical site through the 3D imaging video platform, then outputs operational instructions through the control system, which then executes the surgical maneuvers. However, a robotic arm typically only performs large surgical movements, similar to a human arm. Detailed and specific surgical movements are performed by a surgical actuator (end effector) connected to the end of the robotic arm, similar in function to a human hand and finger. As mentioned above, the existing endoscope handle structure does not take into account the gripping of the surgical actuator at the end of the robotic arm, which poses a great obstacle to the automated operation of the endoscope. Summary of the Invention

[0004] The end effector connected to the end of the robotic arm generally includes a clamping part and a control part. The clamping part is used to fix the surgical manipulator and ensure that the surgical manipulator does not shake during the operation; the control part communicates with the external surgical control device through a cable, and after receiving the surgical action instructions, it drives the surgical manipulator to complete the surgical action. Existing end effectors are generally designed to adapt to existing surgical manipulators, and the entire surgical manipulator is fixed to the end effector through the clamping part. However, there are some problems. For example, in order to firmly fix the surgical manipulator on the end effector, a clamping component with a complex structure must be provided. These clamping components are large in size and weight, which is not conducive to the miniaturization and portability of the end effector. For example, in order to adapt to the structure of the surgical manipulator, the design of the power and transmission structure in the end effector must be compromised, which reduces the drive efficiency and increases the risk of failure.

[0005] In view of the above-mentioned deficiencies of the existing end effector, an embodiment of the present invention provides an intelligent resectoscope configured for a natural channel surgical robot, wherein the intelligent resectoscope configured for the natural channel surgical robot comprises an electric resectoscope (301) and an end effector (302) combined with each other; the electric resectoscope (301) comprises an intelligent resectoscope box (3011) at the rear and a semi-surgical manipulator at the front.

[0006] According to one embodiment of the present invention, for example, the overall appearance of the intelligent electrosurgical cutting box (3011) is a box shape with steps, and the cross-section of its lower part is a trapezoid with a smaller upper part and a larger lower part; the intelligent electrosurgical cutting box (3011) includes a left shell (101) and a right shell (102) with symmetrical shapes and structures, a flip cover (103), an unlocking button (104), a self-locking column (105), a connection contact (106), a power input head (107), a scope quick interface (108), and a scope sheath quick interface (109).

[0007] According to one embodiment of the present invention, for example, the endoscope quick interface (108) has a structure that matches with the endoscope, and can quickly insert the endoscope; the connection contact (106) is provided at the end of the intelligent electrosurgical cutting box (3011), and is connected to the circuit structure inside the intelligent electrosurgical cutting box (3011); the mirror sheath quick interface (109) has a structure that matches with the mirror body (010), and can quickly insert the mirror body (010); the power input head (107) can be connected to the power output shaft of the end effector, and input the driving force into the internal transmission mechanism of the intelligent electrosurgical cutting box (3011);

[0008] Preferably, the unlocking button (104) is connected to the self-locking column (105), and when the unlocking button (104) is pressed, the self-locking column (105) shrinks to be flush with the outer surface of the intelligent electrosurgical cutting box (3011).

[0009] According to one embodiment of the present invention, for example, the intelligent electrosurgical cutting box (3011) further includes a front fixing plate (110), a rear fixing plate (111), a pressure guide plate (112), a rear vertical plate (113), a rack (114), a worm (115), a turbine (116), a gear connecting shaft (117), a front vertical plate (118), a photoelectric sensor (119), a slider (120), a guide rod (121), a connecting rod (122), and an indicator light (123);

[0010] Preferably, the guide rod (121) is respectively connected and fixed to the front fixing plate (110) and the rear fixing plate (111), and the slider (120) has two holes and is passed through the guide rod (121) and the adjacent electrosurgical resectoscope body, so that the slider (120) can move back and forth without rotating; a threaded hole is opened at the bottom of the slider (120) to be connected to the connecting rod (122), and the other end of the connecting rod (122) is connected to the rack (114), thereby transmitting power to the slider (120).

[0011] According to one embodiment of the present invention, for example, the end effector (302) includes a housing (201), an interface (205), an upper cover (206), a gasket (207), a button (208), a receiving compartment (209), a power output head (202), an actuator contact (210), and a self-locking hole (211);

[0012] Preferably, the end effector (302) can be quickly connected to and removed from the end of the robotic arm through the interface (205).

[0013] According to one embodiment of the present invention, for example, the housing (201) has a cabin-type structure, and the upper cover (206) is a flat plate installed on the housing (201) to form an internal space together with the housing (201), and the power output-related components are installed in the above-mentioned internal space;

[0014] Preferably, the gasket (207) is mounted on the housing (201) to support the camera module; the button (208) is mounted on the housing (201) and is connected to the circuit inside the end effector (302) to control the on / off of the relevant circuit;

[0015] Preferably, the accommodating chamber (209) is provided at the front end of the end effector (302), and is a cavity having a shape and size adapted to the intelligent electrosurgical cutting box (3011), and a cross-section having a trapezoidal shape with a small top and a large bottom. After the intelligent electrosurgical cutting box (3011) is inserted into the accommodating chamber (209), this trapezoidal structure with a small top and a large bottom restricts the upward and downward movement of the intelligent electrosurgical cutting box (3011);

[0016] Preferably, a self-locking hole (211) is provided on the side of the accommodating chamber (209). When the intelligent electrosurgical cutting box (3011) is installed, the unlocking button (104) is pressed, and the self-locking column (105) is retracted to be flush with the outer surface of the intelligent electrosurgical cutting box (3011). Then, the intelligent electrosurgical cutting box (3011) is inserted into the accommodating chamber (209) until the connection contact (106) contacts the actuator contact (210) and the power input head (107) is connected to the power output head (202). The unlocking button (104) is released, and the self-locking column (105) rebounds and is inserted into the self-locking hole (211), thereby limiting the forward and backward movement of the intelligent electrosurgical cutting box (3011).

[0017] According to one embodiment of the present invention, for example, the end effector (302) further includes a motor (203) and a counting substrate (204) installed in an internal space formed by the upper cover (206) and the housing (201);

[0018] Preferably, the motor (203) is connected to the power output head (202). After the intelligent electrosurgical cutting box (3011) is inserted into the receiving chamber (209), the power output head (202) is inserted into the power input head (107). The rotation of the power output head (202) drives the power input head (107) to rotate together, further driving the worm (115) to rotate. The rotation of the worm (115) drives the turbine (116) engaged therewith to rotate. The rotation of the turbine (116) further drives the rack (114) to translate.

[0019] Preferably, the rack (114) and the slider (120) are connected via a connecting rod (122), so that the translation of the rack (114) drives the slider (120) to translate, and ultimately drives the resectoscope to move. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of an existing end effector adapted to a handheld manipulator.

[0021] Figure 2 This is a schematic structural diagram of an existing end effector adapted to a handheld manipulator from another angle.

[0022] Figure 3 This is a structural diagram of a common surgical manipulator.

[0023] Figure 4 This is a structural diagram of the operating part of a common surgical manipulator.

[0024] Figure 5 The present invention provides a schematic structural diagram of an intelligent resectoscope configured on a natural channel surgical robot.

[0025] Figure 6 This is a structural schematic diagram from another angle of an intelligent resectoscope configured in a natural channel surgical robot provided by an embodiment of the present invention.

[0026] Figure 7 This is a schematic diagram showing the appearance of an intelligent resectoscope box 3011 configured in an intelligent resectoscope of a natural channel surgical robot provided by an embodiment of the present invention, shown from two angles.

[0027] Figure 8 This is a schematic diagram of the external structure of an intelligent resectoscope box 3011 configured in a natural channel surgical robot provided by an embodiment of the present invention.

[0028] Figure 9Schematic diagram of the internal structure of an intelligent resectoscope box 3011 configured in a natural channel surgical robot according to an embodiment of the present invention.

[0029] Figure 10 It is a schematic diagram of the longitudinal structure of an intelligent resectoscope box 3011 configured in an intelligent resectoscope of a natural channel surgical robot provided by an embodiment of the present invention.

[0030] Figure 11 1 is an external structural diagram of an end effector 302 in an intelligent resectoscope configured in a natural channel surgical robot provided by an embodiment of the present invention.

[0031] Figure 12 This is an external structural diagram from another angle of an end effector 302 of an intelligent resectoscope configured in a natural channel surgical robot provided by an embodiment of the present invention.

[0032] Figure 13 1 is a diagram illustrating the internal structure of an end effector 302 in an intelligent resectoscope configured in a natural channel surgical robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] To make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to specific embodiments and accompanying drawings. However, those skilled in the art will appreciate that the present invention is not limited to the accompanying drawings and the following embodiments.

[0034] In the description of the invention, it should be noted that the directions or positional relationships indicated by directional terms such as "length," "width," "upper," "lower," "far," and "near" are based on the directions or positional relationships shown in the accompanying drawings. These are intended solely to facilitate the description of the invention and simplify the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed, or operate in a specific direction, and should not be construed as limiting the specific scope of protection of the invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes to distinguish technical features and have no substantive meaning. They should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features.

[0035] Figure 1 This is a schematic diagram of the structure of an existing end effector adapted to a handheld manipulator. Figure 2 This is another structural diagram of the existing end effector adapted to the handheld manipulator. Figure 1 、 Figure 2 As shown, the existing end effector is completely designed to adapt to the structure of the handheld operator. The front buckle assembly 01 and the rear buckle assembly 02 are designed to fix the handheld operator. Figure 1 、 Figure 2As can be seen, the two buckle assemblies are large and complex, increasing the overall weight of the end effector and raising design and production costs. The end effector's power and transmission structures are also designed entirely to accommodate a handheld operator, resulting in reduced transmission efficiency and compromised accuracy.

[0036] Figure 3 This is a common structure of a surgical manipulator. Figure 3 As shown in FIG, the surgical manipulator includes a mirror body 010, a water inlet 011, a water outlet 012, a front operating handle 013, a rear operating handle 014, a push block 015 and other parts. Figure 3 The part shown by the dotted line is detachable. Remove the right half (operating part) and its shape and structure are as follows: Figure 4 As shown. When the doctor holds the surgical manipulator to perform surgery, his fingers pass through the front operating handle 013 and the rear operating handle 014, and the movement of his fingers controls the surgical manipulator's surgical action (such as the movement of the electric cutting ring of the resectoscope). The existing end effector is to set a power component such as an electric motor, connect the power output shaft of the electric motor with the push block 015, and realize the electric control of the surgical manipulator. Figure 3 The structure of the surgical manipulator is quite complex. The right-hand operating section is primarily designed for handheld use by the surgeon, without taking into account the needs of a surgical robot. If, as in existing technologies, the shape and structural design of the power output components in the end effector were to adapt to the structure of the surgical manipulator, many compromises would inevitably be made. Furthermore, the power transmission from the motor to the surgical operating point of the resectoscope (e.g., the resection ring) would require numerous transfers and relays, resulting in power loss during this process.

[0037] The structure of an intelligent resectoscope configured in a natural channel surgical robot provided by an embodiment of the present invention is as follows: Figure 5 shown. Figure 6 This is a schematic diagram showing the structure of the intelligent resectoscope configured in the natural channel surgical robot from another angle. Figure 5 、 Figure 6 As shown, an embodiment of the present invention provides an intelligent resectoscope configured in a natural channel surgical robot, comprising an electric resectoscope 301 and an end effector 302 combined with each other. Figure 5 As shown, the electric resectoscope 301 includes an intelligent resection box 3011 at the rear and a semi-surgical operator at the front. The semi-surgical operator includes a mirror body 010, a water inlet 011, and a water outlet 012. That is, the semi-surgical operator is Figure 3 The surgical manipulator shown is from Figure 3 Disassemble the part shown by the dotted line and remove Figure 4 What remains of the right half shown.

[0038] Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 The internal and external structures of the intelligent electrosurgical cutting box 3011 are shown. Figure 7 This is a schematic diagram of the appearance of the intelligent electrosurgical cutting box 3011 shown from two angles. Figure 8 This is a schematic diagram of the external structure of the intelligent electrosurgical cutting box 3011. Figure 9 This is a schematic diagram of the internal structure of the intelligent electrosurgical cutting box 3011. Figure 10 This is a schematic diagram of the longitudinal structure of the intelligent electrosurgical cutting box 3011. Figure 7 As shown, the overall appearance of the intelligent electrosurgical cutting box 3011 is a box shape with steps, and the cross section of its lower part is a trapezoid with a small top and a large bottom. Figure 8 As shown, the intelligent electrosurgical cutting box 3011 includes a left housing 101 and a right housing 102, both symmetrical in shape and structure, a flip cover 103, an unlocking button 104, a self-locking post 105, connection contacts 106, a power input connector 107, a scope quick-connect 108, and a sheath quick-connect 109. The scope quick-connect 108 is structured to mate with an endoscope, allowing for quick insertion of the endoscope. The connection contacts 106 are located at the end of the intelligent electrosurgical cutting box 3011 and connect to the circuit structure within the intelligent electrosurgical cutting box 3011. When the intelligent electrosurgical cutting box 3011 is connected to the end effector 302, the connection contacts 106 connect to the actuator contacts on the end effector, completing the circuit connection. The sheath quick-connect 109 is structured to mate with the scope body 010, allowing for quick insertion of the scope body 010. The power input connector 107 can connect to the power output shaft of the end effector to input driving force into the internal transmission mechanism of the intelligent electrosurgical cutting box 3011. The unlocking button 104 is connected to the self-locking column 105 . When the unlocking button 104 is pressed, the self-locking column 105 will retract to be flush with the outer surface of the intelligent electrosurgical cutting box 3011 .

[0039] like Figure 9 、 Figure 10 As shown, the intelligent ECT box 3011 also includes a front fixing plate 110, a rear fixing plate 111, a pressure guide plate 112, a rear vertical plate 113, a rack 114, a worm 115, a worm gear 116, a gear connecting shaft 117, a front vertical plate 118, a photoelectric sensor 119, a slider 120, a guide rod 121, a connecting rod 122, and an indicator light 123. The guide rod 121 is fixed to the front fixing plate 110 and the rear fixing plate 111, respectively. The slider 120 has two holes that pass through the guide rods 121 and the adjacent resectoscope body, allowing the slider 120 to reciprocate without rotating. A threaded hole is provided at the bottom of the slider 120 for connection to the connecting rod 122, the other end of which is connected to the rack 114, thereby transmitting power to the slider 120. The indicator light 123 is used to indicate the status of the intelligent ECT box 3011, such as fault, normal, or other status.

[0040] Figure 11 1 is an external structural diagram of an end effector 302 in an intelligent resectoscope configured in a natural channel surgical robot provided by an embodiment of the present invention. Figure 12 This is an external structural diagram of the end effector 302 of an intelligent resectoscope configured in a natural channel surgical robot provided by an embodiment of the present invention from another angle. Figure 11 As shown, the end effector 302 includes a housing 201, an interface 205, an upper cover 206, a gasket 207, a button 208, a storage compartment 209, a power output head 202, an actuator contact 210, and a self-locking hole 211. Through the interface 205, the end effector 302 can be quickly connected to and removed from the end of the robotic arm. The housing 201 has a cabin-like structure, and the upper cover 206 is a flat plate installed on the housing 201. Together with the housing 201, it forms an internal space, and the power output-related components are installed in the above-mentioned internal space. The gasket 207 is installed on the housing 201 to support the camera module. The button 208 is installed on the housing 201 and is connected to the internal circuit of the end effector 302, which can control the on and off of the relevant circuit. The receiving chamber 209 is located at the front end of the end effector 302. It is a cavity with a shape and size that matches the intelligent electrosurgical cutting box 3011. Its cross-section is a trapezoid with a smaller top and a larger bottom. After the intelligent electrosurgical cutting box 3011 is inserted into the receiving chamber 209, this trapezoidal structure with a smaller top and a larger bottom restricts the upward and downward movement of the intelligent electrosurgical cutting box 3011. A self-locking hole 211 is provided on the side of the receiving chamber 209. When installing the intelligent electrosurgical cutting box 3011, the unlocking button 104 is pressed, and the self-locking column 105 retracts to be flush with the outer surface of the intelligent electrosurgical cutting box 3011. The intelligent electrosurgical cutting box 3011 is then inserted into the receiving chamber 209 until the connection contacts 106 contact the actuator contacts 210, connecting the power input connector 107 to the power output connector 202. The unlocking button 104 is released, and the self-locking column 105 rebounds and inserts into the self-locking hole 211, thereby restricting the forward and backward movement of the intelligent electrosurgical cutting box 3011.

[0041] Figure 13 FIG. 3 is an internal structure diagram of an end effector 302 in an intelligent resectoscope configured in a natural channel surgical robot according to an embodiment of the present invention. Figure 13 As shown, the end effector 302 also includes a motor 203 and a counter substrate 204 installed in the internal space formed by the upper cover 206 and the housing 201. The motor 203 is connected to the power output head 202. When the power is turned on, the motor 203 rotates and drives the power output head 202 to rotate together. After the intelligent electrosurgical cutting box 3011 is inserted into the receiving compartment 209, the power output head 202 is inserted into the power input head 107 (see Figure 8 and Figure 9), the power output head 202 rotates and drives the power input head 107 to rotate together, further drives the worm 115 to rotate, the rotation of the worm 115 drives the turbine 116 engaged with it to rotate, and the rotation of the turbine 116 further drives the rack 114 to translate, as shown Figure 10 As shown, the rack 114 is connected to the slider 120 via a connecting rod 122 , so that the translation of the rack 114 drives the slider 120 to translate, and ultimately drives the resectoscope to move.

[0042] The intelligent resectoscope configured in a natural channel surgical robot provided by the embodiments of the present invention has many beneficial technical effects, including:

[0043] 1) The intelligent resectoscope configured for a natural channel surgical robot provided in an embodiment of the present invention removes the operating portion of the surgical manipulator, and the end effector does not need to be designed with a complex and bulky clamping component to accommodate the operating portion of the surgical manipulator, which greatly simplifies the structure of the end effector, reduces the weight of the end effector, and makes the end effector lighter and more portable.

[0044] 2) The intelligent electrosurgical resectoscope configured on the natural channel surgical robot provided in the embodiment of the present invention is designed with a new intelligent electrosurgical resection box 3011 to replace the operating part of the surgical manipulator. The power output shaft of the end effector is directly connected to the power input shaft of the intelligent electrosurgical resection box 3011, and then the power is transmitted to the electrosurgical resectoscope through the transmission mechanism inside the intelligent electrosurgical resection box 3011. Compared with the power transmission method of the existing technology, this power transmission method is more direct and more efficient.

[0045] 3) The intelligent electrosurgical resectoscope configured on the natural channel surgical robot provided by the embodiment of the present invention is designed with a new intelligent electrosurgical resection box 3011 to replace the operating part of the surgical manipulator. The intelligent electrosurgical resection box 3011 can be made of relatively low-cost materials (such as plastic), so the intelligent electrosurgical resection box 3011 can be used as a disposable consumable and discarded after the operation without the need for disinfection, thereby simplifying the surgical procedure.

[0046] 4) The structural design of the intelligent electrosurgical cutting box 3011 is universal. For different electrosurgical cutting scopes, it is only necessary to change the scope quick interface 108 and the scope sheath quick interface 109 to be applicable, and the versatility and interchangeability are greatly improved. Since the passive components (including the rack 114, the worm 115, the turbine 116 and other transmission components) are concentrated in the intelligent electrosurgical cutting box 3011, only the motor 203 is retained in the end effector, the intelligent electrosurgical cutting box 3011 is low-cost and can be used once, while the expensive end effector can be used repeatedly, which reduces the cost of actuator consumables by an order of magnitude and reduces the patient's surgical cost by an order of magnitude.

Claims

1. An intelligent resectoscope configured in a natural channel surgical robot, characterized in that: The electric resectoscope (301) comprises an electric resectoscope (301) and an end effector (302) which are combined with each other; the electric resectoscope (301) comprises an intelligent resectoscope box (3011) at the rear and a semi-surgical operator at the front; The intelligent electrosurgical cutting box (3011) has an overall appearance of a box with steps, and its lower cross-section is a trapezoid with a smaller upper portion and a larger lower portion. The intelligent electrosurgical cutting box (3011) comprises a left shell (101), a right shell (102), a flip cover (103), an unlocking button (104), a self-locking column (105), a connection contact (106), a power input head (107), a peepscope quick interface (108), and a scabbard quick interface (109) that are symmetrical in shape and structure. The endoscope quick interface (108) has a structure that matches the endoscope and can quickly insert the endoscope; the connection contact (106) is arranged at the end of the intelligent electrosurgical cutting box (3011) and is connected to the circuit structure inside the intelligent electrosurgical cutting box (3011); the mirror sheath quick interface (109) has a structure that matches the mirror body (010) and can quickly insert the mirror body (010); the power input head (107) can be connected to the power output shaft of the end effector to input the driving force into the internal transmission mechanism of the intelligent electrosurgical cutting box (3011); The end effector (302) includes a housing (201), a power output head (202), an interface (205), an upper cover (206) and a storage compartment (209); The housing (201) has a cabin-like structure, and the upper cover (206) is a flat plate installed on the housing (201) to form an internal space together with the housing (201). Power output-related components are installed in the internal space. Through the interface (205), the end effector (302) can be quickly connected to and removed from the end of the robotic arm; The accommodating chamber (209) is arranged at the front end of the end effector (302) and is a cavity with a shape and size that matches the intelligent electrosurgical cutting box (3011). The cross-section is a trapezoid with a small top and a large bottom. After the intelligent electrosurgical cutting box (3011) is inserted into the accommodating chamber (209), this trapezoidal structure with a small top and a large bottom limits the upward and downward movement of the intelligent electrosurgical cutting box (3011).

2. The intelligent resectoscope configured in a natural channel surgical robot according to claim 1, characterized in that: The unlocking button (104) is connected to the self-locking column (105). When the unlocking button (104) is pressed, the self-locking column (105) shrinks to be flush with the outer surface of the intelligent electrosurgical cutting box (3011).

3. The intelligent resectoscope configured in a natural channel surgical robot according to claim 1 or 2, characterized in that: The intelligent electrosurgical cutting box (3011) further includes a front fixing plate (110), a rear fixing plate (111), a pressure guide plate (112), a rear vertical plate (113), a rack (114), a worm (115), a turbine (116), a gear connecting shaft (117), a front vertical plate (118), a photoelectric sensor (119), a slider (120), a guide rod (121), a connecting rod (122), and an indicator light (123); The guide rod (121) is respectively connected and fixed to the front fixing plate (110) and the rear fixing plate (111); the slider (120) has two holes and is passed through the guide rod (121) and the adjacent resectoscope body, so that the slider (120) can move back and forth without rotating; a threaded hole is opened at the bottom of the slider (120) and is connected to the connecting rod (122); the other end of the connecting rod (122) is connected to the rack (114), thereby transmitting power to the slider (120).

4. The intelligent resectoscope configured in a natural channel surgical robot according to claim 1, characterized in that: The end effector (302) further includes a gasket (207), a button (208), an actuator contact (210), and a self-locking hole (211).

5. The intelligent resectoscope configured in a natural channel surgical robot according to claim 4, characterized in that: The gasket (207) is installed on the housing (201) and is used to support the camera module; the button (208) is installed on the housing (201) and is connected to the circuit inside the end effector (302) to control the on and off of the relevant circuit.

6. The intelligent resectoscope configured in a natural channel surgical robot according to claim 4, characterized in that: A self-locking hole (211) is provided on the side of the accommodating chamber (209). When the intelligent electrosurgical cutting box (3011) is installed, the unlocking button (104) is pressed, and the self-locking column (105) is retracted to be flush with the outer surface of the intelligent electrosurgical cutting box (3011). Then, the intelligent electrosurgical cutting box (3011) is inserted into the accommodating chamber (209) until the connection contact (106) contacts the actuator contact (210) and the power input head (107) is connected to the power output head (202). The unlocking button (104) is released, and the self-locking column (105) rebounds and is inserted into the self-locking hole (211), thereby limiting the forward and backward movement of the intelligent electrosurgical cutting box (3011).

7. The intelligent resectoscope configured in a natural channel surgical robot according to claim 1, characterized in that: The end effector (302) further includes a motor (203) and a counting substrate (204) which are installed in an internal space formed by the upper cover (206) and the housing (201).

8. The intelligent resectoscope configured in a natural channel surgical robot according to claim 7, characterized in that: The motor (203) is connected to the power output head (202). After the intelligent electrosurgical cutting box (3011) is inserted into the receiving chamber (209), the power output head (202) is inserted into the power input head (107). The rotation of the power output head (202) drives the power input head (107) to rotate together, further driving the worm (115) to rotate. The rotation of the worm (115) drives the turbine (116) engaged with the worm (115) to rotate. The rotation of the turbine (116) further drives the rack (114) to translate.

9. The intelligent resectoscope configured in a natural channel surgical robot according to claim 3, characterized in that: The rack (114) and the slider (120) are connected via a connecting rod (122), so that the translation of the rack (114) drives the slider (120) to translate, and finally drives the resectoscope to move.

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