A ureteroscopic surgical robot with multi-instrument collaborative operation

Abstract

The present invention discloses a ureteroscope flexible surgical robot with coordinated operation of multiple instruments, which relates to the field of medical surgical robots. The system specifically includes components such as a flexible mirror driving module, a ureteral guide sheath driving module, a flexible mirror quick-install module, a sheath quick-install module, a guidewire feeding module and a control box. First, the ureteral guide sheath driving module accurately positions the ureteral guide sheath into the patient's urethra and ureter, creating conditions for the unobstructed entry of the disposable flexible mirror. Next, the flexible mirror driving module drives the disposable flexible mirror into the body through the ureteral guide sheath that has been in place, and the guidewire feeding module controls the laser guidewire to be introduced along the flexible mirror, performing precise laser lithotripsy on the stone position. In addition, the lifting module provides necessary height adjustment according to the patient's physical condition, thereby increasing the adaptability of the operation. The control box is the center of the system operation, providing the surgeon with an intuitive operating interface.

Description

Technical Field

[0001] The present invention relates to the field of medical surgical robots, and in particular to a ureteroscope surgical robot capable of coordinated operation of multiple instruments. Background Art

[0002] Ureteroscopic lithotripsy is a minimally invasive medical procedure used to treat ureteral stones. In traditional ureteroscopic lithotripsy, the doctor inserts a thin, flexible endoscope through the patient's urethra until it reaches the location of the stone. With the help of the camera on the endoscope, the doctor can directly observe the stone and use lasers or mechanical tools to break it into small pieces. The stone fragments are then removed or naturally excreted from the body. Compared with open surgery, this method has the advantages of less trauma and faster recovery. However, existing ureteroscopic lithotripsy surgical equipment has certain limitations. First, the success of the operation is highly dependent on the doctor's technical level and experience, and the accuracy and safety during the operation have high requirements on the doctor's operating level. Secondly, manual operation of the endoscope may lead to longer operation time, patient discomfort and increased risk of complications. In addition, the doctor's field of view is limited during the operation, and it may sometimes be difficult to accurately locate the stone.

[0003] In view of this, how to provide an auxiliary device that can fully or partially solve the above technical problems is a technical problem that people in this field urgently need to solve. Summary of the Invention

[0004] The purpose of the present invention is to provide a ureteroscopic surgical robot with coordinated operation of multiple instruments to solve the problems existing in the prior art.

[0005] To achieve the above objectives, the present invention provides the following solution: The present invention provides a ureteroscopic surgical robot capable of coordinated operation of multiple instruments, comprising:

[0006] A bottom plate, with two side plates vertically provided at both ends of the bottom plate;

[0007] A flexible lens support plate, wherein two hinged plates are vertically provided at both ends of the flexible lens support plate, the flexible lens support plate is located between the two side plates, and the two hinged plates are hinged to the two side plates respectively;

[0008] A flexible lens rotating mechanism, wherein the flexible lens rotating mechanism is fixedly connected to the bottom plate, an output end of the flexible lens rotating mechanism passes through the side plate and is fixedly connected to the hinge plate, and the flexible lens rotating mechanism can drive the flexible lens support plate to rotate;

[0009] A soft endoscope feeding guide rail, wherein the soft endoscope feeding guide rail is fixedly arranged on the soft endoscope support plate, and a soft endoscope bending mechanism is provided on the soft endoscope feeding guide rail, and the soft endoscope bending mechanism is slidably connected to the soft endoscope feeding guide rail; a disposable ureteroscope is provided on the soft endoscope bending mechanism, and the soft endoscope bending mechanism can adjust the curvature of the disposable ureteroscope, and the soft endoscope tube of the disposable ureteroscope passes through the hinge plate and the side plate and is connected to the ureteral guide sheath.

[0010] Furthermore, the soft lens rotation mechanism includes:

[0011] A flexible mirror rotating motor, the flexible mirror rotating motor is fixedly arranged on the lower surface of the base plate,

[0012] A driving pulley, the output end of the flexible mirror rotating motor is drivingly connected to the driving pulley;

[0013] The driven pulley is connected to the driven pulley through a synchronous belt, and the driven pulley is fixedly connected to the hinged plate. The middle of the side plate and the hinged plate both have through holes, and the soft mirror tube of the disposable ureteroscope extends from the through hole and is connected to the ureteral guide sheath.

[0014] Furthermore, it also includes:

[0015] A flexible endoscope quick-installation device, the disposable flexible ureteroscope and the flexible endoscope bending mechanism are both arranged on the flexible endoscope quick-installation device, and the flexible endoscope quick-installation device is slidably connected to the flexible endoscope feeding guide rail.

[0016] Furthermore, it also includes:

[0017] A soft mirror feeding motor is fixedly arranged on the lower surface of the soft mirror supporting plate; the soft mirror feeding motor drives the soft mirror quick-installing device to slide along the soft mirror feeding guide rail through a soft mirror feeding screw.

[0018] Furthermore, the flexible lens bending mechanism includes:

[0019] A flexible endoscope bending motor is fixedly arranged on the flexible endoscope quick-installation device. The disposable flexible ureteroscope has a bending knob capable of adjusting the curvature. The output end of the flexible endoscope bending motor is transmission-connected to the bending knob.

[0020] Furthermore, the flexible lens quick-install device includes:

[0021] A base, wherein a left clamping plate and a right clamping plate are provided on the base, and an elastic spring is provided in the base, and the elastic spring is fixedly connected to the left clamping plate and the right clamping plate respectively;

[0022] The elastic handle is in transmission connection with the left splint and the right splint. When the elastic handle is pulled inward, the left splint and the right splint approach each other and compress the elastic spring. When the elastic handle is pulled outward, the elastic spring resets and separates the left splint and the right splint. When the left splint and the right splint approach each other, the disposable ureteroscope can be fixed between the left splint and the right splint.

[0023] Furthermore, it also includes:

[0024] A mounting frame, the mounting frame being located below the base plate and fixedly connected to the base plate;

[0025] a sheath tube feeding guide rail, the sheath tube feeding guide rail being arranged on the mounting frame;

[0026] a sheath fixing frame, the sheath fixing frame being arranged on the sheath feeding guide rail and being slidably connected thereto, the ureteral guide sheath being detachably connected to the sheath fixing frame, and the connection between the sheath fixing frame and the ureteral guide sheath being close to the side panel;

[0027] A sheath tube feeding motor is located below the mounting frame and fixedly connected to the mounting frame. The sheath tube feeding motor drives the sheath tube fixing frame to slide along the sheath tube feeding guide rail through a sheath tube feeding screw.

[0028] Furthermore, the invention further comprises a sheath tube quick-installation device, wherein the sheath tube quick-installation device comprises:

[0029] A lower pressure cover, the lower pressure cover is fixedly arranged on the sheath tube fixing frame;

[0030] An upper gland, the upper gland being hinged to the lower gland, and a slot adapted to fit the ureteral guide sheath being defined between the upper gland and the lower gland;

[0031] The pressure cover lock buckle is hinged to the lower pressure cover, and when the upper pressure cover is rotated to the upper surface of the lower pressure cover, the pressure cover lock buckle can be rotated to the upper surface of the upper pressure cover.

[0032] Furthermore, it also includes:

[0033] A support plate, a fixing plate fixedly connected to the support plate, and a bottom of the support plate extending downward to form a support member;

[0034] The lifting module is in transmission connection with the supporting member and can drive the supporting member to move in the up and down directions.

[0035] Furthermore, the support plate has a clamping portion, the base plate is fixed in the clamping portion, and the clamping portion adjusts the clamping degree through a tightening knob.

[0036] Furthermore, a worm gear motor is fixed to the disposable ureteroscope through a guide wire motor fixing plate;

[0037] A lower roller, the lower roller being rotatably connected to the guide wire motor fixing plate through a lower roller cover, and the lower roller being fixedly connected to the output end of the worm gear motor;

[0038] An upper roller, the upper roller being rotatably connected to the guide wire motor fixing plate through an upper roller cover, the lower roller being rotatably connected to the upper roller, a groove being defined between the lower roller and the upper roller, the laser guide wire passing through the groove, and the rotation of the lower roller and the upper roller can drive the laser guide wire to feed;

[0039] A three-way connector connects to the flexible tubing of the disposable ureteroscope, through which the guidewire enters. The laser guidewire is positioned between two rollers, where friction generated by the rollers effectively propels it forward, enabling precise feeding. To retrieve the guidewire, the worm gear motor reverses, retracting it backwards, significantly improving surgical flexibility and safety.

[0040] The present invention discloses the following technical effects:

[0041] 1. This application uses the coordinated operation of multiple instruments to achieve rotation, bending, and translation of the flexible endoscope tube, greatly improving the flexibility and positioning accuracy of the equipment, reducing the operation time, and reducing the risk of complications for patients.

[0042] 2. The ureteral guide sheath serves as a connecting tool between the patient's urethra and the soft endoscope, which can reduce the risk of direct contact between the soft endoscope and the urethra and ureter, thereby reducing surgical trauma and reducing patient discomfort. At the same time, the ureteral guide sheath can also serve as an auxiliary positioning structure for the soft endoscope. The soft endoscope can smoothly enter the patient's urethra along the ureteral guide sheath for surgical operations. In addition, when the soft endoscope needs to be inserted a second time during the operation, the ureteral guide sheath can continue to be used without the need for a second operation.

[0043] 3. Both the flexible endoscope and ureteral guide sheath are fixed with a quick-release device. The fixing structure is stable and reliable, and the installation is convenient and quick, which helps to simplify preoperative preparations and improve efficiency.

[0044] 4. The lifting module, sheath feeding motor and sheath feeding guide rail can flexibly adjust the height and position of the device to adapt to the physical conditions of various patients.

[0045] 5. When performing surgery using the device disclosed in this application, there is no need to make any wounds or incisions on the patient's body. The soft endoscope can be smoothly inserted through the human urethra, greatly reducing the patient's pain during and after the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] 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. 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 these drawings without paying any creative work.

[0047] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0048] Figure 2 Schematic diagram of the flexible mirror driving device of the present invention;

[0049] Figure 3 Schematic diagram of the laser guide wire driving device of the present invention;

[0050] Figure 4 Schematic diagram of the quick-install device for flexible lens of the present invention;

[0051] Figure 5 This is a schematic diagram of the sheath quick-install device of the present invention;

[0052] Figure 6 This is a schematic diagram of the sheath tube feeding guide rail of the present invention;

[0053] Among them: 1. Control box; 2. Lifting module; 3. Support; 4. Ureteral guide sheath; 5. Sheath quick-release device; 6. Synchronous belt; 7. Disposable ureteroscope; 8. Scope support plate; 9. Scope quick-release device; 10. Bending knob; 11. Scope bending motor; 12. Scope feed screw; 13. Scope feed guide rail; 14. Scope feed motor; 15. Base plate; 16. Support plate; 17. Tension knob; 18. Sheath feed motor; 19. Sheath feed screw; 20. Sheath feed guide rail; 21. Sheath holder; 22. Mirror rotation motor; 23. Driving pulley; 24. Mounting frame; 25. Driven pulley; 26. Right clamp; 27. Elastic handle; 28. Left clamp; 29. ​​Upper pressure cover; 30. Lower pressure cover; 31. Pressure cover lock; 32. Side panel; 33. Hinge plate; 34. Base; 35. Lower roller cover; 36. Upper roller; 37. Upper roller cover; 38. T-joint; 39. Guide wire motor fixing plate; 40. Lower roller; 41. Laser guide wire; 42. Worm gear motor. DETAILED DESCRIPTION

[0054] 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0055] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0056] The present embodiment provides a ureteroscope surgical robot with cooperative operation of multiple instruments, including: a base plate 15, two side plates 32 are vertically provided at both ends of the base plate 15, and the base plate 15 and the two side plates 32 are partially hollowed out to facilitate the wiring of the following electrical structures; a soft mirror support plate 8, two hinged plates 33 are vertically provided at both ends of the soft mirror support plate 8, the soft mirror support plate 8 is located between the two side plates 32, and the side plates 32 have hinge holes near the top, and the two hinged plates 33 are hinged to the two side plates 32 respectively through hinge shafts; a soft mirror rotating mechanism, the soft mirror rotating mechanism is fixedly connected to the base plate 15, and the soft mirror The output end of the soft endoscope rotation mechanism passes through the side plate 32 and is fixedly connected to the hinged plate 33. The soft endoscope rotation mechanism can drive the soft endoscope support plate 8 to rotate; the soft endoscope feeding guide rail 13, the soft endoscope feeding guide rail 13 is fixedly set on the soft endoscope support plate 8, and the soft endoscope feeding guide rail 13 is provided with a soft endoscope bending mechanism, which is slidably connected to the soft endoscope feeding guide rail 13; the soft endoscope bending mechanism is provided with a disposable ureteral soft endoscope 7, and the soft endoscope bending mechanism can adjust the curvature of the disposable ureteral soft endoscope 7. The soft endoscope tube of the disposable ureteral soft endoscope 7 passes through the hinged plate 33 and the side plate 32 and is connected to the ureteral guide sheath 4.

[0057] In this embodiment, the soft endoscope rotation mechanism includes: a soft endoscope rotation motor 22, which is fixedly arranged on the lower surface of the base plate 15, a driving pulley 23, and the output end of the soft endoscope rotation motor 22 is transmission-connected to the driving pulley 23; a driven pulley 25, which is transmission-connected to the driven pulley 25 through a synchronous belt 6, and the driven pulley 25 is fixedly connected to the hinge plate 33. The middle parts of the side plate 32 and the hinge plate 33 both have through holes, and the soft endoscope tube of the disposable ureteroscope 7 extends from the through hole and is connected to the ureteral guide sheath 4.

[0058] In this embodiment, it further comprises: a flexible endoscope quick-installation device 9 , on which the disposable flexible ureteroscope 7 and the flexible endoscope bending mechanism are both arranged. The flexible endoscope quick-installation device 9 is slidably connected to the flexible endoscope feeding guide rail 13 .

[0059] In this embodiment, it also includes: a soft mirror feeding motor 14, which is fixedly arranged on the lower surface of the soft mirror support plate 8; the soft mirror feeding motor 14 drives the soft mirror quick-install device 9 to slide along the soft mirror feeding guide rail 13 through the soft mirror feeding screw 12.

[0060] In this embodiment, the flexible endoscope bending mechanism includes: a flexible endoscope bending motor 11, which is fixedly mounted on the flexible endoscope quick-install device 9. The disposable ureteroscope 7 has a bending knob 10 that can adjust the curvature, and the output end of the flexible endoscope bending motor 11 is transmission-connected to the bending knob 10.

[0061] In this embodiment, the flexible endoscope quick-install device 9 includes: a base 34, on which a left splint 28 and a right splint 26 are provided, and a tension spring is provided in the base 34, which is fixedly connected to the left splint 28 and the right splint 26 respectively; an elastic handle 27, which is transmission-connected to the left splint 28 and the right splint 26. When the elastic handle 27 is pulled inward, the left splint 28 and the right splint 26 approach each other and compress the elastic spring. When the elastic handle 27 is pulled outward, the elastic spring resets and separates the left splint 28 and the right splint 26. When the left splint 28 and the right splint 26 approach each other, the disposable ureteroscope 7 can be fixed between the left splint 28 and the right splint 26.

[0062] In this embodiment, it also includes: a mounting frame 24, the mounting frame 24 is located below the base plate 15 and is fixedly connected to the base plate 15; a sheath feeding guide rail 20, the sheath feeding guide rail 20 is arranged on the mounting frame 24; a sheath fixing frame 21, the sheath fixing frame 21 is arranged on the sheath feeding guide rail 20 and is slidably connected thereto, the ureteral guide sheath 4 is detachably connected to the sheath fixing frame 21, and the connection between the sheath fixing frame 21 and the ureteral guide sheath 4 is close to the side plate 32; a sheath feeding motor 18, the sheath feeding motor 18 is located below the mounting frame 24 and is fixedly connected to the mounting frame 24, and the sheath feeding motor 18 drives the sheath fixing frame 21 to slide along the sheath feeding guide rail 20 through the sheath feeding screw 19.

[0063] In this embodiment, a sheath quick-installation device 5 is also included, which includes: a lower pressing cover 30, which is fixedly arranged on the sheath fixing frame 21; an upper pressing cover 29, which is hinged to the lower pressing cover 30, and a slot adapted to the ureteral guide sheath 4 is defined between the upper pressing cover 29 and the lower pressing cover 30; a pressing cover lock 31, which is hinged to the lower pressing cover 30, and when the upper pressing cover 29 is rotated to the upper surface of the lower pressing cover 30, the pressing cover lock 31 can be rotated to the upper surface of the upper pressing cover 29.

[0064] This embodiment also includes: a support plate 16, a fixed plate fixedly connected to the support plate 16, the bottom of the support plate 16 extending downward to form the support member 3; and a lifting module 2, which is transmission-connected to the support member 3 and can drive the support member 3 in the vertical direction. Furthermore, the support plate 16 has a clamping portion, and the base plate 15 is fixed in the clamping portion. The clamping portion is adjusted in tension by a tension knob 17.

[0065] In this embodiment, the device further comprises: a worm gear motor 42, which is fixed to the disposable ureteroscope 7 via a guide wire motor fixing plate 39;

[0066] The lower roller 40 is rotatably connected to the guide wire motor fixing plate 39 through the lower roller cover 35, and the lower roller 40 is fixedly connected to the output end of the worm gear motor 42;

[0067] The upper roller 36 is rotatably connected to the guide wire motor fixing plate 39 through the upper roller cover 37. The lower roller 40 is rotatably connected to the upper roller 36. A groove is defined between the lower roller 40 and the upper roller 36. The laser guide wire passes through the groove. The rotation of the lower roller 40 and the upper roller 36 can drive the laser guide wire to feed;

[0068] The three-way connector 38 is connected to the flexible tube of the disposable ureteroscope 7 , and the guide wire enters the flexible tube of the disposable ureteroscope 7 through the three-way connector 38 .

[0069] In this embodiment, it also includes a control box 1 and a mobile cart. The control box 1 is set on the mobile cart and is responsible for overall control of the operation of each motor. The lifting assembly is fixed on the mobile cart, and the entire surgical robot can move synchronously with the mobile cart.

[0070] The specific working process is as follows:

[0071] 1. Installation of ureteral guide sheath 4

[0072] Adjust the robot's height based on the patient's physical condition using the lifting module 2. Secure the tail end of the ureteral guide sheath 4 between the upper and lower glands 29 and 30 and lock it with the gland lock 31. Start the sheath feed motor 18, which, via the sheath feed screw 19, drives the sheath holder 21 to slide along the sheath feed rail 20, adjusting the position of the ureteral guide sheath 4. Position the head end of the ureteral guide sheath 4 within the patient's urethra and ureter to facilitate smooth insertion of the flexible ureteroscope.

[0073] 2. Soft lens installation

[0074] The soft endoscope is fixed between the left splint 28 and the right splint 26. The soft endoscope tube is introduced into the inside of the ureteral guide sheath 4.

[0075] 3. Adjustment of soft lens position

[0076] 3.1 Adjustment of the feeding position of the soft mirror

[0077] The soft mirror feeding motor 14 is started, and the soft mirror feeding motor 14 drives the soft mirror quick-installing device 9 to slide along the soft mirror feeding guide rail 13 through the soft mirror feeding screw 12 to adjust the soft mirror feeding position.

[0078] 3.2 Adjustment of the curvature of the soft lens

[0079] The flexible lens bending motor 11 is started, and the flexible lens bending motor 11 drives the bending knob 10 to rotate to adjust the curvature of the flexible lens.

[0080] 3.3 Soft lens angle adjustment

[0081] The flexible mirror rotating motor 22 is started, and the flexible mirror rotating motor 22 drives the driving pulley 23, the driven pulley 25, and the hinge plate 33 to rotate in sequence, and then drives the flexible mirror supporting plate 8 and the flexible mirror to rotate, thereby adjusting the angle of the flexible mirror.

[0082] Once the position of the flexible endoscope is determined, ureteroscopic lithotripsy can be performed normally.

[0083] During the above process, the drive module corresponding to the ureteral guide sheath 4 and the drive module corresponding to the flexible endoscope dynamically cooperate. This cooperation not only includes the ureteral guide sheath 4 initially guiding the flexible endoscope into the body, but also, during the operation, as the flexible endoscope moves, the ureteral guide sheath 4 will also make corresponding adjustments to optimize the surgical path and improve surgical safety.

[0084] At the beginning of the procedure, the drive module corresponding to the ureteral guide sheath 4 is responsible for accurately positioning and inserting the ureteral guide sheath 4 into the patient's urethra and ureter, ensuring a safe initial passage for the insertion and operation of the flexible endoscope. Once the ureteral guide sheath 4 reaches its initial position, the flexible endoscope is loaded and connected to the system via the flexible endoscope quick-release device, and then inserted into the patient's body along the ureteral guide sheath 4.

[0085] As the flexible endoscope moves within the body to perform procedures such as lithotripsy, the drive module corresponding to the ureteral guide sheath 4 adjusts the position and posture of the ureteral guide sheath 4 based on the endoscope's real-time position and surgical requirements. This dynamic adjustment allows the endoscope to maneuver more flexibly within the ureter while maintaining a safe and clear view of the surgical field, ensuring efficient and precise execution of lithotripsy and other surgical procedures.

[0086] This dynamic coordination between the flexible endoscope and the ureteral guide sheath 4 significantly improves surgical flexibility and safety, reducing the risk of trauma and complications during surgery. By precisely controlling the position of the ureteral guide sheath 4 in response to the movement of the flexible endoscope, flexible ureteroscopic surgery becomes more efficient and safer, providing patients with a better treatment option.

[0087] 3. Laser guide wire feeding

[0088] The upper roller 36 and the lower roller 40 are installed on their corresponding cover plates, namely the upper roller cover 37 and the lower roller cover 35. A groove is designed between the upper roller 36 and the lower roller to guide the smooth passage of the laser guide wire 41.

[0089] Before the procedure begins, the laser guidewire 41 is placed in the groove formed by the upper roller 36 and the lower roller 40. After ensuring that the laser guidewire 41 is correctly positioned and ready for feeding, the worm gear motor 42 is activated, driving the lower roller 40 to rotate. Due to friction, the upper roller 36 also rotates, and the laser guidewire 41, sandwiched between the two rollers, begins to feed forward. During feeding, the laser guidewire 41 enters the disposable flexible ureteroscope 7 through the three-way connector 38, ensuring stable feeding of the laser guidewire 41.

[0090] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0091] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A ureteroscopic surgical robot with multi-instrument collaborative operation, characterized in that: include: A bottom plate (15), wherein two side plates (32) are vertically provided at both ends of the bottom plate (15); A soft mirror support plate (8), two hinged plates (33) are vertically provided at both ends of the soft mirror support plate (8), the soft mirror support plate (8) is located between the two side plates (32), and the two hinged plates (33) are respectively hinged to the two side plates (32); A soft mirror rotating mechanism, wherein the soft mirror rotating mechanism is fixedly connected to the bottom plate (15), an output end of the soft mirror rotating mechanism passes through the side plate (32) and is fixedly connected to the hinge plate (33), and the soft mirror rotating mechanism can drive the soft mirror support plate (8) to rotate; A soft endoscope feeding guide rail (13), wherein the soft endoscope feeding guide rail (13) is fixedly arranged on the soft endoscope support plate (8), and a soft endoscope bending mechanism is arranged on the soft endoscope feeding guide rail (13), and the soft endoscope bending mechanism is slidably connected to the soft endoscope feeding guide rail (13); a disposable ureteroscope (7) is arranged on the soft endoscope bending mechanism, and the soft endoscope bending mechanism can adjust the curvature of the disposable ureteroscope (7), and the soft endoscope tube of the disposable ureteroscope (7) passes through the hinge plate (33) and the side plate (32) and is connected to the ureteral guide sheath (4); The soft lens rotation mechanism comprises: a flexible mirror rotating motor (22), wherein the flexible mirror rotating motor (22) is fixedly arranged on the lower surface of the base plate (15), A driving pulley (23), the output end of the soft mirror rotating motor (22) being in driving connection with the driving pulley (23); A driven pulley (25), the driving pulley (23) is connected to the driven pulley (25) through a synchronous belt (6), the driven pulley (25) is fixedly connected to the hinge plate (33), the middle portions of the side plate (32) and the hinge plate (33) are provided with through holes, the flexible endoscope tube of the disposable flexible ureteroscope (7) extends from the through hole and is in communication with the ureteral guide sheath (4); It also includes: a flexible endoscope quick-install device (9), the disposable ureteroscope (7) and the flexible endoscope bending mechanism are both arranged on the flexible endoscope quick-install device (9), and the flexible endoscope quick-install device (9) is slidably connected to the flexible endoscope feeding guide rail (13); the flexible endoscope bending mechanism includes: A flexible endoscope bending motor (11), the flexible endoscope bending motor (11) is fixedly mounted on the flexible endoscope quick-installation device (9), the disposable flexible ureteroscope (7) has a bending knob (10) capable of adjusting the bending degree, and the output end of the flexible endoscope bending motor (11) is in transmission connection with the bending knob (10); The flexible lens quick-install device (9) comprises: A base (34), wherein a left clamping plate (28) and a right clamping plate (26) are provided on the base (34), and a tension spring is provided in the base (34), and the tension spring is fixedly connected to the left clamping plate (28) and the right clamping plate (26) respectively; The elastic handle (27) is in transmission connection with the left splint (28) and the right splint (26). When the elastic handle (27) is pulled inward, the left splint (28) and the right splint (26) approach each other and compress the elastic spring. When the elastic handle (27) is pulled outward, the elastic spring resets and separates the left splint (28) and the right splint (26). When the left splint (28) and the right splint (26) approach each other, the disposable ureteroscope (7) can be fixed between the left splint (28) and the right splint (26).

2. The multi-instrument collaborative ureteroscopic surgical robot according to claim 1, characterized in that: Also includes: A soft mirror feeding motor (14) is fixedly arranged on the lower surface of the soft mirror support plate (8); the soft mirror feeding motor (14) drives the soft mirror quick-install device (9) to slide along the soft mirror feeding guide rail (13) via the soft mirror feeding screw (12).

3. A multi-instrument collaborative ureteroscopic surgical robot according to any one of claims 1-2, characterized in that: Also includes: a mounting frame (24), the mounting frame (24) being located below the base plate (15) and fixedly connected to the base plate (15); a sheath tube feeding guide rail (20), the sheath tube feeding guide rail (20) being arranged on the mounting frame (24); a sheath tube fixing frame (21), the sheath tube fixing frame (21) being arranged on the sheath tube feeding guide rail (20) and being slidably connected thereto, the ureteral guide sheath (4) being detachably connected to the sheath tube fixing frame (21), and the connection between the sheath tube fixing frame (21) and the ureteral guide sheath (4) being close to the side plate (32); A sheath tube feeding motor (18) is located below the mounting frame (24) and is fixedly connected to the mounting frame (24). The sheath tube feeding motor (18) drives the sheath tube fixing frame (21) to slide along the sheath tube feeding guide rail (20) via the sheath tube feeding screw (19).

4. The multi-instrument collaborative ureteroscopic surgical robot according to claim 3, characterized in that: It also includes a sheath tube quick-installation device (5), which includes: A lower pressure cover (30), wherein the lower pressure cover (30) is fixedly arranged on the sheath tube fixing frame (21); An upper pressure cover (29), the upper pressure cover (29) is hinged to the lower pressure cover (30), and a slot adapted to the ureteral guide sheath (4) is defined between the upper pressure cover (29) and the lower pressure cover (30); The pressure cover lock buckle (31) is hinged to the lower pressure cover (30), and when the upper pressure cover (29) is rotated to the upper surface of the lower pressure cover (30), the pressure cover lock buckle (31) can be rotated to the upper surface of the upper pressure cover (29).

5. A multi-instrument collaborative ureteroscopic surgical robot according to any one of claims 1-2, characterized in that: Also includes: A support plate (16), a fixing plate fixedly connected to the support plate (16), and a bottom of the support plate (16) extending downward to form a support member (3); the support plate (16) has a clamping portion, the bottom plate (15) is fixed in the clamping portion, and the clamping portion is used to adjust the clamping degree by a loosening knob (17); A lifting module (2), the lifting module (2) is transmission-connected to the support member (3) and can drive the support member (3) to move in an up-down direction.

6. The multi-instrument collaborative ureteroscopic surgical robot according to claim 1, characterized in that: Also includes: A worm gear motor (42), wherein the worm gear motor (42) is fixed to the disposable ureteroscope (7) via a guide wire motor fixing plate (39); a lower roller (40), the lower roller (40) being rotatably connected to the guide wire motor fixing plate (39) via a lower roller cover (35), and the lower roller (40) being fixedly connected to the output end of the worm gear motor (42); An upper roller (36), the upper roller (36) is rotatably connected to the guide wire motor fixing plate (39) through an upper roller cover (37), the lower roller (40) and the upper roller (36) are rotatably connected, a groove is defined between the lower roller (40) and the upper roller (36), and the laser guide wire (41) passes through the groove, and the rotation of the lower roller (40) and the upper roller (36) can drive the laser guide wire (41) to feed; A three-way connector (38) is connected to the flexible tube of the disposable ureteroscope (7), and the guide wire enters the flexible tube of the disposable ureteroscope (7) through the three-way connector (38).

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