Modular quick-change composite continuum surgical robot and control method thereof

Abstract

The application discloses a modular quick-change composite continuum surgical robot and a control method thereof. The continuum surgical robot comprises a cut continuum driving structure, a concentric tube and a biopsy forceps driving structure arranged on a sliding table base. The cut continuum driving structure drives the cut continuum to move forward and backward through the cooperation of a planetary gear and a lead screw, and drives the cut continuum to rotate through a gear. The concentric tube and biopsy forceps driving structure drive the concentric tube to move forward and backward and the biopsy forceps to open and close through the cooperation of a planetary gear and a lead screw, and drives the concentric tube and biopsy forceps to rotate through a planetary gear. The cut continuum driving structure and the concentric tube and biopsy forceps driving structure can be quickly switched. The application adopts a modular design, so that various surgical tools and equipment can be flexibly combined to meet the needs of different surgical scenes. The surgical tools and modules can be quickly and easily replaced, thereby reducing the surgical interval time and improving the surgical efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical robots, in particular to a modular quick-change composite continuum surgical robot and a control method thereof. BACKGROUND

[0002] Continuum robots can be defined as robots composed of flexible materials such as elastomers, polymers or fiber materials, whose degrees of freedom and shapes can change. These robots are usually designed to be able to bend, stretch or deform to adapt to different environments and tasks, and in some cases can better complete specific tasks. The application range of continuum robots is very wide, including medical surgery, disaster rescue, ocean exploration, building maintenance, aerospace, etc. Due to their flexibility and plasticity, they can enter narrow or dangerous spaces, perform complex tasks, constantly adapt to the surrounding environment, and remain stable. In addition, compared with traditional hardware robots, flexible robots are lighter, easier to manipulate, and have higher safety.

[0003] The surgical robots in the prior art are large in size and weight, are not conducive to disassembly and assembly, have a large operation space, and have relatively low operation flexibility, which cannot be flexibly used in actual surgical operations. Moreover, the operation is complex, and doctors need to have high experience and technical level; the switching speed adjustment time and response time between different institutions are long, which is not suitable for actual surgery, and still has certain improvement space. In addition, due to the insufficient fixation and customizability of surgical instruments, it is not suitable for the challenge of tumor resection in complex skull base space. SUMMARY

[0004] In view of the problems in the prior art, the present application provides a modular quick-change composite continuum surgical robot and a control method thereof, which can flexibly combine various surgical tools and equipment by adopting modular design to meet the needs of different surgical scenes.

[0005] The technical scheme of the present application is as follows:

[0006] In the first aspect of the present application, a modular quick-change composite continuum surgical robot is provided, which comprises a cutout continuum driving structure and a concentric tube and biopsy forceps driving structure arranged on a sliding table base; the cutout continuum driving structure drives the forward and backward movement of the cutout continuum through the cooperation of the planetary gear and the lead screw, and drives the rotation of the cutout continuum through the gear; the concentric tube and biopsy forceps driving structure drives the forward and backward movement of the concentric tube and the opening and closing of the biopsy forceps through the cooperation of the planetary gear and the lead screw, and drives the rotation of the concentric tube and the biopsy forceps through the planetary gear; the cutout continuum driving structure and the concentric tube and biopsy forceps driving structure can be quickly switched.

[0007] In some embodiments of the present application, the sliding base comprises a sliding table and a bottom plate, the bottom plate is installed on the upper surface of the sliding table, and a motor, a lower support plate and a gear are arranged on the bottom plate.

[0008] In some embodiments of the present application, the cut continuous body driving structure comprises two driving sliders symmetrically arranged, and a lead screw and an optical shaft are installed on each of the two driving sliders, a gear is installed on the lead screw, the gear is engaged with the planetary gear, the planetary gear is rotated to drive the rotation of the gear and the lead screw, and the driving sliders are controlled to move forward and backward.

[0009] In some embodiments of the present application, the planetary gear is installed on the upper support plate, and the upper support plate is installed on the lower support plate.

[0010] In some embodiments of the present application, a gear ring support is arranged in the upper support plate, the gear ring support is engaged with the gear on the sliding base, the gear is driven to rotate by the motor, and then the driving slider is driven to rotate by the gear ring support.

[0011] In some embodiments of the present application, the concentric tube and biopsy forceps driving structure comprises a concentric tube driving module and a biopsy forceps driving module, and the concentric tube driving module and the biopsy forceps driving module are installed on the lead screw and the optical shaft.

[0012] In some embodiments of the present application, the end of the lead screw and the optical shaft is installed on the gear ring support, the gear ring support is arranged in the upper support plate, and the upper support plate is installed on the lower support plate.

[0013] In some embodiments of the present application, the planetary gear is arranged on the upper support plate, the planetary gear is engaged with the gear on the sliding base, the gear is driven to rotate by the motor, and then the lead screw is driven to control the forward and backward movement of the concentric tube driving module and the biopsy forceps driving module, and the forward and backward movement of the concentric tube and the opening and closing of the biopsy forceps.

[0014] In some embodiments of the present application, the concentric tube driving module and the biopsy driving module are connected through the optical shaft synchronous belt, the planetary gear drives the rotation of the biopsy forceps driving module through the ball spline shaft, and the rotation of the gear drives the rotation of the concentric tube and the biopsy forceps.

[0015] In a second aspect of the present application, a control method of a modular quick-change composite continuum surgical robot is provided, comprising: a control end comprising two master hands and a foot switch; the joint angles of the two master hands are mapped to the stretching length, bending angle and rotating angle of the composite continuum end, the movement of the two robot arms can be controlled simultaneously through the two master hands, so that the composite continuum end of the two arms presents the required state of surgical operation; the control object can be switched through the foot switch, so that the posture of the two robot arms currently controlled can be switched to another two robot arms while keeping stable, and then the posture of the other two robot arms is controlled through the two master hands, so as to control the state of the other two continua.

[0016] The one or more technical schemes of the present application have the following beneficial effects:

[0017] (1) The modular quick-change composite continuum surgical robot provided by the present application adopts modular design, modularizes the driving structure and motor, so that various surgical tools and equipment can be flexibly combined to meet the needs of different surgical scenes. Through the cooperation of the master hand and the foot switch, the surgical tool and the module can be quickly and easily replaced, thereby reducing the surgical interval time and improving the surgical efficiency. The robot system is particularly optimized for tumor resection surgery in the complex space of the skull base, and has excellent precise positioning and operation capability. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The overall structure schematic diagram of the continuum surgical robot provided by the embodiment of the present application is provided;

[0019] Figure 2 The slide base structure schematic diagram provided by the embodiment of the present application is provided;

[0020] Figure 3 The overall structure schematic diagram of the incision continuum driving structure provided by the embodiment of the present application is provided;

[0021] Figure 4 The side view of the incision continuum driving structure provided by the embodiment of the present application is provided;

[0022] Figure 5 The concentric tube and biopsy forceps driving structure schematic diagram provided by the embodiment of the present application is provided;

[0023] Figure 6 The concentric tube driving module and biopsy forceps driving module schematic diagram provided by the embodiment of the present application is provided;

[0024] Figure 7 The single robot arm end continuum structure schematic diagram provided by the embodiment of the present application is provided;

[0025] Figure 8 The overall structure schematic diagram of the four-arm composite continuum surgical robot provided by the embodiment of the present application is provided;

[0026] Figure 9 The four-arm composite continuum surgical robot end continuum structure schematic diagram provided for the embodiments of the present application.

[0027] In the figure: 1, slide base; 2, incision continuum driving structure; 3, concentric tube and biopsy forceps driving structure; 1-1, slide; 1-2-1, first lower support plate; 1-2-2, second lower support plate; 1-2-3, third lower support plate; 1-2-4, fourth lower support plate; 1-2-5, fifth lower support plate; 1-3-1, first motor; 1-3-2, second motor; 1-3-3, third motor; 1-3-4, fourth motor; 1-3-5, fifth motor; 1-3-6, sixth motor; 1-3-7, seventh motor; 1-3-8, eighth motor; 1-4-1, first motor fixing block; 1-4-2, second motor fixing block; 1-5-1, first gear; 1-5-2, second gear; 1-5-3, third gear; 1-5-4, fourth gear; 1-5-5, fifth gear; 1-5-6, sixth gear; 1-6, bottom plate; 2-1, tube seat; 2-2, compression ring; 2-3-1, first planetary gear, 2-3-2, second planetary gear; 2-4-1, first upper support plate; 2-4-2, second upper support plate; 2-5, gear ring; 2-6, first lead screw; 2-7, first optical shaft; 2-8, driving slide block; 2-9, gear support; 2-10, first lead screw nut; 2-11, tension worm; 2-12, tension worm gear shaft; 2-13, first gear ring support; 2-14, first linear bearing; 2-15, seventh gear; 3-1-1, third planetary gear; 3-1-2, fourth planetary gear; 3-1-3, fifth planetary gear; 3-1-4, sixth planetary gear; 3-2-1, third upper support plate; 3-2-2, fourth upper support plate; 3-2-3, fifth upper support plate; 3-3-1, second optical shaft; 3-3-2, third optical shaft; 3-3-3, fourth optical shaft; 3-4, ball spline shaft; 3-5-1, second lead screw; 3-5-2, third lead screw; 3-6, concentric tube driving module; 3-7, biopsy forceps driving module; 3-8-1, eighth gear; 3-8-2, ninth gear; 3-8-3, tenth gear; 3-9-1, second lead screw nut; 3-9-2, third lead screw nut; 3-10, second gear ring support; 3-11, synchronous belt; 3-6-1, front carrier plate; 3-6-4, rear carrier plate; 3-6-2, small pulley; 3-6-3, ball spline sleeve; 3-6-5, second linear bearing; 3-6-6, fifth optical shaft; 3-7-1, instrument driving carrier plate; 3-7-2, instrument opening and closing slide block; 3-7-3, pin tube clamping sleeve; 3-7-4, slide block bearing; 3-7-5, instrument slide block bearing cover plate. DETAILED DESCRIPTION

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0029] Example 1

[0030] In a typical embodiment of the present invention, a modular, quick-change composite continuum surgical robot is proposed, such as... Figure 1 As shown, it includes a continuous incision drive structure 2 and a concentric tube and biopsy forceps drive structure 3 mounted on a slide base 1. The continuous incision drive structure 2 drives the continuous incision to move back and forth through the cooperation of planetary gears and a lead screw, and drives the continuous incision to rotate through gears. The concentric tube and biopsy forceps drive structure 3 drives the concentric tube to move back and forth and the biopsy forceps to open and close through the cooperation of planetary gears and a lead screw, and drives the concentric tube and biopsy forceps to rotate through planetary gears. The continuous incision drive structure 2 and the concentric tube and biopsy forceps drive structure 3 can be quickly switched.

[0031] In this embodiment, as Figure 2 As shown, the slide base 1 includes a slide 1-1 and a base plate 1-6. The base plate 1-6 is installed on the upper surface of the slide 1-1, and a motor, a lower support plate, and gears are provided on the base plate 1-6.

[0032] The structure of the slide base 1 is as follows Figure 2 As shown, five lower support plates and eight motors are provided on the base plate 1-6. The adjacent lower support plates are spaced a certain distance apart. The first motor 1-3-1, the second motor 1-3-2 and the third motor 1-3-3 are provided between the first lower support plate 1-2-1 and the second lower support plate 1-2-2. The first motor 1-3-1 is connected to the first gear 1-5-1, and the second motor 1-3-2 is connected to the second gear 1-5-2. The first gear 1-5-1 and the second gear 1-5-2 are respectively located on both sides of the first lower support plate 1-2-1. A fourth motor 1-3-4, a fifth motor 1-3-5, a sixth motor 1-3-6, and a seventh motor 1-3-7 are installed between the third lower support plate 1-2-3 and the fourth lower support plate 1-2-4. The third motor 1-3-3 is connected to the third gear 1-5-3, and the fourth motor 1-3-4 is connected to the fourth gear 1-5-4. The third gear 1-5-3 and the fourth gear 1-5-4 are positioned opposite each other between the second lower support plate 1-2-2 and the third lower support plate 1-2-3. The sixth motor 1-3-6 is connected to the sixth gear 1-5-6, and the seventh motor 1-3-7 is connected to the fifth gear 1-5-5. The sixth motor 1-3-6 and the seventh motor 1-3-7 are arranged in parallel and installed on the fourth lower support plate 1-2-4. The eighth motor 1-3-8 is installed on the fifth lower support plate 1-2-5. Among the aforementioned motors, the second motor 1-3-2 and the fifth motor 1-3-5 are fixedly mounted on the base plate by the first motor fixing block 1-4-1 and the second motor fixing block 1-4-2, respectively, while the remaining motors are supported by corresponding support plates.

[0033] The lower support plates provide support for the cut continuum driving structure 2 and the concentric tube and biopsy forceps driving structure 3, and the multiple motors and multiple gears provide power for the cut continuum driving structure 2 and the concentric tube and biopsy forceps driving structure 3.

[0034] As shown in Figure 3 and Figure 4 , the cut continuum driving structure 2 is supported by the first lower support plate 1-2-1 and the second lower support plate 1-2-2, and the first lower support plate 1-2-1 is provided with a first upper support plate 2-4-1, and the second lower support plate 1-2-2 is provided with a second upper support plate 2-4-2.

[0035] The cut continuum driving structure 2 includes two symmetrically arranged driving sliders 2-8, both of which are installed on a lead screw and an optical axis, the lead screw is provided with a gear, the gear is engaged with the planetary gear, the planetary gear rotates to drive the gear and the lead screw to rotate, and the driving slider moves forward and backward.

[0036] The two driving sliders are the same structure, and one of the driving sliders is taken as an example, the driving slider 2-8 is arranged on the first lead screw 2-6 and the first optical axis 2-7, the first optical axis 2-7 is provided with two, which are symmetrically arranged about the first lead screw 2-6, the first planetary gear 2-3-1 is provided with two, which are located on the left and right sides of the first upper support plate 2-4-1, the gear ring support 2-13 is located on the inner side of the first upper support plate 2-4-1, the gear support 2-9, the tension worm 2-11 and the tension turbine worm shaft 2-12 are fixed on the inner side of the first upper support plate 2-4-1, the two ends of the first lead screw 2-6 and the two first optical axes 2-7 are fixed on the first upper support plate 2-4-1 and the second upper support plate 2-4-2 through the gear support 2-9, the lead screw nut 2-10 is connected with the first lead screw 2-6, the two driving sliders 2-8 are connected and installed on the first lead screw 2-6 and the first optical axis 2-7, and the first linear bearing 2-14 is nested on the two ends of the driving slider 2-14 and connected with the optical axis 2-7. The other driving slider 2-8 is installed on the second planetary gear 2-3-2 of the second upper support plate 2-4-2 in the same structure.

[0037] The working principle of the driving slider 2-8 is that the seventh gear 2-15 and the first lead screw 2-6 are fixedly connected and engaged with the first planetary gear 2-3 on the outer side of the first upper support plate 2-4-1, when the first planetary gear 2-3 rotates, the seventh gear 2-15 drives the first lead screw 2-6 to rotate, controls the forward and backward movement of the driving slider 2-8 on the first lead screw 2-6, and further controls the stretching of the cut continuum in the two side directions. The gear ring support 2-13 is engaged with the second gear 1-5-2 on the slide base to control the rotation of the cut continuum.

[0038] Further, the tube seat 2-1 is connected with the compression ring 2-2, and is fixed to the outer side of the first upper support plate 2-4-1, and provides support for the installation of the outer tube through the tube seat 2-1.

[0039] As shown in Figure 5 and Figure 6 The third upper support plate 3-2-1 is installed on the third lower support plate 1-2-3, the fourth upper support plate 3-2-2 is installed on the fourth lower support plate 1-2-4, and the fifth upper support plate 3-2-3 is installed on the fifth lower support plate 1-3-5, the third planetary gear 3-1-1 and the fourth planetary gear 3-1-2 are respectively installed on both sides of the third upper support plate 3-2-1, the fifth planetary gear 3-1-3 is arranged on the fourth upper support plate 3-2-2, and the sixth planetary gear 3-1-4 is arranged on the fifth upper support plate 3-2-3.

[0040] The concentric tube and biopsy forceps driving structure includes a concentric tube driving module 3-6 and a biopsy forceps driving module 3-7, which are installed on the lead screw and the optical shaft through the lead screw and the optical shaft. Specifically, the lead screw includes a second lead screw 3-5-1 and a third lead screw 3-5-2, and the optical shaft includes a second optical shaft 3-3-1, a third optical shaft 3-3-2, and a fourth optical shaft 3-3-3, wherein the second optical shaft 3-3-1 and the second lead screw 3-5-1 are installed on the concentric tube driving module 3-6, the third lead screw 3-5-2, the third optical shaft 3-3-2, and the fourth optical shaft 3-3-3 are installed on the biopsy forceps driving module 3-7, and the concentric tube driving module 3-6 is further provided with a ball spline shaft 3-4.

[0041] Further, the two ends of the lead screw, the optical shaft, and the ball spline shaft are respectively fixed to the third upper support plate 3-2-1 and the fourth upper support plate 3-2-2 on both sides, the concentric tube driving module 3-6, the biopsy forceps driving module 3-7, and the second lead screw nut 3-9-1 and the third lead screw nut 3-9-2 are connected and installed on the lead screw, the optical shaft, and the ball spline shaft, the eighth gear 3-8-1 and the ninth gear 3-8-2 are respectively engaged with the third planetary gear 3-1-1 and the gear ring support 3-10, and the concentric tube driving module 3-6 and the biopsy forceps driving module 3-7 are connected through the fifth optical shaft 3-6-6 and the synchronous belt 3-11.

[0042] The working principle of the concentric tube and biopsy forceps driving structure is that after the upper support plate and the lower support plate are fitted, the planetary gears on the driving structure are engaged with the gears on the bottom plate, the motor on the bottom plate drives the gears on the bottom plate to rotate, driving the rotation of each planetary gear, wherein the third planetary gear 3-1-1 drives the first lead screw 3-5-1 to control the forward and backward movement of the biopsy forceps driving module 3-7, and then controls the opening and closing of the biopsy forceps through wire driving; the fifth planetary gear 3-1-3 drives the second lead screw 3-5-2 to control the forward and backward movement of the concentric tube driving module 3-6, and the concentric tube is fixedly connected with the driving slider to drive the forward and backward movement of the concentric tube; the sixth planetary gear 3-1-4 drives the biopsy forceps driving module 3-7 to rotate through the ball spline 3-4, and the rotation of the gear on the inner side of the fourth planetary gear 3-1-2 drives the concentric tube and the biopsy forceps to rotate together.

[0043] As shown in Figure 6 The concentric tube driving module 3-6 includes a front carrier plate 3-6-1, a rear carrier plate 3-6-4, two small pulleys 3-6-2, a ball spline sleeve 3-6-3, a second linear bearing 3-6-5, and a fifth light shaft 3-6-6. One end of the front carrier plate 3-6-1 and the rear carrier plate 3-6-4 is connected by the second linear bearing 3-6-5, and the other end is connected by the ball spline sleeve 3-6-3 and the small pulley 3-6-2. The fifth light shaft 3-6-6 is fixed at both ends of the front carrier plate 3-6-1 and the rear carrier plate 3-6-4, respectively, and the small pulley 3-6-2 and the biopsy forceps driving module 3-7 are connected by the light shaft 3-6-6. The fifth planetary gear 3-1-3 drives the second lead screw 3-5-2 to control the forward and backward movement of the concentric tube driving module 3-6, and the concentric tube is fixedly connected with the driving slider to drive the forward and backward movement of the concentric tube; the rotation of the gear on the inner side of the fourth planetary gear 3-1-2 drives the concentric tube driving module to rotate and in turn drives the concentric tube to rotate.

[0044] In the embodiment, the biopsy forceps driving module 3-7 comprises: an instrument driving carrier plate 3-7-1, an instrument opening and closing slider 3-7-2, a pin tube clamping sleeve 3-7-3, a slider bearing 3-7-4, and an instrument slider bearing cover plate 3-7-5. The third screw nut 3-9-2 is embedded in the instrument driving carrier plate 3-7-1 and is connected to the third lead screw 3-5-2; the instrument opening and closing slider 3-7-2 and the instrument slider bearing cover plate 3-7-5 are connected to the fifth optical shaft 3-6-6; the slider bearing 3-7-4 is embedded in the sliding groove at one end of the instrument driving carrier plate 3-7-1; the pin tube clamping sleeve 3-7-3 is inserted into the central hole of the instrument opening and closing slider 3-7-2; the slider bearing 3-7-4 is sleeved on the instrument opening and closing slider 3-7-2; and the instrument slider bearing cover plate 3-7-5 is installed on the outside of the slider bearing 3-7-4. The fourth motor 1-3-4 drives the third planetary gear 3-1-1 to rotate through the gear ring, thereby driving the first lead screw 3-5-1 to rotate, and further controlling the forward and backward movement of the biopsy forceps driving module 3-7 through the third screw nut 3-9-2, and further controlling the opening and closing of the biopsy forceps through the wire driving. The sixth planetary gear 3-1-4 drives the biopsy forceps driving module 3-7 to rotate through the ball spline 3-4, thereby driving the biopsy forceps to rotate; the rotation of the gear ring on the inside of the fourth planetary gear 3-1-2 drives the concentric tube and the biopsy forceps to rotate together.

[0045] As shown in Figure 7 , the machine arm end continuum structure accesses the pipe seat 2-1.

[0046] As shown in Figure 8 and Figure 9 , four continuum surgical robots are placed together for surgical operation.

[0047] The working process of the modular quick-change composite continuum surgical robot provided in the embodiment is as follows:

[0048] The motor and the lower support plate are arranged on the base sliding table, and the incision continuum driving structure, the concentric tube driving structure, and the biopsy forceps driving structure are connected and installed on the upper support plate. The installation and dismounting of the upper support plate and the lower support plate can complete the installation and dismounting of the driving structure and the base sliding table, thereby separating the driving structure module and the motor module of the composite continuum surgical robot, realizing the quick conversion of the driving structure and the efficient utilization of the base sliding table. When the composite continuum robot is needed for surgical operation, the incision continuum driving structure, the concentric tube driving structure, and the biopsy forceps driving structure are installed on the sliding table base through the cooperation of the upper and lower support plates; when the module is not needed for surgical operation, the driving structure can be dismounted to replace other robots for surgical operation.

[0049] Embodiment 2

[0050] In an exemplary embodiment of the present application, a control method of a modular quick-change composite continuum surgical robot is provided. The control end comprises two master hands and a foot switch. The joint angles of the two master hands are mapped to the stretching length, bending angle and rotating angle of the composite continuum end. The movement of two robot arms can be controlled simultaneously by the two master hands, so that the composite continuum end of the two arms assumes a state required for surgical operation. The control object can be switched by the foot switch, so that the posture of the two robot arms currently controlled can be kept stable while switching to another two robot arms. The posture of the other two robot arms can be controlled by the two master hands, and then the state of the other two continua can be controlled.

[0051] Although the specific embodiments of the present application are described above with reference to the drawings, the description is not a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications or variations made on the basis of the technical solutions of the present application without creative labor are still within the scope of protection of the present application.

Claims

1. A modular, quick-change composite continuum surgical robot, characterized in that, The device includes a continuous incision drive structure and a concentric tube and biopsy forceps drive structure mounted on a slide base. The continuous incision drive structure drives the continuous incision to move back and forth through the cooperation of planetary gears and a lead screw, and drives the continuous incision to rotate through gears. The concentric tube and biopsy forceps drive structure drives the concentric tube to move back and forth and the biopsy forceps to open and close through the cooperation of planetary gears and a lead screw, and drives the concentric tube and biopsy forceps to rotate through planetary gears. The incision continuum drive structure can be quickly switched with the concentric tube and biopsy forceps drive structure; The cut continuum drive structure includes two symmetrically arranged drive sliders with the same structure. One drive slider is set on the first lead screw and the first optical axis. There are two first optical axes, symmetrically arranged about the first lead screw. There are two first planetary gears, located on the left and right sides of the first upper support plate respectively. The gear ring bracket is located inside the first upper support plate. The other drive slider is installed on the second planetary gear on the second upper support plate with the same structure. When the first planetary gear rotates, the gear drives the first lead screw to rotate, controlling the forward and backward movement of the drive slider on the first lead screw, thereby controlling the forward and backward movement of the cutting continuous body; the gear ring bracket meshes with the gear on the slide base, and drives the drive slider to rotate through the gear ring bracket, thereby driving the cutting continuous body to rotate. The concentric tube and biopsy forceps drive structure includes a concentric tube drive module and a biopsy forceps drive module. The concentric tube drive module is mounted on the second optical axis and the second lead screw, and the biopsy forceps drive module is mounted on the third lead screw, the third optical axis and the fourth optical axis. The third planetary gear drives the second lead screw to control the forward and backward movement of the biopsy forceps drive module, and then controls the opening and closing of the biopsy forceps through wire drive; the fifth planetary gear drives the third lead screw to control the forward and backward movement of the concentric tube drive module; the sixth planetary gear drives the biopsy forceps drive module to rotate through ball splines, and the gear on the inner side of the fourth planetary gear rotates to drive the concentric tube and biopsy forceps to rotate together.

2. The modular, quick-change composite continuum surgical robot as described in claim 1, characterized in that, The slide base includes a slide and a base plate. The base plate is installed on the upper surface of the slide and is equipped with a motor, a lower support plate, and gears.

3. The modular, quick-change composite continuum surgical robot as described in claim 1, characterized in that, The planetary gear is mounted on the upper support plate, and the upper support plate is mounted on the lower support plate.

4. The modular, quick-change composite continuum surgical robot as described in claim 1, characterized in that, The ends of the lead screw and optical shaft are mounted on the gear ring bracket, which is located inside the upper support plate, and the upper support plate is mounted on the lower support plate.

5. A control method for a modular, quick-change composite continuum surgical robot as described in any one of claims 1-4, characterized in that, include: The control unit includes two master arms and a foot switch. The joint angles of the two master arms are mapped to the extension length, bending angle, and rotation angle of the end of the composite continuum. The two master arms can simultaneously control the movement of the two robotic arms, so that the end of the composite continuum of the two arms is in the state required for surgical operation. By switching the control object through the foot switch, it is possible to switch to two other robotic arms while maintaining the stable posture of the two currently controlled robotic arms. Then, the posture of the other two robotic arms can be controlled by the two master arms, thereby controlling the state of the other two continuums.

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