A master-slave controlled endoscopic surgical robot for tumor resection

Abstract

This invention discloses a master-slave controlled endoscopic surgical robot for tumor resection, belonging to the field of minimally invasive surgical robots. It includes a clamp drive mechanism and an electrosurgical drive mechanism, both of which include a fixed platform and a drive unit. The fixed platform includes a base and a support unit, which moves back and forth on the base via an integral feed unit. The drive unit includes a stepped shaft and a driver slip ring connector. Multiple integral optical rods are provided between the stepped shaft and the driver slip ring connector. Large pulleys are mounted on the integral optical rods, and the large pulleys are connected to small pulleys via belts. The small pulleys are connected to the output end of an integral rotary motor. A conductive slip ring is fixedly mounted at the rear end of the driver slip ring connector. The stepped shaft and the conductive slip ring are respectively placed on the front and rear supports of the support unit. The clamp and electrosurgical knife of this invention operate independently without interference and can coordinate to simultaneously perform tumor clamping and resection operations.

Description

Technical Field

[0001] This invention relates to the field of minimally invasive surgical robots, and in particular to a master-slave controlled endoscopic surgical robot for tumor resection. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Robotics is increasingly being used in minimally invasive surgery, particularly in tumor resection, where it can reduce patient trauma and pain and promote faster recovery. Meanwhile, the use of endoscopy can significantly reduce the physical exertion of medical workers and improve surgical efficiency while shortening operation time.

[0004] Currently available endoscopic surgical robots mostly focus on improving flexibility, functional versatility, and ease of operation, but solutions to the aforementioned problems have not yet been effectively developed. Endoscopes on the market still suffer from issues such as excessive size, limited functionality, and complex interaction. Solving these problems would help simplify current surgical procedures and reduce surgical risks. Summary of the Invention

[0005] To address the aforementioned problems, this invention proposes a master-slave controlled endoscopic surgical robot for tumor resection. The robot uses a drive mechanism to control the feeding, bending, and rotational movements of a continuum, thereby controlling the corresponding movements of the clamps and electrosurgical unit. This transforms the original manual operation into motor-driven operation, allowing the clamps and electrosurgical unit to work independently without interfering with each other, while also coordinating with each other to simultaneously perform tumor clamping and resection.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] This invention provides a master-slave controlled endoscopic surgical robot for tumor resection, including a clamping drive mechanism and an electrosurgical drive mechanism. Both the clamping drive mechanism and the electrosurgical drive mechanism include a fixed platform and a drive device, with the drive device mounted on the fixed platform.

[0008] The fixed platform includes a base and a support unit. The support unit is mounted on the base and moves back and forth on the base via an integral feed unit.

[0009] The drive unit includes a stepped shaft and a drive slip ring connector. Multiple integral optical bars are provided between the stepped shaft and the drive slip ring connector. A large pulley is mounted on the integral optical bar. The large pulley is connected to a small pulley via a belt. The small pulley is fixedly connected to the output end of the integral rotary motor.

[0010] A conductive slip ring is fixedly installed at the rear end of the drive slip ring connector, and the stepped shaft and the conductive slip ring are placed on the front and rear brackets of the support unit, respectively.

[0011] As a further implementation, the drive device includes a clamp drive device and an electric knife drive device. The clamp drive device includes a front support plate, which is connected to a stepped shaft via a copper column. The overall optical bar of the clamp drive device is connected between the front support plate and the drive slip ring connector. A clamp support plate is mounted on the overall optical bar. A clamp tilting unit is installed between the clamp support plate and the front support plate. A clamp rotation unit is installed between the clamp support plate and the large pulley. A clamp opening and closing unit is installed between the large pulley and the drive slip ring connector.

[0012] As a further implementation, the clamp tilting unit includes a clamp tilting motor, which is fixed to the clamp support plate. Its output end is connected to the clamp tilting screw via a coupling. The other end of the clamp tilting screw is fixed to the front support plate. A screw nut is provided on the clamp tilting screw, which is fixedly connected to the clamp tilting pull plate. The clamp tilting pull plate is also fixedly connected to the first drill bit clamp, which is connected to the drive wire.

[0013] As a further implementation, the clamp rotation unit includes a clamp rotation motor, which is fixed on a large pulley. Its output end is connected to a pinion gear, which meshes with a large gear. The large gear is connected to a second drill bit clamp, and the second drill bit clamp is connected to the clamp outer sheath.

[0014] Both the pinion and the gear are fixed to the clamp support plate.

[0015] As a further implementation, the clamp opening and closing unit includes a clamp opening and closing motor, which is fixed on a large pulley. Its output end is connected to the opening and closing lead screw via a coupling. The other end of the opening and closing lead screw is connected to the drive slip ring connector. The opening and closing lead screw is provided with a lead screw nut, which is fixedly connected to the clamp pull plate. The clamp pull plate is also fixedly connected to a tension sensor. The tension sensor is fixedly connected to a third drill bit clamp, which is connected to the drive wire.

[0016] As a further implementation, the integral feed unit includes an integral feed motor, which is fixedly mounted on the base of the fixed platform. Its output end is connected to the first lead screw through a coupling. The first lead screw is provided with a lead screw nut, and the top of the lead screw nut is fixedly connected to the support unit.

[0017] As a further implementation, the support unit includes a support base plate, with a bearing bracket at the front end and a slip ring bracket at the rear end. The bearing bracket and the slip ring bracket are used to support the stepped shaft and the conductive slip ring, respectively.

[0018] The bottom of the support base plate is fixedly connected to the top of the lead screw nut, and its top is fixedly connected to the overall rotating unit through the overall rotating motor fixing sleeve. The overall rotating unit includes the overall rotating motor.

[0019] As a further implementation, the base of the fixed table includes a base plate, the front and rear ends of which are fixedly connected to the front feed plate and the rear feed plate, respectively. The two ends of the first lead screw are fixedly connected to the front feed plate and the rear feed plate, respectively. The overall feed motor is fixedly installed on the rear feed plate. A first guide bar is also provided between the front feed plate and the rear feed plate. The first guide bar is fixedly connected to the bottom of the support base plate through a linear bearing sleeve.

[0020] As a further implementation, the overall optical bar of the electric knife drive device is connected between the large pulley and the driver slip ring connector, the electric knife support plate is installed on the overall optical bar, and an electric knife deflection unit is provided between the large pulley and the electric knife support plate.

[0021] As a further implementation, the electric knife deflection unit includes an electric knife deflection motor, which is fixed to the electric knife support plate. Its output end is connected to the electric knife deflection screw through a coupling. The other end of the electric knife deflection screw is fixed to a large pulley. The electric knife deflection screw is provided with a screw nut, which is fixedly connected to the electric knife deflection pull plate. The electric knife deflection pull plate is also fixedly connected to the fourth drill bit clamp, which is connected to the drive wire.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] 1. The master-slave controlled endoscopic surgical robot for tumor resection proposed in this invention includes a clamping drive mechanism and an electrosurgical drive mechanism, both of which include a fixed stage and a drive device. A clever layout design among the clamping fixed stage, clamping drive device, electrosurgical fixed stage, and electrosurgical drive device results in a compact endoscopic surgical robot structure, solving the problem of excessive size in existing devices.

[0024] 2. The clamping and electrosurgical drive mechanism design of the endoscopic surgical robot proposed in this invention can simultaneously realize the clamping and electrosurgical cutting functions of the endoscopic surgical robot. At the same time, the clamping and electrosurgical do not interfere with each other, work independently, and can be operated simultaneously to achieve coordinated cooperation, thus solving the problem of the single function of the endoscopic surgical robot.

[0025] 3. This invention uses a motor-driven lead screw to drive the drive wire and continuous body to move, and uses a remote tension sensor to acquire tension data. This driving method transforms the original manual operation into motor drive. The digital handheld device collects the doctor's hand movements and performs signal processing and correction to drive the motor to rotate, thus solving the problem of complex interaction. Attached Figure Description

[0026] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0027] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the clamp fixing platform of the present invention;

[0029] Figure 3 This is a schematic diagram of the clamp driving device of the present invention;

[0030] Figure 4 This is a schematic diagram of the structure of the electrosurgical station holder of the present invention;

[0031] Figure 5 This is a schematic diagram of the structure of the electrosurgical drive device of the present invention.

[0032] Among them, 1. clamp fixing table; 2. clamp driving device; 3. electric knife fixing table; 4. electric knife driving device;

[0033] 1-1. Bearing bracket; 1-2. Bearing bracket cover; 1-3. Bearing; 1-4. Belt; 1-5. Small pulley; 1-6. Integral rotary motor fixing sleeve; 1-7. Support base plate; 1-8. Integral rotary motor; 1-9. Slip ring bracket cover; 1-10. Slip ring bracket; 1-11. Feed rear plate; 1-12. Integral feed motor cover; 1-13. Integral feed motor; 1-14. First guide rod; 1-15. Coupling; 1-16. First lead screw; 1-17. Linear bearing sleeve; 1-18. Lead screw nut; 1-19. Base plate; 1-20. Feed front plate; 1-21. Bushing; 1-22. Bottom parts;

[0034] 2-1. Stepped shaft; 2-2. Copper column; 2-3. Front support plate; 2-4. Wire sheath separation flange; 2-5. Clamp yaw screw; 2-6. Integral guide bar; 2-7. First drill bit chuck; 2-8. Linear bearing cover; 2-9. Clamp yaw pull plate; 2-10. Clamp rotary motor; 2-11. Clamp opening and closing motor; 2-12. Large pulley; 2-13. Second drill bit chuck; 2-14. Clamp yaw motor; 2-15. Clamp support plate; 2-16. Pinion; 2-17. Large gear; 2-18. Third drill bit chuck; 2-19. Tension sensor; 2-20. Clamp pull plate; 2-21. Opening and closing screw; 2-22. Clamp guide bar; 2-23. Driver slip ring connector; 2-24. Conductive slip ring;

[0035] 3-1. Electrosurgical knife yaw screw; 3-2. Fourth drill bit chuck; 3-3. Electrosurgical knife yaw cable pull plate; 3-4. Fifth drill bit chuck; 3-5. Electrosurgical knife support plate; 3-6. Electrosurgical knife deflection motor; 3-7. Integrated guide bar; 3-8. Electrosurgical knife guide bar. Detailed Implementation

[0036] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0037] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0038] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0039] Example 1

[0040] like Figure 1 As shown, the present invention provides a master-slave controlled endoscopic surgical robot for tumor resection, including a clamp drive mechanism and an electrosurgical drive mechanism. Both the clamp drive mechanism and the electrosurgical drive mechanism include a fixed platform and a drive device. The drive device is mounted on the fixed platform, which includes a base and a support unit. The support unit is mounted on the base and moves back and forth on the base via an integral feed unit. The drive device includes a stepped shaft and a driver slip ring connector. Multiple integral optical bars are provided between the stepped shaft and the driver slip ring connector. A large pulley is mounted on the integral optical bar. The large pulley is connected to a small pulley via a belt. The small pulley is fixedly connected to the output end of an integral rotary motor. A conductive slip ring is fixedly mounted on the rear end of the driver slip ring connector. The stepped shaft and the conductive slip ring are respectively placed on the front and rear supports of the support unit.

[0041] like Figure 2 and Figure 4 As shown, the integral feed unit includes an integral feed motor. After being pressed together by the integral feed motor cover, the integral feed motor is fixedly mounted on the base of the fixed platform using two M3 bolts. Its output end is connected to an 8mm first lead screw via a coupling. The first lead screw has a lead screw nut, and the top of the lead screw nut is fixedly connected to the support unit using four M1.6 bolts. The forward and reverse motion of the integral feed motor drives the 8mm lead screw to rotate via the coupling, which in turn drives the lead screw nut to move forward and backward, thereby driving the support unit and the clamp drive mechanism and electric knife drive mechanism fixed to the support unit to achieve forward and backward feed.

[0042] The overall rotating unit includes an overall rotating motor, which is fixed to the support base plate of the support unit by an overall rotating motor fixing sleeve and four M3 hex bolts. The output end of the overall rotating motor is fixed to the small pulley through a bushing, and the large pulley is connected to the small pulley through a belt. The forward and reverse rotation of the overall rotating motor drives the small pulley to rotate, and through the belt drives the large pulley to rotate around the axis, thereby driving the clamp drive mechanism and the electric knife drive mechanism to achieve overall rotation.

[0043] The base of the fixed table includes a base plate, the front and rear ends of which are fixedly connected to the front feed plate and the rear feed plate, respectively. The front feed plate and the rear feed plate are each fixed to the base plate by two M3 bolts. The two ends of the first lead screw are fixedly connected to the front feed plate and the rear feed plate, respectively. The overall feed motor is fixedly installed on the rear feed plate. There are also two 4mm first guide rods between the front feed plate and the rear feed plate. Both first guide rods are fixedly connected to the front feed plate and the rear feed plate by two M3*10 hexagon socket head cap screws. The first guide rods are fixedly connected to the bottom of the support base plate through linear bearing sleeves. There are two pairs of linear bearing sleeves on the first guide rods and the first lead screw. All four pairs of linear bearing sleeves are fixed to the bottom of the support base plate by two M1.6 bolts. The linear bearings are installed inside the linear bearing sleeves and are fixed inside the linear bearing sleeves by two M1.6 bolts. During installation, the stepped shaft is fixed to the bearing, and the conductive slip ring is pressed and installed on the slip ring bracket by the slip ring bracket cover.

[0044] The support unit includes a support base plate. A bearing bracket is located at the front end of the support base plate, and a slip ring bracket is located at its rear end. Both the bearing bracket and the slip ring bracket are mounted to the support base plate with two M3 bolts. The bearing bracket and slip ring bracket support the stepped shaft and the conductive slip ring, respectively. The bottom of the support base plate is fixedly connected to the top of the linear bearing sleeve, and its top is fixedly connected to the overall rotating unit via an integral rotary motor mounting sleeve and bottom parts. The bottom plate parts are fixed to the support base plate with two M1.6 bolts. The overall rotating unit includes an integral rotary motor. The bearing bracket and slip ring bracket of the clamp fixing table are equipped with bearing bracket covers and slip ring bracket covers, respectively. The bearing is pressed by the bearing bracket cover and mounted to the bearing bracket with two M3*5 socket head cap bolts. The slip ring bracket cover is mounted to the slip ring bracket with two M3 bolts.

[0045] The drive unit includes a clamp drive unit and an electrosurgical drive unit, such as... Figure 3 As shown, the clamp drive device includes a front support plate, which is connected to a stepped shaft via a copper column. One end of the copper column is fixed to the stepped shaft with an M3 hex bolt, and the other end of the copper column is fixed to the front support plate with an M3 bolt. A wire sheath separation flange is also fixedly connected to the front support plate.

[0046] The overall optical bar of the clamp drive device is connected between the front support plate and the drive slip ring connector by M3 bolts. A clamp support plate is installed on the overall optical bar. A clamp tilting unit is installed between the clamp support plate and the front support plate. A clamp rotation unit is installed between the clamp support plate and the large pulley. A clamp opening and closing unit is installed between the large pulley and the drive slip ring connector.

[0047] The clamp tilting unit includes a clamp tilting motor, which is fixed to the clamp support plate. Its output end is connected to the clamp tilting screw via a coupling. The other end of the clamp tilting screw is fixed to the front support plate. A screw nut is mounted on the clamp tilting screw, and the screw nut is bolted to the clamp tilting pull plate. The clamp tilting pull plate is also bolted to the first drill bit clamp, which is connected to the drive wire. The linear bearing cover is connected to the overall guide rod by pressing the linear bearing. The forward and reverse rotation of the clamp tilting motor drives the clamp tilting screw to rotate around its axis via the coupling. The screw nut drives the clamp tilting pull plate, the first drill bit clamp, and the linear bearing cover to move back and forth. The clamp tilting is achieved by the first drill bit clamp pulling the wire.

[0048] The clamp rotation unit includes a clamp rotation motor, which is fixed to a large pulley. Its output end is connected to a pinion gear, which meshes with a large gear. The large gear is connected to a second drill bit chuck, which is connected to the clamp's outer sheath. Both the pinion gear and the large gear are fixed to the clamp support plate. The pinion gear drives the large gear to rotate through gear meshing, which in turn drives the second drill bit chuck to rotate. The second drill bit chuck is connected to the clamp's outer sheath, thus realizing the rotation of the clamp.

[0049] The clamp opening and closing unit includes a clamp opening and closing motor, which is fixed to a large pulley. Its output end is connected to an opening and closing lead screw via a coupling. The other end of the lead screw is connected to a drive slip ring connector. A lead screw nut is mounted on the lead screw, which is fixedly connected to a clamp pull plate. The clamp pull plate is also fixedly connected to a tension sensor, which is fixedly connected to a third drill bit chuck. The third drill bit chuck is connected to the drive wire. The rotation of the clamp opening and closing motor drives the opening and closing lead screw to rotate around its axis via the coupling, causing the lead screw nut and the third drill bit chuck to move back and forth, thus realizing the clamp's wire pulling movement and achieving clamp opening and closing.

[0050] like Figure 5 As shown, the overall guide bar of the electrosurgical drive unit is connected between the large pulley and the driver slip ring connector. An electrosurgical support plate is mounted on the overall guide bar, and an electrosurgical deflection unit is located between the large pulley and the electrosurgical support plate. It is fixed to the electrosurgical mounting platform via a stepped shaft and a conductive slip ring. The stepped shaft is fixed to a bearing, and the conductive slip ring is mounted on a slip ring bracket. One end of the copper column is fixed to the stepped shaft with an M3 hex bolt, and the other end is fixed to the large pulley with an M3 bolt. The wire sheath separation flange is fixed to the large pulley. The conductive slip ring is fixed to the driver slip ring connector. The electrosurgical support plate is fixed to the overall guide bar. Both ends of the electrosurgical guide bar are connected to the electrosurgical support plate and the driver slip ring connector. The fifth drill chuck is mounted on the electrosurgical support plate.

[0051] The electrosurgical deflection unit includes an electrosurgical deflection motor, which is fixed to the electrosurgical support plate. Its output end is connected to an electrosurgical deflection screw via a coupling. The other end of the electrosurgical deflection screw is fixed to a large pulley. A screw nut is mounted on the electrosurgical deflection screw, which is fixedly connected to the electrosurgical deflection cable pull plate. A linear bearing cover is connected to the overall guide rod by pressing the linear bearing. The electrosurgical deflection cable pull plate is also fixedly connected to the fourth drill chuck, which is connected to the drive wire. The forward and reverse rotation of the electrosurgical deflection motor drives the electrosurgical deflection screw to rotate around its axis via the coupling. The screw nut then drives the electrosurgical deflection cable pull plate, the fourth drill chuck, and the linear bearing cover to move back and forth. The electrosurgical deflection is achieved by pulling the wire through the fourth drill chuck.

[0052] During the surgery, the front ends of the two drive mechanisms are fixedly connected to the surgical execution arm. The drive mechanism pulls the drive wire to drive the movement of the execution arm. The rear ends of the two drive mechanisms are each connected to a master hand. The doctor operates the two master hands simultaneously with his left and right hands. The movement of the drive mechanism is realized through master-slave mapping, thereby realizing the movement operation of the surgical execution arm.

[0053] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0054] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A master-slave controlled endoscopic surgical robot for tumor resection, characterized in that, It includes a clamp drive mechanism and an electric knife drive mechanism, both of which include a fixed platform and a drive device, with the drive device mounted on the fixed platform; The fixed platform includes a base and a support unit. The support unit is mounted on the base and moves back and forth on the base via an integral feed unit. The drive device includes a stepped shaft and a driver slip ring connector. Multiple integral optical bars are provided between the stepped shaft and the driver slip ring connector. A large pulley is mounted on the integral optical bar. The large pulley is connected to a small pulley via a belt. The small pulley is fixedly connected to the output end of the integral rotary motor. A conductive slip ring is fixedly installed at the rear end of the driver slip ring connector, and the stepped shaft and the conductive slip ring are respectively placed on the front and rear supports of the support unit. The driving device includes a clamp driving device and an electric knife driving device. The clamp driving device includes a front support plate, which is connected to the front support plate via a copper column and a stepped shaft. The overall optical bar of the clamp driving device is connected between the front support plate and the driver slip ring connector. A clamp support plate is mounted on the overall optical bar. A clamp tilting unit is installed between the clamp support plate and the front support plate. A clamp rotation unit is installed between the clamp support plate and the large pulley. A clamp opening and closing unit is installed between the large pulley and the driver slip ring connector. The overall optical bar of the electrosurgical drive device is connected between the large pulley and the driver slip ring connector. An electrosurgical support plate is installed on the overall optical bar, and an electrosurgical deflection unit is provided between the large pulley and the electrosurgical support plate.

2. The master-slave controlled endoscopic surgical robot for tumor resection as described in claim 1, characterized in that, The clamp tilting unit includes a clamp tilting motor, which is fixed to the clamp support plate. Its output end is connected to the clamp tilting screw via a coupling. The other end of the clamp tilting screw is fixed to the front support plate. The clamp tilting screw is provided with a screw nut, which is fixedly connected to the clamp tilting pull plate. The clamp tilting pull plate is also fixedly connected to the first drill bit clamp, which is connected to the drive wire.

3. The master-slave controlled endoscopic surgical robot for tumor resection as described in claim 1, characterized in that, The clamp rotation unit includes a clamp rotation motor, which is fixed on a large pulley. Its output end is connected to a pinion gear. The pinion gear meshes with a large gear. The large gear is connected to a second drill bit clamp, and the second drill bit clamp is connected to the clamp outer sheath. Both the pinion and the gear are fixed to the clamp support plate.

4. The master-slave controlled endoscopic surgical robot for tumor resection as described in claim 1, characterized in that, The clamp opening and closing unit includes a clamp opening and closing motor, which is fixed on a large pulley. Its output end is connected to an opening and closing screw via a coupling. The other end of the opening and closing screw is connected to a drive slip ring connector. A screw nut is provided on the opening and closing screw. The screw nut is fixedly connected to a clamp pull plate. The clamp pull plate is also fixedly connected to a tension sensor. The tension sensor is fixedly connected to a third drill bit clamp. The third drill bit clamp is connected to a drive wire.

5. The master-slave controlled endoscopic surgical robot for tumor resection as described in claim 1, characterized in that, The integral feed unit includes an integral feed motor, which is fixedly mounted on the base of the fixed platform. Its output end is connected to the first lead screw through a coupling. The first lead screw is provided with a lead screw nut, and the top of the lead screw nut is fixedly connected to the support unit.

6. A master-slave controlled endoscopic surgical robot for tumor resection as described in claim 5, characterized in that, The support unit includes a support base plate, a bearing bracket at the front end of the support base plate and a slip ring bracket at the rear end, the bearing bracket and the slip ring bracket being used to support the stepped shaft and the conductive slip ring, respectively. The bottom of the support base plate is fixedly connected to the top of the lead screw nut, and its top is fixedly connected to the overall rotating unit through the overall rotating motor fixing sleeve. The overall rotating unit includes the overall rotating motor.

7. A master-slave controlled endoscopic surgical robot for tumor resection as described in claim 6, characterized in that, The base of the fixed platform includes a base plate, the front and rear ends of which are fixedly connected to the front feed plate and the rear feed plate, respectively. The two ends of the first lead screw are fixedly connected to the front feed plate and the rear feed plate, respectively. The overall feed motor is fixedly installed on the rear feed plate. A first optical bar is also provided between the front feed plate and the rear feed plate. The first optical bar is fixedly connected to the bottom of the support base plate through a linear bearing sleeve.

8. The master-slave controlled endoscopic surgical robot for tumor resection as described in claim 1, characterized in that, The electric knife deflection unit includes an electric knife deflection motor, which is fixed to the electric knife support plate. Its output end is connected to the electric knife deflection screw via a coupling. The other end of the electric knife deflection screw is fixed to a large pulley. The electric knife deflection screw is provided with a screw nut, which is fixedly connected to the electric knife deflection pull plate. The electric knife deflection pull plate is also fixedly connected to a fourth drill bit clamp, which is connected to a drive wire.

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