An integrated surgical robot

Abstract

The application provides an integrated operation robot, which comprises a mechanical arm, a first operation execution module and a second operation execution module, the mechanical arm comprises an elongated main arm and a distal sub-arm installed at the end of the main arm, the first operation execution module comprises a first linear guide mechanism arranged along the extension direction of the main arm, a support frame slidably fixed to the first linear guide mechanism, a control device installed on the support frame, a linearly movable transmission module installed on the distal sub-arm, and the second operation execution module comprises a delivery module fixed to the transmission module, when a catheter type intracavitary medical instrument is fixed to the control device and clamped to the delivery module, the linear movement of the transmission module drives the linear movement of the delivery module, and the support frame and the control device move together under the guidance of the first linear guide mechanism, so that the delivery of the catheter type intracavitary medical instrument is realized, the operation of the operator is assisted, the operation efficiency is improved, and the labor intensity of the operator is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of surgical robot, in particular to a kind of integrated surgical robot for operating catheter, guide wire and other intraluminal medical instrument in clinic. BACKGROUND

[0002] Currently, in the manual surgery involving the use of catheter guide wire, the operator needs to stand near the subject to operate intraluminal medical instruments such as guide wire, guide catheter or angioplasty catheter to enter or withdraw from the subject's body with vascular system. The operator is exposed to the radiation of medical imaging equipment throughout the operation, although there are protective facilities such as lead clothing, but due to long-term wearing of lead clothing, the physical consumption of the operator is increased, not only increasing the risk of hand tremor, but also bringing quality concerns to the already low-efficiency surgery, and also bringing high occupational damage to the operator working in the radiation environment for a long time, with great labor intensity.

[0003] Robot-assisted surgery technology has the characteristics of precision, reliability, fine action and minimally invasive surgery, which can greatly improve the operation precision and effectively reduce the harm of radiation to the operator, and has a very broad development prospect, becoming a key research direction in the field of surgical robots. SUMMARY

[0004] Therefore, it is necessary to provide an integrated surgical robot for efficiently delivering or withdrawing intraluminal medical instruments in view of the deficiencies in the prior art.

[0005] The present application provides an integrated surgical robot, which comprises a mechanical arm, a first surgical execution module and at least one second surgical execution module, the mechanical arm comprises an elongated main arm and a distal branch arm mounted at the end of the main arm, the first surgical execution module comprises a first linear guide mechanism arranged along the extension direction of the main arm, a support frame slidably fixed to the first linear guide mechanism, a control device mounted on the support frame, and a linearly movable transmission module mounted on the distal branch arm, the second surgical execution module comprises a delivery module fixed to the transmission module, when a catheter-type intraluminal medical instrument is fixed to the control device and clamped to the delivery module, the transmission module is linearly moved to drive the delivery module to linearly move, and the support frame and the control device are moved together under the guidance of the first linear guide mechanism, thereby realizing the delivery of the catheter-type intraluminal medical instrument.

[0006] Preferably, the delivery module comprises a driving assembly and an operating assembly fixed to the transmission module, the control device comprises a control assembly and a fixed assembly fixed to the support frame, when the catheter-type intraluminal medical instrument is fixed to the fixed assembly and clamped to the operating assembly, the control assembly and the driving assembly control the fixed assembly and the operating assembly respectively to drive the catheter-type intraluminal medical instrument to rotate.

[0007] Preferably, the control assembly and the driving assembly control the fixing assembly and the operating assembly respectively by non-contacting and spaced control mode.

[0008] Preferably, the control assembly and the driving assembly are provided with rotating driving members, and the fixing assembly and the operating assembly are provided with rotating driven members, and when the catheter-based endoluminal medical device is fixed to the rotating driven members of the fixing assembly and the operating assembly, the rotating driving members drive the rotating driven members to rotate so as to rotate the catheter-based endoluminal medical device by non-contacting and spaced control mode.

[0009] Preferably, the first surgery performing module further comprises a first linear moving mechanism and a first driver, and the first driver is installed on the support frame to drive the first linear moving mechanism so as to linearly move the support frame along the first linear guide mechanism.

[0010] Preferably, the support frame comprises a platform portion, a containing frame arranged below the platform portion and fixed to the first linear guide mechanism, and a frame arranged above the platform portion, and the control assembly comprises a base provided with a first plug-in portion which is removably plugged into the frame.

[0011] Preferably, the distal end of the support arm is provided with a rotating joint, and a support plate is arranged on the rotating joint, and the conveying module comprises a second linear guide mechanism and a second driver fixed to the support plate, and a second motion conversion mechanism which converts the rotating motion of the second driver into linear motion.

[0012] Preferably, the support plate of the distal end of the support arm is fixed with a holding member, and the base is provided with a second plug-in portion which is removably plugged into the holding member, so as to alternately fix the control device between the first surgery performing module and the holding member.

[0013] Preferably, the distal end of the support arm further comprises a conveying module, and the conveying module comprises a second linear guide mechanism and a second driver fixed to the support plate, and a second motion conversion mechanism which converts the rotating motion of the second driver into linear motion, and the holding member is fixed to the second linear guide mechanism, and when the second plug-in portion of the base is plugged into the holding member, the holding member is driven by the second driver to linearly move under the guidance of the second linear guide mechanism.

[0014] Preferably, the platform portion of the support frame is fixed with a delivery module, and the delivery module is used to clamp and rotate the catheter-based endoluminal medical device or the guide wire-based endoluminal medical device.

[0015] Preferably, a delivery module is fixed on the platform of the support frame, and the delivery module is used to clamp and rotate the contrast guide wire.

[0016] Preferably, a delivery module is fixed on the platform of the support frame, and the delivery module is used to clamp and rotate the contrast guide wire.

[0017] Preferably, the fixed assembly is fixed with a connecting valve and can be connected to the catheter cavity medical instrument.

[0018] Preferably, the mechanical arm further comprises at least one intermediate branch arm installed in the middle of the main arm, and a linearly movable delivery module is installed on each intermediate branch arm, and a second surgical execution module is fixed on the delivery module, and the second surgical execution module comprises a delivery module used to operate the intracavity medical instrument.

[0019] Preferably, the intermediate branch arm is two, and is arranged on the two sides of the main arm respectively.

[0020] Preferably, the mechanical arm further comprises at least one intermediate branch arm installed in the middle of the main arm, and a linearly movable delivery module is installed on each intermediate branch arm, and a second surgical execution module is fixed on the delivery module, and the second surgical execution module comprises a delivery module used to operate the intracavity medical instrument.

[0021] Preferably, the intermediate branch arm is two, and is arranged on the two sides of the main arm respectively.

[0022] The integrated surgical robot of the present application has a first surgical execution module on the mechanical arm and a second surgical execution module on the distal branch arm, and the intracavity medical instrument fixed on the control device and clamped on the delivery module is delivered into or withdrawn from the patient's body by the support of the control device of the first surgical execution module and the linear driving of the delivery module of the second surgical execution module, which assists the surgeon to perform the surgery, improves the surgical efficiency, and reduces the labor intensity of the surgeon. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 The first embodiment of the integrated surgical robot of the present application is shown, in which the second surgical execution module is delivering the contrast guide wire.

[0024] Figure 2 The first embodiment of the integrated surgical robot of the present application is shown, in which the first surgical execution module and the second surgical execution module of the distal branch arm are delivering the contrast guide tube.

[0025] Figure 3 for Figure 2 Another state diagram shows the first surgical execution module and the second surgical execution module of the distal arm delivering the guiding catheter.

[0026] Figure 4 for Figure 3 Another state diagram shows the two second surgical execution modules of the central arm delivering the guide wire.

[0027] Figure 5 for Figure 4 Another state diagram shows that the two second surgical execution modules of the intermediate arm and the two second surgical execution modules of the proximal arm are delivering the balloon-expanded stent catheter and the guide wire, respectively.

[0028] Figure 6 This is a schematic diagram of a second embodiment of the integrated surgical robot of the present invention. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0030] In the description of this invention, the term "proximal end" refers to the end closer to the surgeon, and the term "distal end" refers to the end farther from the surgeon; the terms "delivery," "push," "advance," "pull," or "drag" refer to the process of moving from a place farther from the surgeon toward a place closer to the surgeon; the terms "withdraw," "retreat," or "reverse" refer to the process of moving from a place closer to the surgeon toward a place farther from the surgeon; and the terms "horizontal," "vertical," "up," "down," "left," "right," "inner," "outer," "between," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. Unless otherwise explicitly specified and limited, the terms "connection," "linking," "fixing," and "installation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a magnetic connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0031] Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated, nor do they imply that they will appear in sequence; in fact, there may be no term with an earlier order, and the later term may appear directly. Therefore, a feature defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, "more" means one or more, unless otherwise explicitly specified.

[0032] This invention relates to an integrated surgical robot for gripping, delivering, or withdrawing, for example, endovascular medical devices. It should be understood that the term "endovascular" includes lumens such as natural cavities, panvascular cavities, and organ cavities. The term "endovascular medical device" can refer to any shape or type of catheter, guidewire, guiding catheter, angioplasty catheter, or endoscope, various laparoscopes, tubular endoscopes, etc., including any catheter-type or guidewire-type consumable or non-consumable device applicable to procedures such as natural cavity, panvascular intervention, electrophysiology, and structural heart disease. Guidewires here include, but are not limited to, guiding and supporting endovascular medical devices such as guidewires, guidewires, angiography guidewires, and microguidewires (also known as guidewire-type endovascular medical devices); catheters include, but are not limited to, guiding catheters, microcatheters, angiography catheters, intermediate catheters (also known as intermediate catheters), thrombolytic catheters, balloon dilation catheters, and balloon dilation stent catheters (also known as catheter-type endovascular medical devices). It should be understood that the scope and spirit of this invention are not limited to these examples.

[0033] Finally, it should be noted that, unless otherwise specified, the embodiments of the present invention and the various features thereof can be combined with each other, all of which are within the protection scope of the present invention.

[0034] Please refer to Figures 1 to 5 This is a schematic diagram of a first embodiment of the integrated surgical robot of the present invention, which can deliver or withdraw intracavitary medical instruments into the patient's body. For clarity of the integrated surgical robot of the present invention, although some components are omitted from the diagram, they are still important.

[0035] The integrated surgical robot includes a robotic arm 10, a first surgical execution module 50, and several second surgical execution modules 40.

[0036] The robotic arm 10 includes a long main arm 12 and a distal support arm 13, a middle support arm 14, and a proximal support arm 15 rotatably mounted on the main arm 12. The distal support arm 13, the middle support arm 14, and the proximal support arm 15 are located at the distal end, the middle part, and the proximal end of the main arm 12, respectively. A rotating joint 16 is installed at the end of each of the distal support arm 13, the middle support arm 14, and the proximal support arm 15. For details, refer to the robotic arm described in Chinese Patent Application 202310729743.1, the entire contents of which are incorporated herein by reference.

[0037] The first operation execution module 50 comprises a first linear guide mechanism, a first driver 53, a first linear movement mechanism, a support frame 58, and a control device 60. In this embodiment, the first linear guide mechanism is a first sliding rail and sliding block mechanism 51, which comprises a sliding rail 512 fixed to the main arm 12 and a sliding block 514 slidably fitted to the sliding rail 512. In this embodiment, the first linear movement mechanism is a first rack and pinion mechanism 55, which comprises a rack 552 fixed to the main arm 12 in parallel with the sliding rail 512 and a pinion 554 mounted on the output shaft of the first driver 53 and engaged with the rack 552. The support frame 58 comprises a platform part 581, a containing frame 582 provided on the lower side of the platform part 581 and fixed to the sliding block 514, and a frame 584 provided on the front end of the upper side of the platform part 581. In this embodiment, the first driver 53 is a rudder, which is accommodated in the containing frame 582. The frame 584 is provided with a first containing space 586 and two first fixing grooves 588 respectively provided in the two opposite side walls of the first containing space 586. A first electromagnet 589 is mounted in the first containing space 586. The platform part 581 is fixed with the transfer module 20.

[0038] The support plate 22 is fixed on each rotary joint 16, and two transfer modules 20 are fixed on the support plate 22.

[0039] Each transfer module 20 comprises a second linear guide mechanism, a second driver 25, and a second motion conversion mechanism 30. In this embodiment, the second linear guide mechanism of the transfer module 20 is a second sliding rail and sliding block mechanism 24 fixed to the upper side of the platform part 581 or the support plate 22; the second driver 25 is a rudder fixed to the opposite lower side of the platform part 581 or the support plate 22. The second sliding rail and sliding block mechanism 24 comprises a sliding rail 26 and a sliding block 28 slidably fitted to the sliding rail 26, i.e. the sliding rail 26 is fixed to the upper side of the platform part 581 or the support plate 22. The second motion conversion mechanism 30 comprises a linkage 32 connected with the sliding block 28 and a rotating wheel 34 movably connected with the linkage 32. The linkage 32 is provided with an elongated sliding groove 36, and the extending direction of the sliding groove 36 is perpendicular to the extending direction of the sliding rail 26. The rotating wheel 34 is provided with a sliding column 38 slidably fitted in the sliding groove 36 on one side. Through the cooperative movement of the rotating wheel 34 and the linkage 32, the rotary motion of the second driver 25 is converted into the linear reciprocating motion of the sliding block 28 along the sliding rail 26. For details, please refer to the description of the surgical robot in Chinese Patent Application No. 202211105526.7 and the force measurement surgical robot in Chinese Patent Application No. 202211146397.6, the contents of which are incorporated herein in their entirety.

[0040] For these transfer modules 20, in addition to the one of the transfer modules 20 fixed to the rotation joint 16 of the distal arm 13 (in this embodiment, the one closer to the proximal end), a holding piece 46 is fixed thereon. Specifically, each second surgical execution module 40 includes a fixed plate 42 fixed to the slider 28 of the second sliding rail slider mechanism 24 of the transfer module 20 and a delivery module 44 fixed to the fixed plate 42. Regarding the delivery module 44, it includes a driving assembly 48 and an operating assembly 49 moving under the non-contact space control of the driving assembly 48, the operating assembly 49 being used for clamping and moving the intracorporeal medical instrument, the operating assembly 49 and the driving assembly 48 being located on the sterile side and the non-sterile side separated by the sterile barrier, respectively. In this way, the intracorporeal medical instrument is delivered into or withdrawn from the body of the subject by applying a linear force along the intracorporeal medical instrument and / or applying a torsional force / torque on the intracorporeal medical instrument to rotate it about an axis. The non-contact space control between the driving assembly 48 (having a rotating driving element such as a driving piece and a moving driving element such as a driving block) and the operating assembly 49 (having a rotating driven element such as a magnetic induction piece and a moving driven element such as an induction block) to linearly move and / or rotate the intracorporeal medical instrument by the operating assembly 49 includes non-contact space control / transmission modes such as permanent magnet / electromagnetic drive, electromagnetic induction, electric field coupling, direct current resonance, etc. For details, please refer to the description of the surgical robot device and the operation method thereof described in Chinese Patent Application 202210803401.5, the surgical robot described in Chinese Patent Application 202211105526.7, the surgical execution device and the surgical robot having the same described in Chinese Patent Application 202310237481.7, the surgical robot delivery module described in Chinese Patent Application 202310460639.7, the open sterile box described in Chinese Patent Application 202310517391.3, and the surgical execution module and the surgical robot described in Chinese Patent Application 202310565522.5, the contents of which are all incorporated herein. The holding piece 46 is fixed to the slider 28 of the second sliding rail slider mechanism 24 of the transfer module 20. The holding piece 46 has a substantially U-shaped cross section, has a second accommodating space 462 and two second fixing grooves 464 respectively formed in the two opposite side walls of the second accommodating space 462, and the second electromagnet 466 is installed in the second accommodating space 462.

[0041] The control device 60 comprises a control assembly 61 and a fixed assembly 66, which are respectively located on the sterile side and the non-sterile side separated by a sterile barrier (not shown) to allow the control assembly 61 to non-contacting control the movement of the fixed assembly 66. The control assembly 61 comprises a base 62, a fixed frame 63 fixed to the base 62, a third driver 64 fixed to the fixed frame 63, and a driving piece 65 fixed to the output shaft of the third driver 64. The base 62 comprises a first plug-in part 624 which can be plugged into the two first fixed grooves 588 of the support frame 58, and a second plug-in part 622 which can be plugged into the two second fixed grooves 464 of the holding piece 46. The fixed frame 63 comprises two opposite side edges 632 and two mounting arms 634 respectively extending from the two side edges 632. Each mounting arm 634 is mounted with a first driving block 636, and the two side edges 632 are both mounted with a second driving block 638. In this embodiment, the third driver 64 is a rudder. The fixed assembly 66 comprises a base 67, a connecting piece 68 rotatably fixed to the base 67, and a sensing piece 69 fixed to the connecting piece 68. The base 67 is provided with a sensing block 672 on both sides corresponding to the two first driving blocks 636 and the corresponding second driving blocks 638, so that the first driving blocks 636 and the second driving blocks 638 non-contacting control the sensing block 672 from multiple directions or dimensions. The connecting piece 68 comprises a male luer connector 682 and a female luer connector 684 arranged at two opposite ends, which are respectively connected with the female luer connector 822 at the proximal end of the intraluminal medical instrument 82 (such as a contrast catheter) and the male luer connector 72 of the connecting valve 70, and the connecting piece 68 is provided with an inner cavity (not shown) penetrating between the male luer connector 682 and the female luer connector 684. The connecting valve 70 can be a two-way two-way valve, a three-way three-way valve, a three-way valve, a straight-through valve, a T valve, or a Y valve, etc. according to needs. The male luer connector 682 and the female luer connector 684 of the connecting piece 68 are located on both sides of the base 67. In this embodiment, the driving piece 65 and the sensing piece 69 can be magnetic driving wheels and magnetic sensing wheels respectively, such as permanent magnetic wheels, electromagnetic wheels, or a hybrid type of permanent magnet and electromagnet, and the magnetic sensing wheel is fixed to one end of the connecting piece 68 provided with the male luer connector 682 and rotates under the non-contacting control of the magnetic driving wheel. For details, please refer to the description of the intraluminal medical instrument control module, the connecting valve thereof, and the intraluminal medical instrument control device and the driving method thereof in Chinese Patent Application 202310315778.0 and Chinese Patent Application 202310270354.7, the contents of which are incorporated herein in their entirety; the first driving block 636 and the second driving block 638 can be driving magnetic blocks, and the sensing block 672 can be a sensing magnetic block, such as a permanent magnetic block, an electromagnetic block, or a hybrid type of permanent magnet and electromagnet.

[0042] In other embodiments, the connecting valve 70 can be directly fixed to the base 67 of the fixing assembly 66 of the control device 60, so that the female luer connector 822 of the intravascular medical instrument 82 (e.g., a contrast catheter) can be directly connected to the male luer connector 72 of the connecting valve 70. In addition, the inductor 69 can also be fixed to the intravascular medical instrument 82 (e.g., a contrast catheter).

[0043] When the surgery is prepared, the distal arm 13 can be adjusted to rotate relative to the main arm 12, and the support plate 22 can be adjusted to rotate through the rotation joint 16 thereon, so that the delivery module 44 thereon is aligned with the delivery module 44 on the first surgery execution module 50. The intravascular medical instrument 80 (e.g., a contrast guide wire) is respectively placed in the operation assembly 49 of the delivery module 44 of the first surgery execution module 50 and the operation assembly 49 of the delivery module 44 of the distal arm 13 and clamped by the operation assembly 49 of the distal arm 13, so that the transmission module 20 of the distal arm 13 drives the driving assembly 48 to advance distally, and the operation assembly 49 moves under the non-contact space control of the driving assembly 48, to realize the linear movement and / or rotation of the intravascular medical instrument 80 (e.g., a contrast guide wire), so that the intravascular medical instrument 80 (e.g., a contrast guide wire) is delivered into the body (e.g., a blood vessel system) of a subject. When the transmission module 20 of the distal arm 13 reaches the limit position and needs to drive the driving assembly 48 to retreat proximally, the operation assembly 49 of the distal arm 13 releases the intravascular medical instrument 80 (e.g., a contrast guide wire), and the operation assembly 49 of the delivery module 44 of the first surgery execution module 50 clamps the intravascular medical instrument 80 (e.g., a contrast guide wire). When the driving assembly 48 ends the retreat, the operation assembly 49 of the distal arm 13 clamps the intravascular medical instrument 80 (e.g., a contrast guide wire) and delivers it, and the operation assembly 49 of the delivery module 44 of the first surgery execution module 50 releases the intravascular medical instrument 80 (e.g., a contrast guide wire). In this way, the intravascular medical instrument 80 (e.g., a contrast guide wire) is intermittently delivered to the target blood vessel (e.g., a blood vessel lesion) of the blood vessel system of the subject. Of course, in other embodiments, the driving assembly 48 of the delivery module 44 on the first surgery execution module 50 can be used to non-contact space control the operation assembly 49 to realize the intermittent delivery of the intravascular medical instrument 80 (e.g., a contrast guide wire), and the operation assembly 49 of the delivery module 44 of the distal arm 13 is only used for the intermittent clamping of the intravascular medical instrument 80 (e.g., a contrast guide wire).

[0044] In other embodiments, when the delivery module 20 of the distal support arm 13 reaches the extreme position and needs to drive the driving assembly 48 to retreat proximally, the operating assembly 49 of the distal support arm 13 releases the intraluminal medical instrument 80 (e.g., a contrast guide wire) and the operating assembly 49 of the delivery module 44 of the first surgical execution module 50 clamps the intraluminal medical instrument 80 (e.g., a contrast guide wire), the driving assembly 48 of the delivery module 20 of the distal support arm 13 drives the operating assembly 49 to retreat, the driving assembly 48 of the delivery module 44 of the first surgical execution module 50 drives the operating assembly 49 to advance distally, the operating assembly 49 clamps the intraluminal medical instrument 80 (e.g., a contrast guide wire) and moves under the non-contact space control of the driving assembly 48, and the linear movement and / or rotation of the intraluminal medical instrument 80 (e.g., a contrast guide wire) is achieved. When the delivery module 20 of the distal support arm 13 drives the driving assembly 48 and the operating assembly 49 to retreat to the position (e.g., another extreme position), the delivery module 20 of the first surgical execution module 50 stops driving the driving assembly 48 and the operating assembly 49 of the delivery module 44 to advance distally and releases the intraluminal medical instrument 80 (e.g., a contrast guide wire). At this time, the operating assembly 49 of the distal support arm 13 clamps the intraluminal medical instrument 80 (e.g., a contrast guide wire) and delivers it, and so on, to achieve continuous delivery of the intraluminal medical instrument 80 (e.g., a contrast guide wire), which is more efficient.

[0045] Next, the intraluminal medical instrument 80 (e.g., a contrast guide wire) is released from the operating assembly 49 of the delivery module 44 of the first surgical execution module 50. The intraluminal medical instrument 82 (e.g., a contrast guide catheter) is threaded onto the intraluminal medical instrument 80 (e.g., a contrast guide wire) and passes through the operating assembly 49 of the delivery module 44 of the distal support arm 13 and is clamped, the intraluminal medical instrument 80 (e.g., a contrast guide wire) passes through the lumen of the connecting piece 68 of the fixed assembly 66 of the control device 60, the male luer connector 682 of the connecting piece 68 is connected to the female luer connector 822 at the proximal end of the intraluminal medical instrument 82 (e.g., a contrast guide catheter), and the connecting valve 70 is threaded onto the intraluminal medical instrument 80 (e.g., a contrast guide wire) and connected to the female luer connector 684 of the connecting piece 68 through the male luer connector 72. At this time, the fixed assembly 66 of the control device 60 is placed on the control assembly 61 (generally, the control assembly 61 has an outer shell, and the fixed assembly 66 is placed outside the outer shell of the control assembly 61), and the first driving block 636 (e.g., a driving magnetic block) and the second driving block 638 (e.g., a driving magnetic block) on the inner fixing frame 63 of the control assembly 61 and the inductive block 672 (e.g., an inductive magnetic block) on the fixed assembly 66 are positioned in multiple directions or dimensions by the non-contact space attraction force therebetween. The intraluminal medical instrument 80 (e.g., a contrast guide wire) is again threaded into the operating assembly 49 of the delivery module 44 of the first surgical execution module 50 and clamped.

[0046] At the beginning, the first insertion part 624 of the base 62 of the control assembly 61 is inserted into the two first fixing grooves 588 of the support frame 58 and is fixed by the first electromagnet 589. The first driver 53 is started to drive the gear 554 of the first gear-rack mechanism 55 to move linearly along the rack 552, thus driving the support frame 58 to move linearly on the slide rail 512 of the first slide rail slide block mechanism 51. Then, the first driving block 636 (such as a driving magnetic block) and the second driving block 638 (such as a driving magnetic block) on the control assembly 61 non-contactingly and firmly attract the inductive block 672 (such as an inductive magnetic block) on the fixing assembly 66 from multiple directions or multiple dimensions, thus making the fixing assembly 66 move linearly through the non-contacting and spaced control mode. At the same time, the second driver 25 of the delivery module 20 of the distal support arm 13 is started to convert the rotary motion of the second driver 25 into the linear motion of the slide block 28 along the slide rail 26 of the second slide rail slide block mechanism 24 through the second motion conversion mechanism 30, so as to drive the delivery module 44 to move linearly, thus making the control device 60 and the delivery module 44 deliver the intracavitary medical instrument 82 (such as a contrast catheter) together. As mentioned above, the operation assembly 49 of the delivery module 44 of the distal support arm 13 can release the intracavitary medical instrument 82 (such as a contrast catheter) when it retreats, and then clamps and continues to deliver after it retreats.

[0047] When the support frame 58 approaches the holding piece 46, the second insertion part 622 of the base 62 is inserted into the two second fixing grooves 464 of the holding piece 46 and is fixed by the second electromagnet 466, while the first electromagnet 589 releases the first insertion part 624 of the base 62, so that the first driver 53 drives the support frame 58 to retreat, and the first insertion part 624 of the base 62 is away from the two first fixing grooves 588. At this time, the second driver 25 of the delivery module 20 of the distal support arm 13 is started to drive the holding piece 46 to continue linear motion with the control device 60, and the second driver 25 of the delivery module 20 of the distal support arm 13 is started to convert the rotary motion of the second driver 25 into the linear motion of the slide block 28 along the slide rail 26 through the second motion conversion mechanism 30. The control assembly 61 of the control device 60 and the driving assembly 48 of the delivery module 44 of the distal support arm 13 non-contactingly and spacedly control the fixing assembly 66 and the operation assembly 49, respectively, to make the intracavitary medical instrument 82 (such as a contrast catheter) rotate during the above linear motion process, simultaneously or at different times. Specifically, the third driver 64 of the control assembly 61 drives the driving part 65 (such as a magnetic driving wheel) to rotate, thus non-contactingly and spacedly controlling the inductive part 69 (such as a magnetic inductive wheel) to rotate, thus driving the intracavitary medical instrument 82 (such as a contrast catheter) fixed to the connecting part 68 to rotate.

[0048] Preferably, the delivery module 44 of the distal arm 13 drags the intraluminal medical instrument 82 (e.g. a catheter) to move linearly, the control device 60 follows the intraluminal medical instrument 82 (e.g. a catheter) to move linearly, so that the intraluminal medical instrument 82 (e.g. a catheter) is straightened without being bent, and the control device 60 (also together with the delivery module 44 of the distal arm 13) mainly drives the intraluminal medical instrument 82 (e.g. a catheter) to rotate. Since the control assembly 61 of the control device 60 provides a large rotating torque to the fixed assembly 66 through the non-contact air control mode, the fixed assembly 66 drives the intraluminal medical instrument 82 (e.g. a catheter) to enter the lumen (e.g. the coronary ostium of the human body blood vessel) of the subject which requires a large torque.

[0049] At the same time or at different times, the first driver 53 of the first surgical execution module 50 can be used to drive the support frame 58 to move linearly and drive the intraluminal medical instrument 80 (e.g. a guide wire) to move linearly, and / or the transmission module 20 of the first surgical execution module 50 can be used to drive the delivery module 44 to move linearly and drive the intraluminal medical instrument 80 (e.g. a guide wire) to move linearly, and the driving assembly 48 of the delivery module 44 non-contact controls the operating assembly 49 to drive the intraluminal medical instrument 80 (e.g. a guide wire) to rotate. Finally, the intraluminal medical instrument 80 (e.g. a guide wire) and the intraluminal medical instrument 82 (e.g. a catheter) are delivered to the position to perform the angiography examination of the vascular system of the subject. During the angiography examination, the connection valve 70 can be a two-way two-way valve, a three-way three-way valve, or a common three-way valve, etc.

[0050] In other embodiments, the intraluminal medical instrument 80 (e.g. a guide wire) can be inserted into the intraluminal medical instrument 82 (e.g. a catheter), and the intraluminal medical instrument 82 (e.g. a catheter) is connected to the fixed assembly 66 of the control device 60 of the first surgical execution module 50, and the delivery module 44 of the distal arm 13 and the delivery module 44 of the first surgical execution module 50 respectively hold the intraluminal medical instrument 82 (e.g. a catheter) and the intraluminal medical instrument 80 (e.g. a guide wire) to perform multi-instrument cooperative delivery. For details, please refer to the above delivery process and the surgical robot described in Chinese Patent Application BCN231020. Of course, the operator can also deliver the intraluminal medical instrument 82 (e.g. a catheter) first and then deliver the intraluminal medical instrument 80 (e.g. a guide wire), or only deliver the intraluminal medical instrument 82 (e.g. a catheter), according to personal habits and surgical conditions. The integrated surgical robot of the present application is applicable.

[0051] When the treatment is needed, the intraluminal medical instrument 82 (e.g. a catheter) is first withdrawn. That is, the delivery module 20 of the distal arm 13 drives the holding member 46 and the control device 60 to retreat (the delivery module 44 of the distal arm 13 can also be driven to retreat synchronously so as to drive the intraluminal medical instrument 82 (e.g. a catheter) to retreat and gradually withdraw the intraluminal medical instrument 82 (e.g. a catheter) through linear reciprocating movement), and the first driver 53 of the first operation module 50 drives the support frame 58 to advance distally. When the control assembly 61 of the control device 60 is close to the support frame 58, the first plug-in part 624 of the control assembly 61 is again inserted into the two first fixed grooves 588 of the support frame 58 and is fixed by the first electromagnet 589, while the second electromagnet 466 in the holding member 46 releases the second plug-in part 622. At this time, the first driver 53 of the first operation module 50 drives the support frame 58 to retreat proximally, so that the intraluminal medical instrument 82 (e.g. a catheter) is gradually withdrawn from the vascular system of the subject. At this time, the first operation module 50 and the delivery module 44 of the distal arm 13 respectively release the intraluminal medical instrument 82 (e.g. a catheter) and the intraluminal medical instrument 80 (e.g. a guide wire), while keeping the intraluminal medical instrument 80 (e.g. a guide wire) stationary, such as moving the operation assembly 49 of the delivery module 44 of the first operation module 50 away from the driving assembly 48 and fixing it outside the housing of the control assembly 61 of the control device 60 (the support frame 58 and the driving assembly 48 of the first operation module 50 are placed in the housing of the control assembly 61), or fixing it on the driving assembly 48 of the delivery module 44 of the intermediate arm 14 or the proximal arm 15, or setting a structure such as a clamp for holding the intraluminal medical instrument 80 (e.g. a guide wire) on the main arm 12.

[0052] When the endoluminal medical instrument 82 (e.g. a catheter) is completely withdrawn from the patient, the fixed assembly 66 of the control device 60 is moved out of the housing of the control assembly 61 and the endoluminal medical instrument 80 (e.g. a guide wire) is withdrawn, and the endoluminal medical instrument 82 (e.g. a catheter) is detached from the connecting member 68 of the fixed assembly 66. At this time, the endoluminal medical instrument 80 (e.g. a guide wire) is again disengaged from the operating assembly 49 of the delivery module 44 of the first surgical execution module 50 while remaining in the patient, and the endoluminal medical instrument 84 (e.g. a guide catheter) is threaded onto the endoluminal medical instrument 80 (e.g. a guide wire) and is threaded through the operating assembly 49 of the delivery module 44 of the distal arm 13 while being clamped, and the endoluminal medical instrument 80 (e.g. a guide wire) is threaded through the lumen of the connecting member 68 and the connecting valve 70 of the fixed assembly 66 and is clamped to the operating assembly 49 of the delivery module 44 of the first surgical execution module 50, and the endoluminal medical instrument 84 (e.g. a guide catheter) is connected to the connecting member 68 of the fixed assembly 66. At this time, the endoluminal medical instrument 84 (e.g. a guide catheter) can be delivered into the patient, and the details of the delivery process are as described above for the endoluminal medical instrument 82 (e.g. a catheter) and will not be repeated. The control assembly 61 of the control device 60 provides a large rotational torque to the fixed assembly 66 through non-contacting air control, allowing the fixed assembly 66 to drive the endoluminal medical instrument 84 (e.g. a guide catheter) into the lumen of the patient (e.g. the coronary ostium of the human body) that requires a large torque.

[0053] When the endoluminal medical instrument 84 (e.g. a guide catheter) is delivered in place, the first driver 53 of the first surgical execution module 50 is used to drive the first gear rack mechanism 55 to linearly move and the delivery module 44 is driven to withdraw the endoluminal medical instrument 80 (e.g. a guide wire) from the patient, and the details are as described above for the delivery process.

[0054] Next, the intermediate arm 14 can be adjusted in rotation relative to the main arm 12, and the support plate 22 can be adjusted in rotation through the rotational joint 16 thereon, allowing the delivery modules 44 on the intermediate arm 14 to be aligned with the delivery modules 44 on the distal arm 13. The endoluminal medical instrument 86 (e.g. a guide wire) is clamped in the two delivery modules 44 of the intermediate arm 14 and is threaded into the connecting valve 70, the lumen of the connecting member 68, and the endoluminal medical instrument 84 (e.g. a guide catheter) in sequence, thereby allowing the endoluminal medical instrument 86 (e.g. a guide wire) to be continuously delivered using the linear reciprocating motion of the two transmission modules 20 of the intermediate arm 14 and the alternating clamping of the corresponding delivery modules 44, and the details are as described above.

[0055] When the intraluminal medical instrument 86 (e.g. a guide wire) is delivered to the site, the intraluminal medical instrument 86 (e.g. a guide wire) is released from the two delivery modules 44 of the intermediate arm 14. The intraluminal medical instrument 88 (e.g. a balloon expandable stent catheter) is threaded over the intraluminal medical instrument 86 (e.g. a guide wire) and into the lumen of the connection valve 70, the connection piece 68 and the intraluminal medical instrument 84 (e.g. a guide catheter), and the two delivery modules 44 of the intermediate arm 14 and the two delivery modules 44 of the rear arm 15 respectively hold the intraluminal medical instrument 88 (e.g. a balloon expandable stent catheter) and the intraluminal medical instrument 86 (e.g. a guide wire), as described above. The linear reciprocating movement of the two delivery modules 20 of the intermediate arm 14 and the corresponding alternate holding of the delivery modules 44 can be used to continuously deliver the intraluminal medical instrument 88 (e.g. a balloon expandable stent catheter) to the lesion in the vascular system of the subject, thereby achieving the therapeutic purpose. Details can be found in the foregoing related content.

[0056] In the above treatment, it can be necessary to use a balloon expandable catheter to pre-expand and / or post-expand the vascular system of the subject before or after delivering the intraluminal medical instrument 88 (e.g. a balloon expandable stent catheter) and placing the stent. At this time, it is also necessary to deliver a balloon expandable catheter to expand the vascular system of the subject even multiple times. The specific process can be found in the foregoing content, and the surgical procedure is increased, which will not be described again. The intraluminal medical instrument 88 (e.g. a balloon expandable stent catheter) and the balloon expandable catheter herein both include coaxial exchange catheters and rapid exchange catheters, and are suitable for the present application. In the above treatment, the connection valve 70 can be a T valve or a Y valve, etc.

[0057] Generally, the support plates 22 on the distal arm 13, the intermediate arm 14 and the proximal arm 15, the drive assemblies 48 of the delivery modules 44 and the transmission modules 20, the support frame 58 of the first surgical execution module 50 and the control assembly 61 of the control device 60 are located in the housing, and the operating assembly 49 of all the delivery modules 44, the fixing assembly 66 of the control device 60 and the connection valve 70 are disposable sterile accessories located outside the housing and can be replaced at any time as needed.

[0058] In other embodiments, the delivery module 44 of the first surgical execution module 50 can also be used to hold and deliver the intraluminal medical instrument 86 (e.g. a guide wire) and withdraw it.

[0059] In other embodiments, when the contrast examination is completed, the intraluminal medical instrument 86 (e.g., a guide wire) and the intraluminal medical instrument 84 (e.g., a guide catheter) can be delivered after the intraluminal medical instrument 80 (e.g., a contrast wire) and the intraluminal medical instrument 82 (e.g., a contrast catheter) are completely withdrawn, and the specific process is described above in the delivery process of the intraluminal medical instrument 80 (e.g., a contrast wire) and the intraluminal medical instrument 82 (e.g., a contrast catheter), and will not be repeated here. That is, at this time, the delivery and withdrawal of the intraluminal medical instrument 80 (e.g., a contrast wire) and the intraluminal medical instrument 82 (e.g., a contrast catheter) are completely independent of the delivery and withdrawal of the intraluminal medical instrument 86 (e.g., a guide wire) and the intraluminal medical instrument 84 (e.g., a guide catheter).

[0060] In other embodiments, in addition to the gear and rack mechanism and the steering mechanism, the linear movement mechanism and the driver can also be a screw and a steering mechanism (or a motor), a conveyor belt (or a synchronous belt) or a cable and a rotating wheel and a steering mechanism (or a motor), and the like.

[0061] As can be seen from the above, the integrated surgical robot of the present application integrates the contrast examination and the surgical treatment, has high integration, can save the procurement cost of the medical institution, and will not make the working environment of the surgeon appear messy due to too many devices for the contrast examination and the surgical treatment, and keeps the working environment clean.

[0062] Please refer to Figure 6 FIG. 2 is a schematic diagram of a second embodiment of the integrated surgical robot of the present application, which can deliver or withdraw the intraluminal medical instrument into the body of the subject. In order to clearly show the integrated surgical robot of the present application, although some components are omitted in the figure and are not shown, they are still important.

[0063] Different from the first embodiment, in addition to the three arms 13', 14', 15' rotatably mounted on the main arm 12' and the first surgical execution module 50' movably fixed to the main arm 12', the second embodiment further includes two arms 17', 18'. The arms 17', 18' are respectively located on the two sides of the main arm 12' and are arranged opposite to each other; the arms 17', 18' are both mounted with a rotating joint 16', on which a support plate 22' is mounted, and the support plate 22' is fixed with two transmission modules 20'. Each transmission module 20' is mounted with a second surgical execution module 40'. The second surgical execution module 40' includes a fixed plate 42' fixed to the transmission module 20' and a delivery module 44' fixed to the fixed plate 42', and the delivery module 44' is used to deliver or withdraw the intraluminal medical instrument.

[0064] Thus, due to the increase of the arms 17' and 18', the integrated surgical robot of the present application can install more delivery modules 20' and second surgical execution modules 40', so that the operator can arbitrarily select different positions of the arms 13', 14', 15', 17', and 18' according to needs, and use the delivery modules 20' and second surgical execution modules 40' thereon to not only achieve multi-instrument cooperative delivery, such as delivery of micro guide wires, micro catheters, intermediate catheters, etc. in addition to the delivery of the aforementioned intraluminal medical devices, but also allow the operator to perform more complex surgeries, and through the diversified positioning of the arms 13', 14', 15', 17', and 18', the delivery modules 20' and second surgical execution modules 40' can be positioned in different directions as needed, allowing the operator to more freely select different direction second surgical execution modules 40' for surgery, with greater freedom of operation. In addition to the above-mentioned first embodiment of the integrated surgical robot of the present application, the specific operation can also be described in Chinese Patent Application 202310185895.X, a surgical robot modular platform, the entire contents of which are incorporated herein.

[0065] For the above-mentioned non-contact space control between the driving member 65 and the sensing member 69, and between the operation assembly 49 and the driving assembly 48 of the delivery module 44, not only can it be realized in a permanent magnet way, but also can be realized in an electromagnetic driving, electromagnetic induction, electric field coupling, direct current resonance, etc. As can be seen, the "non-contact space control / transmission" of the present application refers to the control / transmission realized without contact in space, rather than through air medium control / transmission, i.e. it can also realize space control in a vacuum. In general, the "non-contact space control / transmission" of the present application is realized by non-contact force, i.e. various field forces such as electric field force and magnetic field force, without medium, and can also be realized in a vacuum. Therefore, any field acting on the substance placed therein to realize "non-contact space control / transmission" is also applicable to the present application. For details, please refer to Chinese Patent Application 202210803401.5, a surgical robot device and an operating method thereof, Chinese Patent Application 202211105526.7, a surgical robot, and Chinese Patent Application 202310237481.7, a surgical execution device and a surgical robot having the same, the entire contents of which are incorporated herein. Therefore, in essence, the above-mentioned driving member 65 and sensing member 69 can also be regarded as a rotating driving member and a rotating driven member in the general sense, and they realize frictionless power transmission through "non-contact space control / transmission".

[0066] Likewise, the mutual attraction positioning of the first driving block 636 and the second driving block 638 on the control assembly 61 and the induction block 672 on the fixed assembly 66 can also be achieved through non-contact control methods such as permanent magnet drive, electromagnetic drive, electromagnetic induction, electric field coupling, direct current resonance, etc. Therefore, the first driving block 636 and the second driving block 638 of the control device 60 and the induction block 672 can also be regarded as mobile driving members and mobile driven members in the general sense, and power transmission is achieved between them through a "non-contact control / transmission" method. For details, please refer to the description of a surgical robot device and an operating method thereof in Chinese Patent Application No. 202210803401.5, a surgical robot in Chinese Patent Application No. 202211105526.7, and a surgical execution device and a surgical robot having the same in Chinese Patent Application No. 202310237481.7, the contents of which are incorporated herein in their entirety.

[0067] For the relative position relationship between the control assembly 61 and the fixed assembly 66 of the control device 60 and the shell arrangement thereof, please refer to the description of a surgical robot delivery module in Chinese Patent Application No. 202310460639.7, the contents of which are incorporated herein in their entirety.

[0068] In the present application, the magnetic drive wheel and the magnetic induction wheel can also be referred to as magnetic force wheel, magnetic drive wheel, magnetic gear, magnetic force gear, magnetic gear, magnetic force suspension wheel, magnetic drive wheel, non-contact transmission wheel, magnetic force coupler, magnetic force transmission, etc.

[0069] In other embodiments, a force measuring mechanism can be provided between the transmission module 20 and the delivery module 44. For details, please refer to the description of a force measuring surgical robot in Chinese Patent Application No. 202211146397.6, the contents of which are incorporated herein in their entirety.

[0070] The above-described embodiments only express limited implementation of the application, and the description is more specific and detailed, but it cannot be understood as limiting the scope of the patent. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the application, a number of modifications and improvements or deteriorations can be made, such as the drive in the present application can also be a motor, a stepper motor, a servo motor or a motor, etc., and the support frame 58 can be arranged as a lifting type, so that the control device 60 can be raised or lowered as needed, which all belong to the protection scope of the application. Therefore, the protection scope of the patent shall be subject to the claims.

Claims

1. An integrated surgical robot, characterized by, The integrated surgical robot comprises a mechanical arm, a first surgical execution module and at least a second surgical execution module, the mechanical arm comprises an elongated main arm and a distal sub-arm mounted at the end of the main arm, the first surgical execution module comprises a first linear guide mechanism arranged along the extension direction of the main arm, a support frame slidably fixed to the first linear guide mechanism, a control device mounted on the support frame, a linearly movable transmission module mounted on the distal sub-arm, the second surgical execution module comprises a delivery module fixed to the transmission module, when a catheter type intracavitary medical instrument is fixed to the control device and clamped to the delivery module, the transmission module is linearly moved by linearly moving the delivery module, and the support frame and the control device are moved together under the guidance of the first linear guide mechanism, so as to realize the delivery of the catheter type intracavitary medical instrument. A rotating joint is mounted at the end of the distal sub-arm, and a support plate is mounted on the rotating joint, and the transmission module is fixed to the support plate.

2. An integrated surgical robot as claimed in claim 1, wherein: The delivery module comprises a driving assembly and an operating assembly fixed to the transmission module, and the control device comprises a control assembly and a fixing assembly fixed to the support frame, when the catheter type intracavitary medical instrument is fixed to the fixing assembly and clamped to the operating assembly, the control assembly and the driving assembly control the fixing assembly and the operating assembly respectively to drive the catheter type intracavitary medical instrument to rotate.

3. An integrated surgical robot as claimed in claim 2, wherein: The control assembly and the driving assembly control the fixing assembly and the operating assembly respectively by non-contact space control mode.

4. An integrated surgical robot as claimed in claim 3, wherein: The control assembly and the driving assembly both have rotating driving members, and the fixing assembly and the operating assembly both have rotating driven members, when the catheter type intracavitary medical instrument is fixed to the rotating driven members of the fixing assembly and the operating assembly, the rotating driving members drive the rotating driven members to rotate by non-contact space control mode to make the catheter type intracavitary medical instrument rotate.

5. An integrated surgical robot as claimed in claim 2, wherein: The first surgical execution module further comprises a first linear movement mechanism and a first driver, and the first driver is mounted on the support frame to drive the first linear movement mechanism, so that the support frame moves linearly along the first linear guide mechanism.

6. An integrated surgical robot as claimed in claim 5, wherein: The support frame comprises a platform part, a containing frame arranged below the platform part and fixed to the first linear guide mechanism, and a frame arranged above the platform part, and the control assembly comprises a base, and the base has a first plug-in part which is removably inserted into the frame.

7. An integrated surgical robot as claimed in claim 6, wherein: The transmission module comprises a second linear guide mechanism and a second driver fixed to the support plate, and a second movement conversion mechanism which converts the rotary motion of the second driver into linear motion.

8. An integrated surgical robot as claimed in claim 7, wherein: The support plate of the distal sub-arm is fixed with a holding member, and the base has a second plug-in part which is removably inserted into the holding member, so that the control device is alternately fixed between the first surgical execution module and the holding member.

9. An integrated surgical robot as claimed in claim 8, wherein: The distal branch arm further comprises a transmission module, the transmission module comprising a second linear guide mechanism and a second driver fixed to the support plate, a second motion conversion mechanism for converting the rotary motion of the second driver into linear motion, the holding member being fixed to the second linear guide mechanism, when the second plug-in part of the base is inserted into the holding member, under the driving of the second driver, the holding member drives the control device to continue linear movement under the guidance of the second linear guide mechanism.

10. An integrated surgical robot as claimed in claim 6, characterized in that: The platform of the support frame is fixed with a delivery module, the delivery module being used for clamping and rotating a catheter intracavitary medical instrument or a guide wire intracavitary medical instrument.

11. An integrated surgical robot as claimed in claim 6, characterized in that: The platform of the support frame is fixed with a delivery module, the delivery module being used for clamping and rotating a contrast guide wire.

12. An integrated surgical robot as claimed in claim 10 or 11, characterised in that: The platform of the support frame is fixed with a transmission module, the transmission module comprising a second linear guide mechanism and a second driver fixed to the platform, a second motion conversion mechanism for converting the rotary motion of the second driver into linear motion, the delivery module being fixed to the second linear guide mechanism and being linearly movable.

13. An integrated surgical robot as claimed in claim 6, characterized in that: The fixed assembly is fixed with a connecting valve and is connectable to a catheter intracavitary medical instrument.

14. An integrated surgical robot as claimed in claim 1, characterized in that: The mechanical arm further comprises at least one intermediate branch arm installed in the middle of the main arm, each intermediate branch arm being installed with a linearly movable transmission module, the transmission module being fixed with a second surgical execution module, the second surgical execution module comprising a delivery module for operating an intracavitary medical instrument.

15. An integrated surgical robot as claimed in claim 14, wherein: The intermediate branch arms are two and are arranged on the two sides of the main arm respectively.

16. An integrated surgical robot as claimed in claim 14, wherein: The mechanical arm further comprises at least one proximal branch arm installed at the proximal end of the main arm, each proximal branch arm being installed with a linearly movable transmission module, the transmission module being fixed with a second surgical execution module, the second surgical execution module comprising a delivery module for operating an intracavitary medical instrument.

17. An integrated surgical robot as claimed in claim 16, wherein: The proximal branch arms are two and are arranged on the two sides of the main arm respectively.

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