Quick-change operation actuator for single-side double-channel spine endoscope

Abstract

The invention belongs to the technical field of medical instruments. The quick-changing operation actuator for the single-side double-channel spine endoscope comprises a shell, a feeding module, a driving module, a rotating module, a quick-changing module and a base, the shell, the feeding module and the driving module are all fixed to the base, and the feeding module is used for being connected with a surgical instrument to control axial movement of the surgical instrument; the feeding module and the rotating module are respectively connected with the driving module, the rotating module is connected with the quick changing module to drive the surgical instrument to axially rotate, and the quick changing module is used for being connected with the surgical instrument; the flexibility and working space of surgical instruments are improved, the surgical instrument quick replacement module is arranged and can be quickly replaced according to surgical requirements, different surgical operations can be carried out, and the adaptability of the surgical robot is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a quick-change surgical actuator for a unilateral dual-channel spinal endoscope. Background Art

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

[0003] Compared with traditional open spinal surgery, endoscopic spinal surgery does not need to destroy the facet joints and lamina, reduces the traction of nerve roots and dura mater sac, can maximize the stability of the spinal surgical segment, and reduce the occurrence of complications such as long-term pain and discomfort caused by factors such as spinal instability. This surgery needs to be completed in a narrow bony cavity, and the nucleus pulposus is removed and the nerve root is decompressed through puncture positioning and endoscopic operation. It has the advantages of reducing tissue damage and bleeding, alleviating postoperative pain, and shortening recovery time.

[0004] Traditional spinal endoscopic surgery is manually performed by doctors, with complex operation procedures and a long learning curve. It requires doctors to have high operation skills and energy. In addition, traditional spinal endoscopic surgery has clinical problems such as poor instrument flexibility, weak perception, and difficulty in ensuring surgical safety and treatment effects. The existing perforaminal endoscopic robot has the following shortcomings: (1) Different instruments are required to achieve multifunctional operations such as nucleus pulposus clamping, grinding, stripping, exploration, and coagulation in spinal endoscopic surgery. The existing perforaminal endoscopic robot is cumbersome to replace surgical instruments and cannot quickly replace surgical instruments; (2) When the endoscope and surgical instruments enter from the same channel, the field of view of the surgical instruments under the endoscope is narrow, which makes it inconvenient to observe the surgical instruments for operation; (3) The endoscope and the actuator are coaxial, the endoscope has few degrees of freedom, limited movement, and limited flexibility in surgical operation. Summary of the invention

[0005] In order to address the deficiencies of the prior art, the present invention provides a quick-change surgical actuator for a unilateral dual-channel spinal endoscope, which improves the flexibility and working space of surgical instruments. By setting up a surgical instrument quick-change module, it can be quickly replaced according to surgical requirements to perform different surgical operations, thereby further improving the adaptability of the surgical robot.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: In a first aspect, the present invention provides a quick-change surgical actuator for a unilateral dual-channel spinal endoscope.

[0007] A quick-change surgical actuator for a unilateral dual-channel spinal endoscope, comprising a housing, a feeding module, a driving module, a rotating module, a quick-change module and a base, wherein the housing, the feeding module and the driving module are all fixed on the base, and the feeding module is used to connect with a surgical instrument to control the axial movement of the surgical instrument; The feeding module and the rotating module are respectively connected to the driving module, the rotating module is connected to the quick-change module to drive the axial rotation of the surgical instrument, and the quick-change module is used to be connected to the surgical instrument.

[0008] As a further limitation of the first aspect of the present invention, the quick-change module comprises: a continuum flexible arm, a connecting piece, a quick-change housing and a transmission unit, the surgical instrument is connected to the continuum flexible arm, the continuum flexible arm is connected to the connecting piece, the connecting piece is connected to the quick-change housing, and the transmission unit is connected to the driving wire in the continuum flexible arm, so as to realize the bending action of the continuum flexible arm by retracting and releasing the driving wire; The continuum flexible arm comprises: a driving wire, a ball socket end, a ball socket unit and a ball socket base. The surgical instrument, the ball socket end, the ball socket unit and the ball socket base are connected in series and fixedly via the driving wire, and the end of the ball socket base is connected to a connecting piece.

[0009] As a further limitation of the first aspect of the present invention, the surgical instrument is a nucleus pulposus forceps instrument or a grinding drill instrument; The nucleus pulposus forceps instrument comprises: a main housing, an upper jaw, a thread, a first pin shaft, a nucleus pulposus forceps connecting piece and a second pin shaft; the main housing and the upper jaw are connected via the first pin shaft so that the upper jaw can rotate around the first pin shaft; The end of the wire is fixed to the nucleus pulposus forceps connector, which is connected to the upper jaw via a second pin shaft. The wire moves forward and backward to push and pull the end of the upper jaw to generate torque, so that the upper jaw rotates around the first pin shaft to open and close. The drill grinding device comprises: a drill bit, a flexible shaft, a rigid straight rod, a bearing and a bearing seat A. The drill bit, the flexible shaft and the rigid straight rod are fixedly connected in sequence, the drill bit is connected to the bearing, and the bearing is connected to the bearing seat A to support the rotation of the drill grinding device.

[0010] As a further limitation of the first aspect of the present invention, the connecting member comprises: a connecting tube, a connecting member A, a connecting member B, a connecting member C, a connecting member D and a sheath tube, one end of the connecting tube is connected to the ball socket base of the continuous flexible arm, and the other end of the connecting tube is connected to the connecting member A; Connectors A, B, C, and D are connected in sequence, connector D is fixedly connected to the quick-change housing, one end of the wire sheath tube is fixed to connector C, and the other end of the wire sheath tube is fixed to the quick-change housing for adjusting the direction of the drive wire.

[0011] As a further limitation of the first aspect of the present invention, the transmission unit comprises: a guide rod connector, a guide rod, a spring and a tensioning mechanism, the transmission unit is divided into four groups, arranged side by side, each group of the transmission units comprises two guide rods, a spring and a tensioning mechanism; Both ends of the guide rod are connected with the quick-change housing, and the two guide rods pass through the tensioning mechanism for the tensioning mechanism to slide thereon. The spring is arranged at one side of the tensioning mechanism for resetting the tensioning mechanism.

[0012] As a further limitation of the first aspect of the present invention, the tensioning mechanism comprises: a slider, a worm wheel, a worm, a worm wheel shaft, a worm shaft, a clamping block, a tensioning knob, a bearing and a top cover, the worm wheel shaft and the worm wheel are fixed together, the worm shaft and the worm are fixed together, and a hole is opened on the worm wheel shaft for winding the wire around the worm wheel shaft after threading; The worm shaft passes through the worm, one end of the worm shaft is connected to the bearing, the bearing is fixed on the slider, the other end of the worm shaft extends upward and is connected to a tensioning knob, the worm gear shaft is placed in the slider through the groove, a clamping block is pressed on the top of the worm gear shaft for radial fixation of the worm gear shaft, and a top cover is pressed on the top of the worm gear shaft.

[0013] As a further limitation of the first aspect of the present invention, the feed module comprises: a guide rail motor connection seat, a feed motor, a large spur gear, a small spur gear, a trapezoidal lead screw, a lead screw nut and an optical axis, the guide rail motor connection seat is fixed on the base, the feed motor is fixed on the guide rail motor connection seat, and provides power for the feed module; The motor output shaft is connected to the large spur gear, and the trapezoidal lead screw is connected to the small spur gear. The meshing of the large spur gear and the small spur gear drives the trapezoidal lead screw to rotate, and the rotation of the trapezoidal lead screw is converted into axial feed of the lead screw nut through the lead screw pair. Two optical axes pass through the drive module to provide guidance and support for the drive module. The lead screw nut is fixed to the drive module, and the drive module is fixed to the quick-change module. The feed module is used to realize the overall feeding of the surgical instrument.

[0014] As a further limitation of the first aspect of the present invention, the driving module includes: a driving base, an electric push rod module, a linear guide rail A, a slider A, a linear guide rail B, a slider B, a front baffle, a front support block, a rear support block and a magnetic block; The driving base is fixedly connected to the electric push rod module, linear guide A, linear guide B, front baffle and magnetic block. The output shaft of the electric push rod module is connected to the guide slider rib, and slides on the linear guide A together with the slider A, driving the slider in the quick change module to move back and forth, thereby realizing the bending action of the continuum flexible arm.

[0015] The electric push rod module includes: an electric push rod, a lower component of an electric push rod fixing seat, an upper component of an electric push rod fixing seat, a push rod support frame, a linear guide rail B, a slider B and a guide rail slider rib. The end of the electric push rod is fixed in the lower component of the electric push rod fixing seat and the upper component of the electric push rod fixing seat, and the push rod support frame is used to support the front end of the electric push rod.

[0016] As a further limitation of the first aspect of the present invention, the rotary module comprises: a grinding and drilling motor, a motor fixing member and a rear end connecting member; The rotating motor is fixed to the motor fixing part, the motor fixing part is fixed to the rear end connecting part, and the rotating module is fixed on the slider B of the driving module as a whole and slides on the linear guide rail B.

[0017] In a second aspect, the present invention provides a surgical robot including the quick-change surgical actuator for unilateral dual-channel spinal endoscope described in the first aspect of the present invention.

[0018] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention can separate the active motor from the passive instrument by setting a quick-change unit, which is convenient for the replacement and disinfection of the instrument, improves the maturity of the system, and can quickly replace the surgical instrument according to the surgical requirements to perform a variety of different surgical operations, further improve the adaptability of the surgical robot, and assist doctors in completing the entire process of spinal endoscopic surgery.

[0019] 2. The present invention integrates flexible and bendable instruments, which solves the problems of insufficient operational flexibility and inability to adjust rigidity according to surgical needs of traditional surgical instruments under limited surgical space. It can achieve flexible movement in bony cavities, improve the flexibility and working space of surgical instruments, realize operations in narrow and complex areas, improve surgical efficiency, and achieve good treatment effects.

[0020] 3. The quick-change unit of the present invention is designed in the form of magnetic attraction + pin shaft, which improves the quick-change efficiency and is convenient and quick to operate.

[0021] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0023] Figure 1 This is an overall schematic diagram of a spinal endoscope actuator in an embodiment of the present invention; Figure 2This is a schematic diagram of the structure of a quick-change module in an embodiment of the present invention; Figure 3 It is a structural schematic diagram of a nucleus pulposus forceps instrument in an embodiment of the present invention; Figure 4 A schematic diagram of the structure of a grinding and drilling device in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a continuum flexible arm in an embodiment of the present invention; Figure 6 It is a structural schematic diagram of a connecting member in an embodiment of the present invention; Figure 7 It is a structural schematic diagram of a transmission unit in an embodiment of the present invention; Figure 8 It is a structural schematic diagram of a tightening mechanism in an embodiment of the present invention; Fig. 9 It is a structural schematic diagram of a feeding module in an embodiment of the present invention; Fig.10 This is a schematic diagram of the structure of a driving module in an embodiment of the present invention; Fig.11 This is a schematic diagram of the structure of the electric push rod module in an embodiment of the present invention; Fig.12 This is a schematic diagram of the structure of a rotating module in an embodiment of the present invention; in: 1. Shell; 2. Base; 3. Quick-change module; 4. Feed module; 5. Drive module; 6. Rotation module; 31. Surgical instrument; 32. Continuum flexible arm; 33. Connector; 34. Quick-change housing; 35. Transmission unit; 311. Nucleus pulposus forceps instrument; 312. Grinding and drilling instrument; 3111, main housing; 3112, upper jaw; 3113, thread; 3114, first pin; 3115, nucleus pulposus forceps connecting piece; 3116, second pin; 3121, grinding drill bit; 3122, flexible shaft; 3123, rigid straight rod; 3124, bearing; 3125, bearing seat A; 321, ball and socket base; 322, ball and socket unit; 323, ball and socket end; 324, drive wire; 331, connecting tube; 332, connecting piece A; 333, connecting piece B; 334, connecting piece C; 335, connecting piece D; 336, silk sheath tube; 3541, slider; 3542, worm shaft; 3543, tension knob; 3544, top cover; 3545, worm wheel; 3546, worm; 3547, worm wheel shaft; 3548, clamping block; 3549, bearing; 41. Guide rail motor connection seat; 42. Feed motor; 43. Large spur gear; 44. Small spur gear; 45. Trapezoidal lead screw; 46. Lead screw nut; 47. Optical axis; 471. First optical axis; 472. Second optical axis; 51. Driving base; 52. Linear guide rail A; 53. Slider A; 54. Electric push rod module; 55. Front baffle; 56. Front support block; 57. Rear support block; 58. Magnetic block; 541, electric push rod; 542, lower component of electric push rod fixing seat; 543, upper component of electric push rod fixing seat; 544, push rod support frame; 545, linear guide rail B; 546, slider B; 547, guide rail slider rib; 61. Motor fixing part; 62. Rear end connecting part; 63. Drilling motor. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0025] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0026] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0027] Embodiment 1: In this implementation, if Figure 1 As shown, a quick-change surgical actuator for unilateral dual-channel spinal endoscope is proposed, comprising: a housing 1, a base 2, a quick-change module 3, a feeding module 4, a driving module 5 and a rotating module 6; In this implementation, preferably, the housing 1, the feed module 4 and the drive module 5 are all fixed on the base 2, the screw nut 46 structure in the feed module 4 realizes the axial movement of the surgical instrument 31, the rotation module 6 is connected to the quick-change module 3 to drive the axial rotation of the surgical instrument 31, and the surgical actuator of this implementation is installed on a tandem robotic arm, relying on the rotation of the end joint of the robotic arm to realize the overall axial rotation of the surgical actuator, the quick-change module 3 is connected to the drive module 5, and the action of the motor of the drive module 5 drives the quick-change module 3 to move, so as to realize the operation of the surgical instrument 31.

[0028] In this implementation, if Figure 2As shown, the quick-change module 3 at least includes a surgical instrument 31, a continuum flexible arm 32, a connecting piece 33, a quick-change housing 34 and a transmission unit 35. The surgical instrument 31 is connected to the continuum flexible arm 32, the continuum flexible arm 32 is connected to the connecting piece 33, and the transmission unit 35 is connected to the driving wire 324 in the continuum flexible arm 32 to realize the bending action of the continuum flexible arm 32 by retracting and releasing the driving wire 324.

[0029] In this implementation, the surgical instrument 31 has two configuration schemes: scheme one is a nucleus pulposus forceps instrument 311 , and scheme two is a grinding drill instrument 312 .

[0030] like Figure 3 As shown, the nucleus pulposus forceps instrument 311 includes: a main shell 3111, an upper jaw 3112, a thread 3113, a first pin 3114, a nucleus pulposus forceps connector 3115 and a second pin 3116; the main shell 3111 and the upper jaw 3112 are connected via the first pin 3114 so that the upper jaw 3112 can rotate around the first pin 3114, the end of the thread 3113 is fixed to the nucleus pulposus forceps connector 3115, and the nucleus pulposus forceps connector 3115 is connected to the upper jaw 3112 via the second pin 3116, and the back and forth movement of the thread 3113 pushes and pulls the end of the upper jaw 3112 to generate torque, so that the upper jaw 3112 rotates around the first pin 3114 to perform an opening and closing movement.

[0031] like Figure 4 As shown, the drill grinding device 312 includes: a drill bit 3121, a flexible shaft 3122, a rigid straight rod 3123, a bearing 3124 and a bearing seat A3125. The drill bit 3121, the flexible shaft 3122 and the rigid straight rod 3123 are fixedly connected in sequence, the drill bit 3121 is connected to the bearing 3124, and the bearing 3124 is connected to the bearing seat A3125 to support the rotation of the drill grinding device.

[0032] In this implementation, if Figure 5 As shown, the continuum flexible arm 32 includes a driving wire 324, a ball socket end 323, a ball socket unit 322 and a ball socket base 321. The surgical instrument 31, the ball socket end 323, the ball socket unit 322 and the ball socket base 321 are fixedly connected in series via the driving wire 324, and the end of the ball socket base 321 is connected to the connecting piece 33.

[0033] In this implementation, if Figure 6As shown, the connector 33 includes: a connecting tube 331, a connector A332, a connector B333, a connector C334, a connector D335 and a wire sheath tube 336. One end of the connecting tube 331 is connected to the ball socket base 321 of the continuum flexible arm 32, and the other end is connected to the connector A332. The connectors A332, B333, C334 and D335 are connected in sequence. The connector D335 is fixed to the quick-change housing 34. One end of the wire sheath tube 336 is fixed to the connector C334, and the other end is fixed to the quick-change housing 34, so as to adjust the direction of the driving wire 324.

[0034] In this implementation, if Figure 7 As shown, the transmission unit 35 includes: a guide rod connector 33, a guide rod, a spring and a tensioning mechanism. The transmission unit 35 is divided into four groups and arranged side by side; each group includes two guide rods, a spring and a tensioning mechanism; both ends of the guide rods are connected to the quick-change housing 34, and the two guide rods pass through the tensioning mechanism for the tensioning mechanism to slide thereon; the spring is placed on one side of the tensioning mechanism to reset the tensioning mechanism.

[0035] In this implementation, if Figure 8 As shown, the tensioning mechanism includes: a slider 3541, a worm wheel 3545, a worm 3546, a worm wheel shaft 3547, a worm shaft 3542, a pressing block 3548, a tensioning knob 3543, a bearing 3549 and a top cover 3544. The worm wheel shaft 3547 and the worm wheel 3545 are fixed together, the worm shaft 3542 and the worm 3546 are fixed together, and there is a small hole on the worm wheel shaft 3547 for winding the thread around the worm wheel shaft 3547 after threading.

[0036] In this implementation, the worm shaft 3542 passes through the worm 3546, one end of which is connected to a bearing, the bearing is fixed on the slider 3541, and the other end is longer, extends upward, and is connected to a tensioning knob 3543, so that the staff can manually turn the worm shaft 3542 to complete the tensioning; the worm wheel shaft 3547 is placed in the slider 3541 through the groove, and a clamping block 3548 is pressed in from the top for radial fixation of the worm wheel shaft 3547, and the top cover 3544 is pressed on the top.

[0037] In this implementation, if Fig. 9 As shown, the feed module 4 includes: a guide rail motor connecting seat 41, a feed motor 42, a large spur gear 43, a small spur gear 44, a trapezoidal lead screw 45, a lead screw nut 46 and an optical axis 47. The guide rail motor connecting seat 41 is fixed on the base 2, and the feed motor 42 is fixed on the guide rail motor connecting seat 41 to provide power for the feed module 4.

[0038] In this implementation, the motor output shaft is connected to the large spur gear 43 (i.e., the first spur gear), and the trapezoidal lead screw 45 is connected to the small spur gear 44 (i.e., the second spur gear). The meshing of the large spur gear 43 and the small spur gear 44 drives the trapezoidal lead screw 45 to rotate, and the rotation of the trapezoidal lead screw 45 is converted into axial feed of the lead screw nut 46 through the lead screw pair. The first optical axis 471 and the second optical axis 472 both pass through the drive module 5 to provide guidance and support for it; the lead screw nut 46 is fixed to the drive module 5, and the drive module 5 is fixed to the quick-change module 3, so the feeding module 4 can realize the overall feeding of the surgical instrument 31.

[0039] In this implementation, if Fig.10 As shown, the driving module 5 includes: a driving base 51, an electric push rod module 54, a linear guide rail A52, a slider A53, a linear guide rail B545, a slider B546, a front baffle 55, a front support block 56, a rear support block 57 and a magnetic block 58. The driving base 51 is fixed together with the electric push rod module 54, the linear guide rail A52, the linear guide rail B545, the front baffle 55 and the magnetic block 58. The output shaft of the electric push rod module 54 is connected to the guide rail slider rib 547, and slides on the linear guide rail A52 together with the slider A53, driving the slider 3541 in the quick-change module 3 to move forward and backward, thereby realizing the bending action of the continuous body flexible arm 32.

[0040] In this implementation, if Fig.11 As shown, the electric push rod module 54 includes: an electric push rod 541, a lower component 542 of an electric push rod fixing seat, an upper component 543 of an electric push rod fixing seat, a push rod support frame 544, a linear guide rail B545, a slider B546 and a guide rail slider rib 547; the end of the electric push rod 541 is fixed in the lower component 542 of the electric push rod fixing seat and the upper component 543 of the electric push rod fixing seat, and the push rod support frame 544 is used to support the front end of the electric push rod 541.

[0041] In this implementation, if Fig.12 As shown, the rotating module 6 includes: a grinding motor 63, a motor fixing member 61 and a rear end connecting member 62. The rotating motor is fixed to the motor fixing member 61, and the motor fixing member 61 is fixed to the rear end connecting member 62. The rotating module 6 is fixed on the slider B546 of the driving module 5 as a whole and slides on the linear guide rail B545. The rotating module 6 is used to drive the axial rotation of the grinding surgical instrument 31.

[0042] Embodiment 2: This implementation provides a surgical robot, including the quick-change surgical actuator for unilateral dual-channel spinal endoscope described in Example 1 of the present invention.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A quick-change surgical actuator for a unilateral dual-channel spinal endoscope, characterized in that: It includes a housing, a feeding module, a driving module, a rotating module, a quick-change module and a base, wherein the housing, the feeding module and the driving module are all fixed on the base, and the feeding module is used to connect with the surgical instrument to control the axial movement of the surgical instrument; The feeding module and the rotating module are respectively connected to the driving module, the rotating module is connected to the quick-change module to drive the axial rotation of the surgical instrument, and the quick-change module is used to be connected to the surgical instrument.

2. The quick-change surgical actuator for unilateral dual-channel spinal endoscope according to claim 1, characterized in that: The quick-change module comprises: a continuum flexible arm, a connecting piece, a quick-change shell and a transmission unit, the surgical instrument is connected to the continuum flexible arm, the continuum flexible arm is connected to the connecting piece, the connecting piece is connected to the quick-change shell, and the transmission unit is connected to the driving wire in the continuum flexible arm, so as to realize the bending action of the continuum flexible arm by retracting and releasing the driving wire; The continuum flexible arm comprises: a driving wire, a ball socket end, a ball socket unit and a ball socket base. The surgical instrument, the ball socket end, the ball socket unit and the ball socket base are connected in series and fixedly via the driving wire, and the end of the ball socket base is connected to a connecting piece.

3. The quick-change surgical actuator for unilateral dual-channel spinal endoscope according to claim 2, characterized in that: The surgical instrument is a nucleus pulposus forceps instrument or a grinding drill instrument; The nucleus pulposus forceps instrument comprises: a main housing, an upper jaw, a thread, a first pin shaft, a nucleus pulposus forceps connecting piece and a second pin shaft; the main housing and the upper jaw are connected via the first pin shaft so that the upper jaw can rotate around the first pin shaft; The end of the wire is fixed to the nucleus pulposus forceps connector, which is connected to the upper jaw via a second pin shaft. The wire moves forward and backward to push and pull the end of the upper jaw to generate torque, so that the upper jaw rotates around the first pin shaft to open and close. The drill grinding device comprises: a drill bit, a flexible shaft, a rigid straight rod, a bearing and a bearing seat A. The drill bit, the flexible shaft and the rigid straight rod are fixedly connected in sequence, the drill bit is connected to the bearing, and the bearing is connected to the bearing seat A to support the rotation of the drill grinding device.

4. The quick-change surgical actuator for unilateral dual-channel spinal endoscope according to claim 2, characterized in that: The connecting piece comprises: a connecting tube, a connecting piece A, a connecting piece B, a connecting piece C, a connecting piece D and a sheath tube, one end of the connecting tube is connected to the ball socket base of the continuous body flexible arm, and the other end of the connecting tube is connected to the connecting piece A; Connectors A, B, C, and D are connected in sequence, connector D is fixedly connected to the quick-change housing, one end of the wire sheath tube is fixed to connector C, and the other end of the wire sheath tube is fixed to the quick-change housing for adjusting the direction of the drive wire.

5. The quick-change surgical actuator for unilateral dual-channel spinal endoscope according to claim 2, characterized in that: The transmission unit comprises: a guide rod connector, a guide rod, a spring and a tensioning mechanism. The transmission unit is divided into four groups and arranged side by side. Each group of the transmission units comprises two guide rods, a spring and a tensioning mechanism. The two ends of the guide rod are connected with the quick-change housing. The two guide rods pass through the tensioning mechanism for the tensioning mechanism to slide thereon. The spring is arranged on one side of the tensioning mechanism for resetting the tensioning mechanism.

6. The quick-change surgical actuator for unilateral dual-channel spinal endoscope according to claim 5, characterized in that: The tightening mechanism comprises: a slider, a worm wheel, a worm, a worm wheel shaft, a worm shaft, a pressing block, a tensioning knob, a bearing and a top cover. The worm wheel shaft and the worm wheel are fixed together, the worm shaft and the worm are fixed together, and a hole is opened on the worm wheel shaft for winding the wire around the worm wheel shaft after threading. The worm shaft passes through the worm, one end of the worm shaft is connected to the bearing, the bearing is fixed on the slider, the other end of the worm shaft extends upward and is connected to a tensioning knob, the worm gear shaft is placed in the slider through the groove, a clamping block is pressed on the top of the worm gear shaft for radial fixation of the worm gear shaft, and a top cover is pressed on the top of the worm gear shaft.

7. The quick-change surgical actuator for unilateral dual-channel spinal endoscope according to claim 1, characterized in that: The feed module comprises: a guide rail motor connection seat, a feed motor, a large spur gear, a small spur gear, a trapezoidal lead screw, a lead screw nut and an optical axis, the guide rail motor connection seat is fixed on the base, and the feed motor is fixed on the guide rail motor connection seat to provide power for the feed module; The motor output shaft is connected to the large spur gear, and the trapezoidal lead screw is connected to the small spur gear. The meshing of the large spur gear and the small spur gear drives the trapezoidal lead screw to rotate, and the rotation of the trapezoidal lead screw is converted into axial feed of the lead screw nut through the lead screw pair. Two optical axes pass through the drive module to provide guidance and support for the drive module. The lead screw nut is fixed to the drive module, and the drive module is fixed to the quick-change module. The feed module is used to realize the overall feeding of the surgical instrument.

8. The quick-change surgical actuator for unilateral dual-channel spinal endoscope according to claim 7, characterized in that: The driving module includes: a driving base, an electric push rod module, a linear guide rail A, a slider A, a linear guide rail B, a slider B, a front baffle, a front support block, a rear support block and a magnetic block; The driving base is fixedly connected with the electric push rod module, linear guide rail A, linear guide rail B, front baffle plate and magnetic block. The output shaft of the electric push rod module is connected with the guide rail slider rib, and slides on the linear guide rail A together with the slider A, driving the slider in the quick change module to move forward and backward, thereby realizing the bending action of the continuum flexible arm. The electric push rod module includes: an electric push rod, a lower component of an electric push rod fixing seat, an upper component of an electric push rod fixing seat, a push rod support frame, a linear guide rail B, a slider B and a guide rail slider rib. The end of the electric push rod is fixed in the lower component of the electric push rod fixing seat and the upper component of the electric push rod fixing seat, and the push rod support frame is used to support the front end of the electric push rod.

9. The quick-change surgical actuator for unilateral dual-channel spinal endoscope according to claim 1, characterized in that: The rotating module comprises: a grinding and drilling motor, a motor fixing part and a rear end connecting part; The rotating motor is fixed to the motor fixing part, the motor fixing part is fixed to the rear end connecting part, and the rotating module is fixed on the slider B of the driving module as a whole and slides on the linear guide rail B.

10. A surgical robot, characterized in that: A quick-change surgical actuator for unilateral dual-channel spinal endoscope comprising the method described in any one of claims 1 to 9.

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