Quick-change surgical implement for unilateral double-channel endoscope

Abstract

This invention belongs to the field of medical device technology. It provides a quick-change surgical actuator for unilateral dual-channel spinal endoscopy, comprising a housing, a feed module, a drive module, a rotation module, a quick-change module, and a base. The housing, feed module, and drive module are all fixed to the base. The feed module is used to connect with surgical instruments to control their axial movement. The feed module and the rotation module are respectively connected to the drive module. The rotation module is connected to the quick-change module to drive the axial rotation of the surgical instruments. The quick-change module is used to connect with the surgical instruments. This invention improves the flexibility and workspace of surgical instruments. By incorporating a quick-change module, instruments can be quickly changed according to surgical needs to perform different surgical operations, further enhancing the adaptability of the surgical robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a quick-change surgical actuator for a unilateral double-channel spinal endoscope. BACKGROUND

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

[0003] Compared with traditional open spinal surgery, spinal endoscopic surgery does not need to destroy the facet joint and lamina, reduces the traction of nerve root and spinal cord, and can maximize the stability of the spinal surgery segment, thereby reducing the occurrence of long-term pain and other complications caused by spinal instability. The 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, which has the advantages of reducing tissue damage and bleeding volume, reducing postoperative pain, and shortening recovery time.

[0004] Traditional spinal endoscopic surgery is manually operated by doctors, and the operation process is complex, the learning curve is long, and the operation level and energy of doctors are required, and the traditional spinal endoscopic surgery has the clinical problems of poor flexibility of instruments, weak perception, and difficult to guarantee the safety of surgery and treatment effect. The existing intervertebral foramen mirror robot has the following disadvantages: (1) different instruments need to be used in spinal endoscopic surgery to realize nucleus pulposus clamping, grinding, stripping, exploration, coagulation and other multifunctional operations, the existing intervertebral foramen mirror robot is more 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 observed under the endoscope is narrow, and it is not convenient to observe and operate the surgical instruments; (3) the endoscope and the actuator are coaxial, the freedom degree of the endoscope is small, the activity is limited, and the flexibility of surgical operation is limited. SUMMARY

[0005] In order to solve the problems of the prior art, the present application provides a quick-change surgical actuator for a unilateral double-channel spinal endoscope, which improves the flexibility and working space of the surgical instrument, and by setting a surgical instrument quick-change module, different surgical operations can be performed according to the surgical requirements, and the adaptability of the surgical robot is further improved.

[0006] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0007] In a first aspect, the present application provides a quick-change surgical actuator for a unilateral double-channel spinal endoscope.

[0008] A quick-change surgical actuator for unilateral dual-channel spinal endoscopy includes a housing, a feed module, a drive module, a rotation module, a quick-change module, and a base. The housing, feed module, and drive module are all fixed on the base. The feed module is used to connect with surgical instruments to control the axial movement of the surgical instruments.

[0009] The feed module and the rotation module are respectively connected to the drive module. The rotation module is connected to the quick-change module to drive the axial rotation of the surgical instrument. The quick-change module is used to connect to the surgical instrument.

[0010] As a further limitation of the first aspect of the present invention, the quick-change module includes: a continuous flexible arm, a connector, a quick-change housing, and a transmission unit. The surgical instrument is connected to the continuous flexible arm, the continuous flexible arm is connected to the connector, the connector is connected to the quick-change housing, and the transmission unit is connected to a drive wire inside the continuous flexible arm to realize the bending action of the continuous flexible arm by retracting and extending the drive wire.

[0011] The continuous flexible arm includes: a drive wire, a socket end, a socket unit, and a socket base. The surgical instrument, the socket end, the socket unit, and the socket base are connected in series by the drive wire, and the end of the socket base is connected to a connector.

[0012] As a further limitation of the first aspect of the present invention, the surgical instrument is a nucleus pulposus forceps or a drill;

[0013] The nucleolysis forceps instrument includes: a main housing, an upper jaw, a wire, a first pin, a nucleolysis forceps connector, and a second pin; the main housing and the upper jaw are connected by the first pin so that the upper jaw can rotate around the first pin.

[0014] The end of the wire is fixed to the nucleus pulposus clamp connector. The nucleus pulposus clamp connector is connected to the upper jaw via a second pin. The back-and-forth movement of the wire pushes and pulls the end of the upper jaw to generate torque, so that the upper jaw rotates around the first pin to perform an opening and closing motion.

[0015] The grinding and drilling apparatus includes: a grinding drill bit, a flexible shaft, a rigid straight rod, a bearing, and a bearing seat A. The grinding drill bit, the flexible shaft, and the rigid straight rod are fixedly connected in sequence. The grinding drill bit is connected to the bearing, and the bearing is connected to the bearing seat A to support the rotation of the grinding drill.

[0016] As a further limitation of the first aspect of the present invention, the connector includes: a connecting tube, connector A, connector B, connector C, connector D and a wire sheath tube, one end of the connecting tube being connected to the ball-and-socket base of the continuous flexible arm, and the other end of the connecting tube being connected to connector A;

[0017] Connector A, connector B, connector C, and connector D are connected in sequence. Connector D is fixedly connected to the quick-change housing. One end of the wire sheath is fixed to connector C, and the other end of the wire sheath is fixed to the quick-change housing for adjusting the direction of the drive wire.

[0018] As a further limitation of the first aspect of the present invention, the transmission unit includes: a guide rod connector, a guide rod, a spring and a tensioning mechanism. The transmission units are divided into four groups, arranged side by side. Each group of the transmission units includes two guide rods, one spring and one tensioning mechanism.

[0019] The guide rods are connected to the quick-change housing at both ends. The two guide rods pass through the tensioning mechanism, allowing the tensioning mechanism to slide on them. A spring is placed on one side of the tensioning mechanism to reset the tensioning mechanism.

[0020] As a further limitation of the first aspect of the present invention, the tensioning mechanism includes: 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 the worm wheel shaft has a hole for winding the wire around the worm wheel shaft after threading.

[0021] The worm shaft passes through the worm, one end of which is connected to a bearing, which is fixed to the slider. The other end of the worm shaft extends upward and is connected to a tension knob. The worm wheel shaft is inserted into the slider through a slot. A clamping block is pressed into the top of the worm wheel shaft for radial fixation. A top cover is pressed onto the top of the worm wheel shaft.

[0022] As a further limitation of the first aspect of the present invention, the feeding module includes: a guide rail motor connecting seat, a feeding motor, a large spur gear, a small spur gear, a trapezoidal lead screw, a lead screw nut, and an optical shaft. The guide rail motor connecting seat is fixed on the base, and the feeding motor is fixed on the guide rail motor connecting seat to provide power to the feeding module.

[0023] The motor output shaft is connected to a large spur gear, and the trapezoidal lead screw is connected to a small spur gear. The meshing of the large and small spur gears drives the trapezoidal lead screw to rotate, and the rotation of the trapezoidal lead screw is converted into the axial feed of the lead screw nut through the lead screw pair.

[0024] Two optical axes pass through the drive module, providing guidance and support. 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 surgical instruments.

[0025] 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.

[0026] The drive base is fixedly connected to the electric push rod module, linear guide rail A, linear guide rail B, front baffle and magnetic block. The output shaft of the electric push rod module is connected to the guide rail slider stop and slides together with the slider A on the linear guide rail A, driving the slider in the quick change module to move back and forth, thereby realizing the bending action of the continuous flexible arm.

[0027] The electric push rod module includes: an electric push rod, a lower component of the electric push rod fixing seat, an upper component of the electric push rod fixing seat, a push rod support frame, a linear guide rail B, a slider B, and a guide rail slider stop. 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. The push rod support frame is used to support the front end of the electric push rod.

[0028] As a further limitation of the first aspect of the present invention, the rotating module includes: a grinding and drilling motor, a motor fixing component, and a rear connecting component;

[0029] The rotary motor is fixed together with the motor mounting component, the motor mounting component is fixed together with the rear connecting component, and the entire rotary module is fixed on the slider B of the drive module and slides on the linear guide rail B.

[0030] In a second aspect, the present invention provides a surgical robot, including the quick-change surgical actuator for unilateral dual-channel spinal endoscopy as described in the first aspect of the present invention.

[0031] Compared with the prior art, the beneficial effects of the present invention are:

[0032] 1. By setting up a quick-change unit, this invention can separate the active motor from the passive instrument, which facilitates the replacement and sterilization of instruments, improves the maturity of the system, and allows for the rapid replacement of surgical instruments according to surgical needs, enabling various surgical operations. This further enhances the adaptability of the surgical robot and assists doctors in completing the entire process of spinal endoscopic surgery.

[0033] 2. This invention integrates flexible and bendable instruments, solving the problems of insufficient operational flexibility and inability to adjust rigidity according to surgical needs of traditional surgical instruments under limited surgical space. It enables flexible movement within bony cavities, improves the flexibility and working space of surgical instruments, realizes operation in narrow and complex areas, improves surgical efficiency, and achieves good treatment results.

[0034] 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 makes the operation convenient and quick.

[0035] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0036] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0037] Figure 1 This is a schematic diagram of the overall spinal endoscope actuator in an embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram of the quick-switch module structure in an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of the structure of the nucleus pulposus forceps device in an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the structure of the grinding and drilling device in an embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of the structure of the continuous flexible arm in an embodiment of the present invention;

[0042] Figure 6 This is a schematic diagram of the connector structure in an embodiment of the present invention;

[0043] Figure 7 This is a schematic diagram of the transmission unit in an embodiment of the present invention;

[0044] Figure 8 This is a schematic diagram of the tensioning mechanism in an embodiment of the present invention;

[0045] Figure 9 This is a schematic diagram of the feed module in an embodiment of the present invention;

[0046] Figure 10 This is a schematic diagram of the drive module in an embodiment of the present invention;

[0047] Figure 11 This is a schematic diagram of the electric actuator module in an embodiment of the present invention;

[0048] Figure 12 This is a schematic diagram of the rotating module in an embodiment of the present invention;

[0049] in:

[0050] 1. Housing; 2. Base; 3. Quick-change module; 4. Feed module; 5. Drive module; 6. Rotation module;

[0051] 31. Surgical instruments; 32. Continuous flexible arm; 33. Connector; 34. Quick-change housing; 35. Transmission unit;

[0052] 311. Nucleus pulposus clamping instruments; 312. Grinding and drilling instruments;

[0053] 3111. Main housing; 3112. Upper jaw; 3113. Wire; 3114. First pin; 3115. Nucleus pulposus clamp connector; 3116. Second pin;

[0054] 3121. Drill bit; 3122. Flexible shaft; 3123. Rigid straight rod; 3124. Bearing; 3125. Bearing housing A;

[0055] 321. Ball socket base; 322. Ball socket unit; 323. Ball socket end; 324. Drive wire;

[0056] 331. Connecting pipe; 332. Connector A; 333. Connector B; 334. Connector C; 335. Connector D; 336. Wire sheath tube;

[0057] 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;

[0058] 41. Guide rail motor connector; 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;

[0059] 51. Drive 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;

[0060] 541. Electric linear actuator; 542. Lower component of electric linear actuator mounting base; 543. Upper component of electric linear actuator mounting base; 544. Actuator support frame; 545. Linear guide rail B; 546. Slider B; 547. Guide rail slider stop.

[0061] 61. Motor mounting hardware; 62. Rear end connector; 63. Drill motor. Detailed Implementation

[0062] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0063] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0064] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0065] Example 1:

[0066] In this implementation, such as Figure 1 As shown, a quick-change surgical actuator for unilateral dual-channel spinal endoscopy is proposed, comprising: a housing 1, a base 2, a quick-change module 3, a feed module 4, a drive module 5, and a rotation module 6.

[0067] In this implementation, preferably, the outer shell 1, the feed module 4, and the drive module 5 are all fixed on the base 2. The lead 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. In this implementation, the surgical actuator is mounted on a serial robotic arm, and the axial rotation of the entire surgical actuator is realized by the rotation of the end joint of the robotic arm. The quick-change module 3 is connected to the drive module 5, and the motor of the drive module 5 drives the quick-change module 3 to operate, thereby realizing the operation of the surgical instrument 31.

[0068] In this implementation, such as Figure 2 As shown, the quick-change module 3 includes at least a surgical instrument 31, a continuous flexible arm 32, a connector 33, a quick-change housing 34, and a transmission unit 35. The surgical instrument 31 is connected to the continuous flexible arm 32, the continuous flexible arm 32 is connected to the connector 33, and the transmission unit 35 is connected to the drive wire 324 inside the continuous flexible arm 32, so as to realize the bending action of the continuous flexible arm 32 by retracting and extending the drive wire 324.

[0069] In this implementation, the surgical instrument 31 has two configuration options. Option 1 is a nucleus pulposus forceps instrument 311, and Option 2 is a grinding drill instrument 312.

[0070] like Figure 3 As shown, the nucleoside clamp instrument 311 includes: a main housing 3111, an upper jaw 3112, a wire 3113, a first pin 3114, a nucleoside clamp connector 3115, and a second pin 3116. The main housing 3111 and the upper jaw 3112 are connected by the first pin 3114, so that the upper jaw 3112 can rotate around the first pin 3114. The end of the wire 3113 is fixed to the nucleoside clamp connector 3115. The nucleoside clamp connector 3115 is connected to the upper jaw 3112 through the second pin 3116. The back-and-forth movement of the wire 3113 pushes and pulls the end of the upper jaw 3112, generating torque so that the upper jaw 3112 rotates around the first pin 3114 to perform an opening and closing movement.

[0071] like Figure 4As shown, the grinding and drilling device 312 includes: a grinding drill bit 3121, a flexible shaft 3122, a rigid straight rod 3123, a bearing 3124, and a bearing seat A3125. The grinding drill bit 3121, the flexible shaft 3122, and the rigid straight rod 3123 are fixedly connected in sequence. The grinding 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 grinding drill.

[0072] In this implementation, such as Figure 5 As shown, the continuous flexible arm 32 includes a drive 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 connected in series and fixedly connected by the drive wire 324. The end of the ball socket base 321 is connected to the connector 33.

[0073] In this implementation, such as Figure 6 As shown, the connector 33 includes: a connecting tube 331, connector A332, connector B333, connector C334, connector D335, and a wire sheath tube 336. One end of the connecting tube 331 is connected to the ball-and-socket base 321 of the continuous flexible arm 32, and the other end is connected to connector A332. Connectors A332, B333, C334, and D335 are connected in sequence. Connector D335 is fixed to the quick-change housing 34. One end of the wire sheath tube 336 is fixed to connector C334, and the other end is fixed to the quick-change housing 34, for adjusting the direction of the drive wire 324.

[0074] In this implementation, such as 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, arranged side by side. Each group includes two guide rods, a spring, and a tensioning mechanism. The two ends of the guide rods are connected to the quick-change housing 34. The two guide rods pass through the tensioning mechanism, allowing the tensioning mechanism to slide on it. The spring is placed on one side of the tensioning mechanism to reset the tensioning mechanism.

[0075] In this implementation, such as Figure 8 As shown, the tensioning mechanism includes: a slider 3541, a worm gear 3545, a worm 3546, a worm gear shaft 3547, a worm shaft 3542, a clamping block 3548, a tensioning knob 3543, a bearing 3549, and a top cover 3544. The worm gear shaft 3547 and the worm gear 3545 are fixed together, and the worm shaft 3542 and the worm 3546 are fixed together. The worm gear shaft 3547 has a small hole for winding the wire around it after threading.

[0076] In this implementation, the worm shaft 3542 passes through the worm 3546, with one end connected to a bearing fixed on the slider 3541. The other end is longer, extending upwards and connected to a tension knob 3543, allowing the operator to manually turn the worm shaft 3542 to tighten the wire. The worm wheel shaft 3547 is inserted into the slider 3541 through a slot, with a clamping block 3548 pressed in above for radial fixation of the worm wheel shaft 3547. Finally, a top cover 3544 is pressed on top.

[0077] In this implementation, such as Figure 9 As shown, the feed module 4 includes: a guide rail motor connector 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 shaft 47. The guide rail motor connector 41 is fixed on the base 2, and the feed motor 42 is fixed on the guide rail motor connector 41 to provide power to the feed module 4.

[0078] In this implementation, the motor output shaft is connected to a large spur gear 43 (i.e., the first spur gear), and a trapezoidal lead screw 45 is connected to a 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. The rotation of the trapezoidal lead screw 45 is converted into the 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, providing guidance and support. 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. Therefore, the feed module 4 can realize the overall feed of the surgical instrument 31.

[0079] In this implementation, such as Figure 10 As shown, the drive module 5 includes: a drive 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 drive 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 stop 547, and slides together with the slider A53 on the linear guide rail A52, driving the slider 3541 in the quick-change module 3 to move back and forth, thereby realizing the bending action of the continuous flexible arm 32.

[0080] In this implementation, such as Figure 11As shown, the electric push rod module 54 includes: an electric push rod 541, a lower component 542 of the electric push rod fixing seat, an upper component 543 of the electric push rod fixing seat, a push rod support frame 544, a linear guide rail B545, a slider B546, and a guide rail slider stop 547; the end of the electric push rod 541 is fixed in the lower component 542 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.

[0081] In this implementation, such as Figure 12 As shown, the rotating module 6 includes: a grinding drill motor 63, a motor fixing component 61, and a rear connecting component 62. The rotating motor is fixed together with the motor fixing component 61, and the motor fixing component 61 is fixed together with the rear connecting component 62. The rotating module 6 is fixed as a whole on the slider B546 of the drive module 5 and slides on the linear guide rail B545. The rotating module 6 is used to drive the axial rotation of the grinding drill surgical instrument 31.

[0082] Example 2:

[0083] This implementation provides a surgical robot, including the quick-change surgical actuator for unilateral dual-channel spinal endoscopy as described in Embodiment 1 of the present invention.

[0084] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A quick-change surgical manipulator for unilateral double-channel endoscopy, characterized in that it comprises a housing, a feeding module, a driving module, a rotating module, a quick-change module and a base, the housing, the feeding module and the driving module are fixed on the base, 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 connected with the driving module respectively, the rotating module is connected with the quick-change module to drive the axial rotation of the surgical instrument, and the quick-change module is used to connect with the surgical instrument; 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 with the continuum flexible arm, the continuum flexible arm is connected with the connecting piece, the connecting piece is connected with the quick-change housing, and the transmission unit is connected with a driving wire in the continuum flexible arm to realize the bending action of the continuum flexible arm by winding and unwinding 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 fixedly connected in series through the driving wire, and the end of the ball socket base is connected with the connecting piece; 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 wire sheath tube, one end of the connecting tube is connected with the ball socket base of the continuum flexible arm, and the other end of the connecting tube is connected with the connecting piece A; the connecting piece A, the connecting piece B, the connecting piece C and the connecting piece D are connected in sequence, the connecting piece D is fixedly connected with the quick-change housing, one end of the wire sheath tube is fixed to the connecting piece C, and the other end of the wire sheath tube is fixed to the quick-change housing, and is used to adjust the direction of the driving wire; the transmission unit comprises a guide rod connecting piece, a guide rod, a spring and a wire tightening mechanism, the transmission unit is divided into four groups and is distributed side by side, each group of the transmission unit comprises two guide rods, one spring and one wire tightening mechanism, and the wire tightening mechanism comprises a sliding block; the guide rods are connected with the quick-change housing at both ends, the two guide rods pass through the wire tightening mechanism, the wire tightening mechanism slides on the guide rods, and the spring is arranged on one side of the wire tightening mechanism to reset the wire tightening mechanism; the feeding module comprises a guide rail motor connecting seat, a feeding motor, a large straight gear, a small straight gear, a trapezoidal screw, a screw nut and a light shaft, the guide rail motor connecting seat is fixed on the base, and the feeding motor is fixed on the guide rail motor connecting seat to provide power for the feeding module; the output shaft of the feeding motor is connected with the large straight gear, the trapezoidal screw is connected with the small straight gear, the large straight gear and the small straight gear are engaged to drive the trapezoidal screw to rotate, and the rotation of the trapezoidal screw is converted into the axial feeding of the screw nut through the screw pair; two light shafts pass through the driving module to provide guidance and support for the driving module, the screw nut is fixed with the driving module, the driving module is fixed with the quick-change module, and the feeding module is used to realize the overall feeding of the surgical instrument; the driving module comprises a driving base, an electric push rod module, a linear guide rail A, a sliding block A, a linear guide rail B, a sliding block B, a front baffle, a front end support block, a rear end support block and a magnetic attraction block. ​ The driving base is fixedly connected with the electric push rod module, the linear guide rail A, the linear guide rail B, the front baffle and the magnetic suction block. The output shaft of the electric push rod module is connected with the guide rail slider stop edge. The slider A and the slider A slide on the linear guide rail A together, drive the slider to move forward and backward in the tight line mechanism of the quick change module, and then realize the bending action of the continuum flexible arm. The rotating module is fixedly connected with the slider B of the driving module and slides on the linear guide rail B.

2. The quick-change surgical manipulator for unilateral double-channel endoscopic spine surgery according to claim 1, wherein the surgical instrument is a nucleus clamps instrument or a drill instrument. The nucleus clamps instrument comprises a main shell, an upper clamp, a wire, a first pin shaft, a nucleus clamp connecting piece and a second pin shaft. The main shell is connected with the upper clamp through the first pin shaft, so that the upper clamp can rotate around the first pin shaft. The end of the wire is fixed on the nucleus clamp connecting piece. The nucleus clamp connecting piece is connected with the upper clamp through the second pin shaft. Through the forward and backward movement of the wire, the torque of the end of the upper clamp is generated to make the upper clamp rotate around the first pin shaft to perform opening and closing movement. The drill instrument comprises a drill head, a flexible shaft, a rigid straight rod, a bearing and a bearing seat A. The drill head, the flexible shaft and the rigid straight rod are sequentially fixedly connected. The drill head is connected with the bearing. The bearing is connected with the bearing seat A to support the rotation of the drill.

3. The quick-change surgical manipulator for unilateral double-channel endoscopic spine surgery according to claim 1, wherein the tight line mechanism comprises a slider, a worm gear, a worm, a worm shaft, a worm gear shaft, a compression block, a tensioning knob, a bearing and a top cover. The worm shaft and the worm gear are fixed together. The worm shaft and the worm are fixed together. A hole is formed in the worm shaft for winding the wire on the worm shaft after threading. The worm shaft passes through the worm. One end of the worm shaft is connected with the bearing. The bearing is fixed on the slider. The other end of the worm shaft extends upward and is connected with a tensioning knob. The worm shaft is put into the slider through a groove. The upper part of the worm shaft is pressed into a compression block for radial fixation of the worm shaft. The uppermost part of the worm shaft is pressed with the top cover.

4. The quick-change surgical manipulator for unilateral double-channel endoscopic spine surgery according to claim 1, wherein the electric push rod module comprises an electric push rod, an electric push rod fixing seat lower part, an electric push rod fixing seat upper part, a push rod support frame, a linear guide rail B, a slider B and a guide rail slider stop edge. The end of the electric push rod is fixed in the electric push rod fixing seat lower part and the electric push rod fixing seat upper part. The push rod support frame is used to support the front end of the electric push rod.

5. The quick-change surgical manipulator for unilateral double-channel endoscopic spine surgery according to claim 1, wherein the rotating module comprises a drill motor, a motor fixing part and a rear end connecting part. The drill motor is fixed with the motor fixing part. The motor fixing part is fixed with the rear end connecting part. The quick-change surgical manipulator for unilateral double-channel endoscopic spine surgery according to any one of claims 1-5. ​ ​ ​ 6. A surgical robot characterized by, ​

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