Auxiliary surgical robot and feeding method thereof

Abstract

The invention relates to the technical field of robots, in particular to an auxiliary surgical robot which comprises a robot body, a movable base is fixedly arranged at the lower end of the robot body, a disinfection cavity is formed in the robot body, and an inner bearing boss is fixedly arranged in the disinfection cavity; a first electric telescopic rod is fixedly mounted on the inner bearing boss, guide matching vertical rods are symmetrically and fixedly arranged on the inner bearing boss, a driving bearing plate is fixedly arranged at a cavity opening of the disinfection cavity, and an insertion matching hole is formed in the driving bearing plate. Comprising the following steps that firstly, outward extension of the mechanical arm is fixed; 2, opening a closing cavity door; thirdly, the instrument bearing disc moves upwards.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to an auxiliary surgical robot and a feeding method thereof. Background Art

[0002] When doctors perform surgery on patients, they need assistants to help them transfer surgical instruments and assist them in completing the surgery. Although this method of cooperation is more convenient, in actual surgical procedures, there are many problems with the surgery or even failure of the surgery due to accidents in the transfer of instruments during surgery. That is, if the cooperation between the two people is not tacit enough or the communication is not in place, it is very easy to make mistakes in transferring surgical instruments, and errors in the transfer process may cause the instruments to fall to the ground, etc., which will have a certain adverse effect on the surgery and may even lead to the failure of the surgery in severe cases. Therefore, in order to reduce the phenomenon of decreased surgical success rate due to human errors, there is an urgent need for a robot that can provide doctors with surgical instruments so that the surgical instruments can be placed at a more convenient location for the doctors to take. Summary of the invention

[0003] The object of the present invention is to provide an auxiliary surgical robot and a feeding method thereof to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions: An auxiliary surgical robot comprises a robot body, a movable base is fixedly provided at the lower end of the robot body, a disinfection cavity is provided on the robot body, an inner bearing boss is fixedly provided inside the disinfection cavity, a first electric telescopic rod is fixedly mounted on the inner bearing boss, and guide matching vertical poles are symmetrically fixedly provided on the inner bearing boss, a driving bearing plate is fixedly provided at the cavity opening of the disinfection cavity, a plug-in matching hole is provided on the driving bearing plate, and driving oblique grooves are symmetrically provided on both sides of the driving bearing plate, vertical retaining grooves are connected to the upper side of the driving oblique grooves, movable guide holes are symmetrically provided on both sides of the robot body, and an adjustable instrument pushing mechanism is provided on the robot body.

[0005] Preferably, the adjustable instrument pushing mechanism includes an installation bearing plate, a bearing arm plate, a closing chamber door, a matching stabilizing plate, a connecting drive frame, a movable covering plate, a driving bearing bar and a movable bearing plate, the installation bearing plate is fixedly installed on the first electric telescopic rod, and a bearing matching vertical plate is fixedly arranged on the installation bearing plate, guide matching holes are symmetrically opened on the bearing matching vertical plate, guide matching vertical rods are inserted in the guide matching holes, and support matching bearing rods are also symmetrically fixedly arranged on the bearing matching vertical plate, and a second electric telescopic rod is fixedly installed on the bearing matching vertical plate between the support matching bearing rods.

[0006] Preferably, a lower supporting bar is fixedly provided on the lower end of the mounting support plate, an inclined connecting frame is fixedly provided on the lower supporting bar, connecting slope grooves are symmetrically provided on both sides of the inclined connecting frame, and a bearing arm plate is fixedly installed on the second electric telescopic rod, support matching holes are symmetrically provided on the bearing arm plate, and support matching bearing rods are inserted into the support matching holes.

[0007] Preferably, the first movable mechanical arms are symmetrically hinged on both sides of the carrying arm plate, a fixed mechanical arm is fixedly arranged on the carrying arm plate between the first movable mechanical arms, a carrying guide hole is provided on the fixed mechanical arm, and an instrument carrying plate is fixedly arranged on the upper end of the fixed mechanical arm, a carrying cavity is provided on the instrument carrying plate, a movable matching hole is provided at the bottom of the carrying cavity, and guide strips are symmetrically fixedly arranged on the instrument carrying plate, limiting guide holes are provided on the guide strips, and mounting sockets are symmetrically provided on both sides of the instrument carrying plate.

[0008] Preferably, the other end of the first movable mechanical arm is hinged with a closing cavity door, the closing cavity door is fixedly provided with a bearing convex strip, and movable guide rods are symmetrically fixedly provided at the upper and lower ends of the bearing convex strip, the movable guide rods are inserted in the movable guide holes, and a bearing plate is fixedly provided on the inner end surface of the closing cavity door, a connecting rod is fixedly provided on the bearing plate, a limited rotation rod is fixedly provided on the connecting rod, a movable connecting block is sleeved on the connecting rod, the movable connecting block is hinged with the first movable mechanical arm, and a connecting socket is provided on the movable connecting block, a connecting socket is inserted in the connecting socket, and an anti-rotation hole is provided next to the connecting socket, the limited rotation rod is inserted in the anti-rotation hole, and a connecting strip is fixedly provided on the outer end surface of the closing cavity door, a second movable mechanical arm is hinged on the connecting strip, and a matching stabilizing plate is hinged at the lower end of the second movable mechanical arm.

[0009] Preferably, a plug-in fitting rod is fixedly provided on the mating stabilization plate, and the plug-in fitting rod is inserted into the plug-in fitting hole, and stabilization channels are symmetrically opened on both sides of the mating stabilization plate, and connecting hinge blocks are symmetrically fixedly provided on the lower ends of both sides of the mating stabilization plate, and the connecting hinge blocks are hinged to the lower end of the second movable robotic arm.

[0010] Preferably, a connecting drive frame is installed on the fixed mechanical arm, and first matching pins are symmetrically fixedly provided on both sides of the connecting drive frame, and a load-bearing guide rod is fixedly provided on the upper end of the connecting drive frame, and the load-bearing guide rod is inserted in the load-bearing guide hole, and a connecting top frame is fixedly provided on the upper end of the load-bearing guide rod, and a third movable mechanical arm is symmetrically hinged on both sides of the connecting top frame, and a movable covering plate is hinged on the upper end of the third movable mechanical arm, and there are two movable covering plates, which are respectively arranged on both sides of the instrument carrying plate, and a lower extension carrying plate is fixedly provided on the movable covering plate, and support protrusions are symmetrically fixedly provided on the lower extension carrying plate, and a limiting guide rod is fixedly provided on the support protrusion, and the limiting guide rod is inserted in the limiting guide hole.

[0011] Preferably, a driving bearing bar is installed on the instrument carrying plate, and mounting rods are symmetrically fixed at both ends of the driving bearing bar, the mounting rods are inserted in the mounting sockets, and a first matching spring is sleeved on the mounting rods, a supporting plate is symmetrically fixed on the driving bearing bar, a second matching column is fixed on the supporting plate, and a fourth movable mechanical arm is symmetrically hinged on the driving bearing bar, and a movable covering plate is hinged at the other end of the fourth movable mechanical arm.

[0012] Preferably, a movable bearing plate is inserted in the bearing cavity, a plug-in support rod is fixedly provided at the lower end of the movable bearing plate, the plug-in support rod is inserted in the movable matching hole, a second matching spring is sleeved on the plug-in support rod, and a matching contact strip is fixedly provided at the lower end of the plug-in support rod.

[0013] A feeding method for a robot comprises the following steps: Step 1: Extending the fixed robotic arm: starting the second electric telescopic rod to drive the load-bearing arm plate to move, thereby driving the fixed robotic arm to move outward; Step 2: Opening of the closed chamber door: As the carrying arm plate moves, the closed chamber door is opened under the action of the first movable mechanical arm; Step 3: Moving the instrument carrier plate upward: When the instrument carrier plate moves to the outside of the disinfection chamber, the first electric telescopic rod is started to drive the instrument carrier plate to move upward, and at the same time, the movable cover plate is driven to move under the action of the fourth movable mechanical arm, so that the carrying chamber is in an open state.

[0014] Compared with the prior art, the invention has the following advantages: 1. By setting a disinfection chamber on the robot body, medical instruments can be disinfected. When the robot provides instruments to the doctor, the second electric telescopic rod drives the carrying arm plate to move, and then the disinfection chamber door can be driven to open under the action of the first movable mechanical arm, so that the instrument carrying plate extends out of the disinfection chamber, and then the first electric telescopic rod drives the instrument carrying plate to move upward to a suitable position, which is convenient for the doctor to take and place the instruments. It is very convenient and can meet the usage needs of different doctors.

[0015] 2. When the fixed robotic arm moves outward, it can drive the movable cover plate to move toward each other, so that the movable cover plate covers the instrument to protect the instrument during movement. When the instrument carrying plate moves upward, the driving bearing bar can drive the movable cover plate to move backward, so that the bearing cavity on the instrument carrying plate is in an open state, which is convenient for doctors to take and place instruments.

[0016] 3. In addition, when the operation is completed, the fixed robotic arm drives the instruments back to the disinfection chamber, and the instruments after the operation can be disinfected to avoid contamination. When the fixed robotic arm moves in the disinfection chamber, it will drive the movable covering plate to move back again, so that the bearing chamber is opened, and it will also drive the movable bearing plate to move upward, so that the instruments can be pushed to the cavity opening of the bearing chamber to facilitate disinfection. In the non-sterilization state, the movable bearing plate does not move upward, thereby ensuring the safety and stability of instrument storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the robot assembly.

[0018] Figure 2 for Figure 1 A magnified schematic diagram of center A.

[0019] Figure 3 This is a schematic diagram of the robot's structure.

[0020] Figure 4 This is a first-person perspective schematic diagram of the internal assembly of the disinfection chamber.

[0021] Figure 5 for Figure 4 A magnified schematic diagram of point B in the middle.

[0022] Figure 6 This is a second perspective schematic diagram of the internal assembly of the disinfection chamber.

[0023] Figure 7 This is a first-person perspective schematic diagram of the load-bearing arm plate assembly.

[0024] Figure 8 Schematic diagram of the load-bearing arm plate assembly from a second perspective.

[0025] Fig. 9 Exploded schematic diagram of the assembly of the load-bearing arm plate, driven load-bearing bar and movable load-bearing plate.

[0026] In the figure: 1. robot body; 11. mobile base; 12. disinfection chamber; 13. inner bearing boss; 14. first electric telescopic rod; 15. guide matching vertical rod; 16. drive bearing plate; 161. plug-in matching hole; 162. drive inclined groove; 163. vertical holding groove; 17. mobile guide hole; 2. install bearing plate; 21. bearing matching vertical plate; 22. guide matching hole; 23. support matching bearing rod; 24. second electric telescopic rod; 25. lower bearing bar; 26. inclined connecting frame; 27. connecting slope groove; 3. bearing arm plate; 30. support matching hole; 31. first movable mechanical arm; 32. fixed mechanical arm; 33. bearing guide hole; 34. instrument bearing plate; 35. bearing chamber; 351. movable matching hole; 36. guide strip plate; 361. limit guide hole; 37. installation socket; 4. closing chamber door; 41. bearing convex strip; 42, movable guide rod; 43, load-bearing plate; 44, connecting rod; 45, rotation-limiting rod; 46, movable connecting block; 461, connecting socket; 462, anti-rotation hole; 47, connecting strip; 48, second movable mechanical arm; 5, matching stabilizing plate; 51, plug-in matching rod; 52, stabilizing channel; 53, connecting hinge block; 6, connecting drive frame; 61, first matching column; 62, load-bearing guide rod; 63, connecting top frame; 64, third movable mechanical arm; 7, movable covering plate; 71, lower extension load-bearing plate; 72, supporting convex block; 73, limiting guide rod; 8, driving load-bearing strip; 81, installing rod; 82, first matching spring; 83, support load-bearing plate; 84, second matching column; 85, fourth movable mechanical arm; 9, movable load-bearing plate; 91, plug-in support rod; 92, second matching spring; 93, matching contact strip. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figures 1 to 9 , the present invention provides a technical solution: An auxiliary surgical robot comprises a robot body 1, a movable base 11 is fixedly provided at the lower end of the robot body 1, a disinfection chamber 12 is provided on the robot body 1, an inner bearing boss 13 is fixedly provided inside the disinfection chamber 12, a first electric telescopic rod 14 is fixedly mounted on the inner bearing boss 13, and a guide matching vertical rod 15 is symmetrically fixedly provided on the inner bearing boss 13, a driving bearing plate 16 is fixedly provided at the cavity opening of the disinfection chamber 12, a plug-in matching hole 161 is provided on the driving bearing plate 16, and driving oblique grooves 162 are symmetrically provided on both sides of the driving bearing plate 16, a vertical retaining groove 163 is connected to the upper side of the driving oblique groove 162, and the width of the driving oblique groove 162 is equal to the width of the vertical retaining groove 163, movable guide holes 17 are symmetrically provided on both sides of the robot body 1, and an adjustable instrument pushing mechanism is provided on the robot body 1.

[0029] The adjustable instrument pushing mechanism includes an installation bearing plate 2, a bearing arm plate 3, a closing chamber door 4, a matching stabilizing plate 5, a connecting drive frame 6, a movable covering plate 7, a driving bearing bar 8 and a movable bearing plate 9. The installation bearing plate 2 is fixedly installed on the first electric telescopic rod 14, and a bearing matching vertical plate 21 is fixedly arranged on the installation bearing plate 2. Guide matching holes 22 are symmetrically opened on the bearing matching vertical plate 21, and guide matching vertical rods 15 are inserted in the guide matching holes 22. Support matching carrying rods 23 are also symmetrically fixedly arranged on the bearing matching vertical plate 21, and a second electric telescopic rod 24 is fixedly installed on the bearing matching vertical plate 21 between the support matching carrying rods 23.

[0030] A lower support bar 25 is fixedly provided at the lower end of the mounting plate 2, and an inclined connecting frame 26 is fixedly provided on the lower support bar 25. Connecting slope grooves 27 are symmetrically provided on both sides of the inclined connecting frame 26, and the inner walls of the connecting slope grooves 27 are smooth and free of burrs. A bearing arm plate 3 is fixedly installed on the second electric telescopic rod 24, and supporting matching holes 30 are symmetrically provided on the bearing arm plate 3, and the supporting matching bearing rod 23 is inserted into the supporting matching holes 30.

[0031] The first movable mechanical arms 31 are symmetrically hinged on both sides of the carrying arm plate 3, and a fixed mechanical arm 32 is fixedly arranged on the carrying arm plate 3 between the first movable mechanical arms 31. The fixed mechanical arm 32 is provided with a carrying guide hole 33, and an instrument carrying plate 34 is fixedly arranged on the upper end of the fixed mechanical arm 32. The instrument carrying plate 34 is provided with a carrying cavity 35, and a movable matching hole 351 is provided at the bottom of the carrying cavity 35, and guide strips 36 are symmetrically fixedly arranged on the instrument carrying plate 34, and a limiting guide hole 361 is provided on the guide strips 36, and installation sockets 37 are also symmetrically provided on both sides of the instrument carrying plate 34.

[0032] The other end of the first movable mechanical arm 31 is hinged with a closed cavity door 4, on which a bearing convex strip 41 is fixedly provided, and movable guide rods 42 are symmetrically fixedly provided at the upper and lower ends of the bearing convex strip 41, and the movable guide rods 42 are inserted into the movable guide holes 17, and a bearing plate 43 is fixedly provided on the inner end surface of the closed cavity door 4, and a connecting rod 44 is fixedly provided on the bearing plate 43, and a limited rotation rod 45 is fixedly provided on the connecting rod 44, and a movable connecting block 46 is sleeved on the connecting rod 44, so that the movable The movable connecting block 46 is hinged to the first movable mechanical arm 31, and a connecting socket 461 is provided on the movable connecting block 46, a connecting rod 44 is inserted in the connecting socket 461, and an anti-rotation hole 462 is provided on one side of the connecting socket 461, a limited rotation rod 45 is inserted in the anti-rotation hole 462, a connecting strip 47 is fixedly provided on the outer end surface of the closing chamber door 4, a second movable mechanical arm 48 is hinged on the connecting strip 47, and a matching stabilizing plate 5 is hinged at the lower end of the second movable mechanical arm 48.

[0033] A plug-in fitting rod 51 is fixedly provided on the mating stabilizing plate 5, and the plug-in fitting rod 51 is inserted into the plug-in fitting hole 161, and stabilizing channels 52 are symmetrically opened on both sides of the mating stabilizing plate 5, and connecting hinge blocks 53 are symmetrically fixedly provided on the lower ends of both sides of the mating stabilizing plate 5, and the connecting hinge blocks 53 are hinged to the lower end of the second movable mechanical arm 48. In addition, the stabilizing channel 52 is aligned with the vertical retaining groove 163, and the widths of the two are equal. When the closed chamber door 4 is opened, the stabilizing channel 52 moves to the upper side of the driving inclined groove 162.

[0034] The fixed mechanical arm 32 is provided with a connecting drive frame 6, and the two sides of the connecting drive frame 6 are symmetrically fixed with first matching plugs 61. When the fixed mechanical arm 32 does not move outward, the first matching plugs 61 are inserted at the highest point of the connecting ramp groove 27, and the first matching plugs 61 are in contact with the inner wall of the connecting ramp groove 27. The upper end of the connecting drive frame 6 is fixedly provided with a bearing guide rod 62, and the bearing guide rod 62 is inserted into the bearing guide hole 33, and the upper end of the bearing guide rod 62 is fixedly provided with a connecting top frame 63, and the two sides of the connecting top frame 63 are symmetrical. A third movable mechanical arm 64 is hingedly provided, and a movable covering plate 7 is hingedly provided at the upper end of the third movable mechanical arm 64. There are two movable covering plates 7, which are respectively arranged on both sides of the instrument carrying plate 34, and a lower extension bearing plate 71 is fixedly provided on the movable covering plate 7, and support protrusions 72 are symmetrically fixedly provided on the lower extension bearing plate 71. A limiting guide rod 73 is fixedly provided on the support protrusion 72, and the limiting guide rod 73 is inserted in the limiting guide hole 361. When the first matching plug column 61 is at the highest point of the connecting ramp groove 27, the movable covering plate 7 is in an open state.

[0035] A driving bearing bar 8 is installed on the instrument carrying plate 34, and mounting rods 81 are symmetrically fixed at both ends of the driving bearing bar 8. The mounting rods 81 are inserted in the mounting holes 37, and a first matching spring 82 is sleeved on the mounting rods 81. A supporting plate 83 is symmetrically fixed on the driving bearing bar 8, and a second matching column 84 is fixed on the supporting plate 83. A fourth movable mechanical arm 85 is symmetrically hinged on the driving bearing bar 8, and the other end of the fourth movable mechanical arm 85 is hinged to a movable covering plate 7. In addition, both ends of the first matching spring 82 are respectively fixed on the instrument carrying plate 34 and the driving bearing bar 8, and the diameter of the second matching column 84 is equal to the width of the stabilizing channel 52.

[0036] A movable bearing plate 9 is inserted in the bearing cavity 35, and an insert support rod 91 is fixedly provided at the lower end of the movable bearing plate 9. The insert support rod 91 is inserted in the movable matching hole 351. A second matching spring 92 is sleeved on the insert support rod 91, and a matching contact strip 93 is fixedly provided at the lower end of the insert support rod 91, and the two ends of the second matching spring 92 are respectively fixed on the lower end surface of the instrument bearing plate 34 and the matching contact strip 93. When the first matching plug column 61 is at the highest point of the connecting ramp groove 27, the connecting top frame 63 is in contact with the support carrier 83, and the second matching spring 92 is in a compressed state at this time.

[0037] A feeding method for a robot comprises the following steps: Step 1: Extending the fixed mechanical arm 32: Starting the second electric telescopic rod 24 to drive the carrying arm plate 3 to move, thereby driving the fixed mechanical arm 32 to move outward; Step 2: Opening of the closed chamber door 4: As the carrying arm plate 3 moves, the closed chamber door 4 is opened under the action of the first movable mechanical arm 31; Step 3: Moving the instrument carrier plate 34 upward: When the instrument carrier plate 34 moves to the outside of the disinfection chamber 12, the first electric telescopic rod 14 is started to drive the instrument carrier plate 34 to move upward. At the same time, the movable cover plate 7 is driven to move under the action of the fourth movable mechanical arm 85, so that the carrying chamber 35 is in an open state.

[0038] When the robot body 1 is in use, the first electric telescopic rod 14 is started to drive the carrying arm plate 3 to move. With the movement of the carrying arm plate 3, the first movable mechanical arm 31 will push the closed chamber door 4 to move backwards, thereby opening the disinfection chamber 12. With the movement of the closed chamber door 4, the second movable mechanical arm 48 will drive the matching stabilizing plate 5 to move upwards. Before this, the matching stabilizing plate 5 is in a storage state, so that the height of the entire robot body 1 is small and easy to move. With the movement of the fixed mechanical arm 32, the connecting driving frame 6 will be driven to move downwards under the action of the connecting ramp groove 27. Similarly, under the action of the third movable mechanical arm 64, the two movable covering plates 7 will be driven to move towards each other and close together to ensure the safety of the instrument during the movement. At the same time, the movable carrying plate 9 moves downward, and when the first matching plug column 61 is separated from the connecting ramp groove 27, the instrument carrying plate 34 moves to the outside of the disinfection chamber 12. At this time, the second matching plug column 84 is aligned with the lower end of the driving inclined groove 162, and then the first electric telescopic rod 14 is started to drive the installation carrying plate 2 to move upward. As it moves upward, under the action of the driving inclined groove 162, it will drive the driving bearing bar 8 to move toward the direction of the instrument carrying plate 34. In this way, in the fourth movable Under the action of the movable mechanical arm 85, the two movable cover plates 7 can be pushed to move back to each other, so that the bearing cavity 35 is opened, until the second matching plug post 84 is plugged into the stabilizing channel 52. In this process, the connecting top frame 63 will not contact the matching contact strip 93, so the movable bearing plate 9 will not move up, and the height of the instrument bearing plate 34 can be adjusted according to actual use needs, which is convenient for doctors to take, and it is very convenient. When the operation is completed, the fixed mechanical arm 32 is reset, and when the instrument bearing plate 34 moves downward, the movable cover plates 7 move toward each other to cover the instrument and protect it, so as to avoid damage to the instrument after use. Contamination, when the instrument carrying plate 34 moves into the disinfection chamber 12, the first matching pin 61 cooperates with the connecting ramp groove 27, and drives the connecting drive frame 6 to move upward under the action of the connecting ramp groove 27, and then drives the movable covering plate 7 to move back and forth and open, so as to facilitate the disinfection of the instrument. At the same time, as the connecting drive frame 6 moves upward, under the action of the connecting top frame 63, it will push the matching contact strip 93 to move upward, and then drive the movable carrying plate 9 to move upward, and drive the instrument to move to the cavity mouth of the carrying chamber 35, so as to facilitate better disinfection. In addition, the robot body 1 can disinfect unused instruments and used instruments.

[0039] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An assisted surgical robot, comprising a robot body (1), characterized in that: A movable base (11) is fixedly provided at the lower end of the robot body (1), and a disinfection chamber (12) is provided on the robot body (1), an inner bearing boss (13) is fixedly provided inside the disinfection chamber (12), a first electric telescopic rod (14) is fixedly mounted on the inner bearing boss (13), and a guide matching vertical rod (15) is symmetrically fixedly provided on the inner bearing boss (13), a driving bearing plate (16) is fixedly provided at the cavity opening of the disinfection chamber (12), a plug-in matching hole (161) is provided on the driving bearing plate (16), and driving oblique grooves (162) are symmetrically provided on both sides of the driving bearing plate (16), and the upper side of the driving oblique groove (162) is connected to a vertical retaining groove (163), movable guide holes (17) are symmetrically provided on both sides of the robot body (1), and an adjustable instrument pushing mechanism is provided on the robot body (1).

2. The assisted surgical robot according to claim 1, characterized in that: The adjustable instrument pushing mechanism comprises a mounting bearing plate (2), a bearing arm plate (3), a closing chamber door (4), a matching stabilizing plate (5), a connecting driving frame (6), a movable covering plate (7), a driving bearing bar (8) and a movable bearing plate (9); the mounting bearing plate (2) is fixedly mounted on a first electric telescopic rod (14); a bearing matching vertical plate (21) is fixedly arranged on the mounting bearing plate (2); guide matching holes (22) are symmetrically opened on the bearing matching vertical plate (21); guide matching vertical rods (15) are inserted into the guide matching holes (22); and support matching bearing rods (23) are symmetrically fixedly arranged on the bearing matching vertical plate (21); and a second electric telescopic rod (24) is fixedly mounted on the bearing matching vertical plate (21) between the support matching bearing rods (23).

3. The assisted surgical robot according to claim 2, characterized in that: A lower support bar (25) is fixedly provided at the lower end of the mounting support plate (2), an inclined plane connecting frame (26) is fixedly provided on the lower support bar (25), connecting slope grooves (27) are symmetrically provided on both sides of the inclined plane connecting frame (26), a bearing arm plate (3) is fixedly provided on the second electric telescopic rod (24), supporting matching holes (30) are symmetrically provided on the bearing arm plate (3), and a supporting matching bearing rod (23) is inserted into the supporting matching hole (30).

4. The assisted surgical robot according to claim 3, characterized in that: The first movable mechanical arms (31) are symmetrically hinged on both sides of the bearing arm plate (3); a fixed mechanical arm (32) is fixedly arranged on the bearing arm plate (3) between the first movable mechanical arms (31); a bearing guide hole (33) is provided on the fixed mechanical arm (32); an instrument bearing plate (34) is fixedly arranged on the upper end of the fixed mechanical arm (32); a bearing cavity (35) is provided on the instrument bearing plate (34); a movable matching hole (351) is provided at the bottom of the bearing cavity (35); a guide strip plate (36) is symmetrically fixedly arranged on the instrument bearing plate (34); a limit guide hole (361) is provided on the guide strip plate (36); and mounting sockets (37) are symmetrically provided on both sides of the instrument bearing plate (34).

5. The assisted surgical robot according to claim 4, characterized in that: The other end of the first movable mechanical arm (31) is hingedly connected to a closed cavity door (4), a bearing convex strip (41) is fixedly provided on the closed cavity door (4), and movable guide rods (42) are symmetrically fixedly provided at the upper and lower ends of the bearing convex strip (41), and the movable guide rods (42) are inserted into the movable guide holes (17), and a bearing plate (43) is fixedly provided on the inner end surface of the closed cavity door (4), a connecting rod (44) is fixedly provided on the bearing plate (43), a limited rotation rod (45) is fixedly provided on the connecting rod (44), and a movable connecting block (46) is sleeved on the connecting rod (44). The movable connecting block (46) is hinged to the first movable mechanical arm (31), and a connecting socket (461) is provided on the movable connecting block (46), a connecting rod (44) is inserted into the connecting socket (461), and an anti-rotation hole (462) is provided on one side of the connecting socket (461), a limited rotation rod (45) is inserted into the anti-rotation hole (462), a connecting strip (47) is fixedly provided on the outer end surface of the closed chamber door (4), a second movable mechanical arm (48) is hinged on the connecting strip (47), and a matching stabilizing plate (5) is hinged at the lower end of the second movable mechanical arm (48).

6. The assisted surgical robot according to claim 5, characterized in that: A plug-in mating rod (51) is fixedly provided on the mating stabilizing plate (5), and the plug-in mating rod (51) is plugged into the plug-in mating hole (161). Stabilizing channels (52) are symmetrically provided on both sides of the mating stabilizing plate (5), and connecting hinge blocks (53) are symmetrically fixedly provided on the lower ends of both sides of the mating stabilizing plate (5), and the connecting hinge blocks (53) are hinged to the lower end of the second movable mechanical arm (48).

7. The assisted surgical robot according to claim 6, characterized in that: A connecting drive frame (6) is installed on the fixed mechanical arm (32), and first matching plug columns (61) are symmetrically fixedly arranged on both sides of the connecting drive frame (6), and a load-bearing guide rod (62) is fixedly arranged on the upper end of the connecting drive frame (6), and the load-bearing guide rod (62) is inserted in the load-bearing guide hole (33), and a connecting top frame (63) is fixedly arranged on the upper end of the load-bearing guide rod (62), and a third movable mechanical arm (64) is symmetrically hinged on both sides of the connecting top frame (63), and a movable covering plate (7) is hinged on the upper end of the third movable mechanical arm (64), and the movable covering plate (7) is in two pieces, which are respectively arranged on both sides of the instrument carrying plate (34), and a lower extension bearing plate (71) is fixedly arranged on the movable covering plate (7), and a supporting protrusion (72) is symmetrically fixedly arranged on the lower extension bearing plate (71), and a limiting guide rod (73) is fixedly arranged on the supporting protrusion (72), and the limiting guide rod (73) is inserted in the limiting guide hole (361).

8. The assisted surgical robot according to claim 7, characterized in that: A driving bearing bar (8) is installed on the instrument carrying plate (34), and mounting rods (81) are symmetrically fixedly arranged at both ends of the driving bearing bar (8), the mounting rods (81) are inserted into the mounting holes (37), and a first matching spring (82) is sleeved on the mounting rods (81), a supporting plate (83) is symmetrically fixedly arranged on the driving bearing bar (8), a second matching column (84) is fixedly arranged on the supporting plate (83), and a fourth movable mechanical arm (85) is symmetrically hinged on the driving bearing bar (8), and the other end of the fourth movable mechanical arm (85) is hinged to a movable covering plate (7).

9. The assisted surgical robot according to claim 8, characterized in that: A movable bearing plate (9) is inserted into the bearing cavity (35), a plug-in support rod (91) is fixedly provided at the lower end of the movable bearing plate (9), the plug-in support rod (91) is inserted into the movable matching hole (351), a second matching spring (92) is sleeved on the plug-in support rod (91), and a matching contact strip (93) is fixedly provided at the lower end of the plug-in support rod (91).

10. A feeding method for a robot, characterized in that: The feeding method is applicable to the surgical robot according to any one of claims 1 to 9, comprising the following steps: Step 1: Extending the fixed mechanical arm (32): starting the second electric telescopic rod (24) to drive the bearing arm plate (3) to move, thereby driving the fixed mechanical arm (32) to move outward; Step 2: Opening the closed chamber door (4): As the carrying arm plate (3) moves, the closed chamber door (4) is opened under the action of the first movable mechanical arm (31); Step 3: Moving the instrument carrier plate (34) upward: When the instrument carrier plate (34) moves to the outside of the disinfection chamber (12), the first electric telescopic rod (14) is started to drive the instrument carrier plate (34) to move upward, and at the same time, the movable cover plate (7) is driven to move under the action of the fourth movable mechanical arm (85), so that the carrying chamber (35) is in an open state.

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