Minimally invasive surgery robot capable of accurately puncturing at any angle

Abstract

The invention provides a minimally invasive surgical robot capable of precisely puncturing at any angle, and relates to the field of intelligent surgical robotics.A first driving device is used for driving a piston to move up and down for injection and suction, and a Z driving device is used for driving a base plate connected with a needle cylinder to move, puncture and withdraw a needle; the X driving device drives the horizontal middle base plate to move in the X direction, and the Y driving device drives the horizontal small base plate to move in the Y direction. The device has the advantages that precise positioning of the needle cylinder is achieved, injection and suction are ingeniously achieved, and minimally invasive surgery diagnosis and treatment are achieved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent surgical robots, and specifically to a surgical robot that can accurately puncture, insert and remove needles for suspected diseased organs in the chest, waist, abdomen and other parts of the human body, as well as aspirate suspected diseased tissue for biopsy, and inject liquid medicine into the patient's organs to perform surgical treatments such as ablation. Background Art

[0002] Puncture, aspiration, and injection are widely used in clinical practice: after puncture, gas is extracted, pleural effusion is extracted, lumbar cerebrospinal fluid is collected, ascites is extracted, liver biopsy is extracted, contrast agent is injected, liquid medicine is injected in a targeted manner, and treatment is performed. It is usually done manually by doctors. It is labor-intensive, affected by radiation from imaging equipment, inaccurate, and has poor stability.

[0003] There is an urgent need to introduce intelligent robots: more stable, more precise, and resistant to fatigue, to protect doctors from radiation damage.

[0004] The existing technology uses an expensive six-axis robot arm, which can only achieve: precise positioning, needle insertion, and needle removal, but cannot achieve the more important injection and aspiration. Injection and aspiration are still done manually; the coordination of two six-axis robots is extremely difficult.

[0005] The prior art also has surgical robots with other drive devices, which can only insert and withdraw the needle, that is, they can only insert and remove the needle, but cannot perform suction and injection after the needle is inserted. Suction and injection are the most important operations after puncture, and this part still needs to be completed manually.

[0006] Clinical needs are not puncture for the sake of puncture, but to accurately aspirate suspected lesion tissue for testing, collect cerebrospinal fluid, extract pleural effusion, extract ascites, and inject liquid medicine for treatment. Clinically, there is an urgent need to break through the above bottlenecks. There is an urgent need to create a very clever solution: a surgical robot that can accurately locate the needle for puncture, acupuncture, and needle removal, and can also perform more important substantive operations: aspiration and injection. Summary of the invention

[0007] The present invention is a minimally invasive surgical robot capable of precise puncture at any angle invented to meet the above needs and overcome the deficiencies of the prior art.

[0008] This surgical robot can not only accurately position the needle and change the insertion and removal angles, but also skillfully perform injection and aspiration, enabling minimally invasive surgical diagnosis and treatment.

[0009] The invention comprises: an injection suction system, an acupuncture and needle removal system, a syringe X-coordinate positioning system, a syringe Y-coordinate positioning system and an intelligent control system.

[0010] Features of Syringe Aspiration System: The syringe is fixed on a vertical small base plate, and the first driving device drives the piston to move up and down for suction and injection; Features of the pin insertion and extraction system: The vertical small base plate is fixed on the Z slider, and the vertical small base plate and the Z slider can be driven by the Z driving device to move up and down along the Z guide rail fixed on the vertical large base plate to realize puncture and needle removal; Features of the needle cylinder Y coordinate positioning system: The vertical large base plate is fixed to the vertical supporting plate, the vertical supporting plate is fixed to the horizontal small base plate, and the horizontal small base plate is fixed to the Y sliding block and can move forward and backward along the Y guide rail fixed on the horizontal middle base plate under the drive of the Y driving device; Features of the syringe X-coordinate positioning system: The horizontal middle base plate is fixed to the X slider and can move left and right along the X guide rail fixed on the horizontal large base plate under the drive of the X driving device; Changing the angle between the vertical large base plate and the vertical supporting plate can change the angle of needle insertion and withdrawal; The surgical robot intelligently controls the motor through programming.

[0011] Syringe suction system: The first driving device is a device that converts the forward and reverse rotation of the first motor into up and down reciprocating motion. The up and down reciprocating motion device is connected to the piston. The housing of the first motor is fixed on the vertical small base plate.

[0012] Preferably, the first driving device is a first electric push-pull rod, the housing of the first motor and the housing of the first electric push-pull rod are fixed on a vertical small base plate, the forward and reverse rotation of the first motor is converted into the up and down movement of the moving head of the first electric push-pull rod, the moving head of the first electric push-pull rod is connected to the piston, and the piston also moves up and down to realize injection and suction.

[0013] Needle insertion and extraction system: The Z drive device is a device that converts the forward and reverse rotation of the Z motor whose shell is fixed on the vertical large base plate into up and down reciprocating motion. The up and down reciprocating motion device is connected to the vertical small base plate and the Z slider and drives the vertical small base plate to reciprocate up and down to achieve puncture and needle removal.

[0014] Preferably, the Z driving device is a vertical electric push-pull rod, the outer shell of the vertical electric push-pull rod and the outer shell of the Z motor are fixed on the vertical large base plate, the vertical electric push-pull rod converts the forward and reverse rotation of the Z motor into the up and down reciprocating motion of the vertical telescopic head of the vertical electric push-pull rod, the vertical telescopic head of the vertical electric push-pull rod is connected to the vertical small base plate and drives the vertical small base plate to move up and down, thereby realizing needle insertion and removal.

[0015] Preferably, the Z drive device adopts a screw nut device, the ZZ motor is fixed on the vertical large base plate and drives the ZZ screw to rotate, the ZZ right-angle piece is fixed to the vertical small base plate, the ZZ screw matches the ZZ nut on the ZZ right-angle piece, and the ZZ motor drives the ZZ screw to rotate forward and reverse to drive the vertical small base plate and the Z slider to reciprocate up and down, thereby realizing needle insertion and needle removal.

[0016] X coordinate positioning system: The X driving device is a device that converts the forward and reverse rotation of the X motor whose shell is fixed on the horizontal large base plate into left and right movement. The left and right movement device is connected to the horizontal middle base plate and the X slider and drives the horizontal middle base plate and the X slider to move left and right along the X guide rail fixed on the horizontal large base plate, thereby driving the entire device on the horizontal middle base plate to move left and right.

[0017] Preferably, the X driving device adopts a left-right moving electric push-pull rod; the left-right moving electric push-pull rod converts the forward and reverse rotation of the X motor into the left-right reciprocating motion of the left-right telescopic head of the left-right moving push-pull rod; the housing of the X motor and the housing of the left-right moving electric push-pull rod are fixed on the horizontal large base plate, the left-right telescopic head of the left-right moving push-pull rod is connected to the horizontal middle base plate, the forward and reverse rotation of the X motor drives the horizontal middle base plate to reciprocate left and right, and drives the entire device on the horizontal middle base plate to move left and right.

[0018] Preferably, the X drive device adopts an electric motor, a lead screw, and a nut device, the XX motor housing is fixed on the horizontal large base plate, the XX lead screw matches the XX nut, the XX nut is fixed on the first right angle piece, the first right angle piece is fixed to the horizontal middle base plate, and the XX motor rotates forward and reversely to drive the horizontal middle base plate to reciprocate left and right, thereby driving the entire device on the horizontal middle base plate to move left and right.

[0019] Y coordinate positioning system: The Y drive device is a device that converts the forward and reverse rotation of the Y motor whose shell is fixed on the horizontal middle base plate into forward and backward reciprocating motion. The forward and backward reciprocating motion device drives the horizontal small base plate to move forward and backward, thereby driving the entire device connected to the horizontal small base plate to move forward and backward to select the coordinates.

[0020] Preferably, the Y driving device is a forward and backward moving electric push-pull rod; the forward and backward moving electric push-pull rod converts the forward and backward rotation of the Y motor into the forward and backward reciprocating motion of the forward and backward telescopic head of the forward and backward moving push-pull rod, the outer shell of the Y motor and the outer shell of the forward and backward moving electric push-pull rod are fixed on the horizontal middle base plate, the front and rear telescopic head of the forward and backward moving push-pull rod is connected to the horizontal small base plate, and the forward and backward rotation of the Y motor drives the horizontal small base plate to reciprocate forward and backward.

[0021] Preferably, the Y drive device adopts a motor, a screw and a nut device, the YY motor, the YY screw and the YY nut ​​are fixed on the second right-angle piece, the second right-angle piece is fixed to the horizontal small baseboard, and the YY motor rotates forward and reversely to drive the horizontal small baseboard to reciprocate back and forth.

[0022] Preferably, the vertical supporting plate is fixed to the horizontal small base plate, so that the vertical supporting plate can move forward and backward with the horizontal small base plate and move left and right with the horizontal middle base plate.

[0023] Preferably, the vertical large base plate is fixed to the vertical supporting plate, and the vertical large base plate can also move forward, backward, left and right.

[0024] Preferably, the Z rail fixed on the vertical large base plate and the Z slider on the Z rail can also move forward, backward, left and right.

[0025] Preferably, the vertical small substrate fixed to the Z slider can also move forward, backward, left and right.

[0026] Preferably, the syringe fixed to the vertical small base plate can also move forward, backward, left and right, so as to realize the needle selection coordinate.

[0027] Preferably, the Z guide rail, X guide rail and Y guide rail of the present invention adopt double guide rails, which are more stable.

[0028] Preferably, the fixing scheme of the vertical large substrate and the vertical supporting plate of the present invention is as follows: point P of the vertical large substrate and point Q of the vertical supporting plate are connected by a short rotating shaft, so that the vertical large substrate can rotate around the axis, point P and point Q overlap and are not separated, point R of the vertical large substrate is fixed with a screw, and when the vertical large substrate rotates, the screw can just move along the arc groove S of the vertical supporting plate, and be adjusted to an appropriate angle and fixed with a butterfly nut, thereby realizing needle insertion and removal at any angle.

[0029] Preferably, the large horizontal base plate is fixed on a liftable bracket, and the large horizontal base plate straddles the operating table during surgery; the straddled large horizontal base plate rotates 90 degrees to further change the needle insertion and withdrawal angles.

[0030] Preferably, a rectangular empty frame ABCD is opened on the horizontal large substrate of the present invention, so that the vertical supporting plate, the vertical large substrate, the vertical small substrate, the syringe and the needle can move smoothly.

[0031] The surgical robot: intelligently controls the motor through programming, and the motor includes any of the following structures; a. Use DC reduction motors, input computer programming into the single-chip microcomputer, and the single-chip microcomputer intelligently controls the forward, reverse, and stop rotation of each motor; the computer is the host computer and can also directly control each motor; the output signal of the single-chip microcomputer is small and must be amplified by the driver; when using DC reduction motors, a coupling must be installed between the motor shaft and the lead screw.

[0032] b. Use a stepper motor, program it directly with a stepper motor controller, and then add a driver to control the stepper motor; because the shaft is directly connected to the lead screw, a coupling is not required.

[0033] c. Electric push rod drive, generally use DC reduction motor and program with the above scheme a, or use stepper motor and program with scheme b.

[0034] The present invention has the following outstanding essential features and advantages: 1. The electric push-pull rod is used to make the reciprocating motion structure of the syringe piston simple, stable and reliable, and the quantity and speed of injection and extraction are accurate.

[0035] 2. Use Z guide rail, Z slider and Z drive device to make the acupuncture depth accurate.

[0036] 3. Relying on X-rail, X-slider and Y-rail, Y-slider, the needle coordinate positioning is very accurate, stable and reliable.

[0037] 4. The X guide rail is a double guide rail, the Y guide rail is a double guide rail, and the Z guide rail is a double guide rail, which is more stable and accurate.

[0038] 5. This surgical robot can not only accurately position the needle and change the insertion and removal angles, but also skillfully perform injection and aspiration, thus achieving minimally invasive surgical diagnosis and treatment.

[0039] 6. The invention has a wide range of uses, and the cost price is much lower than that of using a six-axis manipulator. Uses include thoracic puncture to extract gas to treat pneumothorax; extracting effusion to treat edema; lumbar puncture to collect cerebrospinal fluid; treatment of lumbar diseases and brain diseases; abdominal puncture to extract ascites and relieve respiratory distress; organ puncture to extract living tissue of organs such as the liver for detection, diagnosis and treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 The first electric push-pull rod of the present invention is connected to the piston to realize the injection and suction diagram.

[0041] Figure 2 The present invention adopts a vertical electric push-pull rod, a guide rail and a slide block for needle insertion and needle removal.

[0042] Figure 3 The present invention adopts a motor, a lead screw, a nut, a guide rail and a slide block for needle insertion and removal.

[0043] Figure 4 The present invention adopts the electric push-pull rod for left-right movement and the electric push-pull rod for front-back movement to drive and realize the schematic diagram of syringe coordinate positioning.

[0044] Figure 5 The present invention adopts a motor, a lead screw, a nut and a slider mechanism to drive and realize the schematic diagram of the syringe coordinate positioning.

[0045] Figure 6 Schematic diagram of the connection between the vertical large base plate and the vertical supporting plate.

[0046] 14. The axial displacement of the upper and lower ends of the axial displacement rods is axially proportional to the displacement of the lower ends of the axial displacement rods. The axial displacement of the upper and lower ends of the axial displacement rods is axially proportional to the displacement of the upper and lower ends of the axial displacement rods. DETAILED DESCRIPTION

[0047] The present invention is a minimally invasive surgical robot capable of precise puncture at any angle.

[0048] According to the technical feature scheme disclosed in the present invention, a variety of specific implementation methods can be adopted. Therefore, the specific methods adopted according to the substantial technical feature scheme disclosed in the present invention should be regarded as the protection scope of the present invention.

[0049] The present invention preferably has the following embodiments.

[0050] For example, see Figure 1 , Figure 2 , Figure 4 , including: injection suction system, needle insertion and removal system, needle X-coordinate positioning system, needle Y-coordinate positioning system, and intelligent control system.

[0051] Features of Syringe Aspiration System: The syringe 1 is fixed on a vertical small base plate 2, and the first driving device drives the piston 3 to move up and down for suction and injection; Features of the pin insertion and extraction system: The vertical small base plate 2 is fixed on the Z slider 5. The vertical small base plate 2 and the Z slider 5 can move up and down along the Z guide rail 6 fixed on the vertical large base plate 4 under the drive of the Z driving device to realize puncture and needle removal; Needle Y coordinate positioning system features: The vertical large base plate 4 is fixed to the vertical supporting plate 7, the vertical supporting plate 7 is fixed to the horizontal small base plate 8, and the horizontal small base plate 8 is fixed to the Y slider 9 and can move forward and backward along the Y guide rail 11 fixed on the horizontal middle base plate 10 under the drive of the Y driving device; Needle X-coordinate positioning system features: The horizontal middle base plate 10 is fixed to the X slider 12 and can move left and right along the X guide rail 14 fixed on the horizontal large base plate 13 under the drive of the X driving device, so as to realize the syringe needle selection coordinate; Changing the angle between the vertical large base plate 4 and the vertical supporting plate 7 can change the angle of needle insertion and needle withdrawal; Intelligent control feature: The surgical robot intelligently controls the motor through programming.

[0052] Features of Syringe Aspiration System: See also Figure 1 In some embodiments, the first driving device is a device that converts the forward and reverse rotation of the first motor 15 into an up and down reciprocating motion, and the up and down reciprocating motion device is connected to the piston 3. The housing of the first motor 15 is fixed on the vertical small base plate 2.

[0053] See also Figure 1 In some embodiments, the first driving device is a first electric push-pull rod. The housing of the first motor 15 and the first push-pull rod housing 19 are fixed on the vertical small base plate 2. The forward and reverse rotation of the first motor 15 is converted into the up and down movement of the first push-pull rod moving head 20. The first push-pull rod moving head 20 is connected to the piston 3, and the piston 3 also moves up and down to realize injection and suction.

[0054] Features of the needle insertion and removal system: See also Figure 2 In some embodiments, the Z drive device is a device that converts the forward and reverse rotation of the Z motor 16 whose outer shell is fixed on the vertical large substrate 4 into up and down reciprocating motion. The up and down reciprocating motion device is connected to the vertical small substrate 2 and the Z slider 5 and drives the vertical small substrate 2 to reciprocate up and down to achieve puncture and needle removal.

[0055] See also Figure 2 In some embodiments, the Z driving device is a vertical electric push-pull rod, the housing 21 of the vertical electric push-pull rod and the housing of the Z motor 16 are fixed on the vertical large substrate 4, and the vertical electric push-pull rod converts the forward and reverse rotation of the Z motor 16 into the up and down reciprocating motion of the vertical telescopic head 22. The vertical telescopic head 22 is connected to the vertical small substrate 2 and drives the vertical small substrate 2 to move up and down to realize needle insertion and needle removal.

[0056] See also Figure 3In some embodiments, the Z drive device adopts a screw nut device, characterized in that: the ZZ motor 23 is fixed on the vertical large base plate 4 and drives the ZZ screw rod 24 to rotate, the ZZ right-angle piece 25 is fixed to the vertical small base plate 2, the ZZ screw rod 24 matches the ZZ nut 26 on the ZZ right-angle piece, and the ZZ motor 23 drives the ZZ screw rod 24 to rotate forward and reversely to drive the vertical small base plate 2 and the Z slider 5 to reciprocate up and down, thereby realizing needle insertion and needle removal.

[0057] X-direction needle coordinate positioning system features: See also Figure 4 In some embodiments, the X driving device is a device that converts the forward and reverse rotation of the X motor 17 whose housing is fixed on the horizontal large substrate 13 into left and right movement. The left and right movement device is connected to the horizontal middle substrate 10 and the X slider 12 and drives the horizontal middle substrate 10 and the X slider 12 to move left and right along the X guide rail 14 fixed on the horizontal large substrate 13, driving the entire device on the horizontal middle substrate 10 to move left and right.

[0058] See also Figure 4 In some embodiments, the X-drive device uses an electric push-pull rod that moves left and right.

[0059] The left-right moving electric push-pull rod converts the forward and reverse rotation of the X motor 17 into the left-right reciprocating motion of the left-right telescopic head 27; the housing of the X motor 17 and the housing 28 of the left-right moving electric push-pull rod are fixed on the horizontal large base plate 13, and the left-right telescopic head 27 is connected to the horizontal middle base plate 10. The forward and reverse rotation of the X motor 17 drives the horizontal middle base plate 10 to reciprocate left and right, and drives the entire device on the horizontal middle base plate 10 to move left and right.

[0060] See also Figure 5 In some embodiments, the X drive machine adopts an electric motor, a lead screw, and a nut device, characterized in that the housing of the XX motor 29 is fixed on the horizontal large base plate 13, the XX lead screw 30 matches the XX nut 31, the XX nut 31 is fixed on the first right-angle piece 32, the first right-angle piece 32 is fixed to the horizontal middle base plate 10, and the forward and reverse rotation of the XX motor 29 drives the horizontal middle base plate 10 to reciprocate left and right, driving the entire device on the horizontal middle base plate 10 to move left and right.

[0061] Y-axis coordinate positioning system features: See also Figure 4 In some embodiments, the Y drive device is a device that converts the forward and reverse rotation of the Y motor 18 whose outer shell is fixed on the horizontal middle substrate 10 into forward and backward reciprocating motion. The forward and backward reciprocating motion device drives the horizontal small substrate 8 to move forward and backward, thereby driving the entire device connected to the horizontal small substrate 8 to move forward and backward to select the coordinates.

[0062] See also Figure 4, in some embodiments, the Y drive device is an electric push-pull rod that moves back and forth; The forward and backward moving electric push-pull rod converts the forward and backward rotation of the Y motor 18 into the forward and backward reciprocating motion of the forward and backward telescopic head 33 of the forward and backward moving electric push-pull rod. The housing of the Y motor 18 and the housing 34 of the forward and backward moving electric push-pull rod are fixed on the horizontal middle base plate 10, and the forward and backward telescopic head 33 of the forward and backward moving electric push-pull rod is connected to the horizontal small base plate 8. The forward and backward rotation of the Y motor 18 drives the horizontal small base plate 8 to reciprocate forward and backward.

[0063] See also Figure 5 In some embodiments, the Y drive device adopts a motor, a screw, and a nut device, and the YY motor 35, the YY screw 36, and the YY nut ​​37 are fixed on the second right-angle piece 38, and the second right-angle piece 38 is fixed to the horizontal small base plate 8. The YY motor 35 rotates forward and reversely to drive the horizontal small base plate 8 to reciprocate back and forth.

[0064] See also Figure 4 , Figure 5 In some embodiments, the vertical supporting plate 7 is fixed to the horizontal small base plate 8 , so that the vertical supporting plate 7 moves forward and backward with the horizontal small base plate 8 and moves left and right with the horizontal middle base plate 10 .

[0065] See also Figure 4 , Figure 5 , Figure 6 In some embodiments, the vertical large substrate 4 is fixed to the vertical supporting plate 7, and the vertical large substrate 4 can also move forward, backward, left and right.

[0066] Furthermore, the Z rail 6 fixed on the vertical large base plate 4 and the Z slider 5 on the Z rail 6 can also move forward, backward, left and right.

[0067] Furthermore, the vertical small substrate 2 fixed to the Z slider 5 can also move forward, backward, left and right.

[0068] Furthermore, the syringe fixed to the vertical small base plate 2 can also move forward, backward, left and right, so as to realize the needle selection coordinate.

[0069] See also Figure 2 , Figure 3 , Figure 4 , Figure 5 In some embodiments, the Z guide rail 6, the X guide rail 14, and the Y guide rail 11 of the present invention adopt double guide rails, which are more stable.

[0070] See also Figure 6In some embodiments, the fixing scheme of the vertical large substrate 4 and the vertical supporting plate 7 of the present invention is as follows: the P point of the vertical large substrate 4 and the Q point of the vertical supporting plate 7 are connected by a short rotating shaft, so that the vertical large substrate 7 can rotate around the axis, the P point overlaps with the Q point and is not separated, and the R point of the vertical large substrate 4 is fixed with a screw. When the vertical large substrate 4 rotates, the screw can just move along the arc groove S of the vertical supporting plate 7, and is adjusted to an appropriate angle and fixed with a butterfly nut, thereby realizing acupuncture and needle removal at any angle.

[0071] See also Figure 4 , Figure 5 In some embodiments, the large horizontal substrate 13 is fixed on a liftable bracket 39, and the large horizontal substrate straddles the operating table during surgery; the straddling large horizontal substrate 13 rotates 90 degrees to further change the needle insertion and withdrawal angles.

[0072] See also Figure 4 , Figure 5 In some embodiments, a rectangular empty frame ABCD is opened on the horizontal large substrate 13 of the present invention, so that the vertical supporting plate 7, the vertical large substrate 4, the vertical small substrate 2, the syringe, and the needle can move smoothly.

[0073] The intelligent control system of the present invention is characterized by: intelligently controlling the motor through programming, and the motor includes any of the following structures; a. Use DC reduction motors, input computer programming into the single-chip microcomputer, and the single-chip microcomputer intelligently controls the forward, reverse, and stop rotation of each motor; the computer is the host computer and can also directly control each motor; the output signal of the single-chip microcomputer is small and must be amplified by the driver; when using DC reduction motors, a coupling must be installed between the motor shaft and the lead screw.

[0074] b. Use a stepper motor, program it directly with a stepper motor controller, and then add a driver to control the stepper motor; because the shaft is directly connected to the lead screw, a coupling is not required.

[0075] While 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. A minimally invasive surgical robot capable of precise puncture at any angle, characterized in that: The invention comprises a syringe (1), a vertical small base plate (2), a first driving device, a Z driving device, a Y driving device, an X driving device, a piston (3), a vertical large base plate (4), a Z slider (5), a Z guide rail (6), a vertical supporting plate (7), a horizontal small base plate (8), a Y slider (9), a horizontal middle base plate (10), a Y guide rail (11), an X slider (12), a horizontal large base plate (13) and an X guide rail (14), The syringe (1) is fixed on a vertical small base plate (2), and the first driving device drives the piston (3) to move up and down in the syringe (1) to perform suction and injection; The vertical small base plate (2) is fixed on a Z slider (5), and the vertical small base plate (2) and the Z slider (5) are driven by a Z driving device to move up and down along a Z guide rail (6) fixed on a vertical large base plate (4) to achieve puncture and needle removal; The vertical large base plate (4) is fixed to the vertical supporting plate (7), the vertical supporting plate (7) is fixed to the horizontal small base plate (8), the horizontal small base plate (8) is fixed to the Y slider (9), and the horizontal small base plate (8) can move forward and backward along the Y guide rail (11) fixed on the horizontal middle base plate (10) under the drive of the Y driving device; The horizontal middle base plate (10) is fixed to the X slider (12) and the horizontal middle base plate (10) is driven by the X driving device to move left and right along an X guide rail (14) fixed on the horizontal large base plate (13); By changing the angle between the vertical large base plate (4) and the vertical supporting plate (7), the angle of needle insertion and needle withdrawal can be changed; The surgical robot intelligently controls the motor through programming.

2. The arbitrary-angle precise puncture minimally invasive surgical robot according to claim 1, characterized in that: It also includes a first motor (15), wherein the first driving device is a device for converting the forward and reverse rotation of the first motor (15) into up and down reciprocating motion, the first driving device is connected to the piston (3), and the housing of the first motor (15) is fixed on the vertical small base plate (2).

3. The arbitrary-angle precise puncture minimally invasive surgical robot according to claim 1, characterized in that: It also includes a Z motor (16), wherein the Z drive device is a device for converting the forward and reverse rotation of the Z motor (16) whose housing is fixed on the vertical large base plate (4) into up and down reciprocating motion. The Z drive device is connected to the vertical small base plate (2) and the Z slider (5) and drives the vertical small base plate (2) to reciprocate up and down, thereby realizing puncture and needle removal.

4. The arbitrary-angle precise puncture minimally invasive surgical robot according to claim 1, characterized in that: It also includes an X motor (17), wherein the X driving device is a device for converting the forward and reverse rotation of the X motor (17) whose housing is fixed on the horizontal large base plate (13) into left and right movement, and the X driving device is connected to the horizontal middle base plate (10) and the X slider (12) and drives the horizontal middle base plate (10) and the X slider (12) to move left and right along an X guide rail (14) fixed on the horizontal large base plate (13), thereby driving the entire device on the horizontal middle base plate (10) to move left and right.

5. The arbitrary-angle precise puncture minimally invasive surgical robot according to claim 1, characterized in that: It also includes a Y motor (18), wherein the Y drive device is a device that converts the forward and reverse rotation of the Y motor (18) whose housing is fixed on the horizontal middle base plate (10) into forward and backward reciprocating motion, and the Y drive device drives the horizontal small base plate (8) to move forward and backward, thereby driving the entire device connected to the horizontal small base plate (8) to move forward and backward to select coordinates.

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