Transurethral resectoscope surgical robot actuator

Abstract

The invention provides a transurethral resectoscope surgical robot actuator. The transurethral resectoscope surgical robot actuator comprises an actuating handle, a stress suspension, a sheathing canal set and an obturator. The sheath tube group comprises an inner sheath and an outer sheath and is used for guiding transurethra and providing an operation space; the execution handle comprises a fixed set and a movable set, the two sides of the end, fixed to the fixed set, of the sheath set are connected with the stress suspension, the eyepiece set and the electric cutting set are connected into the movable set, the electric cutting set is arranged on the peripheral side of the eyepiece set and comprises a segmented electric cutting tube, and the electric cutting tube comprises a front tube section and a rear tube section. When the movable group pushes the electric cutting group to act, the front pipe section is spirally pushed out, and the rear pipe section is linearly pushed out; a water guide opening is formed below the inner sheath and used for guiding out electric cutting diseased tissue. According to the device, multi-angle and multi-frequency cutting is achieved through front section rotary cutting (ball head rotary cutting), waste removal is guided in a matched mode, and the resection operation of large focuses can be effectively coped with.

Description

[0001] The present invention relates to the technical field of transurethral resection surgical equipment, and in particular to a transurethral resection scopic surgical robot actuator. Background Art

[0002] Transurethral resection of the prostate is a surgical method. The surgical steps include body positioning, examination of instruments, urethral cystoscopy, insertion of a resectoscope to find important landmarks, cutting of the anterior groove, cutting of the lateral groove, resection of the lateral lobe entity, resection of the middle lobe, end of resection, emptying of small strips of glandular tissue, urine flow testing, hemostasis, and insertion of a balloon catheter. During the operation, a remote mechanical actuator will be used to insert a miniature sheath to observe the internal state and form an electronic image. After the resectoscope is inserted to find the target lesion, the resectoscope needs to be used to remove the lesion. The traditional resectoscope has an electrically charged curved tube at the front end. The lesion is pushed, pulled, and scraped by energizing the curved section of the charged curved tube. It is very useful in dealing with small lesions. The scraping effect of a single curved segment is good for removing large lesions and sheet-like cystic tumors. However, when removing larger lesions, it is necessary to perform a push-type wall-adherent cutting. The number of cutting, pushing and pulling is relatively complicated and the surface and surrounding areas of large lesions are soft, which cannot be removed together with the large lesions. It needs to be scraped manually repeatedly, which is a great test of the operator's clinical skills and physical endurance. It is too uncontrollable. At the same time, the large lumps and flocs formed after a large lesion is scraped once cannot be discharged immediately, which will continue to pollute the visual environment inside the cavity. It is also possible to stagnate in the circulating water outlet, hindering the water circulation of the inner and outer cavities, causing the internal cavity pressure to increase, thereby affecting the experimental results.

[0003] To achieve the above objectives, the present invention provides a transurethral resection surgery robot actuator, which can solve the problems raised in the above background technology. Summary of the invention

[0004] The present invention adopts the following technical solutions to achieve:

[0005] A transurethral resection surgery robot actuator, comprising an actuator handle, a stress suspension, a sheath tube set, and an obturator;

[0006] The sheath tube set comprises two inner sheaths and an outer sheath which are sleeved with each other and fixed at one end, and the sheath tube set is used for transurethral guidance and provides surgical space;

[0007] One end of the execution handle includes a fixed group and a movable group, the fixed group and the sheath group are fixed to each other, the two sides of the sheath group and the fixed end of the fixed group are connected to the stress suspension, one end of the movable group is internally connected with an eyepiece group and an electric cutting group, the electric cutting group is arranged on the peripheral side of the eyepiece group and includes a segmented electric cutting tube, the electric cutting tube includes a front tube section and a rear tube section, when the movable group pushes the electric cutting group to move, the front tube section is pushed out in a spiral manner, and the rear tube section is pushed out in a straight line;

[0008] A water outlet is provided below the inner sheath for conducting water out of the electrically cut diseased tissue; the water outlet end of the inner sheath is arranged above the pipe section;

[0009] A plurality of electric cutting rings are arranged around the cutting end of the electric cutting group for following the rotation and removing the diseased tissue.

[0010] Preferably, the electric cutting tube includes a front tube section and a rear tube section, a bearing connecting part is arranged between the tube sections of the front tube section and the rear tube section, an inner diameter ball seat is arranged on the inner diameter of one side where the front tube section is connected to the bearing connecting part, the eyepiece group is located in the inner circle passage of the bearing connecting part, and a spiral guide groove is arranged on the outside of the pipeline of the eyepiece group which is spirally distributed along both ends of the tube wall, and the inner diameter ball seat cooperates with the spiral guide groove.

[0011] Preferably, the electric cutting ring is arranged outside the end of the front pipe section away from the bearing connection part, the distribution direction of the electric cutting ring outside the front pipe section is the same as that of the front pipe section, and the electric cutting ring is an arc-shaped cutting ring.

[0012] Preferably, the fixing group includes a positioning buckle 1 and a secondary handle, the positioning buckle 1 is fixed to one side of the positioning buckle 1, and the other side of the positioning buckle 1 is sealed and fixed to one end of the inner sheath;

[0013] The movable group includes a guide connecting rod, and the guide connecting rod includes two movable points and a connecting point, and the motion trajectory of the two movable points is the same as the ejection trajectory of the eyepiece group;

[0014] A linkage push plate and a thumb handle are arranged on the movable point at the front end.

[0015] Preferably, the electric cutting group also includes a push handle, one end of which is fixed to the rear pipe section, and both sides of the linkage push plate are provided with side lateral clamps which are symmetrical about the central axis, and the end of the push handle is provided with a positioning pile, and the positioning pile and the side clamp are fixed to each other, and intervention electrodes are connected to the two push handles.

[0016] Preferably, the execution handle further comprises a mounting portion, and a movable point of the guide connecting rod is fixed on the mounting portion;

[0017] A camera tube group and an illumination tube group are arranged inside the eyepiece group;

[0018] An inner side of the mounting portion is fixed to one end of the camera tube group, one end of the lighting tube group is provided with a light source interface and connected to the top of the linkage push plate, and an eyepiece interface is provided on the camera tube group to connect to the AR device display;

[0019] A sealing wedge is provided on one side of the positioning buckle, and a sealing plug is provided on the outer sleeve of the rear pipe section. The sealing plug fits the sealing wedge and is used to seal the pipeline.

[0020] Preferably, the outer sheath includes a double-port tube and a passage sheath tube, the upper and lower parts of the double-port tube are respectively connected with an upper water inlet and a lower water outlet, the upper water inlet is connected to the inside of the double-port tube, the double-port tube and the passage sheath tube wall are provided with sheath wall grooves that are connected to each other, the lower water outlet is connected to the sheath wall grooves, and the outer bottom surface of the outer sheath is provided with a plurality of narrow water inlets that are connected to the sheath wall grooves.

[0021] Preferably, a sealing group is provided at one end of the outer sheath, and the inner sheath includes a sealing plug seat that cooperates with the sealing group, a water inlet interface is provided at one end of the sealing plug seat for sealingly docking with the upper water inlet, and a sheath wall groove is provided inside the connecting tube wall at the other end of the water inlet interface, and a narrowed water outlet is provided on the side of the sheath wall groove away from the water inlet interface.

[0022] Preferably, lateral positioning grooves are respectively provided on both sides of the double-port pipe; the stress suspension includes a rotating seat that rotates on a fixed plane at the top, a support arm is connected below the rotating seat, a stress clamping seat three that can rotate axially is connected to the support arm, a movable arm two is rotatably connected below one end of the stress clamping seat three, a stress clamping seat two that can rotate axially is provided at the other end of the movable arm two, a movable arm one is rotatably connected to both sides of the stress clamping seat two, a stress clamping seat one is provided inside each of the two lateral positioning grooves, and the movable arm one and the stress clamping seat one are rotationally connected in a one-to-one correspondence.

[0023] Preferably, the obturator comprises a positioning seat 2, an inner tube, and a chamfered round head which are sequentially connected and fixed. The positioning seat 2 has the same structure as the positioning buckle 1 and both are fixed to one end of the inner sheath. The obturator is used for introduction through the outer sheath before the urethra is unblocked.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. Front segment peeling (ball head peeling); multi-angle and multi-frequency cutting; the device drives the electric cutting group to move around the electric cutting group by driving the execution handle. By setting a spiral propulsion guide for the cutting segment of the electric cutting group, the electric cutting ring of the electric cutting group can spirally cut the lesion body. At the same time, the electric cutting ring is set on the front end of the rotating shaft body, which can realize the electric cutting scraping action synchronized with the rotation. Compared with the push-type root scraping operation, the single electric cutting scraping action can better cope with the operation of larger lesions, and can remove large lesions from top to bottom. At the same time, the flocculent and lesion blocks after removal can be decomposed into smaller pieces, which is convenient for immediate circulation and discharge from the cavity, ensuring the visible environment range inside the cavity, reducing the operation time and patient pain, and the smaller lesion blocks are combined with the flowing circulating water environment, which is less likely to cause blockage of the circulation, so that the device has better controllability during the doctor's operation, and minimizes the impact of the difference between manual and technical methods on the operation results;

[0026] 2. The spiral propulsion method can simultaneously control a smaller propulsion angle. When the handle pushes the movable electric cutting group to move, it can control the distance between the sub-handle and the thumb handle to push the electric cutting ring to perform small-scale cutting and scraping. When changing the position for cutting, there is no need to adjust the insertion angle of the handle. The different positions inside the cavity can be scraped by fine-tuning and any selected lateral electric cutting ring, which can reduce the movement of the actuator reference position by the stress suspension and ensure the accuracy of the cutting. At the same time, through the dynamically fixed stress suspension, the reference position of the surgical machine can be determined to be stable, which can reduce the difficulty of operation and physical exertion of the doctor, and eliminate the poor effect caused by micro-motion errors caused by some human factors;

[0027] 3. The upper and lower circulating water can quickly take away the flocs, and the multi-frequency scraping can better disperse and peel off. The cut blocks and flocs can be discharged in a convenient guided manner through the upper water outflow and lower water return characteristics of the inner sheath and the outer sheath, which can facilitate the orderly movement of the liquid inside the cavity from one end to the other, reducing the surgical risk of increased internal pressure in the cavity due to discharge blockage. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic plan view of the overall structure of the present invention;

[0029] Figure 2 This is a schematic diagram of the assembly structure of the execution handle of the present invention;

[0030] Figure 3 It is a schematic diagram of the force application state of the assembly structure of the execution handle and the eyepiece assembly of the present invention;

[0031] Figure 4 It is a cross-sectional view of the internal structure of the execution handle and the eyepiece assembly of the present invention;

[0032] Figure 5 It is a schematic diagram of a part of the internal structure of the structure execution handle and the eyepiece assembly of the present invention when no force is applied;

[0033] Figure 6 It is a schematic diagram of the structure of the obturator of the present invention;

[0034] Figure 7 It is a schematic diagram of the inner sheath structure of the present invention;

[0035] Figure 8 It is a schematic diagram of the outer sheath structure of the present invention;

[0036] Fig. 9 For the present invention Figure 4 A magnified view of the structure at center;

[0037] Fig.10 For the present invention Figure 4 A magnified view of the structure at B in the middle;

[0038] Fig.11 For the present invention Figure 4 Enlarged view of the structure at point C in the middle.

[0039] In the figure: 1. Execution handle; 2. Electric cutting group; 3. Eyepiece group; 4. Inner sheath; 5. Outer sheath; 6. Obturator; 7. Stress suspension;

[0040] 101, fixed group; 102, movable group; 103, auxiliary handle; 104, thumb handle; 105, guide connecting rod; 106, mounting part; 107, linkage push plate; 108, lateral clamping bolt; 109, positioning buckle 1; 110, sealing wedge;

[0041] 201, electric cutting pipe; 202, front pipe section; 203, rear pipe section; 204, sealing plug; 205, push handle; 206, positioning pile;

[0042] 207, bearing connection part; 209, inner diameter ball seat; 210, electric cutting ring;

[0043] 301, camera tube assembly; 302, lighting tube assembly; 303, light source interface; 304, eyepiece interface; 305, spiral guide groove; 306,;

[0044] 401, water inlet interface; 402, sheath wall groove; 403, narrowed water outlet; 404, sealing plug seat; 405, 406, 407, 408, 409, 410,

[0045] 501, sealing group; 502, upper water inlet; 503, lower water outlet; 504, narrow water inlet;

[0046] 505, lateral positioning groove;

[0047] 601, positioning card seat 2; 602, inner tube; 603, chamfered round head;

[0048] 701, stress holder one; 702, movable arm one; 703, stress holder two; 704, movable arm two; 705, stress holder three; 706, support arm; 707, rotating seat. DETAILED DESCRIPTION

[0049] To facilitate understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings, but the present invention can be implemented in different forms and is not limited to the embodiments described in the text. On the contrary, these embodiments are provided to make the content disclosed in the present invention more thorough and comprehensive.

[0050] It should be noted that when an element is referred to as being "fixed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this article are for illustrative purposes only.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly connected by technicians in the technical field to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this article includes any and all combinations of one or more related listed items.

[0052] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0053] Please refer to the attached Figure 1-5 , Fig.10 , including an execution handle 1, a stress suspension 7, a sheath set, and an obturator 6;

[0054] The sheath tube set comprises two inner sheaths 4 and an outer sheath 5 which are sleeved with each other and fixed at one end, and the sheath tube set is used for transurethral guidance and provides a surgical space;

[0055] One end of the execution handle 1 includes a fixed group 101 and a movable group 102, the fixed group 101 and the sheath group are fixed to each other, the two sides of the sheath group and the fixed end of the fixed group 101 are connected to the stress suspension 7, one end of the movable group 102 is internally connected with an eyepiece group 3 and an electric cutting group 2, the electric cutting group 2 is arranged on the peripheral side of the eyepiece group 3 and includes a segmented electric cutting tube 201, the electric cutting tube 201 includes a front tube section 202 and a rear tube section 203, when the movable group 102 pushes the electric cutting group 2 to move, the front tube section 202 is pushed out in a spiral manner, and the rear tube section 203 is pushed out in a straight line;

[0056] A water outlet is provided below the inner sheath 4 for conducting the electrocuted diseased tissue; the water outlet end of the inner sheath 4 is provided above the pipe section;

[0057] A plurality of electric cutting rings 210 are provided around the cutting end of the electric cutting group 2 for following the rotation to remove the diseased tissue.

[0058] In one embodiment of the present invention, when using the operating handle, the operator's index finger is held Figure 1 The upper curved plate of the sub-handle 103 is shown, and the other fingers hold the bottom of the sub-handle 103, and the thumb is placed inside the thumb handle 104. At the beginning of the resection operation, the inner sheath 4, the outer sheath 5, and the obturator 6 are inserted and connected to open the internal passage, and the illumination and AR imaging device are turned on. The upper and lower water inlets of the outer sheath 5 are connected to exchange the living water inside the cavity, and then the obturator 6 is pulled out, the eyepiece group 3 and the execution handle 1 are connected and assembled, and the electric cutting group 2 is assembled to the outside of the eyepiece group 3. Try to push the thumb handle 104 with the external thumb, observe the rotation state of the electric cutting ring 210 at the front end of the electric cutting group 2 and the propulsion state of the front tube segment 202 and the rear tube segment 203, and then Insert it into the internal passage of the inner sheath 4 of which the obturator 6 has been pulled out in advance. After fixing it, observe the internal state through the eyepiece group 3, adjust the angle of the execution handle 1 to reach the open action position, then connect the stress suspension 7 to both sides of the outer sheath 5, and then fix the position of the stress suspension 7. At this time, determine the reference position for the actual operation. At this time, the stress clamp seat 2 703 is movable to apply force, and the angles of the stress clamp seat 1 701 and the stress clamp seat 3 705 are fixed. Then, the height rotation angle of the entire execution handle 1 is in a fixed state. Observe the cutting knife state inside the eyepiece group 3, and push the thumb handle 104 with the thumb to drive the electric cutting group 2 forward. During the advancement, the lesion is scraped and cut by the electric cutting ring 210.

[0059] Please refer to Figure 1-Figure 4 , Fig.10The electric cutting tube 201 includes a front tube section 202 and a rear tube section 203, a bearing connection portion 207 is provided between the tube sections of the front tube section 202 and the rear tube section 203, an inner diameter ball seat 209 is provided on the inner diameter of one side where the front tube section 202 is connected to the bearing connection portion 207, the eyepiece group 3 is located in the inner circle passage of the bearing connection portion 207, and a spiral guide groove 305 spirally distributed along both ends of the tube wall is provided on the outside of the pipeline of the eyepiece group 3, and the inner diameter ball seat 209 cooperates with the spiral guide groove 305;

[0060] The electric cutting ring 210 is arranged outside the end of the front pipe section 202 away from the bearing connection part 207. The distribution direction of the electric cutting ring 210 outside the front pipe section 202 is the same as that of the front pipe section 202. The electric cutting ring 210 is an arc-shaped cutting ring.

[0061] In one embodiment of the present invention: the inner diameter ball seat 209 inside the front tube section 202 can be a hemisphere protruding from the inner wall, or a hemispherical arc guide rail with a moderate cross-section and two hemispheres of area, wherein the linked rotating part can still use the wheel-rotating grooves of the two objects, that is, the spiral guide groove 305 is a groove concave toward the inner wall of the eyepiece group 3, and one side of the inner wall of the front tube section 202 is still a point groove or a spiral segment groove that can carry a hemisphere of the inner diameter ball seat 209, but the spiral segment is shorter than the spiral guide groove 305 of the eyepiece group 3. At this time, the inner diameter ball seat 209 is set as a rolling sphere, the upper semicircular part contacts the inner diameter of the front tube section 202, and the lower semicircular part contacts the inner diameter ball seat 209. When the rear tube section 203 pushes the front tube section 202 to move, it always rolls and contacts with the two points, thereby being able to spirally advance one end of the front tube section 202 so that one end of the electric cutting ring 210 can be rotated and scraped.

[0062] Please pay attention to Figure 2-Figure 5 The fixing group 101 includes a positioning buckle 109 and a secondary handle 103. The positioning buckle 109 is fixed to one side of the positioning buckle 109, and the other side of the positioning buckle 109 is sealed and fixed to one end of the inner sheath 4;

[0063] The movable group 102 includes a guide link 105, and the guide link 105 includes two movable points and a connection point, and the motion trajectory of the two movable points is the same as the ejection trajectory of the eyepiece group 3;

[0064] The movable point at the front end is provided with a linkage push plate 107 and a thumb handle 104;

[0065] The electric cutting group 2 also includes a push handle 205, one end of which is fixed to the rear pipe section 203, and both sides of the linkage push plate 107 are provided with two lateral clamping bolts 108 that are symmetrical about the central axis. The end of the push handle 205 is provided with a positioning pile 206, and the positioning pile 206 is fixed to the lateral clamping bolt 108, and the two push handles 205 are connected to intervention electrodes.

[0066] Please pay attention to Figure 2-Figure 5 , Figure 7-Figure 11 , the execution handle 1 also includes a mounting portion 106, and a movable point of the guide link 105 is fixed on the mounting portion 106;

[0067] The eyepiece assembly 3 is provided with a camera tube assembly 301 and an illumination tube assembly 302 inside;

[0068] One side of the interior of the mounting portion 106 is fixed to one end of the camera tube group 301, one end of the lighting tube group 302 is provided with a light source interface 303 and connected to the top of the linkage push plate 107, and the camera tube group 301 is provided with an eyepiece interface 304 connected to the AR device display;

[0069] A sealing wedge 110 is provided on one side of the positioning buckle 109, and a sealing plug 204 is sleeved on the outside of the rear pipe section 203. The sealing plug 204 fits with the sealing wedge 110 to seal the pipeline.

[0070] Please pay attention to Figure 1-Figure 11 The outer sheath 5 includes a double-port tube and a passage sheath tube, the upper and lower parts of the double-port tube are respectively connected with an upper water inlet 502 and a lower water outlet 503, the upper water inlet 502 is communicated with the inside of the double-port tube, the double-port tube and the passage sheath tube wall are provided with mutually communicated sheath wall grooves 402, the lower water outlet 503 is communicated with the sheath wall grooves 402, and the outer bottom surface of the outer sheath 5 is provided with a plurality of narrow water inlets 504 communicated with the sheath wall grooves 402;

[0071] The outer sheath 5 is provided with a sealing group 501 at one end, and the inner sheath 4 includes a sealing plug seat 404 that cooperates with the sealing group 501. One end of the sealing plug seat 404 is provided with a water inlet interface 401 that is sealed and docked with the upper water inlet 502. The other end of the water inlet interface 401 is connected to the tube wall and provided with a sheath wall groove 402. The sheath wall groove 402 is provided with a narrowed water outlet 403 on the side away from the water inlet interface 401.

[0072] The two sides of the double-port pipe are respectively provided with lateral positioning grooves 505;

[0073] The stress suspension 7 includes a rotating seat 707 with a fixed top plane for rotation, a support arm 706 is connected below the rotating seat 707, a stress clamping seat three 705 that can rotate axially is connected to the support arm 706, a movable arm two 704 is rotatably connected below one end of the stress clamping seat three 705, the other end of the movable arm two 704 is provided with a stress clamping seat two 703 that can rotate axially, both sides of the stress clamping seat two 703 are rotatably connected with a movable arm one 702, and stress clamping seats one 701 are provided inside the two lateral positioning grooves 505, and the movable arm one 702 and the stress clamping seat one 701 are rotationally connected in a one-to-one correspondence.

[0074] In another embodiment of the present invention: the device uses an axial passage inside, and is provided with a camera tube group 301-illumination tube group 302, a spiral guide groove 305, a front tube section 202-rear tube section 203, an inner sheath 4, a sheath wall groove 402-upper water inlet 502, an outer sheath 5, a narrow water inlet 504-lower water outlet 503 in sequence from the inside to the outside, a seven-layer pipeline space, the front tube section 202 can be made of transparent material, and the observation group eyepiece group 3 conveniently located inside the axial pipeline can be better informed of the internal environmental changes, so as to facilitate accurate cutting; the electric cutting ring 210 end adopts multi-frequency scraping to better disperse and peel off, and the cut blocks and flocs are characterized by upper water outlet and lower water return of the inner sheath 4 and the outer sheath 5, which can The convenient guided discharge can facilitate the orderly movement of the liquid inside the cavity from one end to the other, reducing the surgical risk of increased internal pressure in the cavity due to discharge blockage. The inner wall grooves 402 of the inner sheath 4 are interconnected with the water inlet interface 401, and the narrowed water outlet 403 is only set at the top port of the lateral section. Through the water outlet at the top and the water return at the bottom, the cutting surface after multiple cuttings can get the impact of water outlet at the first time, and a clear view of the cutting local area can be obtained more quickly. At the same time, the flocculent blocks after cutting automatically deposit downward and can be better recovered and sucked out by the narrow water inlet 504 at the bottom, which can shorten the recovery process of patients after surgery and reduce the pain of patients.

[0075] Please pay attention to Figure 1-3 , Figure 6 The obturator 6 includes a positioning seat 2 601, an inner tube 602, and a chamfered round head 603 which are connected and fixed in sequence. The positioning seat 2 601 has the same structure as the positioning buckle 109 and both are fixed to one end of the inner sheath 4. The obturator 6 is used to introduce the outer sheath 5 before the urethra is unblocked.

[0076] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0077] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. A transurethral resection surgery robot actuator, characterized in that: It comprises an execution handle (1), a stress suspension (7), a sheath set, and an obturator (6); The sheath tube set comprises two inner sheaths (4) and an outer sheath (5) which are sleeved together and have one end fixed. The sheath tube set is used for transurethral guidance and provides a surgical space. One end of the execution handle (1) comprises a fixed group (101) and a movable group (102), the fixed group (101) and the sheath tube group are fixed to each other, the two sides of the fixed end of the sheath tube group and the fixed group (101) are connected to the stress suspension (7), one end of the movable group (102) is internally connected with an eyepiece group (3) and an electric cutting group (2), the electric cutting group (2) is arranged on the peripheral side of the eyepiece group (3) and comprises a segmented electric cutting tube (201), the electric cutting tube (201) comprises a front tube section (202) and a rear tube section (203), when the movable group (102) pushes the electric cutting group (2) to move, the front tube section (202) is pushed out in a spiral manner, and the rear tube section (203) is pushed out in a straight line; A water outlet is provided below the inner sheath (4) for conducting water out of the electrically cut diseased tissue; the water outlet end of the inner sheath (4) is arranged above the pipe section; A plurality of electric cutting rings (210) are provided on the peripheral side of the cutting end of the electric cutting group (2) for following the rotation to cut the diseased tissue.

2. The transurethral resection surgery robot actuator according to claim 1, characterized in that: The electric cutting tube (201) comprises a front tube section (202) and a rear tube section (203); a bearing connection portion (207) is provided between the tube sections of the front tube section (202) and the rear tube section (203); an inner diameter ball seat (209) is provided on the inner diameter of one side where the front tube section (202) and the bearing connection portion (207) are connected; the eyepiece group (3) is located in the inner circle passage of the bearing connection portion (207); a spiral guide groove (305) spirally distributed along the two ends of the tube wall is provided on the outside of the tube of the eyepiece group (3); the inner diameter ball seat (209) and the spiral guide groove (305) cooperate with each other.

3. The transurethral resection surgery robot actuator according to claim 2, characterized in that: The electric cutting ring (210) is arranged outside the end of the front pipe section (202) away from the bearing connection portion (207); the distribution direction of the electric cutting ring (210) outside the front pipe section (202) is the same as that of the front pipe section (202); and the electric cutting ring (210) is an arc-shaped cutting ring.

4. The transurethral resection surgery robot actuator according to claim 1, characterized in that: The fixing group (101) comprises a positioning buckle 1 (109) and a secondary handle (103), wherein the positioning buckle 1 (109) is fixed to one side of the positioning buckle 1 (109), and the other side of the positioning buckle 1 (109) is sealed and fixed to one end of the inner sheath (4); The movable group (102) includes a guide connecting rod (105), and the guide connecting rod (105) includes two movable points and a connection point, and the movement tracks of the two movable points are the same as the ejection track of the eyepiece group (3); A linkage push plate (107) and a thumb handle (104) are provided on the active point at the front end.

5. The transurethral resection surgery robot actuator according to claim 4, characterized in that: The electric cutting group (2) also includes a push handle (205), one end of which is fixed to the rear pipe section (203), and two lateral clamping bolts (108) are provided on both sides of the linkage push plate (107) and are symmetrical about the central axis. A positioning pile (206) is provided at the end of the push handle (205), and the positioning pile (206) and the lateral clamping bolt (108) are fixed to each other. Intervention electrodes are connected to the two push handles (205).

6. The transurethral resection surgery robot actuator according to claim 4, characterized in that: The execution handle (1) further comprises a mounting portion (106), and a movable point of the guide connecting rod (105) is fixed on the mounting portion (106); The eyepiece assembly (3) is provided with a camera tube assembly (301) and an illumination tube assembly (302) inside; One side of the interior of the mounting portion (106) is fixed to one end of the camera tube group (301); one end of the lighting tube group (302) is provided with a light source interface (303) and is connected to the top of the linkage push plate (107); and the camera tube group (301) is provided with an eyepiece interface (304) connected to an AR device display; A sealing wedge (110) is provided on one side of the positioning buckle (109), and a sealing plug (204) is sleeved on the outside of the rear pipe section (203). The sealing plug (204) fits the sealing wedge (110) and is used to seal the pipeline.

7. The transurethral resection surgery robot actuator according to claim 1, characterized in that: The outer sheath (5) comprises a double-port tube and a passage sheath tube, the upper and lower parts of the double-port tube are respectively connected with an upper water inlet (502) and a lower water outlet (503), the upper water inlet (502) is connected to the inside of the double-port tube, the double-port tube and the passage sheath tube wall are provided with mutually connected sheath wall grooves (402), the lower water outlet (503) is connected to the sheath wall grooves (402), and the outer bottom surface of the outer sheath (5) is provided with a plurality of narrow water inlets (504) connected to the sheath wall grooves (402).

8. The transurethral resection surgery robot actuator according to claim 7, characterized in that: A sealing group (501) is provided at one end of the outer sheath (5), and the inner sheath (4) includes a sealing plug seat (404) that cooperates with the sealing group (501). A water inlet interface (401) is provided at one end of the sealing plug seat (404) and is sealedly connected to the upper water inlet (502). The other end of the water inlet interface (401) is connected to a tube wall provided with a sheath wall groove (402). The sheath wall groove (402) is provided with a narrowed water outlet (403) on the side away from the water inlet interface (401).

9. The transurethral resection surgery robot actuator according to claim 7, characterized in that: The two sides of the double-port pipe are respectively provided with lateral positioning grooves (505); The stress suspension (7) comprises a rotating seat (707) with a top fixed plane rotating, a support arm (706) is connected below the rotating seat (707), a stress clamping seat three (705) which can rotate axially is connected to the support arm (706), a movable arm two (704) is rotatably connected below one end of the stress clamping seat three (705), the other end of the movable arm two (704) is provided with a stress clamping seat two (703) which can rotate axially, both sides of the stress clamping seat two (703) are rotatably connected with a movable arm one (702), the two lateral positioning grooves (505) are each provided with a stress clamping seat one (701), and the movable arm one (702) and the stress clamping seat one (701) are rotatably connected in a one-to-one correspondence.

10. The transurethral resection surgery robot actuator according to claim 1, characterized in that: The obturator (6) comprises a second positioning seat (601), an inner tube (602), and a chamfered round head (603) which are connected and fixed in sequence. The second positioning seat (601) and the first positioning buckle (109) have the same structure and are both fixed to one end of the inner sheath (4). The obturator (6) is used to introduce the outer sheath (5) through the urethra before it is opened.

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