Shield operation robot

Abstract

The invention relates to the technical field of medical surgical instruments, in particular to a shield surgical robot which comprises a pipe sheath, an annular placement groove is formed in the pipe sheath, an optical fiber endoscope pipe is arranged in the annular placement groove, a placement plate is arranged on one side of the pipe sheath, and a protection cleaning assembly is arranged on the side, close to the placement plate, of the optical fiber endoscope pipe. A water storage bin is arranged in the annular containing groove, jet flow mechanisms are arranged on the side, close to the protective cleaning assembly, of the water storage bin in an array mode, and a shield electric resection rotary cutter head is movably arranged on the side, away from the interior of the pipe sheath, of the containing plate. Meanwhile, in the whole cleaning process, real-time observation of medical staff on the body of the patient cannot be affected, and the situation that healthy tissue is damaged when the medical staff cut hyperplasia tissue under the condition that the visual angle is poor is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of medical surgical instruments, in particular to a shield surgical robot. Background Art

[0002] When hyperplastic tissue appears in the patient's body, it is generally necessary to remove it to prevent it from causing compression and dysfunction on surrounding organs or tissues, or even malignant transformation. With the popularization of minimally invasive surgery, robot-assisted technology and artificial intelligence diagnosis, the removal of hyperplastic tissue has become more accurate and safer.

[0003] For example, the medical shield knife and its use method disclosed in publication number CN105310745A, through the cooperation between the shield body and the crushing knife, and the activation of the reversing device, can suction the broken hyperplastic tissue during the operation and guide it to the outside, which can effectively prevent further damage in the cavity lesion or after penetrating the tissue, clean up the diseased tissue in time, and save operation time.

[0004] When the above device is in use, the broken hyperplastic tissue will stay on the surface of the shield for a short time when no suction is performed, and some tissues will accumulate together. When part of the tissue contacts the lens of the fiber optic endoscope tube, it will adhere to the lens of the entire fiber optic endoscope tube. These adhered broken tissues will block the viewing angle of the fiber optic endoscope tube, making it impossible for medical staff to observe the overall condition of the patient's body in real time, affecting the subsequent operations of the entire operation. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a shield surgical robot having the function of promptly cleaning broken tissues that block the viewing angle of the fiber optic endoscope tube. At the same time, during the entire cleaning process, it will not affect the medical staff's real-time observation of the patient's body, thus avoiding the situation where the medical staff damages the healthy tissue when cutting the proliferated tissue under poor viewing angle.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: a shield surgical robot, comprising a sheath, a fiber optic endoscope tube is arranged on the sheath, a placement plate is arranged on one side of the sheath, a shield electrosurgical rotary cutter head is movably arranged on the side of the placement plate away from the inside of the sheath, and a protective cleaning component is arranged on the side of the fiber optic endoscope tube close to the placement plate; The protective cleaning component includes an arc-shaped protective cover plate arranged on the side of the optical fiber endoscope tube close to the shield electrosurgical cutting rotating blade head, a bonding plate is arranged inside the arc-shaped protective cover plate close to the side of the optical fiber endoscope tube, a conveying bin is symmetrically and movably arranged on the bonding plate, an inclined scraper is arranged on the side of the conveying bin close to the optical fiber endoscope tube, and one side of the inclined scraper has an arc angle, a protective transparent plate is movably arranged on the side of the arc-shaped protective cover plate close to the optical fiber endoscope tube, and the protective transparent plate is located between the optical fiber endoscope tube and the bonding plate, a sponge is symmetrically arranged inside the arc-shaped protective cover plate, lower support plates are symmetrically arranged on the bonding plate, and the lower support plates are located on the same side of the conveying bin, a compensation component is arranged on the side of the lower support plate close to the conveying bin, and the compensation component is in contact with the conveying bin; When the protective transparent plate moves, it pushes the conveying bin to move, driving the corrugated plate to move, so that the elastic rubber strip is close to one side of the protective transparent plate. At the same time, the descent of the conveying bin causes part of the liquid inside the water storage bin to be diverted and sprayed onto the protective transparent plate from the arc angle side of the inclined scraper strip, forming a lubricating effect.

[0007] Preferably, an annular placement groove is provided on the sheath, and the annular placement groove is located between the inner contour and the outer contour of the sheath, the fiber optic endoscope tube is located in the annular placement groove, a water storage tank is provided inside the annular placement groove, and a jet mechanism is arranged in an array on the side of the water storage tank close to the protective cleaning component, and a drive component is provided on the side of the shield electric cutting rotary cutter head close to the placement plate.

[0008] Preferably, the compensation component includes a corrugated plate symmetrically and movably arranged on the lower support plate, telescopic rods are arranged in an array on one side of the lower support plate close to the corrugated plate, an elastic rubber strip is arranged on one end of the telescopic rod away from the lower support plate, a lifting plate is movably arranged on the telescopic rod, and the lifting plate is in contact with the corrugated plate, and a compression spring is arranged in an array on one side of the lifting plate close to the elastic rubber strip.

[0009] Preferably, a sleeve is provided inside the delivery bin, an infusion tube is movably provided inside the sleeve, and the other end of the infusion tube is fixedly connected to the water storage bin and the internal parts are interconnected, and a plug-in plate is provided at one end of the compression spring away from the lifting plate, and a plug-in relationship is formed between the plug-in plate and the elastic rubber strip.

[0010] Preferably, a fixed support rod is provided on one side of the lower support plate close to the corrugated plate, and the fixed support rod slides between the corrugated plate, and a first spring is symmetrically sleeved on the fixed support rod, and one end of the first spring is in contact with the corrugated plate.

[0011] Preferably, a moving component is provided on one side of the arc-shaped protective cover plate close to the tube sheath, a control panel is provided inside the tube sheath, and a slag discharge pipe is provided inside the tube sheath.

[0012] Preferably, the moving component includes a placement bin arranged on the side of the sheath close to the arc-shaped protective cover plate, and the placement bin is embedded in the sheath and fixedly connected to the inner wall of the sheath, a controller is arranged inside the placement bin, an electric extension rod is arranged on the side of the controller close to the arc-shaped protective cover plate, an oblique guide plate is arranged on the end of the electric extension rod away from the controller, a push plate is movably arranged on the end of the oblique guide plate away from the electric extension rod, a swing rod is arranged inside the placement bin, and the swing rod is engaged and slidably engaged with the push plate.

[0013] Preferably, an arc-shaped guide rail is arranged inside the arc-shaped protective cover plate, an arc-shaped clamping plate is movably arranged at one end of the swing rod away from the placement bin, and the arc-shaped clamping plate and the arc-shaped guide rail are engaged and slidably engaged, and the arc-shaped clamping plate and the protective transparent plate are in a nested relationship.

[0014] Preferably, the driving assembly includes a motor arranged inside the sheath, a rotating shaft is arranged on one side of the motor, a gear ring is arranged at one end of the rotating shaft away from the motor, a gear set is sleeved on one end of the rotating shaft close to the gear ring, and the gear set and the gear ring are meshed, an external gear plate is meshed on the gear set, and the external gear plate is fixedly connected to the shield electric cutting rotating cutter head.

[0015] Preferably, the placement plate is rotationally connected to the external tooth plate and the shield electric cutting rotary cutter head, the placement plate is fixedly connected to the gear group, a protective ring magazine is provided on the side of the placement plate away from the shield electric cutting rotary cutter head, and the protective ring magazine is rotationally connected to the rotating shaft.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention cooperates with the protective transparent plate and the bonding plate in the arc-shaped protective cover plate, so that the front viewing angle of the entire optical fiber endoscope tube will not be blocked when the lens of the entire optical fiber endoscope tube is protected. When the surface of the protective transparent plate on the side of the hyperplastic tissue is attached with broken tissues that affect the entire observation angle, the medical staff can move the protective transparent plate to move the clean section of the protective transparent plate to the surface of the optical fiber endoscope tube to provide a clear viewing angle again; 2. During the entire movement of the protective transparent plate, the side of the protective transparent plate on which the proliferating tissue is located will be sprayed with liquid by the inclined scraper to form a lubricating effect. In combination with the arc angle set by the inclined scraper, the protective transparent plate is prevented from directly colliding with the inclined scraper during movement, resulting in scratches on the protective transparent plate, which affects the subsequent viewing angle. During the entire cleaning process, the sprayed liquid and the inclined scraper form the first layer of cleaning, while the elastic rubber strip is the second layer of cleaning. Finally, the surface of the protective transparent plate that has been cleaned will be wiped by the sponge to form the third layer of cleaning, thereby improving the overall cleaning effect. 3. When the entire hyperplastic tissue is removed, the jet mechanism can spray the liquid stored in the water storage tank to the cut part of the hyperplastic tissue in the patient's body, reducing the patient's discomfort during the entire removal process. At the same time, when the protective transparent plate moves, it will open the flow channel of the infusion tube at the inclined scraper bar it contacts, so that the liquid inside the water storage tank is re-diverted into the corresponding delivery tank, and finally sprayed from the small holes opened on the inclined scraper bar to the protective transparent plate, so that the protective transparent plate has a certain lubrication effect under the attached liquid; 4. When the corresponding inclined scraper strip is displaced, the corrugated plate arranged on the lower support plate will be displaced synchronously, so that the set compression spring will be compressed again when the elastic rubber strip contacts the protective transparent plate to form a compressed state, and the set elastic rubber strip will be pressure compensated to avoid the situation that the elastic rubber strip cannot be closely attached to the surface of the protective transparent plate when the elastic rubber strip is damaged, thereby affecting the cleaning effect of the entire protective transparent plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is an overall schematic diagram of the device of the present invention.

[0018] Figure 2 It is a schematic diagram of the overall side sectional structure of the device of the present invention.

[0019] Figure 3 It is a schematic diagram of the explosion structure inside the sheath of the device of the present invention.

[0020] Figure 4 It is a schematic diagram of the internal structure connection of the arc-shaped protective cover plate of the device of the present invention.

[0021] Figure 5 This is a schematic diagram of the partial explosion structure of the protective cleaning component of the device of the present invention.

[0022] Figure 6 It is a schematic diagram of the working state structure of the compensation component on one side of the bonding plate of the device of the present invention.

[0023] Figure 7 This is a schematic diagram of the structure of the compensation component on one side of the bonding plate of the device of the present invention in a non-working state.

[0024] Figure 8 It is a partial schematic diagram of the connection structure between the bonding plate and the lower support plate of the device of the present invention.

[0025] Fig. 9 The device of the present invention Figure 6 A partial enlarged schematic diagram in the middle.

[0026] Fig.10 The device of the present invention Figure 7 A partial enlarged schematic diagram of point B in the middle.

[0027] Fig.11It is a partial schematic diagram of the connection structure between the moving assembly and the protective transparent plate of the device of the present invention.

[0028] Fig.12 It is a schematic diagram of the partial explosion structure of the driving component of the device of the present invention.

[0029] In the figure: 1, sheath; 11, annular placement groove; 12, water storage tank; 13, jet mechanism; 14, shield electric cutting rotary cutter head; 15, slag discharge pipe; 2, optical fiber endoscope tube; 3, placement plate; 4, protection and cleaning assembly; 41, arc-shaped protection cover plate; 411, arc-shaped guide rail; 412, arc-shaped card plate; 42, fitting plate; 43, conveying bin; 431, casing; 432, infusion tube; 44, inclined scraper; 45, protective transparent plate; 46, sponge; 47, lower support plate; 471, fixed support rod ;472, first spring; 5, compensation assembly; 51, corrugated plate; 52, telescopic rod; 53, elastic rubber strip; 54, lifting plate; 55, compression spring; 551, plug-in board; 6, driving assembly; 61, motor; 62, rotating shaft; 63, gear ring; 64, gear set; 65, outer gear plate; 651, protective ring bin; 7, moving assembly; 71, placement bin; 72, controller; 73, electric extension rod; 74, oblique guide plate; 75, push plate; 76, swing rod; 8, control panel. DETAILED DESCRIPTION

[0030] 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.

[0031] Example 1 Please refer to Figures 1 to 10 , which is the first embodiment of the present invention, provides a technical solution: a shield surgical robot, comprising a sheath 1, on which a fiber optic endoscope tube 2 is arranged, the fiber optic endoscope tube 2 is used to transmit the cutting surface image in real time to ensure the accuracy of the entire operation without damaging the hyperplastic tissue, a placement plate 3 is arranged on one side of the sheath 1, and an array of openings is opened on the placement plate 3, and the array of openings on the placement plate 3 is used for subsequent suction operation of the removed hyperplastic tissue, and the removed hyperplastic tissue can enter the interior of the sheath 1 through the opening here, and finally be sucked and transported to the outside by the slag discharge pipe 15; A shield electrosurgical rotary cutter head 14 is movably arranged on the side of the placement plate 3 away from the inside of the tube sheath 1. A blade is arranged on the side of the shield electrosurgical rotary cutter head 14 away from the placement plate 3. When the blade contacts the hyperplastic tissue, it can form a cutting effect on the tissue. At the same time, the cut tissue is sucked into the through hole in the placement plate 3 under a negative pressure state by the crushing blades arranged in an array on the shield electrosurgical rotary cutter head 14. The tissue is crushed by the rotation of the crushing blades. A protective cleaning component 4 is arranged on the side of the optical fiber endoscope tube 2 close to the placement plate 3; The protection and cleaning component 4 includes an arc-shaped protection cover plate 41 arranged on the side of the optical fiber endoscope tube 2 close to the shield electrosurgical rotary blade 14. An array of small holes is provided on one side of the arc-shaped protection cover plate 41 to facilitate the liquid inside the arc-shaped protection cover plate 41 to drip to the outside of the arc-shaped protection cover plate 41 through the holes. A bonding plate 42 is provided on the side of the arc-shaped protection cover plate 41 close to the optical fiber endoscope tube 2. The bonding plate 42 is provided with a conical diffusion opening at the position of the optical fiber endoscope tube 2 lens. The conical opening ensures that the field of vision will not be blocked when the optical fiber endoscope tube 2 is working to observe the patient's internal conditions. A delivery bin 43 is symmetrically and movably arranged on the fitting plate 42. The delivery bin 43 is U-shaped as a whole and is engaged and slidably engaged with the fitting plate 42. At the same time, the interior of the delivery bin 43 is a kind of cavity. When the inclined scraper strip 44 arranged on one side of the delivery bin 43 is squeezed and displaced by the protective transparent plate 45, the delivery bin 43 that is displaced at this moment will make the sleeve 431 arranged inside and the infusion tube 432 form an interconnection, so that a part of the liquid inside the water storage bin 12 is diverted to enter the delivery bin 43, and finally a water column is formed from the small hole opened on the inclined scraper strip 44 and sprayed on the surface of the protective transparent plate 45, so that when the inclined scraper strip 44 and the elastic rubber strip 53 are used to clean the surface of the protective transparent plate 45, the attached liquid can avoid scratching the surface of the protective transparent plate 45 during the entire scraping and cleaning process, thereby affecting the overall viewing angle of the optical fiber endoscope tube 2; An inclined scraper 44 is provided on one side of the delivery bin 43 close to the optical fiber endoscope tube 2, and one side of the inclined scraper 44 has an arc angle, and a cavity is provided inside the inclined scraper 44, and the cavity is communicated with the delivery bin 43. An array of small holes is provided on one side of the inclined scraper 44 with an arc angle, and liquid entering the delivery bin 43 can be sprayed on the surface of one side of the protective transparent plate 45 through the small holes; A protective transparent plate 45 is movably provided on one side of the arc-shaped protective cover plate 41 close to the optical fiber endoscope tube 2, and the protective transparent plate 45 is located between the optical fiber endoscope tube 2 and the bonding plate 42. The protective transparent plate 45 is made of polycarbonate material as a whole, and has high transparency as a whole. At the same time, the protective transparent plate 45 formed by this material also has corrosion resistance and wear resistance. Sponges 46 are symmetrically provided inside the arc-shaped protective cover plate 41. The sponges 46 are used to wipe the cleaned section of the protective transparent plate 45 when the protective transparent plate 45 is displaced, so as to absorb the residual liquid on the protective transparent plate 45. Lower support plates 47 are symmetrically provided on the bonding plate 42, and the lower support plates 47 are located on the same side of the conveying bin 43. A compensation component 5 is provided on the side of the lower support plate 47 close to the conveying bin 43, and the compensation component 5 is in contact with the conveying bin 43. When the protective transparent plate 45 is displaced, the conveying bin 43 descends, driving the corrugated plate 51 to be displaced, so that the elastic rubber strip 53 can be close to one side of the protective transparent plate 45. At the same time, the descent of the conveying bin 43 causes part of the liquid inside the water storage bin 12 to be diverted and sprayed onto the protective transparent plate 45 from the arc angle side of the inclined scraper strip 44, forming a certain lubrication effect.

[0032] An annular placement groove 11 is provided on the tube sheath 1, and the annular placement groove 11 is located between the inner contour and the outer contour of the tube sheath 1. The annular placement groove 11 is used to place the optical fiber endoscope tube 2 and the water storage tank 12, so that when the tube sheath 1 is extended into the patient's body to perform a resection of the hyperplastic tissue, the optical fiber endoscope tube 2 can observe the internal conditions of the patient's body in real time. A water storage tank 12 is provided inside the annular placement groove 11, and one end of the water storage tank 12 is externally connected to a water pipe, which is connected to a pressurizing device through the external water pipe, so that when the pressurizing device continuously transports liquid to the water storage tank 12, a high-pressure environment is formed inside the water storage tank 12, so that the liquid is finally output from the ejector on the ejection mechanism 13 to the external environment; A jet mechanism 13 is arranged in an array on one side of the water storage tank 12 close to the protective cleaning component 4. The jet mechanism 13 includes a delivery pipe interconnected with the water storage tank 12 and an ejector arranged at one end of the delivery pipe away from the water storage tank 12. The liquid inside the water storage tank 12 is sprayed into the cutting area of ​​the patient's hyperplastic tissue through the ejector. A drive component 6 is arranged on the side of the shield electrosurgical cutting rotary blade 14 close to the placement plate 3.

[0033] The compensation component 5 includes a corrugated plate 51 symmetrically and movably arranged on the lower support plate 47. The corrugated plate 51 is in a wave shape as a whole. A straight plate is arranged at the highest point of the corrugated plate 51 to prevent the corrugated plate 51 from being squeezed. When the corrugated plate 51 is reset by the elastic force of the first spring 472, the straight plate can prevent the corrugated plate 51 from moving excessively. A telescopic rod 52 is arranged in an array on the side of the lower support plate 47 close to the corrugated plate 51. An elastic rubber strip 53 is arranged on the end of the telescopic rod 52 away from the lower support plate 47. The elastic rubber strip 53 is in a comb shape on the side close to the protective transparent plate 45 as a whole. The protective transparent plate 45 is contacted with the surface of the protective transparent plate 45 by multiple rubber sheets to restore the permeability of the protective transparent plate 45. A lifting plate 54 is movably provided on the telescopic rod 52, and the lifting plate 54 is in contact with the corrugated plate 51. A compression spring 55 is arranged in an array on the lifting plate 54 near the side of the elastic rubber strip 53. The compression spring 55 is used to compensate the pressure of the elastic rubber strip 53, so that when the elastic rubber strip 53 is damaged, it can also be tightly attached to the surface of one side of the protective transparent plate 45 under the action of the compression spring 55. At the same time, when the protective transparent plate 45 and the inclined scraper strip 44 are no longer in contact, the compression spring 55 will release the elastic force to return the elastic rubber strip 53 to the initial position. At the same time, the distance between the restored elastic rubber strip 53 and the protective transparent plate 45 is smaller than the distance between the arc angle of the inclined scraper strip 44 and the protective transparent plate 45.

[0034] A sleeve 431 is provided inside the delivery bin 43. The sleeve 431 has a cavity inside as a whole, and a through hole is provided in an array on its surface. Through the cooperation between the sleeve 431 and the infusion tube 432 plugged inside, when the inclined scraper strip 44 provided on the delivery bin 43 is squeezed by the protective transparent plate 45 and drives the delivery bin 43 to move, the displaced sleeve 431 passes the infusion tube 432 through the through hole, so that a flow channel is formed between the delivery bin 43 and the water storage bin 12, so that the liquid inside the water storage bin 12 is diverted, and a part of the liquid is separated and enters the delivery bin 43. An infusion tube 432 is movably arranged inside the sleeve 431, and the other end of the infusion tube 432 is fixedly connected to the water storage tank 12 and the internal parts are interconnected. A plug-in plate 551 is arranged at one end of the compression spring 55 away from the lifting plate 54, and a plug-in relationship is formed between the plug-in plate 551 and the elastic rubber strip 53. Under the action of the plug-in relationship between the plug-in plate 551 and the elastic rubber strip 53, the compression spring 55 can transmit the elastic force to the elastic rubber strip 53.

[0035] A fixed support rod 471 is provided on the side of the lower support plate 47 close to the corrugated plate 51, and the fixed support rod 471 slides with the corrugated plate 51. The fixed support rod 471 is fixedly connected to the lower support plate 47 through two solid blocks arranged on the lower support plate 47. At the same time, the overall height of the solid block is smaller than the space between the conveying bin 43 and the lower support plate 47 after the conveying bin 43 is displaced, so as to avoid contact between the conveying bin 43 and the solid block when the conveying bin 43 is displaced, resulting in the conveying bin 43 being unable to move to the final position. A first spring 472 is symmetrically sleeved on the fixed support rod 471, and one end of the first spring 472 is in contact with the corrugated plate 51. The first spring 472 is located between the corrugated plate 51 and the set solid block. The elastic force of the first spring 472 and the compression spring 55 enables the corrugated plate 51 to complete the entire reset.

[0036] A moving component 7 is provided on the side of the arc-shaped protective cover plate 41 close to the sheath 1. The moving component 7 is used to drive the entire protective transparent plate 45 to move. When a section of the protective transparent plate 45 located at the optical fiber endoscope tube 2 becomes dirty, the user can drive the protective transparent plate 45 to move and re-attach the clean section of the protective transparent plate 45 to the optical fiber endoscope tube 2. A control panel 8 is provided inside the sheath 1. The control panel 8 is used to control the start of the motor 61 and receive the signal from the optical fiber endoscope tube 2 for imaging processing. A slag discharge pipe 15 is provided inside the sheath 1. The slag discharge pipe 15 is externally connected to a negative pressure pump. Through the suction action of the negative pressure pump, the cut and crushed tissue is sucked out of the patient's body.

[0037] During use, the driving component 6 is started to work through the control panel 8. During the entire working process, the external pressurizing device is started according to actual needs to transport liquid to the water storage bin 12. When it is found that the surface of the optical fiber endoscope tube 2 is blurred, it means that some broken tissues are adhered to the protective transparent plate 45, affecting the entire observation angle. At this time, a signal is sent to the moving component 7 through the control panel 8 to drive the moving component 7 to drive the protective transparent plate 45 to move, and move the dirty section of the protective transparent plate 45 to the side for cleaning. During the entire movement process, the protective transparent plate 45 will squeeze the inclined scraper 44 to move. When the displaced inclined scraper 44 drives the delivery bin 43 to move, it will open the flow channel between the sleeve 431 inside the delivery bin 43 and the infusion tube 432, so that the water storage bin The liquid inside 12 is partially diverted and sprayed onto the surface of the protective transparent plate 45 from the small holes set on the inclined scraper strip 44. At this moment, the protective transparent plate 45 is not only wetted and lubricated, but also a certain water film is formed by the sprayed liquid to protect the surface of the entire protective transparent plate 45, so as to avoid scratches on the surface of the protective transparent plate 45 when the protective transparent plate 45 contacts with the inclined scraper strip 44 and the elastic rubber strip 53. At the same time, under the movement of the conveying bin 43, the set corrugated plate 51 can be displaced, so that the clamping spring 55 is compressed again on the basis of the original compression, so that the elastic rubber strip 53 is in close contact with the surface of the protective transparent plate 45. Therefore, when the elastic rubber strip 53 is damaged, it can also avoid the situation that the elastic rubber strip 53 cannot be in close contact with the protective transparent plate 45, thereby completing the entire surgical process.

[0038] Example 2 Please refer to Figures 1 to 11 , which is the second embodiment of the present invention, and this embodiment is different from the first embodiment in that: The moving assembly 7 includes a placement bin 71 arranged on the side of the tube sheath 1 close to the arc-shaped protective cover plate 41, and the placement bin 71 is embedded in the tube sheath 1 and fixedly connected to the inner wall of the tube sheath 1. A controller 72 is arranged inside the placement bin 71. A wire is arranged on one side of the controller 72 to be connected to the control panel 8. The controller 72 is opened and closed by the control of the control panel 8, so as to drive the electric extension rod 73 to extend and retract. The controller 72 is provided with an electric extension rod 73 on the side close to the arc-shaped protective cover plate 41. The electric extension rod 73 is provided with an oblique guide plate 74 at one end away from the controller 72. An oblique guide groove is provided on the oblique guide plate 74, which is used to drive the push plate 75 to move under the action of the guide groove, so that the swing rod 76 is swung, and the entire protective transparent plate 45 is driven to start moving under the action of the swing rod 76, so that the dirty part of the protective transparent plate 45 is transferred to one side for cleaning; The cam 76 is provided with a push plate 75 at one end away from the electric extension rod 73, and there is a sliding engagement relationship between the push plate 75 and the slanted guide plate 74. At the same time, a straight guide rail is provided on the push plate 75, and the swing rod 76 can be swung when the push plate 75 is displaced through the engagement relationship between the straight guide rail and the retractable swing rod 76. A swing rod 76 is provided inside the placement bin 71, and the swing rod 76 and the push plate 75 are engaged and slid. The swing rod 76 is retractable, and a slot is provided on its inner rod, through which the slot and the arc clamping plate 412 are engaged and slid. When the swing rod 76 rotates and swings, the swing rod 76 can push the arc clamping plate 412 to move along the arc guide rail 411 provided inside the arc protective cover plate 41, and the slot provided on the inner rod of the swing rod 76 can provide a moving space to prevent the overall deflection angle of the arc clamping plate 412 from being affected by the swing rod 76.

[0039] An arc guide rail 411 is arranged inside the arc protective cover plate 41, and an arc clamping plate 412 is movably arranged at one end of the swing rod 76 away from the placement bin 71, and the arc clamping plate 412 and the arc guide rail 411 are engaged and slidable, and the arc clamping plate 412 and the protective transparent plate 45 are in a nested relationship.

[0040] During use, when the control panel 8 sends a start signal to the controller 72, the controller 72 can drive the electric extension rod 73 to extend, so that the electric extension rod 73 pushes the oblique guide plate 74 to move, thereby causing the push plate 75 to move synchronously. Driven by the push plate 75, the swing rod 76 drives the entire arc-shaped card plate 412 to move along the arc-shaped guide rail 411, thereby completing the movement of the protective transparent plate 45, and then the electric extension rod 73 is reset to reattach the cleaned section of the protective transparent plate 45 to the optical fiber endoscope tube 2, thereby completing the cleaning of the entire viewing angle.

[0041] The remaining structures are the same as those of Example 1.

[0042] Example 3, please refer to Figures 1 to 12 , which is the third embodiment of the present invention. This embodiment is different from the first and second embodiments in that: The driving assembly 6 includes a motor 61 disposed inside the sheath 1. The motor 61 drives the rotating shaft 62 to rotate forward and reversely, which is controlled by the control panel 8. A rotating shaft 62 is disposed on one side of the motor 61. The rotating shaft 62 is used to rotate under the drive of the motor 61. The rotation of the rotating shaft 62 causes the shield electrosurgical rotary cutter head 14 to rotate, thereby removing and crushing the hyperplastic tissue. A gear ring 63 is provided at one end of the rotating shaft 62 away from the motor 61, and a gear set 64 is sleeved on one end of the rotating shaft 62 close to the gear ring 63, and the gear set 64 is meshed with the gear ring 63. The gear set 64 is composed of a plurality of small gears and an annular bracket, and the rotation on the rotating shaft 62 is transmitted through the meshing action of the gear set 64. An outer tooth plate 65 is meshed on the gear set 64, and the outer tooth plate 65 is fixedly connected to the shield electric cutting rotary cutter head 14. The outer tooth plate 65 is an annular baffle, and annular teeth are provided inside it. A meshing relationship is formed between the teeth and the gear set 64. Under the rotation of the gear set 64, the entire rotating power can be evenly transmitted to the outer tooth plate 65, so that the outer tooth plate 65 drives the shield electric cutting rotary cutter head 14 to rotate, so that the blade on the cutter head removes the proliferative tissue.

[0043] The placement plate 3 is rotationally connected to the external tooth plate 65 and the shield electric cutting rotary cutter head 14. The placement plate 3 is fixedly connected to the gear group 64. A protective ring bin 651 is provided on the side of the placement plate 3 away from the shield electric cutting rotary cutter head 14, and the protective ring bin 651 is rotationally connected to the rotating shaft 62.

[0044] When the sheath 1 reaches the proliferative tissue in the patient's body, the motor 61 is started through the control panel 8 to work. Driven by the motor 61, the shaft 62 is rotated. At this moment, driven by the shaft 62, in cooperation with the gear set 64 set at one end of the shaft 62, the entire shield electrosurgical rotary cutter head 14 starts to rotate to remove and crush the patient's proliferative tissue. During the entire resection process, the medical staff can observe the specific situation in the patient's body in real time through the fiber optic endoscope tube 2. When the medical staff observes the presence of crushed tissue in the patient's urethra through the fiber optic endoscope tube 2, the residual crushed tissue is sucked into the sheath 1 by starting the negative pressure pump connected to one end of the slag discharge tube 15. Subsequently, the crushed tissue inside the sheath 1 is sucked into the slag discharge tube 15 under continuous suction and finally discharged to the outside.

[0045] The remaining structures are the same as those of embodiments 1 and 2.

[0046] 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. A shield surgical robot, comprising a sheath (1), characterized in that: The sheath (1) is provided with an optical fiber endoscope tube (2); a placement plate (3) is provided on one side of the sheath (1); a shield electric cutting rotary blade (14) is movably provided on the side of the placement plate (3) away from the inside of the sheath (1); and a protective cleaning component (4) is provided on the side of the optical fiber endoscope tube (2) close to the placement plate (3); The protective cleaning component (4) comprises an arc-shaped protective cover plate (41) arranged on a side of the optical fiber endoscope tube (2) close to the shield electrosurgical rotary blade head (14); a bonding plate (42) is arranged inside the arc-shaped protective cover plate (41) on a side close to the optical fiber endoscope tube (2); a conveying bin (43) is symmetrically and movably arranged on the bonding plate (42); an inclined scraping strip (44) is arranged on a side of the conveying bin (43) close to the optical fiber endoscope tube (2); and one side of the inclined scraping strip (44) has an arc angle; the arc-shaped protective cover plate (41) is close to the optical fiber endoscope tube (2). A protective transparent plate (45) is movably provided on one side near the optical fiber endoscope tube (2), and the protective transparent plate (45) is located between the optical fiber endoscope tube (2) and the bonding plate (42); a sponge (46) is symmetrically provided inside the arc-shaped protective cover plate (41); a lower support plate (47) is symmetrically provided on the bonding plate (42), and the lower support plate (47) is located on the same side of the conveying bin (43); a compensation component (5) is provided on the side of the lower support plate (47) close to the conveying bin (43), and the compensation component (5) is in contact with the conveying bin (43); When the protective transparent plate (45) is displaced, the conveying bin (43) is pushed to be displaced, driving the corrugated plate (51) to be displaced, so that the elastic rubber strip (53) is closely attached to one side of the protective transparent plate (45). At the same time, the lowering of the conveying bin (43) causes a part of the liquid inside the water storage bin (12) to be diverted and sprayed onto the protective transparent plate (45) from the arc angle side of the inclined scraper strip (44), thereby forming a lubricating effect.

2. A shield surgical robot according to claim 1, characterized in that: The tube sheath (1) is provided with an annular placement groove (11), and the annular placement groove (11) is located between the inner contour and the outer contour of the tube sheath (1); the optical fiber endoscope tube (2) is located in the annular placement groove (11); a water storage tank (12) is provided inside the annular placement groove (11); a jet mechanism (13) is arranged in an array on a side of the water storage tank (12) close to the protective cleaning component (4); and a drive component (6) is provided on a side of the shield electrosurgical rotary cutter head (14) close to the placement plate (3).

3. A shield surgical robot according to claim 1, characterized in that: The compensation component (5) comprises a corrugated plate (51) symmetrically and movably arranged on a lower support plate (47); telescopic rods (52) are arranged in an array on a side of the lower support plate (47) close to the corrugated plate (51); an elastic rubber strip (53) is arranged on one end of the telescopic rod (52) away from the lower support plate (47); a lifting plate (54) is movably arranged on the telescopic rod (52), and the lifting plate (54) and the corrugated plate (51) are in contact with each other; and a compression spring (55) is arranged in an array on a side of the lifting plate (54) close to the elastic rubber strip (53).

4. A shield surgical robot according to claim 3, characterized in that: The delivery bin (43) is provided with a sleeve (431) inside, a liquid infusion tube (432) is movably provided inside the sleeve (431), and the other end of the liquid infusion tube (432) is fixedly connected to the water storage bin (12) and the insides are interconnected, and a plug-in plate (551) is provided at one end of the compression spring (55) away from the lifting plate (54), and a plug-in relationship is formed between the plug-in plate (551) and the elastic rubber strip (53).

5. The shield surgical robot according to claim 4, characterized in that: A fixed support rod (471) is provided on one side of the lower support plate (47) close to the corrugated plate (51), and the fixed support rod (471) slides with the corrugated plate (51). A first spring (472) is symmetrically sleeved on the fixed support rod (471), and one end of the first spring (472) is in contact with the corrugated plate (51).

6. A shield surgical robot according to claim 5, characterized in that: A moving assembly (7) is arranged on one side of the arc-shaped protective cover plate (41) close to the tube sheath (1), a control panel (8) is arranged inside the tube sheath (1), and a slag discharge pipe (15) is arranged inside the tube sheath (1).

7. The shield surgical robot according to claim 6, characterized in that: The moving assembly (7) comprises a placement bin (71) arranged on a side of the tube sheath (1) close to the arc-shaped protective cover plate (41), and the placement bin (71) is embedded in the tube sheath (1) and fixedly connected to the inner wall of the tube sheath (1), a controller (72) is arranged inside the placement bin (71), an electric extension rod (73) is arranged on a side of the controller (72) close to the arc-shaped protective cover plate (41), an oblique guide plate (74) is arranged at one end of the electric extension rod (73) away from the controller (72), a push plate (75) is movably arranged at one end of the oblique guide plate (74) away from the electric extension rod (73), and a swing rod (76) is arranged inside the placement bin (71), and the swing rod (76) and the push plate (75) are engaged and slidable with each other.

8. The shield surgical robot according to claim 7, characterized in that: An arc-shaped guide rail (411) is arranged inside the arc-shaped protective cover plate (41), and an arc-shaped clamping plate (412) is movably arranged at one end of the swing rod (76) away from the placement bin (71), and the arc-shaped clamping plate (412) and the arc-shaped guide rail (411) are engaged and slidable, and the arc-shaped clamping plate (412) and the protective transparent plate (45) are in a nested relationship.

9. The shield surgical robot according to claim 2, characterized in that: The drive assembly (6) comprises a motor (61) arranged inside the sheath (1); a rotating shaft (62) is arranged on one side of the motor (61); a gear ring (63) is arranged at one end of the rotating shaft (62) away from the motor (61); a gear set (64) is sleeved on one end of the rotating shaft (62) close to the gear ring (63); the gear set (64) is meshed with the gear ring (63); an external gear plate (65) is meshed on the gear set (64); and the external gear plate (65) is fixedly connected to the shield electric cutting rotary cutter head (14).

10. The shield surgical robot according to claim 9, characterized in that: The placement plate (3) is rotationally connected to the external tooth plate (65) and the shield electric cutting rotary cutter head (14); the placement plate (3) is fixedly connected to the gear set (64); a protective ring bin (651) is provided on the side of the placement plate (3) away from the shield electric cutting rotary cutter head (14); and the protective ring bin (651) is rotationally connected to the rotating shaft (62).

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