A shield tunneling surgical robot

Abstract

The present invention relates to the technical field of medical surgical instruments, and specifically relates to a shield surgical robot, which includes a sheath. An annular placement groove is formed on the sheath. An optical fiber endoscope tube is arranged inside the annular placement groove. A placement plate is arranged on one side of the sheath. A protective cleaning component is arranged on the side of the optical fiber endoscope tube close to the placement plate. A water storage chamber is arranged inside the annular placement groove. Jet mechanisms are arranged in an array on the side of the water storage chamber close to the protective cleaning component. A shield electrocautery rotary cutter head is movably arranged on the side of the placement plate far from the inside of the sheath. The present invention has the function of timely cleaning the broken tissues that block the view of the optical fiber 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, and avoids the situation that the medical staff damages healthy tissues when cutting hyperplastic tissues under poor vision conditions.

Description

Technical Field

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

[0002] When hyperplastic tissues appear in a patient's body, it is generally necessary to excise these hyperplastic tissues to avoid compression, dysfunction of surrounding organs or tissues caused by the hyperplastic tissues, and even the occurrence of malignant transformation of the hyperplastic tissues. With the popularization of minimally invasive surgery, robot-assisted technology and artificial intelligence diagnosis, the excision of hyperplastic tissues has become more precise and safe.

[0003] For example, a medical shield tunneling knife and its usage method with the publication number CN105310745A. Through the cooperation between the shield body and the crushing knife set in this device, and then by starting the commutation device, during the operation, the crushed hyperplastic tissues can be aspirated and diverted to the outside, which can effectively prevent further damage inside the cavity lesion or after penetrating the tissue, timely clean the diseased tissues, and save the operation time.

[0004] When the above device is in use, when the crushed hyperplastic tissues are not aspirated, they will stay on the surface of the shield body for a short time, and some tissues will accumulate together. When some tissues come into contact with the lens of the fiber optic endoscope tube, they will adhere to the entire lens of the fiber optic endoscope tube. These adhered crushed tissues will block the view of the fiber optic endoscope tube, preventing medical staff from observing the overall condition inside the patient's body in real time and affecting the subsequent operations of the entire operation. Summary of the Invention

[0005] Aiming at the deficiencies of the existing technology, the present invention provides a shield tunneling surgical robot, which has the function of timely cleaning the crushed tissues that block the view 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, avoiding the situation where the medical staff damage healthy tissues when cutting hyperplastic tissues under poor vision conditions.

[0006] To achieve the above object, the present invention provides the following technical solution: A shield tunneling surgical robot, including a sheath, on which a fiber optic endoscope tube is provided. On one side of the sheath, a placement plate is provided. An annular placement groove is opened on the sheath, and the annular placement groove is located between the inner contour and the outer contour of the sheath. A water storage chamber is arranged inside the annular placement groove. A shield electrocision rotary cutter head is movably arranged on the side of the placement plate away from the inside of the sheath. A protective cleaning component is arranged on the side of the fiber optic endoscope tube close to the placement plate;

[0007] The protective and cleaning component includes an arc-shaped protective cover plate arranged on one side of the fiber endoscope tube close to the shield electrocision rotary cutter head. A fitting plate is arranged inside the arc-shaped protective cover plate close to the fiber endoscope tube. Feeding bins are symmetrically and movably arranged on the fitting plate. An inclined scraping strip is arranged on one side of the feeding bin close to the fiber endoscope tube, and one side of the inclined scraping strip has a rounded corner. A protective transparent plate is movably arranged on one side of the arc-shaped protective cover plate close to the fiber endoscope tube, and the protective transparent plate is located between the fiber endoscope tube and the fitting plate. Sponges are symmetrically arranged inside the arc-shaped protective cover plate. Lower support plates are symmetrically arranged on the fitting plate, and the lower support plates are on the same side of the feeding bins. A compensation component is arranged on one side of the lower support plate close to the feeding bin, and the compensation component is in contact with the feeding bin;

[0008] The compensation component includes corrugated plates symmetrically and movably arranged on the lower support plates. Telescopic rods are arranged in an array on one side of the lower support plate close to the corrugated plates. Elastic rubber strips are arranged at the ends of the telescopic rods far from the lower support plates. Lifting plates are movably arranged on the telescopic rods, and the lifting plates are in contact with the corrugated plates. Compression springs are arranged in an array on one side of the lifting plate close to the elastic rubber strips;

[0009] A sleeve is arranged inside the feeding bin. A liquid infusion tube is movably arranged inside the sleeve, and the other end of the liquid infusion tube is fixedly connected to and internally communicated with a water storage bin. A plugging plate is arranged at the end of the compression spring far from the lifting plate, and the plugging plate forms a plugging relationship with the elastic rubber strip;

[0010] When the protective transparent plate is displaced, it pushes the feeding bin to be displaced, drives the corrugated plate to be displaced, makes the elastic rubber strip closely adhere to one side of the protective transparent plate. At the same time, the descent of the feeding bin causes partial diversion of the liquid inside the water storage bin, and it is sprayed onto the protective transparent plate from the rounded corner side of the inclined scraping strip to form a lubricating effect.

[0011] Preferably, the fiber endoscope tube is located in an annular placement groove. Jet mechanisms are arranged in an array on one side of the water storage bin close to the protective and cleaning component. A drive component is arranged on one side of the shield electrocision rotary cutter head close to the placement plate.

[0012] Preferably, a fixed support rod is arranged on one side of the lower support plate close to the corrugated plate, and the fixed support rod slides with the corrugated plate. First springs are symmetrically sleeved on the fixed support rod, and one end of each first spring is in contact with the corrugated plate.

[0013] Preferably, a moving component is arranged on one side of the arc-shaped protective cover plate close to the sheath. A control panel is arranged inside the sheath. A slag discharge pipe is arranged inside the sheath.

[0014] Preferably, the moving component includes a placement bin disposed on the side of the sheath near the arc-shaped protective cover plate. The placement bin is embedded between the sheath and the inner wall of the sheath and fixedly connected thereto. A controller is disposed inside the placement bin. An electric telescopic rod is disposed on the side of the controller near the arc-shaped protective cover plate. An inclined guide plate is disposed at one end of the electric telescopic rod away from the controller. A push plate is movably disposed at one end of the inclined guide plate away from the electric telescopic rod. A swing rod is disposed inside the placement bin, and the swing rod is engaged and slid with the push plate.

[0015] Preferably, an arc-shaped guide rail is disposed inside the arc-shaped protective cover plate. An arc-shaped clamping plate is movably disposed at one end of the swing rod away from the placement bin, and the arc-shaped clamping plate is engaged and slid with the arc-shaped guide rail. The arc-shaped clamping plate and the protective transparent plate are in a nested relationship.

[0016] Preferably, the driving component includes a motor disposed inside the sheath. A rotating shaft is disposed on one side of the motor. A toothed ring is disposed at one end of the rotating shaft away from the motor. A gear set is sleeved at one end of the rotating shaft near the toothed ring, and the gear set is engaged with the toothed ring. An external toothed plate is engaged with the gear set, and the external toothed plate is fixedly connected to the shield electrocision rotary cutter head.

[0017] Preferably, the placement plate is rotatably connected to both the external toothed plate and the shield electrocision rotary cutter head. The placement plate is fixedly connected to the gear set. A protective ring bin is disposed on one side of the placement plate away from the shield electrocision rotary cutter head, and the protective ring bin is rotatably connected to the rotating shaft.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] 1. Through the cooperation between the protective transparent plate and the fitting plate disposed inside the arc-shaped protective cover plate in the present invention, when protecting the lens of the entire fiber endoscope tube, the front view of the entire fiber endoscope tube will not be blocked. When the surface of the protective transparent plate on the side of the hyperplastic tissue is attached with broken tissue, affecting the entire observation view, medical staff can move the protective transparent plate to move the clean section of the protective transparent plate to the surface of the fiber endoscope tube to provide a clear view again.

[0020] 2. At the same time, during the entire movement process of the protective transparent plate, a lubricating effect will be formed on the side of the protective transparent plate facing the hyperplastic tissue by spraying liquid with the inclined scraping strip. With the arc angle provided by the inclined scraping strip, it is avoided that the protective transparent plate directly forms a hard collision with the inclined scraping strip during movement, resulting in scratches on the protective transparent plate and affecting the subsequent view. At the same time, during the entire cleaning process, the sprayed liquid and the inclined scraping strip form the first layer of cleaning, and the provided elastic rubber strip is the second layer of cleaning. Finally, the surface of the protective transparent plate after cleaning will be wiped by the sponge to form the third layer of cleaning, improving the overall cleaning effect.

[0021] 3. When removing the entire hyperplastic tissue, the jet mechanism can spray the liquid stored inside the water storage tank onto the cutting area of the hyperplastic tissue in the patient's body, reducing the discomfort of the patient during the entire removal process. At the same time, when the protective transparent plate moves, the flow channel of the infusion tube at the inclined scraping strip that comes into contact will be opened, allowing the liquid inside the water storage tank to be redistributed and enter the corresponding delivery tank, and finally sprayed onto the protective transparent plate through the small holes opened on the inclined scraping strip, enabling the protective transparent plate to have a certain lubricating effect under the attached liquid.

[0022] 4. When the corresponding inclined scraping strip moves, the corrugated plate arranged on the lower support plate will move synchronously, causing the compression spring to be compressed again when the elastic rubber strip contacts the protective transparent plate and forms a compressed state, compensating the pressure on the set elastic rubber strip, and preventing the situation where the elastic rubber strip cannot closely adhere to the surface of the protective transparent plate when the elastic rubber strip is damaged, which affects the cleaning effect of the entire protective transparent plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall device of the present invention.

[0024] Figure 2 It is a schematic diagram of the overall side sectional structure of the device of the present invention.

[0025] Figure 3 It is a schematic diagram of the internal explosion structure of the cannula sheath of the device of the present invention.

[0026] 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.

[0027] Figure 5 It is a schematic diagram of the partial explosion structure of the protective cleaning component of the device of the present invention.

[0028] Figure 6 It is a schematic diagram of the working state structure of the compensation component on one side of the fitting plate of the device of the present invention.

[0029] Figure 7 It is a schematic diagram of the non-working state structure of the compensation component on one side of the fitting plate of the device of the present invention.

[0030] Figure 8 It is a partial schematic diagram of the connection structure between the fitting plate and the lower support plate of the device of the present invention.

[0031] Figure 9 It is the device of the present invention Figure 6 Partial enlarged schematic diagram at A.

[0032] Figure 10 It is the device of the present invention Figure 7 Partial enlarged schematic diagram at B.

[0033] Figure 11 This is a partial schematic diagram of the connection structure between the moving component and the protective transparent plate of the device of the present invention.

[0034] Figure 12 This is a partial exploded structural schematic diagram of the driving component of the device of the present invention.

[0035] In the figure: 1. Sheath; 11. Annular placement groove; 12. Water storage chamber; 13. Jet mechanism; 14. Shield electrocision rotary cutter head; 15. Slag discharge pipe; 2. Fiber optic endoscope tube; 3. Placement plate; 4. Protective cleaning component; 41. Arc-shaped protective cover plate; 411. Arc-shaped guide rail; 412. Arc-shaped clamping plate; 42. Fitting plate; 43. Delivery chamber; 431. Sleeve; 432. Infusion tube; 44. Inclined scraping strip; 45. Protective transparent plate; 46. Sponge; 47. Lower support plate; 471. Fixed support rod; 472. First spring; 5. Compensation component; 51. Corrugated plate; 52. Telescopic rod; 53. Elastic rubber strip; 54. Lifting plate; 55. Compression spring; 551. Plug-in plate; 6. Driving component; 61. Motor; 62. Rotating shaft; 63. Tooth ring; 64. Gear set; 65. External tooth plate; 651. Protective ring chamber; 7. Moving component; 71. Placement chamber; 72. Controller; 73. Electric telescopic rod; 74. Oblique guide plate; 75. Pushing plate; 76. Swing rod; 8. Control panel. Detailed implementation manners

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0037] Example 1 Please refer to Figures 1 to 10 , which is the first embodiment of the present invention, and provides a technical solution: A shield operation robot includes a sheath 1, on which a fiber optic endoscope tube 2 is provided. The fiber optic endoscope tube 2 is used to transmit the picture of the cutting surface in real time to ensure the accuracy of the whole operation and not damage the hyperplastic tissue. On one side of the sheath 1, a placement plate 3 is provided. The placement plate 3 is arrayed with openings. The openings on the placement plate 3 are used for the subsequent suction operation of the excised hyperplastic tissue. The excised hyperplastic tissue can enter the inside of the sheath 1 through these openings and is finally sucked and conveyed to the outside by the slag discharge pipe 15;

[0038] On the side of the placement plate 3 away from the inside of the sheath 1, a shield electrocision rotary cutter head 14 is movably arranged. On the side of the shield electrocision rotary cutter head 14 away from the placement plate 3, blades are arranged. When these blades come into contact with the proliferated tissues, they can cut these tissues. At the same time, the pulverizing knives arranged in an array on the shield electrocision rotary cutter head 14 suck the cut tissues into the through holes in the placement plate 3 under negative pressure, and the pulverizing knives rotate to pulverize these tissues. On the side of the fiber optic endoscope tube 2 close to the placement plate 3, a protective cleaning assembly 4 is arranged;

[0039] The protective cleaning assembly 4 includes an arc-shaped protective cover plate 41 arranged on the side of the fiber optic endoscope tube 2 close to the shield electrocision rotary cutter head 14. On one side of the arc-shaped protective cover plate 41, small holes are arrayed to facilitate the liquid inside the arc-shaped protective cover plate 41 to drip outside through these holes. On the side of the arc-shaped protective cover plate 41 close to the fiber optic endoscope tube 2, a fitting plate 42 is arranged. At the position of the lens of the fiber optic endoscope tube 2, a conical diffusion opening is opened on the fitting plate 42. Through the conical opening, when the fiber optic endoscope tube 2 is working to observe the patient's body condition, the field of view will not be blocked;

[0040] On the fitting plate 42, a delivery bin 43 is symmetrically and movably arranged. The delivery bin 43 is U-shaped as a whole and is engaged and slid with the fitting plate 42. At the same time, its interior is a cavity. When the inclined scraping strip 44 arranged on one side of the delivery bin 43 is displaced under the extrusion of the protective transparent plate 45, the displaced delivery bin 43 at this moment will make the sleeve 431 and the infusion tube 432 arranged inside communicate with each other, so that a part of the liquid in the water storage bin 12 is diverted into the interior of the delivery bin 43, and finally forms a water column sprayed on the surface of the protective transparent plate 45 from the small holes opened on the inclined scraping strip 44, so that when the inclined scraping strip 44 and the arranged elastic rubber strip 53 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 whole scraping and cleaning process, affecting the overall viewing angle of the fiber optic endoscope tube 2;

[0041] On the side of the delivery bin 43 close to the fiber optic endoscope tube 2, an inclined scraping strip 44 is arranged, and one side of the inclined scraping strip 44 has a rounded corner. The interior of the inclined scraping strip 44 has a cavity and this cavity communicates with the delivery bin 43. On the side of the inclined scraping strip 44 with a rounded corner, small holes are arrayed to allow the liquid entering the interior of the delivery bin 43 to be sprayed on one side surface of the protective transparent plate 45 through these small holes;

[0042] A protective transparent plate 45 is movably arranged on one side of the arc-shaped protective cover plate 41 close to the fiber optic endoscope tube 2, and the protective transparent plate 45 is located between the fiber optic endoscope tube 2 and the fitting plate 42. The protective transparent plate 45 is made of polycarbonate material as a whole. While having high transparency as a whole, the protective transparent plate 45 formed by this material also has corrosion resistance and wear resistance. Sponges 46 are symmetrically arranged inside the arc-shaped protective cover plate 41. The sponges 46 are used to wipe a section of the protective transparent plate 45 to be cleaned by the sponges 46 when the protective transparent plate 45 is displaced, and adsorb the residual liquid on the protective transparent plate 45. Lower support plates 47 are symmetrically arranged on the fitting plate 42, and the lower support plates 47 are on the same side of the conveying bin 43. A compensation assembly 5 is arranged on one side of the lower support plate 47 close to the conveying bin 43, and the compensation assembly 5 is in contact with the conveying bin 43;

[0043] When the protective transparent plate 45 is displaced, the waveform plate 51 is driven to displace by the lowering of the conveying bin 43, so that the elastic rubber strip 53 can closely adhere to one side of the protective transparent plate 45. At the same time, the lowering of the conveying bin 43 causes partial diversion of the liquid inside the water storage bin 12, and the liquid is sprayed from the arc angle side of the inclined scraping strip 44 onto the protective transparent plate 45 to form a certain lubricating effect.

[0044] An annular placement groove 11 is formed on the sheath 1, and the annular placement groove 11 is located between the inner contour and the outer contour of the sheath 1. The annular placement groove 11 is provided for placing the fiber optic endoscope tube 2 and the water storage bin 12. When the sheath 1 is inserted into the patient's body to excise the hyperplastic tissue, the fiber optic endoscope tube 2 can observe the internal situation inside the patient's body in real time. A water storage bin 12 is arranged inside the annular placement groove 11. One end of the water storage bin 12 is externally connected with a water pipe, and the water pipe is connected to a pressurizing device. When the pressurizing device continuously conveys liquid into the water storage bin 12, a high-pressure environment is formed inside the water storage bin 12, so that the liquid finally outputs from the injector on the jet mechanism 13 to the external environment;

[0045] Jet mechanisms 13 are arranged in an array on one side of the water storage bin 12 close to the protective cleaning assembly 4. The jet mechanism 13 includes a conveying pipe communicating with the water storage bin 12 and an injector arranged at the end of the conveying pipe away from the water storage bin 12. The liquid inside the water storage bin 12 is sprayed into the cutting area of the patient's hyperplastic tissue through the injector. A driving assembly 6 is arranged on one side of the shield electrocision rotary cutter head 14 close to the placement plate 3.

[0046] The compensation component 5 includes a corrugated plate 51 symmetrically and movably arranged on the lower support plate 47. The corrugated plate 51 is integrally wavy. At the highest point of the corrugated plate 51, a straight plate is provided to prevent the corrugated plate 51 from moving excessively when it is not squeezed and is reset by the elastic force of the first spring 472. On the side of the lower support plate 47 close to the corrugated plate 51, telescopic rods 52 are arranged in an array. At one end of the telescopic rod 52 away from the lower support plate 47, an elastic rubber strip 53 is provided. The side of the elastic rubber strip 53 close to the protective transparent plate 45 is integrally comb-shaped. The surface of the protective transparent plate 45 is contacted by a plurality of rubber sheets to make the protective transparent plate 45 regain its permeability;

[0047] A lifting plate 54 is movably arranged on the telescopic rod 52, and the lifting plate 54 is in contact with the corrugated plate 51. On the side of the lifting plate 54 close to the elastic rubber strip 53, compression springs 55 are arranged in an array. The compression springs 55 are used to compensate the pressure on the elastic rubber strip 53, so that when the elastic rubber strip 53 is damaged, it can also be closely attached to the surface of the protective transparent plate 45 under the action of the compression springs 55. At the same time, when the protective transparent plate 45 and the inclined scraping strip 44 are no longer in contact, the compression springs 55 will release the elastic force to make the elastic rubber strip 53 return 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 scraping strip 44 and the protective transparent plate 45.

[0048] A sleeve 431 is arranged inside the conveying bin 43. The sleeve 431 has a cavity inside as a whole, and through holes are arrayed on its surface. Through the cooperation between the sleeve 431 and the infusion tube 432 inserted therein, when the inclined scraping strip 44 arranged on the conveying bin 43 drives the conveying bin 43 to displace under the extrusion of the protective transparent plate 45, the displaced sleeve 431 will make the infusion tube 432 pass through the through holes opened, so as to form a communication channel between the conveying bin 43 and the water storage bin 12, so that the liquid inside the water storage bin 12 is divided, and a part of the liquid enters the conveying bin 43;

[0049] 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 bin 12 and internally communicated. At one end of the compression spring 55 away from the lifting plate 54, a plug-in plate 551 is provided, and the plug-in plate 551 forms a plug-in relationship with 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.

[0050] A fixed support rod 471 is arranged 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 fixing blocks arranged on the lower support plate 47. At the same time, the overall height of the fixing blocks is less than the space between the conveying bin 43 and the lower support plate 47 after the displacement of the conveying bin 43, so as to avoid contact between the conveying bin 43 and the fixing blocks when the conveying bin 43 is displaced, resulting in the conveying bin 43 being unable to move to the final position. Symmetrically sleeved on the fixed support rod 471 are first springs 472, and one end of each first spring 472 contacts the corrugated plate 51. The first springs 472 are located between the corrugated plate 51 and the arranged fixing blocks. Through the elastic forces of the first springs 472 and the pressing springs 55, the corrugated plate 51 can complete the entire reset.

[0051] A moving assembly 7 is arranged on the side of the arc-shaped protective cover plate 41 close to the tube sheath 1. The moving assembly 7 is used to drive the entire protective transparent plate 45 to move. When a section of the protective transparent plate 45 at the position of the fiber endoscope tube 2 is soiled, the user can drive the protective transparent plate 45 to move, and attach the clean section of the protective transparent plate 45 to the fiber endoscope tube 2 again. A control panel 8 is arranged inside the tube sheath 1. The control panel 8 is used to control the start of the motor 61 and receive the signal of the fiber endoscope tube 2 for imaging processing. A slag discharge pipe 15 is arranged inside the tube 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 crushed tissue is suctioned outside the patient's body.

[0052] During use, the drive component 6 is started through the control panel 8 to work. During the entire working process, an external pressurizing device is started according to actual needs to convey liquid into the water storage bin 12. When it is found that the surface of the fiber endoscope tube 2 is blurred, it indicates that some broken tissues adhere to the protective transparent plate 45, affecting the entire observation perspective. At this moment, a signal is sent to the moving component 7 through the control panel 8, causing the moving component 7 to drive the protective transparent plate 45 to move, and moving the dirty section of the protective transparent plate 45 to the side for cleaning. During the entire moving process, the protective transparent plate 45 will squeeze the inclined scraping strip 44 to displace. When the displaced inclined scraping strip 44 drives the conveying bin 43 to displace, the flow channel between the sleeve 431 and the infusion tube 432 inside the conveying bin 43 will be opened, causing partial diversion of the liquid inside the water storage bin 12. The liquid is sprayed onto the surface of the protective transparent plate 45 through the small holes provided on the inclined scraping strip 44. At this moment, not only is the protective transparent plate 45 wetted and lubricated, but also a certain water film is formed by the sprayed liquid to protect the entire surface of the protective transparent plate 45, avoiding scratches on the surface of the protective transparent plate 45 when it contacts the inclined scraping strip 44 and the elastic rubber strip 53. At the same time, under the movement of the conveying bin 43, the waveform plate 51 provided can be displaced, causing the compression spring 55 to be further compressed on the basis of the original compression, making the elastic rubber strip 53 closely adhere to the surface of the protective transparent plate 45. Thus, when the elastic rubber strip 53 is damaged, the situation where the elastic rubber strip 53 cannot closely adhere to the protective transparent plate 45 can also be avoided, thereby completing the entire surgical process.

[0053] Example 2 Please refer to Figures 1 to 11 , which is the second embodiment of the present invention. The difference between this embodiment and the first embodiment is:

[0054] The moving component 7 includes a placement bin 71 provided on one side of the tube sheath 1 close to the arc-shaped protective cover plate 41. 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 provided inside the placement bin 71. A wire is connected between one side of the controller 72 and the control panel 8. Through the control of the control panel 8, the controller 72 is turned on and off, thereby driving the electric telescopic rod 73 to expand and contract. An electric telescopic rod 73 is provided on one side of the controller 72 close to the arc-shaped protective cover plate 41. An inclined guide plate 74 is provided at one end of the electric telescopic rod 73 away from the controller 72. An inclined guide groove is opened on the inclined guide plate 74 to drive the push plate 75 to displace under the action of this guide groove, causing the swing rod 76 provided to swing. Under the action of the swing rod 76, the entire protective transparent plate 45 starts to move, moving the dirty part of the protective transparent plate 45 to one side for cleaning;

[0055] One end of the inclined guide plate 74 far away from the electric telescopic rod 73 is movably provided with a push plate 75. There is a snap-fit sliding relationship between the push plate 75 and the inclined guide plate 74. At the same time, a straight guide rail is provided on the push plate 75. Through the snap-fit relationship between the straight guide rail and the telescopic swing rod 76, when the push plate 75 is displaced, the swing rod 76 can be swung. Inside the placement bin 71, there is a swing rod 76, and there is a snap-fit sliding between the swing rod 76 and the push plate 75. The swing rod 76 is telescopic, and a notch is opened on its inner rod. Through the snap-fit sliding between the notch and the arc-shaped clamping plate 412, when the swing rod 76 rotates and swings, the swing rod 76 can push the arc-shaped clamping plate 412 to move along the arc-shaped guide rail 411 provided inside the arc-shaped protective cover plate 41. The notch provided on the inner rod of the swing rod 76 can provide a moving space to prevent the overall deflection angle of the arc-shaped clamping plate 412 from being affected by the swing rod 76.

[0056] Inside the arc-shaped protective cover plate 41, there is an arc-shaped guide rail 411. One end of the swing rod 76 far away from the placement bin 71 is movably provided with an arc-shaped clamping plate 412, and there is a snap-fit sliding between the arc-shaped clamping plate 412 and the arc-shaped guide rail 411. There is a nested relationship between the arc-shaped clamping plate 412 and the protective transparent plate 45.

[0057] During the use process, when the control panel 8 sends a start signal to the controller 72, the controller 72 can drive the electric telescopic rod 73 to extend, so that the electric telescopic rod 73 pushes the inclined guide plate 74 to displace, thereby causing the push plate 75 to displace synchronously. Driven by the push plate 75, the swing rod 76 drives the entire arc-shaped clamping plate 412 to move along the arc-shaped guide rail 411, thereby completing the movement of the protective transparent plate 45. Subsequently, through the reset of the electric telescopic rod 73, a section of the protective transparent plate 45 that has been cleaned is reattached to the fiber endoscope tube 2 to complete the cleaning of the entire viewing angle.

[0058] The rest of the structure is the same as that of Embodiment 1.

[0059] For Embodiment 3, please refer to Figures 1 to 12 , which is the third embodiment of the present invention. The differences between this embodiment and the first and second embodiments are as follows:

[0060] The driving assembly 6 includes a motor 61 arranged inside the sheath 1. The motor 61 drives the rotating shaft 62 to rotate forward and backward, which is controlled by the arranged control panel 8. A rotating shaft 62 is arranged on one side of the motor 61. The rotating shaft 62 is used to rotate under the drive of the motor 61. Through the rotation of the rotating shaft 62, the shield electrocision rotary cutter head 14 rotates to excise and crush the hyperplastic tissue.

[0061] One end of the rotating shaft 62 away from the motor 61 is provided with a toothed ring 63. A gear set 64 is sleeved on one end of the rotating shaft 62 close to the toothed ring 63, and the gear set 64 meshes with the toothed ring 63. The gear set 64 is composed of multiple small gears and an annular bracket. Through the meshing action of the gear set 64, the rotation on the rotating shaft 62 is transmitted. An external toothed plate 65 is meshed on the gear set 64, and the external toothed plate 65 is fixedly connected to the shield electric cutting rotary cutter head 14. The external toothed plate 65 is an annular baffle, and annular teeth are arranged inside it. Through the meshing relationship 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 external toothed plate 65, so that the external toothed plate 65 drives the shield electric cutting rotary cutter head 14 to rotate, and the blades on the cutter head cut the hyperplastic tissue.

[0062] The placement plate 3 is rotatably connected to both the external toothed 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 chamber 651 is arranged on one side of the placement plate 3 away from the shield electric cutting rotary cutter head 14, and the protective ring chamber 651 is rotatably connected to the rotating shaft 62.

[0063] When the sheath 1 reaches the hyperplastic tissue in the patient's body, the motor 61 is started to work through the control panel 8. Driven by the motor 61, the rotating shaft 62 rotates. At this moment, with the cooperation of the gear set 64 arranged at one end of the rotating shaft 62 driven by the rotating shaft 62, the entire shield electric cutting rotary cutter head 14 starts to work and rotate, cutting and crushing the hyperplastic tissue of the patient. During the entire cutting process, medical staff can observe the specific situation in the patient's body in real time through the provided fiber optic endoscope tube 2. When the medical staff observes broken tissues in the patient's urethra through the fiber optic endoscope tube 2, the negative pressure pump connected to one end of the slag discharge pipe 15 is started to suck these remaining broken tissues into the sheath 1. Subsequently, under continuous suction, the broken tissues inside the sheath 1 are sucked into the slag discharge pipe 15 and finally discharged to the outside.

[0064] The remaining structures are the same as those of Embodiments 1 and 2.

[0065] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. 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: A fiber optic endoscope tube (2) is provided on the sheath (1). A placement plate (3) is provided on one side of the sheath (1). An annular placement groove (11) is formed on the sheath (1), and the annular placement groove (11) is located between the inner contour and the outer contour of the sheath (1). A water storage chamber (12) is arranged inside the annular placement groove (11). A shielded electrocision rotary cutter head (14) is movably arranged on the side of the placement plate (3) away from the inside of the sheath (1). A protective cleaning component (4) is arranged on the side of the fiber optic endoscope tube (2) close to the placement plate (3). The protective cleaning component (4) includes an arc-shaped protective cover plate (41) arranged on the side of the fiber optic endoscope tube (2) close to the shielded electrocision rotary cutter head (14). A fitting plate (42) is arranged on the side of the arc-shaped protective cover plate (41) close to the fiber optic endoscope tube (2). A conveying chamber (43) is symmetrically and movably arranged on the fitting plate (42). An inclined scraping strip (44) is arranged on the side of the conveying chamber (43) close to the fiber optic endoscope tube (2), and one side of the inclined scraping strip (44) has a rounded corner. A protective transparent plate (45) is movably arranged on the side of the arc-shaped protective cover plate (41) close to the fiber optic endoscope tube (2), and the protective transparent plate (45) is located between the fiber optic endoscope tube (2) and the fitting plate (42). Sponges (46) are symmetrically arranged inside the arc-shaped protective cover plate (41). Lower support plates (47) are symmetrically arranged on the fitting plate (42), and the lower support plates (47) are on the same side of the conveying chamber (43). A compensation component (5) is arranged on the side of the lower support plate (47) close to the conveying chamber (43), and the compensation component (5) is in contact with the conveying chamber (43). The compensation component (5) includes corrugated plates (51) symmetrically and movably arranged on the lower support plates (47). A plurality of telescopic rods (52) are arranged in an array on the side of the lower support plate (47) close to the corrugated plates (51). An elastic rubber strip (53) is arranged at the 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) is in contact with the corrugated plates (51). A plurality of pressing springs (55) are arranged in an array on the side of the lifting plate (54) close to the elastic rubber strip (53). A sleeve (431) is arranged inside the conveying chamber (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 chamber (12) and internally communicated. A plugging plate (551) is arranged at the end of the pressing spring (55) away from the lifting plate (54), and the plugging plate (551) forms a plugging relationship with the elastic rubber strip (53). When the protective transparent plate (45) is displaced, the conveying chamber (43) is pushed to be displaced, driving the corrugated plates (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 downward movement of the conveying chamber (43) causes partial diversion of the liquid inside the water storage chamber (12), and the liquid is sprayed onto the protective transparent plate (45) from the rounded corner side of the inclined scraping strip (44) to form a lubricating effect.

2. The shield surgical robot according to claim 1, characterized in that: The fiber optic endoscope tube (2) is located within the annular placement groove (11). On the side of the water storage bin (12) close to the protective cleaning assembly (4), a jet mechanism (13) is arranged in an array. On the side of the shield electrocision rotary cutter head (14) close to the placement plate (3), a drive assembly (6) is provided.

3. The shield surgical robot according to claim 1, characterized in that: On the side of the lower support plate (47) close to the corrugated plate (51), a fixed support rod (471) is provided, and the fixed support rod (471) slides with respect to the corrugated plate (51). Symmetrically sleeved on the fixed support rod (471) are first springs (472), and one end of each first spring (472) is in contact with the corrugated plate (51).

4. A shield surgical robot according to claim 1, wherein: On the side of the arc-shaped protective cover plate (41) close to the sheath (1), a moving assembly (7) is provided. Inside the sheath (1), a control panel (8) is provided, and inside the sheath (1), a slag discharge pipe (15) is provided.

5. The shield surgical robot according to claim 4, characterized in that: The moving assembly (7) includes a placement bin (71) arranged on the side of the sheath (1) close to the arc-shaped protective cover plate (41). The placement bin (71) is embedded within the sheath (1) and fixedly connected to the inner wall of the sheath (1). Inside the placement bin (71), a controller (72) is provided. On the side of the controller (72) close to the arc-shaped protective cover plate (41), an electric telescopic rod (73) is provided. At the end of the electric telescopic rod (73) away from the controller (72), an inclined guide plate (74) is provided. At the end of the inclined guide plate (74) away from the electric telescopic rod (73), a push plate (75) is movably arranged. Inside the placement bin (71), a swing rod (76) is provided, and the swing rod (76) is engaged and slides with the push plate (75).

6. The shield surgical robot according to claim 5, wherein: Inside the arc-shaped protective cover plate (41), an arc-shaped guide rail (411) is provided. At the end of the swing rod (76) away from the placement bin (71), an arc-shaped clamping plate (412) is movably arranged, and the arc-shaped clamping plate (412) is engaged and slides with the arc-shaped guide rail (411). The arc-shaped clamping plate (412) and the protective transparent plate (45) are in a nested relationship.

7. The shield surgical robot according to claim 2, wherein: The drive assembly (6) includes a motor (61) arranged inside the sheath (1). On one side of the motor (61), a rotating shaft (62) is provided. At the end of the rotating shaft (62) away from the motor (61), a toothed ring (63) is provided. A gear set (64) is sleeved on the rotating shaft (62) close to the toothed ring (63), and the gear set (64) meshes with the toothed ring (63). An external toothed plate (65) is meshed with the gear set (64), and the external toothed plate (65) is fixedly connected to the shield electrocision rotary cutter head (14).

8. The shield surgical robot according to claim 7, wherein: The placement plate (3) is rotatably connected to both the external toothed plate (65) and the shield electrocision rotary cutter head (14). The placement plate (3) is fixedly connected to the gear set (64). On the side of the placement plate (3) away from the shield electrocision rotary cutter head (14), a protective ring bin (651) is provided, and the protective ring bin (651) is rotatably connected to the rotating shaft (62).

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