Minimally invasive interventional surgical robot execution device for liver cancer treatment

Abstract

The invention discloses a minimally invasive interventional surgery robot execution device for liver cancer treatment, the minimally invasive interventional surgery robot execution device comprises a mounting plate, and fixing holes are formed in the four corners of the mounting plate. When the minimally invasive interventional surgery robot execution device is used, when a first electric telescopic rod pushes a circular plate to horizontally move, a transmission square rod can drive a U-shaped push plate to synchronously move; through the linkage arrangement of a fourth electric telescopic rod, a limiting plate, a driving rack, a rotating gear, a threaded rod, a threaded sleeve and an L-shaped rod, when the fourth electric telescopic rod is started to push the limiting plate to move horizontally, the threaded rod can be driven to rotate, and therefore the surgical instrument can be clamped and fixed. And the threaded rod rotates to drive the two threaded sleeves to move relatively, and the two auxiliary clamping plates are driven to move relatively through the L-shaped rod, so that after the surgical instruments are put into the inner cavity of the opening groove, the surgical instruments with different sizes and thicknesses can be clamped through the relative movement of the two auxiliary clamping plates, and the using flexibility and practicability of the device are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a micro-invasive interventional surgical robot execution device for the treatment of liver cancer. Background Art

[0002] Minimally invasive surgery (MIS) technology emerged in the 1980s and is generally also known as interventional surgery. It uses various visual image devices and advanced and dexterous surgical instrument equipment, and inserts the surgical instruments into the human body through small incisions for treatment or diagnosis. Compared with traditional open surgery, minimally invasive surgery has many advantages such as small trauma, which can reduce the pain of patients, quick postoperative recovery, being beneficial to improving the quality of surgery and reducing the social cost of medical treatment. Therefore, it is widely welcomed by doctors and patients and is an inevitable trend in the development of surgical operations.

[0003] The interventional treatment of liver cancer refers to hepatic artery chemoembolization, which mainly refers to a minimally invasive treatment method in which, without opening the knife, a 3-5 mm incision is first made on the skin surface, and then chemotherapy drugs and vascular embolization agents are injected into the tumor blood vessels. Currently, for most minimally invasive liver cancer treatment surgeries in China, doctors need to hold the surgical instruments for operation. Holding the surgical instruments accurately for a long time increases the labor intensity of doctors. As the labor intensity increases, the hands of doctors will tremble, which will cause operation errors, reduce the accuracy of the surgery, and pose a threat to the lives of patients.

[0004] Therefore, we propose a micro-invasive interventional surgical robot execution device for the treatment of liver cancer to solve the above problems. Summary of the Invention

[0005] To achieve the above object, the present invention provides the following technical solutions: A minimally invasive interventional surgical robot execution device for liver cancer treatment, including a mounting plate, and fixing holes are provided at the four corners of the mounting plate. A bearing plate is fixedly connected to the bottom of the mounting plate, and a fixing column is fixedly connected to the left side of the bearing plate. An annular plate is sleeved on the outer wall of the fixing column, and a driving mechanism is provided on the top of the annular plate. An annular slot is opened inside the annular plate, and a limiting ring adapted thereto is rotatably connected to the inner cavity of the annular slot. The limiting ring is sleeved and fixed on the outer wall of the fixing column. A universal hinge is provided on the left side of the fixing column, and the other side of the universal hinge is connected to a connecting cylinder. A lifting mechanism is provided on the outer side of the connecting cylinder. The top and the bottom left side of the inner cavity of the connecting cylinder are both provided with a first electric telescopic rod, and two first through holes corresponding to the first electric telescopic rods are opened on the left side of the connecting cylinder. The power ends of the two first electric telescopic rods penetrate through the adjacent first through holes and are fixedly connected to the same turntable. A bearing is provided at the center of the turntable, and a square hole round tube is rotatably connected to the inner cavity of the bearing. A clamping seat is fixedly connected to the outer wall of the left end of the square hole round tube, and a clamping mechanism is provided on the left side of the clamping seat. A square cavity is opened on the clamping seat, and a through groove communicating with the inner cavity of the square cavity is opened on the left side of the clamping seat.

[0006] Preferably, the driving mechanism includes an annular rack plate, and the annular rack plate is sleeved and fixed on the right side of the outer wall of the annular plate. A driving gear meshes with the top of the annular rack plate. A first motor is provided on the left side of the bearing plate, and the power end of the first motor is fixedly connected to the center of the right side of the driving gear.

[0007] Preferably, the lifting mechanism includes two arc-shaped clamping plates, and the two arc-shaped clamping plates respectively cover the top and the bottom right side of the connecting cylinder. Connecting rods are fixedly connected to the sides of the two arc-shaped clamping plates away from each other, and the other ends of the connecting rods are hinged to the annular plate. L-shaped plates are fixedly connected to the top and the bottom left side of the annular plate, and a second electric telescopic rod is provided on the left side of the L-shaped plate. The power ends of the two second electric telescopic rods are both fixedly connected to a traction block, and the traction block is slidably connected to the L-shaped plate. Traction rods are hinged to both of the traction blocks, and the other ends of the traction rods are hinged to the connecting rod.

[0008] Preferably, the clamping mechanism includes two main clamping plates, and the two main clamping plates are respectively slidably connected to the top and bottom of the inner cavity of the through groove. Arc-shaped convex plates are fixedly connected to the right sides of the two main clamping plates facing away from each other, and extrusion springs are fixedly connected to the sides of the two main clamping plates facing away from each other. The other sides of the two extrusion springs are respectively fixedly connected to the top and bottom of the inner cavity of the square cavity. A U-shaped push plate is slidably connected to the right side of the inner cavity of the square cavity. A transmission square rod adapted to it is slidably penetrated through the inner cavity of the square hole round tube, and one end of the transmission square rod is fixedly connected to the U-shaped push plate. The top and bottom of the right side of the inner cavity of the connecting cylinder are both provided with third electric telescopic rods, and the power ends of the two third electric telescopic rods are fixedly connected to the same circular plate. A second motor is arranged at the center of the left side of the circular plate. A through hole is opened at the center of the left side of the connecting cylinder, and the right end of the transmission square rod penetrates through the through hole, extends into the inner cavity of the connecting cylinder, and is fixedly connected to the power output end of the second motor.

[0009] Preferably, opening grooves are formed on the left sides of the two main clamping plates, and limiting grooves communicating with the inner cavities of the opening grooves are formed on the sides of the two main clamping plates facing away from each other. Auxiliary clamping plates adapted to them are slidably connected to the inner cavities of the two limiting grooves, and L-shaped rods are fixedly connected to the sides of the two auxiliary clamping plates facing away from each other. The other ends of the two L-shaped rods are respectively fixedly connected to threaded sleeves with opposite thread directions. Second through holes are formed on the two main clamping plates, and the same threaded rod passes through the inner cavities of the two second through holes movably. The two threaded sleeves are respectively threadedly connected to the outer walls of the top and bottom ends of the threaded rod. The bottom end of the threaded rod is rotatably connected to a support plate, and the right side of the support plate is fixedly connected to the left side wall of the clamping seat. The top end of the threaded rod is fixedly connected to a rotating gear, and a driving rack is meshed with the front side of the rotating gear. A groove is formed near the top of the left side of the clamping seat, and a fourth electric telescopic rod is arranged on the right side wall of the inner cavity of the groove. The power end of the fourth electric telescopic rod is fixedly connected to a limiting plate slidably connected to the inner wall of the groove. The right side of the driving rack is fixedly connected to the left side of the limiting plate.

[0010] Preferably, the top and bottom of the inner cavity of the U-shaped push plate are both provided with thickened inclined surfaces.

[0011] Preferably, a maintenance opening is formed on the front side of the connecting cylinder, and a baffle is slidably attached to the front side of the maintenance opening. An arc-shaped dial block is fixedly connected to the front side of the baffle.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] 1. Through the linkage setting of the first electric telescopic rod, circular plate, second motor, transmission square rod, U-shaped push plate, arc-shaped convex plate and compression spring, when the first electric telescopic rod pushes the circular plate to move horizontally, the U-shaped push plate can be driven to move synchronously through the transmission square rod. When the U-shaped push plate moves leftward and squeezes the arc-shaped convex plate, the two main clamping plates can move relatively, so as to clamp and fix the surgical instrument. Through the linkage setting of the fourth electric telescopic rod, limiting plate, driving rack, rotating gear, threaded rod, threaded sleeve and L-shaped rod, when the fourth electric telescopic rod is started to push the limiting plate to move horizontally, the threaded rod can be driven to rotate. The rotation of the threaded rod can drive the two threaded sleeves to move relatively, and drive the two auxiliary clamping plates to move relatively through the L-shaped rod. Therefore, after the surgical instrument is placed into the inner cavity of the opening groove, the surgical instruments with different sizes and thicknesses can be clamped by the relative movement of the two auxiliary clamping plates, improving the flexibility and practicability of the device.

[0014] 2. The present invention drives the turntable to move horizontally through the first electric telescopic rod, so that the clamping seat can be driven to move synchronously through the square-hole circular tube, and thus the surgical instrument can be moved horizontally. By driving the transmission rod to rotate through the second motor, the square-hole circular tube can be driven to rotate, so as to adjust the angle of the surgical instrument. In addition, by pushing the traction block to move horizontally through the second electric telescopic rod, the connecting rod can be pulled to rotate through the traction rod. The rotation of the connecting rod can drive the arc-shaped clamping plate to rotate. The arc-shaped clamping plate can push the connecting tube to rotate around the universal hinge as the center, so as to drive the surgical instrument to slide. By driving the driving gear to rotate through the first motor, the driving gear drives the annular rack plate to rotate, so as to drive the annular plate to rotate, and the sliding direction of the surgical instrument can also be adjusted. By increasing the flexibility of the surgical operation, the requirements of the micro-surgical instrument in terms of volume, function, clamping force, etc. are met, reducing the labor intensity of the doctor, eliminating the operation error caused by the tremor of the doctor's hand, and saving time for the surgical operation at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is the front view structural schematic diagram of the present invention;

[0016] Figure 2 is the sectional view structural schematic diagram of the clamping seat of the present invention;

[0017] Figure 3 is the structural schematic diagram of the baffle of the present invention;

[0018] Figure 4 is the left view structural schematic diagram of the main clamping plate of the present invention;

[0019] Figure 5 is Figure 1 the enlarged view at A in

[0020] Reference numerals in the figure: 1, mounting plate; 2, load-bearing plate; 3, fixed column; 4, annular plate; 5, annular slot; 6, limiting ring; 7, universal hinge; 8, connecting cylinder; 9, first electric telescopic rod; 10, turntable; 11, square-hole round tube; 12, clamping seat; 13, square cavity; 14, through slot; 15, main clamping plate; 16, compression spring; 17, arc convex plate; 18, U-shaped push plate; 19, square rod; 20, second motor; 21, third electric telescopic rod; 22, circular plate; 23, opening slot; 24, limiting slot; 25, auxiliary clamping plate; 26, L-shaped rod; 27, threaded sleeve; 28, threaded rod; 29, rotating gear; 30, driving rack; 31, groove; 32, fourth electric telescopic rod; 33, limiting plate; 34, arc clamping plate; 35, connecting rod; 36, towing rod; 37, L-shaped plate; 38, second electric telescopic rod; 39, towing block; 40, annular rack plate; 41, driving gear; 42, first motor; 43, fixing hole; 44, inspection opening; 45, baffle; 46, arc-shaped shifting block. Detailed implementation manners

[0021] Please refer to Figures 1-5, the present invention provides a technical solution: a minimally invasive interventional surgical robot execution device for liver cancer treatment, including a mounting plate 1, and fixing holes 43 are provided at the four corners of the mounting plate 1. Through the setting of the fixing holes 43, it is convenient to install the mounting plate 1 on the operating table surface of the operating room by using bolts, improving the stability during work. A bearing plate 2 is fixedly connected to the bottom of the mounting plate 1, and a fixed column 3 is fixedly connected to the left side of the bearing plate 2. An annular plate 4 is sleeved on the outer wall of the fixed column 3, and a driving mechanism is provided on the top of the annular plate 4. An annular slot 5 is provided inside the annular plate 4, and a limiting ring 6 adapted thereto is rotatably connected to the inner cavity of the annular slot 5. The limiting ring 6 is sleeved and fixed on the outer wall of the fixed column 3. A universal hinge 7 is provided on the left side of the fixed column 3. The setting of the universal hinge 7 can improve the flexibility of the device to turn, and the other side of the universal hinge 7 is connected to a connecting cylinder 8. An inspection opening 44 is provided on the front side of the connecting cylinder 8, and a baffle 45 is slidably attached to the front side of the inspection opening 44. An arc-shaped dial 46 is fixedly connected to the front side of the baffle 45. By pushing the arc-shaped dial 46 to move horizontally to the left, the baffle 45 can be driven to move synchronously, thereby opening the inspection opening 44, facilitating the later inspection and maintenance of the components inside the connecting cylinder 8. A lifting mechanism is provided on the outside of the connecting cylinder 8. First electric telescopic rods 9 are provided at the top and bottom left sides of the inner cavity of the connecting cylinder 8, and two first through holes corresponding to the first electric telescopic rods 9 are provided on the left side of the connecting cylinder 8. The power ends of the two first electric telescopic rods 9 penetrate through the adjacent first through holes and are fixedly connected to the same turntable 10. A bearing is provided at the center of the turntable 10, and a square hole round tube 11 is rotatably connected to the inner cavity of the bearing. A clamping seat 12 is fixedly connected to the outer wall of the left end of the square hole round tube 11, and a clamping mechanism is provided on the left side of the clamping seat 12. A square cavity 13 is provided in the clamping seat 12, and a through groove 14 communicating with the inner cavity of the square cavity 13 is provided on the left side of the clamping seat 12.

[0022] The driving mechanism includes an annular rack plate 40, and the annular rack plate 40 is sleeved and fixed on the right outer wall of the annular plate 4. A driving gear 41 meshes with the top of the annular rack plate 40. A first motor 42 is provided on the left side of the bearing plate 2, and the power end of the first motor 42 is fixedly connected to the right center of the driving gear 41. When the first motor 42 works, it drives the driving gear 41 to rotate. The driving gear 41 rotates to drive the annular rack plate 40 to rotate. The annular rack plate 40 rotates to drive the annular plate 4 to rotate. The annular plate 4 rotates to drive the arc-shaped clamping plate 34 to rotate, so that the position of the arc-shaped clamping plate 34 on the connecting cylinder 8 can be adjusted.

[0023] The lifting mechanism includes two arc-shaped clamping plates 34, and the two arc-shaped clamping plates 34 are respectively wrapped around the top and the right side of the bottom of the connecting cylinder 8. The arc-shaped clamping plates 34 are fully attached to the outer wall of the connecting cylinder 8. One end of a connecting rod 35 is fixedly connected to each of the sides of the two arc-shaped clamping plates 34 away from each other, and the other end of the connecting rod 35 is hinged to the annular plate 4. L-shaped plates 37 are fixedly connected to the top and the left side of the bottom of the annular plate 4, and a second electric telescopic rod 38 is arranged on the left side of the L-shaped plate 37. The power ends of the two second electric telescopic rods 38 are fixedly connected with a traction block 39, and the traction block 39 is slidably connected to the L-shaped plate 37. A traction rod 36 is hinged to each of the two traction blocks 39, and the other end of the traction rod 36 is hinged to the connecting rod 35. The operation of the second electric telescopic rod 38 drives the traction block 39 to move horizontally. The horizontal movement of the traction block 39 pulls the traction rod 36 to turn, thereby driving the connecting rod 35 to turn. The turning of the connecting rod 35 pushes the arc-shaped clamping plate 34 to turn, and further drives the connecting cylinder 8 to turn.

[0024] The clamping mechanism includes two main clamping plates 15, and the two main clamping plates 15 are respectively slidably connected to the top and the bottom of the inner cavity of the through groove 14. Arc-shaped convex plates 17 are fixedly connected to the right sides of the two main clamping plates 15 facing away from each other, and compression springs 16 are fixedly connected to the sides of the two main clamping plates 15 facing away from each other. The other sides of the two compression springs 16 are respectively fixedly connected to the top and the bottom of the inner cavity of the square cavity 13. A U-shaped push plate 18 is slidably connected to the right side of the inner cavity of the square cavity 13. The top and the bottom of the inner cavity of the U-shaped push plate 18 are both provided with thickened inclined surfaces, so that the inner inclined cutting surface of the U-shaped push plate 18 can squeeze the arc-shaped convex plate 17 to move relatively during the horizontal movement. A transmission square rod 19 adapted to it is slidably penetrated through the inner cavity of the square hole round tube 11, and one end of the transmission square rod 19 is fixedly connected to the U-shaped push plate 18. The top and the bottom of the right side of the inner cavity of the connecting cylinder 8 are both provided with a third electric telescopic rod 21, and the power ends of the two third electric telescopic rods 21 are fixedly connected to the same circular plate 22. A second motor 20 is arranged at the center of the left side of the circular plate 22. A through hole is opened at the center of the left side of the connecting cylinder 8, and the right end of the transmission square rod 19 penetrates through the through hole, extends into the inner cavity of the connecting cylinder 8, and is fixedly connected to the power output end of the second motor 20. The third electric telescopic rod 21 pushes the circular plate 22 to move horizontally. The horizontal movement of the circular plate 22 drives the second motor 20 and the transmission square rod 19 to move horizontally. When the transmission square rod 19 moves horizontally to the left, it can push the U-shaped push plate 18 to move to the left and squeeze the two main clamping plates 15 to move relatively, so as to clamp and fix the surgical instrument.

[0025] Open slots 23 are formed on the left sides of both main clamping plates 15, and limiting slots 24 communicating with the inner cavities of the open slots 23 are formed on the opposite sides of the two main clamping plates 15. The inner cavities of the two limiting slots 24 are slidably connected with auxiliary clamping plates 25 adapted thereto, and L-shaped rods 26 are fixedly connected to the opposite sides of the two auxiliary clamping plates 25. The other ends of the two L-shaped rods 26 are respectively fixedly connected with threaded sleeves 27 with opposite thread directions. Second through holes are formed in both main clamping plates 15, and the same threaded rod 28 movably penetrates through the inner cavities of the two second through holes. The two threaded sleeves 27 are respectively threadedly connected to the outer walls of the top end and the bottom end of the threaded rod 28. The bottom end of the threaded rod 28 is rotatably connected to a support plate, and the right side of the support plate is fixedly connected to the left side wall of the clamping seat 12. The top end of the threaded rod 28 is fixedly connected to a rotating gear 29, and a driving rack 30 meshes with the front side of the rotating gear 29. A groove 31 is formed near the top of the left side of the clamping seat 12, and a fourth electric telescopic rod 32 is arranged on the right side wall of the inner cavity of the groove 31. The power end of the fourth electric telescopic rod 32 is fixedly connected to a limiting plate 33 slidably connected to the inner wall of the groove 31. The right side of the driving rack 30 is fixedly connected to the left side of the limiting plate 33. By pushing the limiting plate 33 to move horizontally to the left through the fourth electric telescopic rod 32, the driving rack 30 can be driven to move to the left. The driving rack 30 moving to the left drives the rotating gear 29 to rotate. The rotating gear 29 rotating drives the threaded rod 28 to rotate. The threaded rod 28 rotating drives the two threaded sleeves 27 to move relatively, and drives the auxiliary clamping plates 25 to move by means of the L-shaped rods 26. By the relative movement of the two auxiliary clamping plates 25, surgical instruments with different thicknesses placed into the inner cavities of the open slots 23 can be clamped and fixed.

[0026] Working principle: When the present invention is in use, first, the mounting plate 1 is fixedly installed on the operating table in the operating room by using bolts. Then, the surgical instrument to be used is placed into the inner cavity of the opening groove 23. By starting the second electric telescopic rod 21, the circular plate 22 is pushed to move horizontally to the left, so as to drive the transmission square rod 19 to move to the left. The leftward movement of the transmission square rod 19 can drive the U-shaped push plate 18 to move to the left, and push the two arc-shaped convex plates 17 to move relatively against the resistance of the adjacent compression springs 16. The relative movement of the two arc-shaped convex plates 17 drives the two main clamping plates 15 to move relatively, so as to clamp and fix the surgical instrument. When the thickness of the surgical instrument is relatively thin, the fourth electric telescopic rod 32 can also be started to push the limiting plate 33 to move horizontally to the left. The leftward movement of the limiting plate 33 drives the driving rack 30 to move to the left. The leftward movement of the driving rack 30 drives the rotating gear 29 to rotate. The rotation of the rotating gear 29 drives the threaded rod 28 to rotate. The rotation of the threaded rod 28 drives the two threaded sleeves 27 to move relatively, and drives the two auxiliary clamping plates 25 to move relatively through the two L-shaped rods 26, so as to clamp and fix the surgical instrument with a thinner handle. By starting the second motor 20 to drive the transmission square rod 19 to rotate, the rotation of the transmission square rod 19 drives the square-hole circular tube 11 to rotate. The rotation of the square-hole circular tube 11 drives the clamping seat 12 to rotate, so as to adjust the orientation of the cutting edge of the surgical instrument. In addition, by pushing the turntable 10 horizontally through the first electric telescopic rod 9, the horizontal position of the surgical instrument can also be adjusted. When one side of the third electric telescopic rod 38 is started, it can drive the traction block 39 to move horizontally. The horizontal movement of the traction block 39 pushes the arc-shaped clamping plate 34 to deflect through the traction rod 36, so as to push the connecting cylinder 8 to deflect, and further drive the surgical instrument to slide. Moreover, the work of the first motor 42 drives the driving gear 41 to rotate. The rotation of the driving gear 41 drives the annular rack plate 40 to rotate. The rotation of the annular rack plate 40 drives the annular plate 4 to rotate, and drives the two L-shaped plates 37 to rotate, so as to adjust the pushing direction of the arc-shaped clamping plate 34, and further adjust the sliding direction of the surgical instrument. By increasing the flexibility of surgical operations, the requirements of micro-surgical instruments in terms of volume, function, clamping force, etc. are met, the labor intensity of doctors is reduced, the operation errors caused by the tremors of doctors' hands are eliminated, and time is saved for surgical operations at the same time.

Claims

1. A minimally invasive interventional surgery robot execution device for liver cancer treatment, comprising a mounting plate (1), wherein the mounting plate (1) is provided with fixing holes (43) at four corners, characterized in that: The bottom of the mounting plate (1) is fixedly connected to a load-bearing plate (2), and the left side of the load-bearing plate (2) is fixedly connected to a fixing column (3), the outer wall of the fixing column (3) is sleeved with an annular plate (4), and the top of the annular plate (4) is provided with a driving mechanism, the inner side of the annular plate (4) is provided with an annular groove (5), and the inner cavity of the annular groove (5) is rotatably connected to a limiting ring (6) matched therewith, and the limiting ring (6) is sleeved and fixed on the outer wall of the fixing column (3), the left side of the fixing column (3) is provided with a universal hinge (7), and the other side of the universal hinge (7) is connected to a connecting tube (8), the outer side of the connecting tube (8) is provided with a lifting mechanism, and the inner cavity top and the left side of the bottom of the connecting tube (8) are provided with a lifting mechanism. A first electric telescopic rod (9) is provided at each of the two locations, and two first through holes corresponding to the first electric telescopic rods (9) are provided on the left side of the connecting tube (8). The power ends of the two first electric telescopic rods (9) pass through adjacent first through holes and are fixedly connected to the same turntable (10). A bearing is provided at the center of the turntable (10), and the inner cavity of the bearing is rotatably connected to a square hole circular tube (11). A clamping seat (12) is fixedly connected to the outer wall of the left end of the square hole circular tube (11), and a clamping mechanism is provided on the left side of the clamping seat (12). A square cavity (13) is provided on the clamping seat (12), and a through groove (14) connected to the inner cavity of the square cavity (13) is provided on the left side of the clamping seat (12).

2. A minimally invasive interventional surgery robot execution device for liver cancer treatment according to claim 1, characterized in that: The driving mechanism comprises an annular rack plate (40), and the annular rack plate (40) is sleeved and fixed on the right side of the outer wall of the annular plate (4), and a driving gear (41) is meshed on the top of the annular rack plate (40). A first motor (42) is arranged on the left side of the load-bearing plate (2), and a power end of the first motor (42) is fixedly connected to the right side center of the driving gear (41).

3. The minimally invasive interventional surgery robot execution device for liver cancer treatment according to claim 1, characterized in that: The lifting mechanism comprises two arc-shaped clamping plates (34), and the two arc-shaped clamping plates (34) are respectively covered on the top and bottom right sides of the connecting tube (8), and the two arc-shaped clamping plates (34) are fixedly connected to a connecting rod (35) on the side away from each other, and the other end of the connecting rod (35) is hinged to the annular plate (4), and the top and bottom left sides of the annular plate (4) are fixedly connected to an L-shaped plate (37), and the left side of the L-shaped plate (37) is provided with a second electric telescopic rod (38), and the power ends of the two second electric telescopic rods (38) are fixedly connected to a traction block (39), and the traction block (39) is slidably connected to the L-shaped plate (37), and the two traction blocks (39) are hinged with a traction rod (36), and the other end of the traction rod (36) is hinged to the connecting rod (35).

4. The minimally invasive interventional surgery robot execution device for liver cancer treatment according to claim 1, characterized in that: The clamping mechanism comprises two main clamping plates (15), and the two main clamping plates (15) are respectively slidably connected to the top and bottom of the inner cavity of the through groove (14), and the two main clamping plates (15) are fixedly connected to the right sides opposite to each other with an arc-shaped convex plate (17), and the two main clamping plates (15) are fixedly connected to the opposite sides with an extrusion spring (16), and the other sides of the two extrusion springs (16) are respectively fixedly connected to the top and bottom of the inner cavity of the square cavity (13), and the inner cavity of the square cavity (13) is slidably connected with a U-shaped push plate (18), and the inner cavity of the square hole round tube (11) is slidably penetrated with a suitable A transmission square rod (19) is provided, and one end of the transmission square rod (19) is fixedly connected to the U-shaped push plate (18); a third electric telescopic rod (21) is provided at the top and the right side of the bottom of the inner cavity of the connecting cylinder (8); and the power ends of the two third electric telescopic rods (21) are fixedly connected to the same circular plate (22); a second motor (20) is provided at the left center of the circular plate (22); a through hole is opened at the left center of the connecting cylinder (8); and the right end of the transmission square rod (19) passes through the through hole, extends to the inner cavity of the connecting cylinder (8), and is fixedly connected to the power output end of the second motor (20).

5. A minimally invasive interventional surgery robot execution device for liver cancer treatment according to claim 4, characterized in that: The left sides of the two main splints (15) are each provided with an opening groove (23), and the opposite sides of the two main splints (15) are each provided with a limiting groove (24) connected with the inner cavity of the opening groove (23), the inner cavities of the two limiting grooves (24) are slidably connected with auxiliary splints (25) adapted thereto, and the opposite sides of the two auxiliary splints (25) are each fixedly connected with an L-shaped rod (26), and the other ends of the two L-shaped rods (26) are respectively fixedly connected with threaded sleeves (27) with opposite thread directions, and the two main splints (15) are each provided with a second through hole, and the inner cavities of the two second through holes are movably penetrated by the same threaded rod (28), and the two threaded sleeves (27) are respectively threadedly connected to the threaded rod ( On the top and bottom outer walls of the clamping seat (12), the bottom end of the threaded rod (28) is rotatably connected to a support plate, and the right side of the support plate is fixedly connected to the left side wall of the clamping seat (12), the top end of the threaded rod (28) is fixedly connected to a rotating gear (29), and the front side of the rotating gear (29) is meshed with a driving rack (30), a groove (31) is provided on the left side of the clamping seat (12) near the top, and a fourth electric telescopic rod (32) is provided on the right side wall of the inner cavity of the groove (31), the power end of the fourth electric telescopic rod (32) is fixedly connected to a limiting plate (33) slidably connected to the inner wall of the groove (31), and the right side of the driving rack (30) is fixedly connected to the left side of the limiting plate (33).

6. The minimally invasive interventional surgery robot execution device for liver cancer treatment according to claim 1, characterized in that: The top and bottom of the inner cavity of the U-shaped push plate (18) are both arranged as thickened inclined surfaces.

7. The minimally invasive interventional surgery robot execution device for liver cancer treatment according to claim 1, characterized in that: The front side of the connecting tube (8) is provided with an inspection opening (44), and the front side of the inspection opening (44) is slidably fitted with a baffle (45), and the front side of the baffle (45) is fixedly connected with an arc-shaped shifting block (46).

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