Surgical robot with tool changing device

Abstract

The invention relates to the technical field of medical apparatuses and instruments, and discloses a surgical robot with a tool changing device.The surgical robot comprises a base, a workbench is fixedly installed on the base, and a plurality of tool changing mechanical arms are installed on the workbench in a sliding mode. The function and the type of the tool with the label are recognized, the pollution degree of the tool with the label in the operation is judged in combination with the type of the operation, the controller controls the first output source to control the rotating stand column to rotate, and the fixing box with the corresponding pollution degree is selected; and the recycling mechanical arms on the fixed box clamp the labeled cutters and put the labeled cutters into the corresponding recycling cavities, so that it is ensured that the labeled cutters clamped by the recycling mechanical arms are always the same in pollution degree, cross contamination is avoided, different types of labeled cutters are directly classified, the recycling process can be more efficient and orderly, and the recycling efficiency is improved. Meanwhile, the subsequent disinfection treatment efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a surgical robot equipped with a tool-changing device. Background Art

[0002] A surgical robot equipped with a tool-changing device is a highly intelligent medical device that can automatically replace surgical tools (such as an electrosurgical knife, an ultrasonic scalpel, scissors, a clamping forceps, etc.) through a robotic arm to meet the requirements of different operation steps in complex surgeries. Such robots combine precise manipulation, automation technology, and multi-tool collaboration capabilities, significantly improving surgical efficiency and safety.

[0003] The specific operation of the surgical robot is divided into three steps: preoperative preparation, preloading sterile instruments into the tool library, and the system automatically scanning and recording parameters (length, power, function, etc.); intraoperative operation, the doctor selects a tool through the console interface or voice command, the system retrieves it from the tool library, and the robotic arm moves to the tool library for docking and locking before starting the surgery; postoperative processing, automatically recycling the used tools into the disinfection chamber and discarding disposable instruments.

[0004] Existing surgical robots have significant deficiencies in postoperative processing. Currently, only a unified recycling method is adopted for the surgical knives used in the surgery, resulting in the mixing of disposable equipment, limited-use reusable equipment, and reusable equipment. This not only greatly increases the recycling workload, but also because the surgical sites contacted by different knives in the same surgery are different, and the pollution degrees are also different, mixed recycling is extremely likely to cause cross-contamination. For example, after a knife with a general pollution degree contacts a knife with a high-risk pollution degree, both need to be disinfected according to the high pollution degree, further increasing the workload of subsequent disinfection processing. Based on this, the present invention purposefully provides a surgical robot equipped with a tool-changing device that can classify and recycle the used knives. Summary of the Invention

[0005] The purpose of the present invention is to provide a surgical robot equipped with a tool-changing device for the deficiencies of the existing technology to solve the technical problems in the existing technology.

[0006] The purpose of the present invention can be achieved through the following technical solutions: A surgical robot equipped with a tool-changing device, comprising: Base, on which a workbench is fixedly installed. A plurality of tool-changing robotic arms are slidably installed on the workbench, and the tool-changing robotic arms are driven to move by a driving source built in the workbench. Each tool-changing robotic arm corresponds to a toolbox, and the toolbox is fixedly installed on the base. The toolbox is used to store tagged tools, and the tool-changing robotic arm takes the unused tagged tools from the toolbox. An opening is provided on the workbench, and a controller is arranged on the base. The toolbox and the tool-changing robotic arms are both connected to the controller; Carrier, which is fixedly installed on the workbench. A placement table is fixedly installed on the carrier. When the tool-changing robotic arm needs to change tools, the tool-changing robotic arm places the used tagged tool on the placement table. A camera recognition component is fixedly installed on the carrier. The camera recognition component is located above the placement table and is used to recognize the label on the tagged tool. The camera recognition component is connected to the controller; Rotating column, which is rotatably installed in the workbench and is driven to rotate by a first output source built in the workbench. The first output source is connected to the controller. Three fixed boxes are fixedly installed on the outer cylindrical surface of the rotating column and are arranged circumferentially. A corresponding recycling robotic arm is provided on each fixed box, and four recycling cavities are provided in each fixed box. The recycling robotic arm is used to move the tagged tool on the placement table into the recycling cavity, and the recycling robotic arm is connected to the controller.

[0007] As a further solution of the present invention: a sliding cover is slidably installed at the top of each recycling cavity, and the sliding cover is controlled to move by an opening and closing component. When the recycling robotic arm needs to put the tagged tool into the recycling cavity, the opening and closing component controls the sliding cover to open and open the recycling cavity. After the tagged tool is put into the recycling cavity, the opening and closing component controls the sliding cover to close and block the recycling cavity.

[0008] As a further solution of the present invention: the opening and closing component includes a fixed plate, a sliding seat, a telescopic member, a grooved connecting block, a raised strip and a positioning component. A fixed plate is fixedly installed on each fixed box. The sliding seat is slidably installed on the fixed plate and is driven to move by the positioning component. The telescopic member is fixedly installed on the sliding seat. The positioning component and the sliding seat are both connected to the controller. The grooved connecting block is fixedly installed at the movable end of the telescopic member. A raised strip is fixedly installed at one end of each sliding cover close to the telescopic member. The grooved connecting block is slidably connected to the raised strip.

[0009] As a further solution of the present invention: the positioning component includes a chute and a threaded rod. The chute is provided on the fixed plate. The sliding seat is slidably installed in the chute. The threaded rod is rotatably installed in the chute and is threadedly connected to the sliding seat. The threaded rod is driven to rotate by a second output source built in the fixed plate. The second output source is connected to the controller.

[0010] As a further solution of the present invention: when the fixed box rotates to the opening, the recycling robotic arm moves the labeled tool to the corresponding recycling cavity for the labeled tool.

[0011] As a further solution of the present invention: an openable and closable discharge port is provided at the bottom end of each recycling cavity.

[0012] As a further solution of the present invention: there is a gap between the fixed box and the workbench bottom plate, and the gap can accommodate the collection box to enter and exit.

[0013] As a further solution of the present invention: a unwinding roller and a winding roller are rotatably installed on the carrier. The unwinding roller and the winding roller are symmetrically arranged with respect to the placement table, and the unwinding roller and the winding roller are located below the placement table. The unwinding roller is driven by a third output source to rotate, and the winding roller is driven by a fourth output source to rotate. Both the third output source and the fourth output source are connected to the controller. The unwinding roller winds up an isolation roll paper, and the isolation roll paper covers the top of the placement table and winds up on the winding roller. The used labeled tool is placed on the isolation roll paper.

[0014] Advantages of the present invention: 1. In the present invention, the labeled tool is identified by the camera recognition component to obtain the function and type of the labeled tool, and the pollution degree of the labeled tool in this operation is judged in combination with the type of this operation. The controller controls the first output source to control the rotation column to rotate, selects the fixed box corresponding to the pollution degree, and the recycling robotic arm on the fixed box clamps the labeled tool and puts it into the corresponding recycling cavity. In this way, it is ensured that the recycling robotic arm always clamps the labeled tool with the same pollution degree, avoiding cross-contamination. The setting of the four recycling cavities directly classifies different types of labeled tools. Through pre-classification, the recycling process can be made more efficient and orderly. At the same time, this also greatly improves the efficiency of subsequent disinfection treatment; 2. In the present invention, the recycling cavity can be blocked by the sliding cover to ensure that only when it is necessary to put the labeled tool into the recycling cavity, the opening and closing component will control the sliding cover to open and open the recycling cavity, and the sliding cover will block the recycling cavity at other times to avoid the leakage of pollution sources; 3. In the present invention, after the labeled tool is placed on the isolation roll paper, the pollutants adhered to the labeled tool will remain on the isolation roll paper. When the labeled tool is moved to the recycling cavity by the recycling robotic arm, the unwinding roller and the winding roller will wind up the isolation roll paper, so that the isolation roll paper on the placement table is replaced with a clean part. In this way, it is ensured that the next placed labeled tool will not be contaminated by the previous labeled tool, and cross-infection between different degrees of pollutants is also avoided. Description of the Drawings

[0015] The present invention will be further described below in conjunction with the accompanying drawings.

[0016] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the sectional structure of the workbench in the present invention; Figure 3 is a schematic diagram of the structure of the fixed box in the present invention; Figure 4 In the present invention Figure 3 is an enlarged schematic diagram of part A; Figure 5 is a schematic diagram of the structure of the carrier in the present invention.

[0017] In the figure: 1, base; 2, workbench; 3, toolbox; 4, tool-changing robotic arm; 5, opening; 6, carrier; 7, placement table; 8, camera recognition assembly; 9, tool with label; 10, rotating column; 11, fixed box; 12, recycling cavity; 13, recycling robotic arm; 14, isolation roll paper; 15, unwind roller; 16, winding roller; 17, sliding cover; 18, fixing plate; 19, sliding seat; 20, telescopic member; 21, grooved connecting block; 22, raised strip; 23, chute; 24, threaded rod. Specific Embodiments

[0018] The technical solutions in the embodiments of the present invention will be clearly and completely described below 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 of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] Please refer to Figures 1 - 5 As shown, the present invention is a surgical robot provided with a tool-changing device, including: A base 1, on which a workbench 2 is fixedly installed. A plurality of tool-changing robotic arms 4 are slidably installed on the workbench 2. The tool-changing robotic arms 4 are driven to move by a driving source built in the workbench 2. Each tool-changing robotic arm 4 corresponds to a toolbox 3. The toolbox 3 is fixedly installed on the base 1. The toolbox 3 is used to store tools with labels 9. The tool-changing robotic arm 4 takes the unused tool with label 9 from the toolbox 3. An opening 5 is formed on the workbench 2. A controller is arranged on the base 1. The toolbox 3 and the tool-changing robotic arm 4 are both connected to the controller; A carrier 6, the carrier 6 is fixedly installed on the workbench 2, a placement table 7 is fixedly installed on the carrier 6. When the tool-changing robotic arm 4 needs to change tools, the tool-changing robotic arm 4 places the used labeled tool 9 on the placement table 7. A camera recognition assembly 8 is fixedly installed on the carrier 6. The camera recognition assembly 8 is located above the placement table 7, and the camera recognition assembly 8 is used to recognize the label on the labeled tool 9. The camera recognition assembly 8 is connected to the controller; A rotating column 10, the rotating column 10 is rotatably installed in the workbench 2, and the rotating column 10 is driven to rotate by a first output source built in the workbench 2. The first output source is connected to the controller. Three fixedly installed fixing boxes 11 are arranged circumferentially on the outer cylindrical surface of the rotating column 10. A corresponding recycling robotic arm 13 is arranged on each fixing box 11, and four recycling cavities 12 are formed in each fixing box 11. The recycling robotic arm 13 is used to move the labeled tool 9 on the placement table 7 into the recycling cavity 12. The recycling robotic arm 13 is connected to the controller.

[0020] In one case of this embodiment, the controller includes components such as a core processor, a motor control module, a sensor interface, a communication module, and a storage module. The camera recognition assembly 8 includes components such as a high-definition camera, an image processing unit, and a communication module. It should be noted that the above components, the tool-changing robotic arm 4, and the recycling robotic arm 13 are all prior arts, and the present invention has not improved them. Therefore, it is not necessary to disclose their specific mechanical structures and circuit structures, which does not affect the integrity of the present invention. The drive source can be selected from components such as an electric control slide rail assembly and an electric cylinder, and other mechanisms capable of realizing reciprocating linear motion can also be selected. The first output source can be selected from components such as a servo motor and a servo motor, and other mechanisms capable of realizing rotational motion can also be selected. This embodiment does not make specific limitations here.

[0021] The working principle of the present invention: It should be noted that the three fixing boxes 11 represent different pollution levels (ordinary, high-risk, chemical), and the four recycling cavities 12 represent discard type, cutting type, clamping type, and puncture type respectively. The cutting type, clamping type, and puncture type receive limited-use reusable equipment that has not reached the usage limit and reusable equipment, while the discard type receives disposable equipment and limited-use reusable equipment that has reached the usage limit.

[0022] First, preoperative preparations are carried out. The unused labeled tool 9 is pre-installed in the toolbox 3, and the toolbox 3 will automatically scan and record parameters (length, power, function, etc.). Subsequently, during the surgical operation, the doctor selects the labeled tool 9 through the controller. The controller retrieves it from the toolbox 3. Then, the tool-changing robotic arm 4 moves to the toolbox 3 and docks and locks with the labeled tool 9 to start the operation. During this period, the tool-changing robotic arm 4 can move on the workbench 2. When a tool-changing operation is required during the surgical process, first, the tool-changing robotic arm 4 will place the used labeled tool 9 on the placement table 7. Then, the tool-changing robotic arm 4 moves to the toolbox 3 and docks and locks with the new labeled tool 9 and continues the operation. The camera recognition component 8 will take an image of the used labeled tool 9 and identify the label on the labeled tool 9. First, it identifies what function the labeled tool 9 is (cutting type, clamping type, puncturing type), and also identifies what type the labeled tool 9 belongs to (disposable equipment, limited-use reusable equipment, reusable equipment). At this time, it can be known which recycling chamber 12 the labeled tool 9 should be put into. It should be noted that when the labeled tool 9 belongs to limited-use reusable equipment, it is necessary to judge whether the usage times of the labeled tool 9 plus one reach the maximum usage times. When the maximum usage times are reached, the labeled tool 9 is classified as disposable equipment and directly put into the recycling chamber 12 of the discarded type. When the maximum usage times are not reached, the labeled tool 9 is classified as reusable equipment and normally put into the corresponding type of recycling chamber 12, and the usage times of the labeled tool 9 in the database are incremented by one. Finally, combined with the type of surgery, it can be judged what surgical site the labeled tool 9 contacted during this surgery, and then it can be concluded what degree of contamination this tool belongs to (ordinary, high-risk, chemical). Then the controller controls the first output source to control the rotation of the rotating column 10 and selects the fixed box 11 corresponding to the degree of contamination, and the recycling robotic arm 13 on the fixed box 11 clamps the labeled tool 9 and puts it into the corresponding recycling chamber 12. In this way, it is ensured that the recycling robotic arm 13 always clamps the labeled tool 9 with the same degree of contamination, avoiding cross-contamination. The setting of the four recycling chambers 12 directly classifies different types of labeled tools 9, facilitating the subsequent recycling of the labeled tools 9 and improving the efficiency of subsequent disinfection treatment.

[0023] As Figures 1 - 4 shown, as a preferred embodiment of the present invention, a sliding cover 17 is slidably installed at the top of each recycling chamber 12. The sliding cover 17 is controlled to move by an opening and closing component. When the recycling robotic arm 13 needs to put the labeled tool 9 into the recycling chamber 12, the opening and closing component controls the sliding cover 17 to open and open the recycling chamber 12. After the labeled tool 9 is put into the recycling chamber 12, the opening and closing component controls the sliding cover 17 to close and block the recycling chamber 12.

[0024] In actual application of this embodiment, the sliding cover 17 can block the recycling cavity 12 to ensure that the opening and closing assembly will only control the sliding cover 17 to open and the recycling cavity 12 to open when it is necessary to put the labeled tool 9 into the recycling cavity 12. At other times, the sliding cover 17 blocks the recycling cavity 12 to prevent the leakage of pollution sources.

[0025] As Figures 1 - 4 shown, as a preferred embodiment of the present invention, the opening and closing assembly includes a fixing plate 18, a sliding seat 19, a telescopic member 20, a grooved connecting block 21, a raised strip 22 and a positioning assembly. A fixing plate 18 is fixedly installed on each fixing box 11. The sliding seat 19 is slidably installed on the fixing plate 18 and is driven by the positioning assembly to move. The telescopic member 20 is fixedly installed on the sliding seat 19. Both the positioning assembly and the sliding seat 19 are connected to the controller. The grooved connecting block 21 is fixedly installed at the movable end of the telescopic member 20. A raised strip 22 is fixedly installed at one end of each sliding cover 17 close to the telescopic member 20. The grooved connecting block 21 is slidably connected to the raised strip 22.

[0026] In one case of this embodiment, the telescopic member 20 can be an electric cylinder, an electric telescopic rod or other components, and other mechanisms capable of realizing linear reciprocating motion can also be selected. This embodiment does not make specific limitations here.

[0027] In actual application of this embodiment, as Figure 2 shown, the positioning assembly can drive the sliding seat 19 to move on the fixing plate 18. Considering Figure 4 this, when the sliding seat 19 moves, the telescopic member 20 will drive the grooved connecting block 21 to slide along the raised strip 22. When all the sliding covers 17 are closed, the raised strips 22 are in a straight line. At this time, the grooved connecting block 21 can slide on different raised strips 22. When it moves to the selected point, start the telescopic member 20 to extend, driving the sliding cover 17 to open. At this time, taking Figure 3 shown as an example, on the contrary, starting the telescopic member 20 to contract can drive the sliding cover 17 to close. In this way, one of the four recycling cavities 12 can be controlled to open, ensuring that only the recycling cavity 12 receiving the input of the labeled tool 9 will open.

[0028] As Figure 3 shown, as a preferred embodiment of the present invention, the positioning assembly includes a chute 23 and a threaded rod 24. The chute 23 is opened on the fixing plate 18. The sliding seat 19 is slidably installed in the chute 23. The threaded rod 24 is rotatably installed in the chute 23 and is threadedly connected to the sliding seat 19. The threaded rod 24 is driven to rotate by a second output source built in the fixing plate 18, and the second output source is connected to the controller.

[0029] In one case of this embodiment, components such as a servo motor or a servo motor can be selected as the second output source, and other mechanisms capable of realizing rotational motion can also be selected. This embodiment does not make specific limitations here.

[0030] In the actual application of this embodiment, the controller controls the second output source to drive the threaded rod 24 to rotate. Since the threaded rod 24 is threadedly connected to the sliding seat 19, by driving the threaded rod 24 to rotate forward and backward through the second output source, the sliding seat 19 can be driven to reciprocate in the chute 23, so that the grooved connecting block 21 cooperates with the protruding strip 22 of the target sliding cover 17 to complete the opening and closing of the sliding cover 17.

[0031] As Figures 1 - 4 shown, as a preferred embodiment of the present invention, when the fixed box 11 rotates to the opening 5, the recycling robotic arm 13 moves the tagged cutter 9 into the corresponding recycling chamber 12.

[0032] In the actual application of this embodiment, it is limited that only when the fixed box 11 rotates to the opening 5 can the recycling robotic arm 13 move the tagged cutter 9 into the recycling chamber 12. First, a special classification area is demarcated, and the setting of the opening 5 does not block the vision and manual operation, thus facilitating manual observation and the maintenance and cleaning of the inside of the workbench 2.

[0033] As Figures 1 - 4 shown, as a preferred embodiment of the present invention, a closable discharge port is provided at the bottom of each recycling chamber 12. In this way, there is no need to clamp the tagged cutter 9 in the recycling chamber 12 from the entrance, and the tagged cutter 9 can be directly discharged from the discharge port at the bottom of the recycling chamber 12, which is convenient for taking out the tagged cutter 9 in the recycling chamber 12.

[0034] As Figures 1 - 4 shown, as a preferred embodiment of the present invention, there is a gap between the fixed box 11 and the bottom plate of the workbench 2, and the gap can accommodate the collection box to enter and exit.

[0035] In the actual application of this embodiment, before discharging materials from the recycling chamber 12, the collection box is inserted into the gap between the fixed box 11 and the bottom plate of the workbench 2, and the collection box is aligned with the discharge port of the recycling chamber 12. At this time, the tagged cutter 9 in the recycling chamber 12 can be directly classified and collected into the collection box, further improving the efficiency of recycling and processing.

[0036] As Figures 1 - 5As shown, as a preferred embodiment of the present invention, a unwinding roller 15 and a winding roller 16 are rotatably installed on the carrier 6. The unwinding roller 15 and the winding roller 16 are symmetrically arranged with respect to the placing table 7, and the unwinding roller 15 and the winding roller 16 are located below the placing table 7. The unwinding roller 15 is driven to rotate by a third output source, and the winding roller 16 is driven to rotate by a fourth output source. Both the third output source and the fourth output source are connected to the controller. An isolation roll paper 14 is wound on the unwinding roller 15. The isolation roll paper 14 covers the top of the placing table 7 and is wound on the winding roller 16. The used label cutter 9 is placed on the isolation roll paper 14.

[0037] In one case of this embodiment, both the third output source and the fourth output source can select components such as servo motors and servo motors, and other mechanisms capable of realizing rotational motion can also be selected. This embodiment does not make specific limitations here.

[0038] In actual application of this embodiment, when the label cutter 9 is placed on the isolation roll paper 14, the contaminants adhered to the label cutter 9 will remain on the isolation roll paper 14. When the label cutter 9 is moved to the recovery chamber 12 by the recovery robotic arm 13, the unwinding roller 15 and the winding roller 16 will wind the isolation roll paper 14, so that the isolation roll paper 14 on the placing table 7 is replaced with a clean part, ensuring that the next placed label cutter 9 will not be contaminated by the contaminants of the previous label cutter 9 and avoiding cross-infection between different degrees of contaminants.

[0039] The above has described a detailed description of an embodiment of the present invention, but the content described above is only the preferred embodiment of the present invention and cannot be considered as limiting the scope of implementation of the present invention. All equal changes and improvements made according to the scope of the present invention application should still fall within the scope covered by the patent of the present invention.

Claims

1. A surgical robot provided with a tool changing device, characterized in that Including: A base (1) on which a workbench (2) is fixedly installed. A plurality of tool-changing robotic arms (4) are slidably installed on the workbench (2). The tool-changing robotic arms (4) are driven to move by a driving source built in the workbench (2). Each tool-changing robotic arm (4) corresponds to a toolbox (3). The toolbox (3) is fixedly installed on the base (1). The toolbox (3) is used to store labeled tools (9). The tool-changing robotic arm (4) takes an unused labeled tool (9) from the toolbox (3). An opening (5) is formed on the workbench (2). A controller is arranged on the base (1). The toolbox (3) and the tool-changing robotic arms (4) are both connected to the controller; A carrier (6) is fixedly installed on the workbench (2). A placement table (7) is fixedly installed on the carrier (6). When the tool-changing robotic arm (4) needs to change a tool, the tool-changing robotic arm (4) places the used labeled tool (9) on the placement table (7). A camera recognition component (8) is fixedly installed on the carrier (6). The camera recognition component (8) is located above the placement table (7). The camera recognition component (8) is used to recognize the label on the labeled tool (9). The camera recognition component (8) is connected to the controller; A rotating column (10) is rotatably installed in the workbench (2). The rotating column (10) is driven to rotate by a first output source built in the workbench (2). The first output source is connected to the controller. Three fixed boxes (11) arranged circumferentially are fixedly installed on the outer cylindrical surface of the rotating column (10). A corresponding recovery robotic arm (13) is arranged on each fixed box (11). Four recovery cavities (12) are formed in each fixed box (11). The recovery robotic arm (13) is used to move the labeled tool (9) on the placement table (7) into the recovery cavity (12). The recovery robotic arm (13) is connected to the controller.

2. The surgical robot with a tool changing device according to claim 1, wherein, A sliding cover (17) is slidably installed at the top of each recovery cavity (12). The sliding cover (17) is controlled to move by an opening and closing component. When the recovery robotic arm (13) needs to put the labeled tool (9) into the recovery cavity (12), the opening and closing component controls the sliding cover (17) to open and open the recovery cavity (12). After the labeled tool (9) is put into the recovery cavity (12), the opening and closing component controls the sliding cover (17) to close and block the recovery cavity (12).

3. The surgical robot with a tool changing device according to claim 2, wherein, The opening and closing assembly includes a fixed plate (18), a sliding seat (19), a telescopic member (20), a grooved connection block (21), a raised strip (22) and a positioning assembly. A fixed plate (18) is fixedly installed on each fixed box (11). The sliding seat (19) is slidably installed on the fixed plate (18), and the sliding seat (19) is driven to move by the positioning assembly. The telescopic member (20) is fixedly installed on the sliding seat (19). Both the positioning assembly and the sliding seat (19) are connected to the controller. The grooved connection block (21) is fixedly installed at the movable end of the telescopic member (20). A raised strip (22) is fixedly installed at one end of each sliding cover (17) close to the telescopic member (20). The grooved connection block (21) is slidably connected to the raised strip (22).

4. The surgical robot with a tool changing device according to claim 3, characterized in that, The positioning assembly includes a chute (23) and a threaded rod (24). The chute (23) is formed in the fixed plate (18). The sliding seat (19) is slidably installed in the chute (23). The threaded rod (24) is rotatably installed in the chute (23), and the threaded rod (24) is threadedly connected to the sliding seat (19). The threaded rod (24) is driven to rotate by a second output source built in the fixed plate (18), and the second output source is connected to the controller.

5. The surgical robot with a tool changing device according to claim 4, characterized in that, When the fixed box (11) rotates to the opening (5), the recycling robotic arm (13) moves the labeled cutter (9) into the corresponding recycling chamber (12).

6. The surgical robot with a tool changing device according to claim 1, characterized in that, An openable discharge port is provided at the bottom of each recycling chamber (12).

7. The surgical robot with a tool changing device according to claim 6, characterized in that, There is a gap between the fixed box (11) and the bottom plate of the workbench (2), and the gap can accommodate the collection box to enter and exit.

8. The surgical robot with a tool changing device according to claim 1, characterized in that, A unwinding roller (15) and a winding roller (16) are rotatably installed on the carrier (6). The unwinding roller (15) and the winding roller (16) are symmetrically arranged with respect to the placement table (7), and the unwinding roller (15) and the winding roller (16) are located below the placement table (7). The unwinding roller (15) is driven to rotate by a third output source, and the winding roller (16) is driven to rotate by a fourth output source. Both the third output source and the fourth output source are connected to the controller. An isolation roll paper (14) is wound on the unwinding roller (15). The isolation roll paper (14) covers the top of the placement table (7) and is wound on the winding roller (16). The used labeled cutter (9) is placed on the isolation roll paper (14).

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