Microwave drilling device and robot

Abstract

The application discloses a microwave drilling device and robot, and relates to the technical field of medical equipment.The device comprises a microwave output system, a drilling execution mechanism and an upper computer; the microwave output system is used for emitting microwave of a set frequency to the drilling execution mechanism under the control of the upper computer; the upper computer is configured to sequentially determine whether the resonant frequency of the drilling execution mechanism is deviated and whether the impedance is mismatched based on the S11 reflection coefficient of the drilling execution mechanism, and control the drilling execution mechanism to make corresponding adjustment based on the determination result; the drilling execution mechanism is used for adjusting the length of a coaxial resonant cavity when the resonant frequency is deviated, or adjusting the length of a rectangular waveguide and the position of a coupling ring when the impedance is mismatched under the control of the upper computer.The application solves the technical problem that the impedance is mismatched and the resonant frequency point is deviated due to the deformation of a to-be-processed part during the working process of a microwave drill, and further influences the drilling precision and the drilling stability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, and in particular to a microwave drilling device and robot. BACKGROUND

[0002] In surgical operations, in the face of fracture fixation, bone sampling and prosthesis installation and other scenarios, orthopedic drills are often used to drill holes in bones, but this method produces a lot of noise and bone chips, which may cause inflammation or heterotopic ossification, and even once into the patient's blood circulation, it will cause embolism. Therefore, a new instrument based on different drilling principles is needed to improve the operation process.

[0003] With the extensive study of microwave heat effect, the feature that the microwave energy radiated by the electrode can induce thermal runaway reaction of the material and then melt is noticed, and with the help of this feature, a noiseless and bone chip-free drilling technology can be realized. However, as the drilling process advances, the morphology of the drilling tip in contact with the part to be processed will change, which will in turn cause impedance mismatch, i.e. shift of the resonance frequency point or change of the S11 reflection coefficient, affecting the drilling accuracy and drilling stability. SUMMARY

[0004] In view of the deficiencies in the prior art, the present application provides a microwave drilling device and robot, which solves the technical problem of impedance mismatch, resonance frequency point shift and the like caused by deformation of the part to be processed during the working process of the microwave drill bit, thereby affecting the drilling accuracy and drilling stability.

[0005] The technical solution adopted by the present application is as follows:

[0006] In a first aspect, the present application provides a microwave drilling device, which comprises a microwave output system, a drilling execution mechanism and an upper computer.

[0007] The microwave output system is electrically connected with the drilling execution mechanism and the upper computer respectively; the upper computer is electrically connected with the drilling execution mechanism.

[0008] The microwave output system is used to emit microwaves of a set frequency to the drilling execution mechanism under the control of the upper computer.

[0009] The upper computer is configured to determine in sequence whether the resonance frequency of the drilling execution mechanism is shifted and whether the impedance is mismatched based on the S11 reflection coefficient of the drilling execution mechanism, and to control the drilling execution mechanism to make corresponding adjustments based on the determination result, wherein the S11 reflection coefficient is the port reflection coefficient of the microwave input end of the rectangular waveguide in the drilling execution mechanism.

[0010] The drilling execution mechanism is used for adjusting the length of the coaxial resonant cavity when the resonant frequency is deviated or adjusting the length of the rectangular waveguide and the position of the coupling ring when the impedance is mismatched under the control of the host computer.

[0011] Further, the drilling execution mechanism comprises a rectangular waveguide, a coaxial resonant cavity, a metal short-circuit surface and a linear motor.

[0012] The coaxial resonant cavity is arranged below the rectangular waveguide away from the microwave input end.

[0013] The linear motor is arranged on the outer surface of the side of the rectangular waveguide away from the microwave input end, and the guide rail sliding table of the linear motor is fixedly connected with the coaxial resonant cavity.

[0014] The metal short-circuit surface is arranged inside the cavity of the coaxial resonant cavity and slides with the coaxial resonant cavity.

[0015] When the resonant frequency is deviated, the linear motor drives the coaxial resonant cavity to slide up and down relative to the metal short-circuit surface under the control of the host computer, so as to adjust the length of the coaxial resonant cavity.

[0016] Further, the coaxial resonant cavity comprises an outer conductive shell, an insulating sleeve and an electrode needle.

[0017] The guide rail sliding table of the linear motor is fixedly connected with the outer conductive shell, and the insulating sleeve is arranged in the outer conductive shell and in contact with the inner wall of the outer conductive shell.

[0018] The electrode needle is arranged at the inner center position of the outer conductive shell, the bottom end of the electrode needle is connected with the metal short-circuit surface, the top part of the electrode needle is in a conical shape, and the length of the electrode needle exceeds the height of the outer conductive shell.

[0019] Further, the drilling execution mechanism further comprises an L-shaped coupling ring connecting rod, a coupling ring and a first driving motor.

[0020] The first driving motor is arranged on the upper surface of the rectangular waveguide away from the microwave input end and connected with the long side of the coupling ring connecting rod.

[0021] The long side of the coupling ring connecting rod penetrates through the outer conductive shell of the coaxial resonant cavity and the rectangular waveguide, and the short side of the coupling ring connecting rod extends into the inside of the coaxial resonant cavity and is connected with the coupling ring.

[0022] The coupling ring is arranged around the electrode needle.

[0023] The first driving motor drives the coupling rod to slide up and down under the control of the host computer to drive the coupling ring to slide relative to the electrode needle to adjust the position of the coupling ring.

[0024] Further, the drilling execution mechanism further comprises a metal section and a second driving motor.

[0025] The second driving motor is arranged on the upper surface of the rectangular waveguide away from the microwave input end and connected with the metal section.

[0026] The metal section is arranged inside the rectangular waveguide, and has the same sectional shape and equal area as the rectangular waveguide and slides relative to the rectangular waveguide.

[0027] The second driving motor drives the metal section to slide relative to the rectangular waveguide under the control of the host computer to adjust the length of the rectangular waveguide when there is impedance mismatch.

[0028] Further, the drilling execution mechanism further comprises a coaxial transmission line.

[0029] The lower surface of the rectangular waveguide is connected with the coaxial transmission line, the coaxial transmission line is connected with the coaxial resonant cavity, and the long side of the coupling rod penetrates through the coaxial transmission line.

[0030] Further, the microwave drilling device further comprises a power detection system.

[0031] The power detection system is electrically connected with the microwave input end of the rectangular waveguide and the host computer respectively.

[0032] The power detection system is used to obtain the S11 reflection coefficient of the microwave input end and send the S11 reflection coefficient to the host computer.

[0033] Further, when the resonant frequency deviates, the host computer is configured to:

[0034] Calculate the gradient of the resonant frequency based on the preset frequency optimization objective function and the moving distance of the coaxial resonant cavity.

[0035] Determine the first step length of the linear motor according to the resonant frequency error.

[0036] Determine the moving position of the linear motor based on the gradient of the resonant frequency and the first step length.

[0037] Control the linear motor to act based on the moving position of the linear motor to adjust the length of the coaxial resonant cavity.

[0038] Further, when the impedance is mismatched, the host computer is configured to:

[0039] calculate real-time gradients corresponding to the current position of the coupling loop and the current length of the rectangular waveguide respectively based on a preset impedance matching target function, the current position of the coupling loop and the current length of the rectangular waveguide;

[0040] determine a second step length of impedance matching gradient descent according to the amplitude of the S11 reflection coefficient;

[0041] determine the moving position of the coupling loop based on the real-time gradient corresponding to the current position of the coupling loop and the second step length, and determine the moving position of the metal section based on the real-time gradient corresponding to the current length of the rectangular waveguide and the second step length;

[0042] control the first driving motor to act based on the moving position of the coupling loop to adjust the position of the coupling loop, and control the second driving motor to act based on the moving position of the metal section to adjust the length of the rectangular waveguide.

[0043] The application also provides a robot comprising the microwave drilling device of any of the above technical solutions.

[0044] The application discloses a microwave drilling device and a robot, which comprises a microwave output system, a drilling execution mechanism and a host computer. The microwave output system is used for emitting microwaves of a set frequency to the drilling execution mechanism under the control of the host computer. The host computer is configured to determine whether the resonant frequency of the drilling execution mechanism is deviated and whether the impedance is mismatched based on the S11 reflection coefficient of the drilling execution mechanism in sequence, and control the drilling execution mechanism to make corresponding adjustment based on the determination result. The drilling execution mechanism is used for adjusting the length of a coaxial resonant cavity when the resonant frequency is deviated or adjusting the length of a rectangular waveguide and the position of a coupling loop when the impedance is mismatched under the control of the host computer. The application adjusts the length of the coaxial resonant cavity or the length of the rectangular waveguide or the position of the coupling loop of the drilling execution mechanism, solves the technical problem that the impedance is mismatched and the resonant frequency point is deviated due to the deformation of a to-be-processed part during the working process of a microwave drill, and thus the drilling precision and the drilling stability are affected, realizes real-time and accurate automatic adjustment of the microwave resonant frequency and impedance matching optimization, improves the microwave energy feeding efficiency and stability, and improves the drilling precision and the drilling stability. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 is a system block diagram of a microwave drilling device provided by an embodiment of the application;

[0046] Figure 2is a structural diagram of a drilling execution mechanism provided by an embodiment of the present application. DETAILED DESCRIPTION

[0047] The present application will be further described below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are merely intended for the purpose of interpretation of the present application and are not limiting of the present application. In addition, it should be noted that only the parts related to the present application are shown in the drawings for the purpose of description, rather than all the structures.

[0048] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to limit a specific order. The various embodiments of the present application can be executed independently, and the various embodiments can also be executed in combination with each other, and the present application does not specifically limit the embodiments of the present application.

[0049] Figure 1 is a system block diagram of a microwave drilling device provided by an embodiment of the present application. Figure 2 is a structural diagram of a drilling execution mechanism provided by an embodiment of the present application.

[0050] As Figure 1 shown, the microwave drilling device comprises a microwave output system 10, a drilling execution mechanism 20, and a host computer 30; the microwave output system 10 is electrically connected with the drilling execution mechanism 20 and the host computer 30 respectively; the host computer 30 is electrically connected with the drilling execution mechanism 20.

[0051] The microwave output system 10 is used to emit microwaves of a set frequency to the drilling execution mechanism 20 under the control of the host computer 30.

[0052] The host computer 30 is configured to sequentially determine whether the resonant frequency of the drilling execution mechanism 20 is shifted and whether the impedance is mismatched based on the S11 reflection coefficient of the drilling execution mechanism 20, and control the drilling execution mechanism 20 to make corresponding adjustments based on the determination result, wherein the S11 reflection coefficient is the port reflection coefficient of the microwave input end of the rectangular waveguide in the drilling execution mechanism 20.

[0053] The drilling execution mechanism 20 is used to adjust the length of the coaxial resonant cavity when the resonant frequency is shifted, or adjust the length of the rectangular waveguide and the position of the coupling ring when the impedance is mismatched, under the control of the host computer 30.

[0054] Specifically, as Figure 2 shown, the microwave output system 10 comprises a solid-state microwave source 11 and a circulator 12; the solid-state microwave source 11 is powered by a power adjustable power supply system 40, and is provided with a frequency adaptive module, a power detector, and a timing module. The circulator 12 is connected between the solid-state microwave source 11 and the drilling execution mechanism 20, and is used to protect the solid-state microwave source 11 from the influence of reflected signals. AsFigure 2 As shown, after the power supply system 40 supplies power to the microwave output system 10, the solid-state microwave source 11 emits microwaves, which are fed into the rectangular waveguide 1 from the microwave input end of the rectangular waveguide 1 through the circulator 12, and then the microwave signal is coupled to the coaxial resonant cavity 7 through the coaxial transmission line 4 and the coupling ring connecting rod 3.

[0055] In the field of microwave radio frequency, the S11 reflection coefficient is one of the core indicators of scattering parameters, which specifically refers to the reflection coefficient of the circuit port, indicating the complex ratio of the reflected wave (b1) to the incident wave (a1) at port 1 when port 2 is matched (no reflection).

[0056] The host computer 30 obtains the S11 reflection coefficient of the microwave input end of the rectangular waveguide 1 in the drilling execution mechanism 20 in real time, and then determines whether the resonance frequency deviates from the target resonance frequency based on the S11 reflection coefficient. If it deviates, the drilling execution mechanism 20 is controlled to change the length of the coaxial resonant cavity 7 to adjust the resonance frequency. After the resonance frequency is adjusted, it is determined whether the impedance matching needs to be adjusted based on the S11 reflection coefficient. If it needs to be adjusted, the drilling execution mechanism 20 is controlled to adjust the length of the rectangular waveguide and the position of the coupling ring to adjust the impedance.

[0057] The present application adjusts the length of the coaxial resonant cavity or the length of the rectangular waveguide or the position of the coupling ring of the drilling execution mechanism to solve the technical problem of impedance mismatch and resonance frequency deviation caused by deformation of the treated part during the working process of the microwave drill, which affects the drilling accuracy and stability. Real-time accurate and automatic adjustment of microwave resonance frequency and impedance matching optimization are realized, the microwave energy feeding efficiency and stability are improved, and the drilling accuracy and stability are improved.

[0058] Optionally, the microwave drilling device further comprises a power detection system 50; the power detection system 50 is electrically connected with the microwave input end of the rectangular waveguide 1 (the corresponding figure is not given due to the viewing angle) and the host computer 30; the power detection system 50 is used to obtain the S11 reflection coefficient of the microwave input end and send the S11 reflection coefficient to the host computer 30. Figure 2

[0059] Specifically, the circulator 12 is a three-port circulator, which can realize one-way conduction between the solid-state microwave source 11 and the rectangular waveguide 1, and can also realize one-way conduction between the rectangular waveguide 1 and the power detection system 50. The power detection system 50 can obtain the S11 reflection coefficient in real time, and the obtained S11 reflection coefficient is sent into the host computer 30, so that the host computer 30 obtains the real-time S11 amplitude and phase information, and determines the resonance frequency and impedance of the drilling execution mechanism 20 based on the S11 amplitude and phase information.

[0060] ​Optionally, as shown in Figure 2 The drilling execution mechanism 20 further comprises a coaxial transmission line 4; the lower surface of the rectangular waveguide 1 is connected with the coaxial transmission line 4, the coaxial transmission line 4 is connected with the coaxial resonant cavity 7, and the long side of the coupling ring connecting rod 3 is arranged through the coaxial transmission line 4.

[0061] Optionally, as shown in Figure 2 The drilling execution mechanism 20 comprises a rectangular waveguide 1, a coaxial resonant cavity 7, a metal short-circuit surface 5 and a linear motor 81.

[0062] The coaxial resonant cavity 7 is arranged below the rectangular waveguide 1 away from the microwave input end; the linear motor 81 is arranged on the outer surface of the side of the rectangular waveguide 1 away from the microwave input end, and the guide rail sliding table 810 of the linear motor 81 is fixedly connected with the coaxial resonant cavity 7. The metal short-circuit surface 5 is arranged inside the cavity of the coaxial resonant cavity 7 and slides relative to the coaxial resonant cavity 7.

[0063] When there is a resonant frequency shift, the linear motor 81 drives the coaxial resonant cavity 7 to slide up and down relative to the metal short-circuit surface 5 under the control of the upper computer 30, so as to realize the length adjustment of the coaxial resonant cavity 7.

[0064] Specifically, the metal short-circuit surface 5 and the coaxial transmission line 4 connecting the rectangular waveguide 1 and the coaxial resonant cavity 7 are fixed together. The linear motor 81 is a lightweight coreless linear motor, and the guide rail sliding table 810 on the guide rail of the linear motor 81 is directly connected and fixed with the coaxial resonant cavity 7, which is used to control the relative sliding between the metal short-circuit surface 5 and the coaxial resonant cavity 7, so as to realize the length adjustment of the coaxial resonant cavity 7.

[0065] Optionally, as shown in Figure 2 The coaxial resonant cavity 7 comprises an outer conductive shell 71, an insulating sleeve 72 and an electrode needle 73.

[0066] The guide rail sliding table 810 of the linear motor 81 is fixedly connected with the outer conductive shell 71; the insulating sleeve 72 is arranged in the outer conductive shell 71 and in contact with the inner wall of the outer conductive shell 71.

[0067] The electrode needle 73 is arranged at the inner center position of the outer conductive shell 71, the bottom end of the electrode needle 73 is connected with the metal short-circuit surface 5, the top part of the electrode needle 73 is in a conical shape, and the length of the electrode needle 73 exceeds the height of the outer conductive shell 71.

[0068] Specifically, the outer conductive shell 71, the insulating sleeve 72 and the electrode needle 73 are fixed together and can slide up and down together, so as to realize the relative movement between the coaxial resonant cavity 7 and the metal short-circuit surface 5, thereby changing the length of the coaxial resonant cavity.

[0069] Optionally, as shown in Figure 2As shown, the drilling execution mechanism 20 further comprises an L-shaped coupling ring connecting rod 3, a coupling ring 6 and a first driving motor 82.

[0070] The first driving motor 82 is arranged on the upper surface of the rectangular waveguide 1 away from the microwave input end and connected with the long side of the coupling ring connecting rod 3; the long side of the coupling ring connecting rod 3 penetrates through the outer conductive shell 71 of the coaxial resonant cavity 7 and the rectangular waveguide 1, and the short side of the coupling ring connecting rod 3 extends into the interior of the coaxial resonant cavity 7 and is connected with the coupling ring 6; the coupling ring 6 is arranged around the electrode needle 73.

[0071] When there is impedance mismatch, the first driving motor 82 drives the coupling ring connecting rod 3 to slide up and down under the control of the upper computer 30, so that the coupling ring connecting rod 3 drives the coupling ring 6 to slide relative to the electrode needle 73, thereby realizing the position adjustment of the coupling ring 6.

[0072] Specifically, the long side of the coupling ring connecting rod 3 penetrates through the rectangular waveguide 1, the coaxial transmission line 4 and the coaxial resonant cavity 7, and is bent in the coaxial resonant cavity 7; the bent end (i.e. the short side of the coupling ring connecting rod 3) is connected with the coupling ring 6 made of metal, and the coupling ring 6 is arranged around the electrode needle 73 in the coaxial resonant cavity 7 and is in contact with the electrode needle 73. By moving the long side of the coupling ring connecting rod 3 above the rectangular waveguide 1 through the first driving motor 82, the coupling ring 6 can slide on the electrode needle 73, thereby realizing the position adjustment of the coupling ring 6 to adjust the input impedance and the output impedance.

[0073] Optionally, as shown in the second embodiment, Figure 2 The drilling execution mechanism 20 further comprises a metal section 2 and a second driving motor 83; the second driving motor 83 is arranged on the upper surface of the rectangular waveguide 1 away from the microwave input end and connected with the metal section 2.

[0074] The metal section 2 is arranged inside the rectangular waveguide 1, and the metal section 2 has the same cross-sectional shape and the same area as the rectangular waveguide 1 and slides relative to the rectangular waveguide 1.

[0075] When there is impedance mismatch, the second driving motor 83 drives the metal section 2 to slide relative to the rectangular waveguide 1 under the control of the upper computer 30, thereby realizing the length adjustment of the rectangular waveguide 1.

[0076] Specifically, the rectangular waveguide 1 is placed in a channel with a slidable metal section 2 having the same cross-sectional shape and the same size as the rectangular waveguide 1; the metal section 2 can be moved to adjust the length of the rectangular waveguide 1. The first driving motor 82 and the second driving motor 83 are both step motors, which provide rotary power through the gears installed on the power output shafts; the meshing of the gears and the racks converts the circular motion into the linear motion of the racks, thereby helping to control the relative sliding between the metal section 2 and the rectangular waveguide 1, and between the coupling ring connecting rod 3 and the coupling ring 6 and the electrode needle 73.

[0077] In summary, the following three groups of components: metal section 2 and rectangular waveguide 1, metal short circuit surface 5 and coaxial resonant cavity 7, coupling ring connecting rod 3 drives coupling ring 6 and electrode needle 73, can be controlled by the corresponding motor and relative sliding to change the resonant frequency and impedance matching condition of the drilling execution mechanism 20, so as to have faster and more immediate response speed and power output efficiency in the case of resonant point shift and impedance mismatch during energy feeding.

[0078] Optionally, when the resonant frequency shifts, the host computer 30 is configured to: calculate the gradient of the resonant frequency based on the preset frequency optimization objective function and the moving distance of the coaxial resonant cavity; determine the first step length of the linear motor according to the resonant frequency error; determine the moving position of the linear motor based on the gradient of the resonant frequency and the first step length; and control the linear motor to act based on the moving position of the linear motor, to adjust the length of the coaxial resonant cavity.

[0079] Specifically, first, define the preset frequency optimization objective as follows:

[0080] ;

[0081] Wherein, is the actual resonant frequency, is the target resonant frequency, x f represents the length of the coaxial resonant cavity 7.

[0082] Secondly, in each control cycle, first optimize the resonant frequency, and the host computer 30 calculates the gradient of the resonant frequency in real time:

[0083] ;

[0084] Wherein, is the gradient of the resonant frequency, ∆x f is the moving distance of the coaxial resonant cavity.

[0085] Thirdly, according to the resonant frequency error, the adaptive step length (i.e. the first step length) of the linear motor at time t is adjusted in real time:

[0086] ;

[0087] Wherein, k f is a preset constant, α res (t) is the first step length.

[0088] Finally, the moving position of the linear motor at the next time (i.e. at time (t+1)) is calculated, and the adjustment of the resonant frequency is completed:

[0089] ;

[0090] Optionally, when the impedance is not matched, the host computer 30 is configured to: calculate real-time gradients corresponding to the current position of the coupling loop and the current length of the rectangular waveguide respectively based on a preset impedance matching target function, the current position of the coupling loop and the current length of the rectangular waveguide; determine a second step size of impedance matching gradient descent according to the amplitude of the S11 reflection coefficient; determine a moving position of the coupling loop based on the real-time gradient corresponding to the current position of the coupling loop and the second step size, and determine a moving position of the metal section based on the real-time gradient corresponding to the current length of the rectangular waveguide and the second step size; control the first driving motor to act based on the moving position of the coupling loop to adjust the position of the coupling loop, and control the second driving motor to act based on the moving position of the metal section to adjust the length of the rectangular waveguide.

[0091] Specifically, first, a preset impedance matching target function is defined as follows:

[0092] ;

[0093] wherein x m1 represents the length of the rectangular waveguide 1, x m2 represents the current position of the coupling loop 6 on the electrode needle 73 driven by the coupling loop connecting rod 3. After the resonant frequency adjustment is completed, the optimization of impedance matching is immediately performed.

[0094] Secondly, the host computer 30 performs real-time gradient calculation on the current length of the rectangular waveguide 1 and the current position of the coupling loop 6 respectively:

[0095] ;

[0096] Thirdly, according to the amplitude of the S11 reflection coefficient, the second step size of impedance matching gradient descent at time t is determined:

[0097] ;

[0098] wherein α match (t) is the second step size, k m is a preset constant.

[0099] Finally, the moving position of the metal section and the moving position of the coupling loop at the next time (i.e., at time (t+1)) are calculated respectively to complete the adjustment of impedance matching:

[0100] ;

[0101] The embodiment of the application also provides a robot, characterized in that the robot comprises the microwave drilling device in any of the above embodiments.

[0102] The robot provided by the embodiment of the present application comprises the microwave drilling device in the above-mentioned embodiment, and therefore the robot provided by the embodiment of the present application also has the beneficial effects described in the above-mentioned embodiment, which will not be repeated here.

[0103] In the description of the embodiments of the present application, unless specifically defined and limited otherwise, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral connection, can be mechanical connection, can also be electrical connection, can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0104] Finally, it should be noted that the above is only the preferred embodiment of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A microwave drilling apparatus, characterized by comprising: The microwave drilling device comprises a microwave output system, a drilling execution mechanism and a host computer; The microwave output system is electrically connected with the drilling execution mechanism and the host computer respectively; the host computer is electrically connected with the drilling execution mechanism; The microwave output system is used for emitting microwave of a set frequency to the drilling execution mechanism under the control of the host computer; The host computer is configured to sequentially determine whether the resonant frequency of the drilling execution mechanism is deviated and whether the impedance of the drilling execution mechanism is mismatched based on the S11 reflection coefficient of the drilling execution mechanism, and control the drilling execution mechanism to make corresponding adjustment based on the determination result, wherein the S11 reflection coefficient is the port reflection coefficient of the microwave input end of the rectangular waveguide in the drilling execution mechanism; The drilling execution mechanism is used for adjusting the length of the coaxial resonant cavity when the resonant frequency is deviated, or adjusting the length of the rectangular waveguide and the position of the coupling ring when the impedance is mismatched under the control of the host computer; The drilling execution mechanism comprises a rectangular waveguide, a coaxial resonant cavity, a metal short-circuit surface, an L-shaped coupling ring connecting rod, a coupling ring, a coaxial transmission line, a linear motor and a first driving motor; The coaxial resonant cavity is arranged below the rectangular waveguide away from the microwave input end; The coaxial resonant cavity comprises an external conductive shell, an insulating sleeve and an electrode needle; The guide rail sliding table of the linear motor is fixedly connected with the external conductive shell; the insulating sleeve is arranged in the external conductive shell and in contact with the inner wall of the external conductive shell; The electrode needle is arranged at the inner center position of the external conductive shell, the bottom end of the electrode needle is connected with the metal short-circuit surface, the top part of the electrode needle is in a conical shape, and the length of the electrode needle exceeds the height of the external conductive shell; The linear motor is arranged on the outer surface of the side of the rectangular waveguide away from the microwave input end, and the guide rail sliding table of the linear motor is fixedly connected with the coaxial resonant cavity; The metal short-circuit surface is arranged in the cavity of the coaxial resonant cavity and slides relative to the coaxial resonant cavity; The first driving motor is arranged on the upper surface of the rectangular waveguide away from the microwave input end and is connected with the long side of the coupling ring connecting rod; The long side of the coupling ring connecting rod penetrates through the external conductive shell of the coaxial resonant cavity and the rectangular waveguide, and the short side of the coupling ring connecting rod extends into the inside of the coaxial resonant cavity and is connected with the coupling ring; The coupling ring is arranged around the electrode needle; The lower surface of the rectangular waveguide is connected with the coaxial transmission line, the other end of the coaxial transmission line is connected with the coaxial resonant cavity, and the long side of the coupling ring connecting rod penetrates through the coaxial transmission line; When the resonant frequency is deviated, the linear motor drives the coaxial resonant cavity to slide up and down relative to the metal short-circuit surface under the control of the host computer, so as to adjust the length of the coaxial resonant cavity; When the impedance is mismatched, the first driving motor drives the coupling ring connecting rod to slide up and down under the control of the host computer, so as to drive the coupling ring to slide relative to the electrode needle through the coupling ring connecting rod, and adjust the position of the coupling ring.

2. The microwave drilling apparatus of claim 1, wherein The drilling actuator further comprises a metal section and a second driving motor; The second driving motor is arranged on the upper surface of the rectangular waveguide away from the microwave input end and connected with the metal section; The metal section is arranged inside the rectangular waveguide, and has the same sectional shape and equal area with the rectangular waveguide and slides relative to the rectangular waveguide; When there is impedance mismatch, the second driving motor drives the metal section to slide relative to the rectangular waveguide under the control of the host computer to realize length adjustment of the rectangular waveguide.

3. The microwave drilling apparatus of claim 1, wherein, The microwave drilling device further comprises a power detection system; The power detection system is electrically connected with the microwave input end of the rectangular waveguide and the host computer respectively; The power detection system is used to obtain the S11 reflection coefficient of the microwave input end and send the S11 reflection coefficient to the host computer.

4. The microwave drilling apparatus of claim 1, wherein, When the resonance frequency deviates, the host computer is configured to: calculate the gradient of the resonance frequency based on a preset frequency optimization objective function and the moving distance of the coaxial resonant cavity; determine the first step length of the linear motor according to the resonance frequency error; determine the moving position of the linear motor based on the gradient of the resonance frequency and the first step length; control the linear motor to act based on the moving position of the linear motor to adjust the length of the coaxial resonant cavity.

5. The microwave drilling apparatus of claim 2, wherein, When there is impedance mismatch, the host computer is configured to: calculate the real-time gradient corresponding to the current position of the coupling ring and the current length of the rectangular waveguide based on a preset impedance matching objective function, the current position of the coupling ring and the current length of the rectangular waveguide respectively; determine the second step length of the impedance matching gradient descent according to the amplitude of the S11 reflection coefficient; determine the moving position of the coupling ring based on the real-time gradient corresponding to the current position of the coupling ring and the second step length, and determine the moving position of the metal section based on the real-time gradient corresponding to the current length of the rectangular waveguide and the second step length; control the first driving motor to act based on the moving position of the coupling ring to adjust the position of the coupling ring, and control the second driving motor to act based on the moving position of the metal section to adjust the length of the rectangular waveguide.

6. A robot, characterized in that The robot comprises the microwave drilling device of any one of claims 1 to 5.

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