Oronasal combined multi-arm nasopharyngeal skull base surgery robot

Abstract

The application provides an oral-nasal combined multi-arm nasopharyngeal skull base surgery robot, relates to the technical field of nasopharyngeal skull base surgery, and comprises a mounting plate, a first surgery arm and a second surgery arm are arranged on the mounting plate, a first positioning assembly and a second positioning assembly are integrated in the first surgery arm, a third positioning assembly is integrated in the second surgery arm, and an upper arc-shaped plate is arranged in the first positioning assembly, the second positioning assembly and the third positioning assembly. The device is provided with an auxiliary knife arm, a lens arm and a main knife arm, the auxiliary knife arm and the lens arm can enter from the nasal cavity, and the main knife arm can enter from the oral cavity. This design can better cope with the curved approach and the surgical scene requiring complex operation, can observe and operate the surgical area from multiple angles, provides a clear field of view, enables doctors to more accurately judge the relationship between the lesion position and the surrounding tissue, and avoids the problems caused by the lever effect of the rigid straight sheath in the traditional natural orifice surgery robot.

Description

Technical Field

[0001] This invention belongs to the field of nasopharyngeal skull base surgery technology, and more specifically, relates to a multi-arm nasopharyngeal skull base surgery robot that combines oral and nasal procedures. Background Technology

[0002] Nasopharyngeal skull base surgery is a highly complex surgical procedure, mainly used to treat lesions in the nasopharynx and skull base region. It presents challenges such as narrow and complex surgical paths and deep-seated lesions. Robot-assisted surgery retains the advantages of minimally invasive laparoscopic surgery while offering the high flexibility and intuitive operation of robotic arms, reducing the need for medical staff and improving surgical efficiency.

[0003] Existing surgical robots have the following drawbacks: Natural cavity surgical robots often employ a configuration of a single arm with a rigid straight sheath combined with multiple operating arms. The single arm enters the surgical area through the same cavity. The rigid straight sheath has a lever effect, meaning that even small changes in the rigid straight sheath's posture within the body require a large-scale movement from an external drive mechanism. This makes it difficult to adapt to curved approaches and surgical scenarios requiring complex operations. Existing surgical robots operate from a single cavity. A single cavity approach can only provide a limited field of view, making it difficult to fully observe the complex anatomical structures of the nasal skull base. In a confined space, multiple surgical instruments are prone to collision when operating simultaneously, which not only affects surgical efficiency but may also cause unnecessary damage to surrounding tissues. Existing surgical robots do not have cleaning devices during surgery, and the surgical arm may come into contact with the patient's tissues, blood, etc. If it is not disinfected in time, pathogens may be introduced into the patient's body when it is extended again for surgical operations, leading to cross-infection. In addition, time needs to be specifically allocated during the operation to disinfect the surgical arm, which will prolong the operation time.

[0004] Therefore, in view of this, we have studied and improved the existing structure and its shortcomings, and provided a multi-arm nasopharyngeal skull base surgical robot that combines oral and nasal surgery, in order to achieve a more practical value. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a multi-arm nasopharyngeal skull base surgery robot that combines oral and nasal procedures to solve these issues.

[0006] A multi-arm nasopharyngeal skull base surgical robot combining oral and nasal surgery includes a mounting plate. The mounting plate has a first surgical arm and a second surgical arm. The first surgical arm integrates a first positioning unit and a second positioning unit, and the second surgical arm integrates a third positioning unit. Each of the first, second, and third positioning units has an upper arc-shaped plate, and each upper arc-shaped plate has a lower arc-shaped plate below it. The first positioning unit contains an auxiliary scalpel arm, the second positioning unit contains a lens arm, and the third positioning unit contains a main scalpel arm. Push rings are fixedly mounted on the circumferential ends of the auxiliary scalpel arm, the lens arm, and the main scalpel arm. Two mounting holes are opened on the side end of the mounting plate, and threaded locking elements are inserted through both mounting holes. The first and second surgical arms are located on the inner walls of the mounting holes. Each upper arc-shaped plate has a lower slot at its lower end and a slot through its side end. Limiting plates are slidably installed on the inner sidewalls of the grooves. A pull plate is fixedly installed on the side end of each limiting plate. Multiple first springs are fixedly installed between each pull plate and the upper arc plate. A lower clamping plate is fixedly installed on the upper end of each lower arc plate. A limiting groove is opened through the side end of each lower clamping plate. The limiting plate is slidably installed on the inner sidewall of the limiting groove. An embedded plate is fixedly installed at the end of the inner sidewall of the upper and lower arc plates. A first slot is opened on the side end of each embedded plate. A second slot is also opened through the upper end of each embedded plate. Two arc-shaped cleaning plates are integrated on the first, second, and third positioning integrations. A side plate is fixedly installed on the side end of each arc-shaped cleaning plate. A rectangular groove is opened through the upper end of each side plate. Two arc-shaped protrusions are slidably installed on the inner sidewall of each rectangular groove. Two second springs are fixedly installed between every two arc-shaped protrusions.

[0007] Preferably, each of the arc-shaped cleaning plates has two rectangular plates fixedly installed on its side end, a rotating shaft is fixedly installed between each pair of rectangular plates, and a protective cover is provided on the side end of each of the arc-shaped cleaning plates.

[0008] Preferably, a baffle is fixedly installed on the side end of each of the protective covers, a rotating plate is fixedly installed on the side end of each of the protective covers, a cylindrical groove is opened through the upper end of each of the rotating plates, each of the rotating plates is rotatably installed on the circumferential end of the rotating shaft through the cylindrical groove, and a torsion spring is fixedly installed between each of the rotating shafts and the cylindrical groove.

[0009] Compared with the prior art, the present invention has the following beneficial effects: 1. In this invention, by providing an auxiliary scalpel arm, a lens arm, and a main scalpel arm, the auxiliary scalpel arm and the lens arm can enter through the nasal cavity, and the main scalpel arm can enter through the oral cavity. This design can better cope with curved approaches and surgical scenarios requiring complex operations, and can observe and operate on the surgical area from multiple angles, providing a clear field of vision. This allows doctors to more accurately determine the location of the lesion and its relationship with the surrounding tissues, avoiding the problems caused by the lever effect of the rigid straight sheath in traditional natural cavity surgical robots, and improving the precision and operability of the surgery.

[0010] 2. In this invention, two protective covers that can be automatically opened and closed are provided. When the operating arm needs to be extended, the two protective covers can be automatically opened, and when the operating arm is retracted, the protective covers can be automatically closed. During the operation, the operating arm may be subjected to impact or friction from external forces. The protective covers can provide a certain degree of protection for the operating arm when it is extended and retracted, reducing the risk of damage to the operating arm. The automatic opening and closing of the protective covers can be synchronized with the movement of the operating arm and will not interfere with the surgical operation. While playing a protective role, it ensures the normal progress of the operation.

[0011] 3. In this invention, by providing two arc-shaped cleaning plates, the operating arm can be disinfected by the disinfectant sponges inside the two arc-shaped cleaning plates when it is retracted. During the operation, the operating arm may come into contact with the patient's tissues, blood, etc. If it is not disinfected in time, pathogens may be introduced into the patient's body when it is extended again for surgical operations, leading to cross-infection. The disinfectant sponge can quickly disinfect the operating arm when it is retracted, effectively reducing the risk of cross-infection.

[0012] 4. In this invention, by providing two arc-shaped cleaning plates, the two arc-shaped cleaning plates can also limit the operation arm, helping the doctor to accurately position the operation arm in the surgical area, improving the precision of the surgery. Through the limiting device, it can be ensured that the operation arm moves within a preset range, enabling the doctor to perform surgical operations more accurately, reducing the shaking and displacement of the operation arm, and improving the stability of the operation.

[0013] 5. In this invention, by providing a detachable first surgical arm and a second surgical arm, the user can separate the upper arc plate and the lower arc plate on the first surgical arm and the second surgical arm, so that the auxiliary scalpel arm, the lens arm and the main scalpel arm can be combined in different ways to meet the surgical operation needs under different circumstances, making the nasopharyngeal skull base surgery process more flexible, stable and convenient to operate, and highly practical. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the mounting plate structure of the present invention; Figure 2 This is a schematic diagram of the threaded locking component structure of the present invention; Figure 3 This is a schematic diagram of the first surgical arm structure of the present invention; Figure 4 This is a schematic diagram of the first positioning integrated structure of the present invention; Figure 5 This is a schematic diagram of the third positioning integrated structure of the present invention; Figure 6 This is a schematic diagram of the auxiliary cutter arm structure of the present invention; Figure 7 This is a schematic diagram of the inlay panel structure of the present invention; Figure 8 This is a schematic diagram of the protective cover structure of the present invention; Figure 9 This is a schematic diagram of the arc-shaped protrusion structure of the present invention; Figure 10 This is the present invention. Figure 7 An enlarged schematic diagram of the structure at point A.

[0015] In the diagram, the correspondence between component names and attached drawing numbers is as follows: 1. Mounting plate; 11. Mounting hole; 12. Threaded locking element; 2. First surgical arm; 21. Upper arc-shaped plate; 22. Lower arc-shaped plate; 23. Slot; 24. Lower retaining groove; 25. Pull plate; 26. First spring; 27. Limiting plate; 28. Lower retaining plate; 29. ​​Limiting groove; 3. Second surgical arm; 4. First positioning integration; 41. Arc-shaped cleaning plate; 42. Side plate; 43. Arc-shaped protrusion; 44. Second spring; 45. Rectangular plate; 46. Torsion spring; 47. Rotating shaft; 48. Rectangular groove; 5. Second positioning integration; 6. Third positioning integration; 61. Auxiliary scalpel arm; 62. Lens arm; 63. Main scalpel arm; 64. Push ring; 7. Inset plate; 71. First slot; 72. Second slot; 8. Protective cover; 81. Baffle; 82. Rotating plate; 83. Cylindrical groove. Detailed Implementation

[0016] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0017] Please see Figure 1 - Figure 10This invention provides a multi-arm nasopharyngeal skull base surgery robot integrating oral and nasal surgery, comprising a mounting plate 1, on which a first surgical arm 2 and a second surgical arm 3 are mounted. The first surgical arm 2 integrates a first positioning assembly 4 and a second positioning assembly 5, and the second surgical arm 3 integrates a third positioning assembly 6. Each of the first, second, and third positioning assemblies has an upper arc-shaped plate 21, and a lower arc-shaped plate 22 is located below each upper arc-shaped plate 21. The first positioning assembly 4 contains an auxiliary scalpel arm 61, the second positioning assembly 5 contains a lens arm 62, and the third positioning assembly 6 contains a main scalpel arm 63. The circumferential ends of the auxiliary scalpel arm 61, the lens arm 62, and the main scalpel arm 63 are all fixedly mounted. With a push ring 64, when performing nasopharyngeal skull base surgery on a patient, the user needs to use an auxiliary robotic arm to penetrate into the patient's nasal cavity to perform surgery on the lesion. During the surgery, the user can place the auxiliary scalpel arm 61 in the first positioning integration 4, the lens arm 62 in the second positioning integration 5, and the main scalpel arm 63 in the third positioning integration 6. In actual use, the first positioning integration 4 and the second positioning integration 5 on the first surgical arm 2 are respectively equipped with the auxiliary scalpel arm 61 and the lens arm 62, which can penetrate into the lesion through the nasal cavity. The third positioning integration 6 on the second surgical arm 3 is equipped with the main scalpel arm 63, which can penetrate into the lesion through the oral cavity, realizing a multi-arm nasopharyngeal skull base surgery combining oral and nasal approaches. The mounting plate 1 has two mounting holes 11 on its side end, and a threaded locking element 12 is inserted through each mounting hole 11. The first surgical arm 2 and the second surgical arm 3 are located on the inner side wall of the mounting holes 11. Each upper arc plate 21 has a lower slot 24 at its lower end and a slot 23 at its side end. A limit plate 27 is slidably installed on the inner side wall of each slot 23. A pull plate 25 is fixedly installed on the side end of each limit plate 27. Multiple first springs 26 are fixedly installed between each pull plate 25 and the upper arc plate 21. Each lower arc plate 22 has a lower locking plate 28 fixedly installed on its upper end. A limit groove 29 is inserted through the side end of each lower locking plate 28, and the limit plate 27 is slidably installed on the inner side wall of the limit groove 29. Before performing the surgery, different combinations of the operating arms can be made according to the actual surgical needs. The user can separate the first operating arm 2 or the second operating arm 3. The user can pull the pull plate 25. The movement of the pull plate 25 will cause the limiting plate 27 to move away from the inner wall of the limiting groove 29. At this time, the upper arc plate 21 and the lower arc plate 22 can be separated. The user can combine the auxiliary scalpel arm 61, the lens arm 62 and the main scalpel arm 63 in different ways according to the needs. The auxiliary scalpel arm 61 and the main scalpel arm 63 can be combined in the first operating arm 2 and the lens arm 62 can be fixed in the second operating arm 3, or the lens arm 62 and the main scalpel arm 63 can be combined in the first operating arm 2 and the auxiliary scalpel arm 61 can be fixed in the second operating arm 3, thereby matching different surgical operation needs. An inner plate 7 is fixedly installed on the end of the inner wall of the upper arc plate 21 and the lower arc plate 22. Each inner plate 7 has a first slot 71 at its side end and a second slot 72 through its upper end. Two arc-shaped cleaning plates 41 are integrated on the first positioning assembly 4, the second positioning assembly 5, and the third positioning assembly 6. A side plate 42 is fixedly installed on the side end of each arc-shaped cleaning plate 41. When a part of the operation is completed, it may be necessary to temporarily retract the operating arm. Taking the auxiliary scalpel arm 61 as an example, when the auxiliary scalpel arm 61 is retracted, the inner walls of the arc-shaped cleaning plates 41 on both sides of the device are provided with sterile sponges. The arc-shaped cleaning plates 41 on both sides can clean the auxiliary scalpel arm 61. Scraping and disinfection are performed so that the auxiliary blade arm 61 can be temporarily cleaned after retraction. After the operation, the user can also clean and disinfect the arc-shaped cleaning plate 41. The user can press the arc-shaped protrusions 43 on both sides to move closer to each other. The arc-shaped protrusions 43 on both sides will move away from the inner wall of the second groove 72 and into the inner wall of the first groove 71. At this time, the arc-shaped protrusions 43 on both sides no longer limit the side plate 42. The user can pull the side plate 42 away from the inner wall of the first groove 71 to complete the disassembly of the arc-shaped cleaning plate 41. After cleaning the arc-shaped cleaning plate 41, the user can spray disinfectant and install it in the first surgical arm 2 or the second surgical arm 3. Each side plate 42 has a rectangular groove 48 extending through its upper end. Two arc-shaped protrusions 43 are slidably mounted on the inner wall of each rectangular groove 48. Two second springs 44 are fixedly installed between each pair of arc-shaped protrusions 43. Two rectangular plates 45 are fixedly installed on the side end of each arc-shaped cleaning plate 41. A rotating shaft 47 is fixedly installed between each pair of rectangular plates 45. Each arc-shaped cleaning plate 41 has a protective cover 8 on its side end. A baffle 81 is fixedly installed on the side end of each protective cover 8. A rotating plate 82 is fixedly installed on the side end of each protective cover 8. A cylindrical groove 83 extends through the upper end of each rotating plate 82. Each rotating plate 82 is rotatably mounted on the circumferential end of the rotating shaft 47 via the cylindrical groove 83. A torsion spring 46 is fixedly installed between each rotating shaft 47 and the cylindrical groove 83. When the user performs… During surgery, the auxiliary scalpel arm 61, the lens arm 62, and the main scalpel arm 63 can be driven to extend from the first surgical arm 2 and the second surgical arm 3, respectively. Taking the auxiliary scalpel arm 61 as an example, the user can operate the auxiliary scalpel arm 61 to extend. When the auxiliary scalpel arm 61 extends, the push ring 64 on the auxiliary scalpel arm 61 no longer limits the baffle 81. At this time, the torsion spring 46 will rebound. The rebound of the torsion spring 46 will drive the rotating plate 82 to rotate on the rotating shaft 47 through the cylindrical groove 83. The rotation of the rotating plate 82 will drive the protective covers 8 on both sides to rotate and open. At this time, the protective covers 8 on both sides no longer protect the end of the auxiliary scalpel arm 61. The user can use the same method to operate the auxiliary scalpel arm 61, the lens arm 62, and the main scalpel arm 63 to penetrate deep into the patient's nasal skull base as needed. The auxiliary scalpel arm 61 and the lens arm 62 can penetrate from the nasal cavity, and the main scalpel arm 63 can penetrate from the oral cavity.

[0018] Working principle: The first step involves using an auxiliary robotic arm to perform nasopharyngeal skull base surgery on a patient. This arm penetrates deep into the patient's nasal cavity to operate on the lesion. During the surgery, the auxiliary scalpel arm 61 is placed in the first positioning integration 4, the lens arm 62 in the second positioning integration 5, and the main scalpel arm 63 in the third positioning integration 6. In actual use, the auxiliary scalpel arm 61 and the lens arm 62 are respectively located in the first positioning integration 4 and the second positioning integration 5 on the first surgical arm 2, allowing them to penetrate deep into the lesion through the nasal cavity. The main scalpel arm 63 is located in the third positioning integration 6 on the second surgical arm 3, allowing it to penetrate deep into the lesion through the oral cavity, thus achieving a multi-arm nasopharyngeal skull base surgery combining oral and nasal approaches. High-resolution imaging examinations (such as CT and MRI) are typically used to operate the robotic arm. (etc.) to conduct a detailed assessment of the patient's nasal skull base anatomy, determine the location, size, and relationship of the lesion with surrounding important structures, etc. During the actual surgery, the doctor sits in front of the console and controls the movement of the robotic arm through devices such as joysticks, buttons, and touch screens. The console usually has a high-definition display screen that displays images of the surgical area in real time, including endoscopic images and the position information of the robotic arm. The doctor can precisely control the position, direction, and range of motion of the robotic arm based on the images on the display screen. For example, the doctor can control the robotic arm's forward, backward, rotation, and grasping movements in the nasal cavity by making small movements of the joystick. In the second step, when the user is performing surgery, the auxiliary scalpel arm 61, the lens arm 62 and the main scalpel arm 63 can be driven to extend from the first surgical arm 2 and the second surgical arm 3 respectively. Taking the auxiliary scalpel arm 61 as an example, the user can operate the auxiliary scalpel arm 61 to extend. When the auxiliary scalpel arm 61 extends, the push ring 64 on the auxiliary scalpel arm 61 no longer limits the baffle 81. At this time, the torsion spring 46 will rebound. The rebound of the torsion spring 46 will drive the rotating plate 82 to rotate on the rotating shaft 47 through the cylindrical groove 83. The rotation of the rotating plate 82 will drive the protective covers 8 on both sides to rotate and open. At this time, the protective covers 8 on both sides no longer protect the end of the auxiliary scalpel arm 61. The user can use the same method to operate the auxiliary scalpel arm 61, the lens arm 62 and the main scalpel arm 63 to penetrate into the base of the patient's nasal skull according to the needs. The auxiliary scalpel arm 61 and the lens arm 62 can penetrate into the nasal cavity, and the main scalpel arm 63 can penetrate into the oral cavity. This device is equipped with an auxiliary scalpel arm 61, a lens arm 62, and a main scalpel arm 63. The auxiliary scalpel arm 61 and the lens arm 62 can enter through the nasal cavity, while the main scalpel arm 63 can enter through the oral cavity. This design can better cope with curved approaches and surgical scenarios requiring complex operations. It can observe and operate on the surgical area from multiple angles, providing a clear field of vision. This allows doctors to more accurately determine the location of the lesion and its relationship with the surrounding tissues, avoiding the leverage effect caused by the rigid straight sheath in traditional natural cavity surgical robots, and improving the precision and operability of the surgery. This device is equipped with two protective covers 8 that can be automatically opened and closed. When the operating arm needs to be extended, the two protective covers 8 can be automatically opened, and when the operating arm is retracted, the protective covers 8 can be automatically closed. During the operation, the operating arm may be subjected to external impact or friction. The protective covers 8 can provide a certain degree of protection for the operating arm when it is extended and retracted, reducing the risk of damage to the operating arm. The automatic opening and closing of the protective covers 8 can be synchronized with the movement of the operating arm and will not interfere with the operation. While playing a protective role, it ensures the normal progress of the operation. Thirdly, when a part of the surgery is completed, it may be necessary to temporarily retract the operating arm. Taking the auxiliary scalpel arm 61 as an example, when the auxiliary scalpel arm 61 is retracted, the inner walls of the arc-shaped cleaning plates 41 on both sides of the device are equipped with disinfectant sponges. The arc-shaped cleaning plates 41 on both sides can scrape, clean and disinfect the auxiliary scalpel arm 61, so that the auxiliary scalpel arm 61 can be temporarily cleaned after retraction. After the operation, the user can also clean and disinfect the arc-shaped cleaning plates 41. The user can press the arc-shaped protrusions 43 on both sides to move closer to each other. When the arc-shaped protrusions 43 on both sides move closer to each other, they will leave the inner wall of the second slot 72 and enter the inner wall of the first slot 71. At this time, the arc-shaped protrusions 43 on both sides no longer limit the side plate 42. The user can pull the side plate 42 away from the inner wall of the first slot 71 to complete the disassembly of the arc-shaped cleaning plate 41. The user can clean the arc-shaped cleaning plate 41 and then spray disinfectant before installing it in the first operating arm 2 or the second operating arm 3. This device is equipped with two arc-shaped cleaning plates 41. When the operating arm is retracted, it can be disinfected by the disinfectant sponge inside the two arc-shaped cleaning plates 41. During the operation, the operating arm may come into contact with the patient's tissues, blood, etc. If it is not disinfected in time, pathogens may be introduced into the patient's body when it is extended again for surgical operations, leading to cross-infection. The disinfectant sponge can quickly disinfect the operating arm when it is retracted, effectively reducing the risk of cross-infection. This device is equipped with two arc-shaped cleaning plates 41, which can also limit the operation arm, helping doctors to accurately position the operation arm in the surgical area and improve the precision of the operation. Through the limiting device, it can be ensured that the operation arm moves within a preset range, enabling doctors to perform surgical operations more accurately, reducing the shaking and displacement of the operation arm, and improving the stability of the operation. Fourth, before performing the surgery, different combinations of the operating arms can be made according to the actual surgical needs. The user can separate the first operating arm 2 or the second operating arm 3. The user can pull the pull plate 25. The movement of the pull plate 25 will cause the limiting plate 27 to move away from the inner wall of the limiting groove 29. At this time, the upper arc plate 21 and the lower arc plate 22 can be separated. The user can combine the auxiliary scalpel arm 61, the lens arm 62 and the main scalpel arm 63 in different ways according to the needs. The auxiliary scalpel arm 61 and the main scalpel arm 63 can be combined in the first operating arm 2 and the lens arm 62 can be fixed in the second operating arm 3, or the lens arm 62 and the main scalpel arm 63 can be combined in the first operating arm 2 and the auxiliary scalpel arm 61 can be fixed in the second operating arm 3, thereby matching different surgical operation needs. This device features a detachable first surgical arm 2 and a second surgical arm 3, allowing the user to separate the upper arc plate 21 and lower arc plate 22 on the first surgical arm 2 and the second surgical arm 3. This enables the auxiliary scalpel arm 61, the lens arm 62, and the main scalpel arm 63 to be combined in different ways to meet the surgical operation needs under different circumstances. This makes the nasopharyngeal skull base surgery process more flexible, stable, convenient to operate, and highly practical.

[0019] The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A multi-arm nasopharyngeal skull base surgery robot combining oral and nasal approaches, comprising a mounting plate (1), characterized in that: The mounting plate (1) is provided with a first surgical arm (2) and a second surgical arm (3); The first surgical arm (2) integrates a first positioning integration (4) and a second positioning integration (5), and the second surgical arm (3) integrates a third positioning integration (6). The first positioning integration (4), the second positioning integration (5) and the third positioning integration (6) are each provided with an upper arc plate (21). Each upper arc plate (21) is provided with a lower arc plate (22) below it. The first positioning integration (4) is provided with an auxiliary blade arm (61), the second positioning integration (5) is provided with a lens arm (62), and the third positioning integration (6) is provided with a main blade arm (63). The circumferential ends of the auxiliary blade arm (61), the lens arm (62) and the main blade arm (63) are all fixedly installed with push rings (64). The mounting plate (1) has two mounting holes (11) at its side end. A threaded locking element (12) is provided through each of the two mounting holes (11). The first surgical arm (2) and the second surgical arm (3) are located on the inner sidewall of the mounting hole (11). Each of the upper arc-shaped plates (21) has a lower slot (24) at its lower end, and each of the upper arc-shaped plates (21) has a slot (23) through its side end, and each of the slots (23) has a limit plate (27) slidably installed on its inner sidewall. Each of the lower arc-shaped plates (22) has a lower clamping plate (28) fixedly installed at its upper end. Each of the lower clamping plates (28) has a limiting groove (29) through its side end. The limiting plate (27) is slidably installed through the inner side wall of the limiting groove (29). Two arc-shaped cleaning plates (41) are integrated on the first positioning integration (4), the second positioning integration (5) and the third positioning integration (6). Each arc-shaped cleaning plate (41) has a side plate (42) fixedly installed on its side end. Each side plate (42) has a rectangular groove (48) through its upper end. Two rectangular plates (45) are fixedly installed on the side end of each of the arc-shaped cleaning plates (41), and a rotating shaft (47) is fixedly installed between each pair of rectangular plates (45). A protective cover (8) is provided on the side end of each of the arc-shaped cleaning plates (41).

2. The multi-arm nasopharyngeal skull base surgical robot combining oral and nasal surgery as described in claim 1, characterized in that, Each of the limiting plates (27) is fixedly installed with a pull plate (25) at its side end, and a plurality of first springs (26) are fixedly installed between each pull plate (25) and the upper arc plate (21).

3. The multi-arm nasopharyngeal skull base surgical robot for combined oral and nasal surgery as described in claim 2, characterized in that, The inner walls of the upper arc plate (21) and the lower arc plate (22) are fixedly installed with an inner plate (7). Each inner plate (7) has a first slot (71) at its side end and a second slot (72) at its upper end.

4. The multi-arm nasopharyngeal skull base surgical robot for combined oral and nasal surgery as described in claim 2, characterized in that, Two arc-shaped protrusions (43) are slidably installed on the inner sidewall of each rectangular groove (48), and two second springs (44) are fixedly installed between each pair of arc-shaped protrusions (43).

5. The multi-arm nasopharyngeal skull base surgical robot as described in claim 3, characterized in that, Each of the protective covers (8) has a baffle (81) fixedly installed on its side end, and a rotating plate (82) fixedly installed on its side end. Each of the rotating plates (82) has a cylindrical groove (83) through its upper end. Each of the rotating plates (82) is rotatably mounted on the circumferential end of the rotating shaft (47) via a cylindrical groove (83); A torsion spring (46) is fixedly installed between each of the rotating shafts (47) and the cylindrical grooves (83).

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