Flexible trocar with tongue pressing mechanism for small-cavity surgical robot

Abstract

The invention provides a small-cavity surgical robot flexible trocar with a tongue pressing mechanism, and relates to the technical field of surgical trocar, the small-cavity surgical robot flexible trocar comprises a medical surgical robot, a surgical instrument is fixedly installed on the medical surgical robot, a flexible channel wall is arranged on the surface of the medical surgical robot, the flexible channel wall is made of medical soft silica gel, and the tongue pressing mechanism is arranged on the flexible channel wall. A lateral air bag supporting plate is arranged on the side face of the flexible channel wall, the lateral air bag supporting plate is designed in a segmented mode, a channel erecting mechanism is arranged on the side face of the flexible channel wall, and the channel erecting mechanism can assist medical staff in puncturing oral mucosa and tissue of a patient. A tongue pressing mechanism composed of an annular air channel, a vertical supporting plate, a lateral air bag supporting plate, a special-shaped supporting air bag, airflow exchange equipment, an air inlet pipeline and an air conveying pipeline is arranged, and airflow enters the annular air channel through the air inlet pipeline and the air conveying pipeline and then flows into the special-shaped supporting air bag to enable the special-shaped supporting air bag to expand.

Description

Technical Field

[0001] This invention belongs to the field of surgical puncture card technology, and more specifically, it relates to a flexible puncture card for small-cavity surgical robots with a tongue depressor mechanism. Background Technology

[0002] Medical trocars are indispensable core instruments in minimally invasive surgery. They typically consist of a puncture sheath, a puncture rod, and an external fixation disc, with diameters ranging from 3 to 12 mm. Smaller diameters are suitable for delicate procedures, while larger diameters are suitable for complex surgeries. Their working principle involves the surgeon making a small incision in the patient's skin, inserting the trocar, and allowing the slender tube to enter the surgical site, such as the abdominal cavity, thoracic cavity, or joint cavity. The external disc remains fixed on the body surface, serving as a channel for the laparoscopic camera and surgical instruments to enter and exit. It also allows for the injection of carbon dioxide gas into the cavity to expand the operating space, effectively maintaining intracavitary pressure, reducing gas leakage, and protecting surrounding tissues from direct instrument damage. Currently, medical trocars are widely used in gynecology, hepatobiliary and pancreatic surgery, urology, cardiothoracic surgery, and other fields, supporting various minimally invasive surgeries such as laparoscopic cholecystectomy, hysterectomy, and arthroscopic meniscus repair.

[0003] At least the following technical problems have been found in current medical swabs: First, in small oral cavity surgeries, patients' tongues are prone to voluntary movement and the soft palate is prone to posterior displacement. This has a significant impact on the operation and patient safety. Tongue movement and soft palate displacement directly encroach on the already narrow oral operating space, greatly reducing the range of instrument operation for medical staff. This makes it difficult for surgical instruments to accurately reach the lesion area, increasing the difficulty of the operation. Soft palate displacement may obstruct the airway, affecting the patient's normal breathing during the operation and even threatening their respiratory safety. Voluntary tongue movement may also interfere with the surgical process, further increasing the uncertainty of the surgical operation and hindering the accurate and safe conduct of the surgery.

[0004] Secondly, in small-cavity surgeries within the oral cavity, traditional trocars often employ a single rigid channel design. While this can maintain the shape of the surgical channel to some extent, the narrow oral space and soft, sensitive internal tissues make this single rigid channel prone to compressing surrounding sensitive tissues during use. On the one hand, this may directly cause damage such as scratches to the visceral capsule or rupture of blood vessels. On the other hand, it lacks the flexibility to adapt to the complex morphology of the oral cavity and cannot adjust its shape according to the tissue contour or surgical requirements, further increasing the risk of tissue damage and failing to meet the safety and adaptability requirements of small-cavity oral surgeries. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a flexible trocar for small-cavity surgical robots with a tongue depressor mechanism.

[0006] The small cavity operation robot flexible stent card with tongue pressing mechanism comprises a medical operation robot, a surgical instrument is fixedly installed on the medical operation robot, a flexible channel wall is arranged on the surface of the medical operation robot, the material of the flexible channel wall is medical soft silica gel, a lateral air bag support plate is arranged on the side of the flexible channel wall, the lateral air bag support plate is designed in sections, a channel erecting mechanism is arranged on the side of the flexible channel wall, the channel erecting mechanism can assist medical staff to pierce the oral mucosa and tissue of a patient and establish an operation channel, a tongue pressing mechanism is arranged on the side of the flexible channel wall, the tongue pressing mechanism can lift and open the lateral air bag support plate through an air bag, expand the operation space in the oral cavity of the patient and keep the oral cavity of the patient breathing unobstructed.

[0007] Preferably, the channel erecting mechanism comprises an external channel, an external handle is slidably installed in the external channel, a puncture device is fixedly installed on the external handle, the puncture device is located in the external channel, the puncture device is slidably installed in the flexible channel wall, an inclined puncture head is arranged at the front end of the puncture device, the puncture device is located in the flexible channel wall, a hard channel wall is arranged on the flexible channel wall, the hard channel wall is made of medical stainless steel, an anti-skid thread is arranged on the hard channel wall, the medical operation robot is slidably installed in the puncture device, and a sealing valve made of medical silica gel is arranged in the hard channel wall.

[0008] Preferably, the tongue pressing mechanism comprises a ring-shaped gas channel, an air flow channel is arranged in the ring-shaped gas channel, at least three vertical support plates are arranged on the circumferential surface of the ring-shaped gas channel, the vertical support plates are arranged in a ring shape on the circumferential surface of the ring-shaped gas channel, a groove is formed in the vertical support plate, the lateral air bag support plate is fixedly installed on the vertical support plate, the lateral air bag support plates are arranged in a ring shape with the center point of the ring-shaped gas channel as the center, the vertical support plates and the lateral air bag support plates are made of medical-grade silicone rubber, a special-shaped support air bag is arranged in the vertical support plate, the lower end of the special-shaped support air bag is located in the lateral air bag support plate, one end of the special-shaped support air bag is connected with the air flow channel in the ring-shaped gas channel, an air flow exchange device is fixedly installed on the external channel, an air inlet pipeline is fixedly installed on the air flow exchange device, one end of the air inlet pipeline is connected with the air bag, a gas delivery pipeline is fixedly installed on the air flow exchange device, the gas delivery pipeline is connected with the air flow channel in the ring-shaped gas channel, the air inlet pipeline and the gas delivery pipeline are connected, a negative pressure air suction pipeline is fixedly installed on the air flow exchange device, a negative pressure aspirator is fixedly installed at the lower end of the air flow exchange device, one end of the negative pressure aspirator is connected with the negative pressure air suction pipeline, and the other end of the negative pressure aspirator is fixedly installed at the front end of the medical operation robot.

[0009] Compared with the prior art, the present application has the following beneficial effects: In the application, by being provided with the tongue pressing mechanism composed of the annular gas passage, the vertical support plate, the lateral air bag support plate, the special-shaped support air bag, the air flow exchange device, the air inlet pipeline and the air conveying pipeline, the air flow enters the annular gas passage through the air inlet pipeline and the air conveying pipeline, then flows into the special-shaped support air bag to make it expand, and further push the vertical support plate and the lateral air bag support plate to unfold, which can not only press down the tongue and support the soft palate to expand the operation space in the oral cavity, but also can ensure the patient to breathe smoothly and reduce the risk of accidentally touching sensitive tissues.

[0010] In the application, by being provided with the hard passage wall and the flexible passage wall, the two can realize the synergistic advantages of stable support and flexible protection of the surgical passage, the hard passage wall can stably support the surgical passage by virtue of the rigidity of the medical stainless steel material, effectively avoid the collapse of the passage, facilitate the medical staff to accurately control the direction and depth of the surgical operation, the anti-slip design on the surface can prevent the poking card from sliding and falling off, and the hard surface is easy to clean, which can reduce the risk of residual oral secretions or pollutants and ensure the safety in use; the flexible passage wall is made of medical soft silicone material and can slightly bend when the medical surgical robot adjusts the operation direction, avoiding the pure hard passage from causing pressure on the surrounding tissues, thereby reducing the damage to the internal organs, such as the internal organs, blood vessels and other tissues. The cooperation of the two not only ensures the stability and reliability of the surgical passage and provides a basis for accurate operation, but also protects the patient's tissues through the flexible characteristics, further improving the safety and applicability of small cavity surgery.

[0011] In the application, by being provided with the channel erection mechanism including the external channel, the external handle and the puncture device, the medical staff can control the external handle to drive the puncture device to slide along the external channel accurately, and with the help of the beveled puncture head at the front end of the puncture device, the patient's oral mucosa and the tissue below can be quickly punctured to establish a surgical passage connecting the patient's body and the outside, reducing the operation time during the tissue puncture process. During the channel establishment stage, the puncture device is located inside the flexible passage wall, which can effectively support the flexible passage wall, avoid the collapse or deviation of the flexible passage wall due to its material characteristics, ensure that the surgical passage always maintains a stable shape and position, lay a solid foundation for the medical surgical robot to enter the channel for operation, and improve the overall smoothness and reliability of the surgery.

[0012] In the application, by being provided with a negative pressure aspirator and a negative pressure suction pipeline, one end of the negative pressure aspirator is connected with the negative pressure suction pipeline, and the other end is fixed at the front end of the medical surgical robot, and can be adjusted to approach the surgical lesion synchronously with the operation of the robot, and in the surgical process, the system can timely and efficiently assist in cleaning the generated blood and tissue exudate, avoid the accumulation of these liquids in the surgical field to affect the observation, and through the continuous maintenance of the clear vision field of the surgical area, provide strong support for the medical staff to accurately judge the lesion position and smoothly develop the surgical operation, reduce the operation deviation caused by the blocked vision, and further improve the safety and accuracy of the small cavity surgery. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is a schematic diagram of the overall structure of the application; Figure 2 is a schematic diagram of the annular gas passage structure of the application; Figure 3 is a schematic diagram of the special-shaped support air bag structure of the application; Figure 4 is a schematic diagram of the hard passage wall structure of the application; Figure 5 is a schematic diagram of the puncture device structure of the application; Figure 6 is a schematic diagram of the medical surgical robot structure of the application; Figure 7 is a schematic diagram of the structure at A in the application Figure 4

[0014] In the figure, the corresponding relationship between the component name and the figure number is as follows: 1, external passage; 2, annular gas passage; 3, vertical support plate; 4, lateral air bag support plate; 5, special-shaped support air bag; 6, gas conveying pipeline; 7, gas flow exchange equipment; 8, air inlet pipeline; 9, negative pressure suction pipeline; 10, external handle; 11, puncture device; 12, hard passage wall; 13, flexible passage wall; 14, negative pressure aspirator; 15, medical surgical robot; 17, surgical instrument. DETAILED DESCRIPTION

[0015] The embodiments of the application will be further described in detail below in combination with the drawings and examples. The following examples are used to illustrate the application, but cannot be used to limit the scope of the application.

[0016] Please refer to Figures 1-7 ​The application provides a small cavity operation robot flexible poking card with a tongue pressing mechanism, which comprises a medical operation robot 15, a surgical instrument 17 fixedly installed on the medical operation robot 15, the surgical instrument 17 can be replaced with different instruments according to different situations, for example, a hemostatic forceps, a surgical knife, a medical forceps and the like, the medical operation robot 15 is a telescopic operation robot, the medical operation robot 15 is controlled by an external workbench, the medical operation robot 15 can adjust the depth and range of the surgical instrument 17 due to the telescopic structure, so that the surgical instrument 17 can be in the best operation position and angle, the medical operation robot 15 is provided with a flexible channel wall 13, the material of the flexible channel wall 13 is medical soft silicone, the flexible channel wall 13 is designed to be slightly bent with the instrument angle when the medical operation robot 15 adjusts the direction, instead of pressing the surrounding tissue like the hard front end, so as to avoid the internal organ capsule scratch and the blood vessel extrusion rupture, the flexible channel wall 13 is provided with a lateral air bag support plate 4 on the side, the lateral air bag support plate 4 is used for pressing down the patient's tongue and lifting the soft palate, so as to expand the oral cavity operation space, expose the deep throat area, ensure the smooth breathing of the patient, facilitate the accurate operation of the doctor during the operation, and reduce the risk of accidentally touching the sensitive tissue.

[0017] The flexible channel wall 13 is provided with a channel erecting mechanism on the side, the channel erecting mechanism can assist medical staff to quickly pierce the oral mucosa and submucosal tissue of the patient, and establish a surgical channel, the flexible channel wall 13 is provided with a tongue pressing mechanism on the side, the tongue pressing mechanism can lift and support the lateral air bag support plate 4 through the air bag, expand the operation space in the oral cavity of the patient and keep the oral cavity of the patient breathing smoothly.

[0018] As Figure 1 , Figure 4 and Figure 5As shown, the channel erection mechanism includes an external channel 1, an external handle 10 is slidingly installed in the external channel 1, a puncture device 11 is fixedly installed on the external handle 10, the puncture device 11 is located inside the external channel 1, the puncture device 11 is slidingly installed inside a flexible channel wall 13, the puncture device 11 is provided with a beveled puncture head at the front end, the puncture device 11 penetrates the oral mucosa and other tissues through the puncture head at the front end to establish a micro channel, which facilitates subsequent operation, the puncture device 11 is located inside the flexible channel wall 13, and the puncture device 11 can support the flexible channel wall 13 during the channel establishment stage, the flexible channel wall 13 is provided with a hard channel wall 12, the hard channel wall 12 is made of medical stainless steel, the hard channel wall 12 is provided with an anti-skid thread for preventing the sliding and falling of the poking card, the hard design of the hard channel wall 12 can stably support the surgical channel without collapsing, which facilitates the medical staff to accurately control the operation direction and depth, and the anti-skid thread can assist the poking card to be fixed without sliding, and the hard surface is also easy to clean, which can reduce the risk of oral secretion or pollutant residue and improve the use safety, a medical surgical robot 15 is slidingly installed in the puncture device 11, and the working principle of the medical surgical robot 15 is that: the execution arm can be flexibly extended or retracted by relying on the nestable execution arm, the execution arm can adapt to different surgical spaces such as the abdominal cavity and the deep part of the oral cavity, the sensor on the execution arm can feedback the position and force information in real time, so as to avoid damage to the surrounding tissues during operation, and finally realize precise and safe surgical operation, the medical staff first disinfect and mark the position of the entire device and the patient where the channel needs to be established, then the front end of the puncture device 11 is marked, the puncture head at the front end of the puncture device 11 pierces the oral mucosa and the tissue below, then the flexible channel wall 13 and the hard channel wall 12 enter the inside to establish a stable channel between the patient's body and the outside, the hard channel wall 12 is provided with a sealing valve made of medical silica gel, and the sealing valve in the hard channel wall 12 is used to reduce the contact between the patient's body and the outside air, the sealing valve is elastic, and when the surgical instrument 17 passes through, it tightly adheres to the outer wall of the instrument, and when there is no instrument passing through, it is automatically closed to block the air circulation between the inside and the outside.

[0019] As Figure 2 , Figure 3 , Figure 6 and Figure 7As shown, the tongue pressing mechanism includes an annular gas passage 2, a gas flow passage is arranged in the annular gas passage 2, and at least three vertical support plates 3 are arranged on the circumferential surface of the annular gas passage 2. The vertical support plates 3 are arranged in a ring on the circumferential surface of the annular gas passage 2, a groove is formed in the vertical support plate 3, a lateral air bag support plate 4 is fixedly installed on the vertical support plate 3, and the lateral air bag support plate 4 is arranged in a ring with the center point of the annular gas passage 2 as the center. The vertical support plate 3 and the lateral air bag support plate 4 are made of medical-grade silicone rubber, the vertical support plate 3 can be folded into the groove on the vertical support plate 3, a special-shaped support air bag 5 is arranged in the vertical support plate 3, the lower end of the special-shaped support air bag 5 is located in the lateral air bag support plate 4, the lateral air bag support plate 4 is designed in sections, the sectional design of the lateral air bag support plate 4 can better fit the shape of the soft palate and the patient's tongue, one end of the special-shaped support air bag 5 is connected with the gas flow passage in the annular gas passage 2, a gas flow exchange device 7 is fixedly installed on the external passage 1, an air inlet pipeline 8 is fixedly installed on the gas flow exchange device 7, one end of the air inlet pipeline 8 is connected with the air bag, a gas delivery pipeline 6 is fixedly installed on the gas flow exchange device 7, the gas delivery pipeline 6 is connected with the gas flow passage in the annular gas passage 2, the air inlet pipeline 8 is connected with the gas delivery pipeline 6, when the device establishes a passage in the patient's body, the medical staff controls the air bag to unfold the vertical support plate 3 and the lateral air bag support plate 4, the lower end of the vertical support plate 3 and the lateral air bag support plate 4 are used to press down the patient's tongue, which can avoid the tongue from being rolled into the throat, and can reduce the entry of saliva, vomitus and the like into the trachea by cooperating with the body position. The upper end of the two groups of vertical support plates 3 and lateral air bag support plates 4 cooperate with each other to support the patient's soft palate to prevent the soft palate from falling backward to block the airway, and to expose the throat or nasopharynx operation field of view, a negative pressure suction pipeline 9 is fixedly installed on the gas flow exchange device 7, one end of the negative pressure suction pipeline 9 is connected with a negative pressure device, a negative pressure aspirator 14 is fixedly installed at the lower end of the gas flow exchange device 7, one end of the negative pressure aspirator 14 is connected with the negative pressure suction pipeline 9, and the negative pressure aspirator 14 is used to assist in cleaning blood and tissue exudate generated during the operation. The other end of the negative pressure aspirator 14 is fixedly installed at the front end of a medical surgical robot 15, when the vertical support plate 3 and the lateral air bag support plate 4 are unfolded and the device is fixed, the medical staff pulls out the puncture device 11 through the external handle 10, so that the flexible passage wall 13 returns to a flexible state. At this time, the medical staff controls the negative pressure aspirator 14 to stretch and retract, and after reaching the specified depth, the medical staff starts the operation on the affected area.

[0020] Working principle: First, the medical staff first disinfect the entire device and the oral area where the patient needs to establish a surgical access, and then mark the area; then the front end of the puncture device 11 is aligned with the marked area, the oblique puncture head at the front end of the puncture device 11 pierces the oral mucosa and the tissue below, and at the same time, the flexible channel wall 13 and the hard channel wall 12 are pushed into the tissue together with the puncture device 11, and a channel is initially established for the patient to communicate with the outside; at this stage, the puncture device 11 supports the flexible channel wall 13, and the hard channel wall 12 prevents the channel from collapsing due to the characteristics of the medical stainless steel material.

[0021] Second, after the channel is initially established, start the air flow exchange device 7, the air flow enters the air inlet pipeline 8, then enters the air conveying pipeline 6, and then enters the air flow channel in the annular air channel 2, and finally flows into the special-shaped support air bag 5 in the vertical support plate 3; after the special-shaped support air bag 5 is inflated, the vertical support plate 3 is unfolded from the folded state, and the lateral air bag support plate 4 is synchronously unfolded, the lower end of the vertical support plate 3 and the lateral air bag support plate 4 press the patient's tongue, and the upper end of the two groups of vertical support plates 3 and lateral air bag support plates 4 support the patient's soft palate; at the same time, the anti-skid thread on the hard channel wall 12 assists the stab card to be fixed, so as to avoid the device from sliding and further stabilize the surgical channel.

[0022] Third, the medical staff withdraws the puncture device 11 from the inside of the flexible channel wall 13 through the external handle 10, so that the flexible channel wall 13 returns to the flexible state; then controls the negative pressure aspirator 14, one end of the negative pressure aspirator 14 is connected with the negative pressure air suction pipeline 9 on the air flow exchange device 7, and the other end is fixed at the front end of the medical surgical robot 15, and the negative pressure aspirator 14 is adjusted to a specified depth close to the surgical site, so as to prepare for cleaning the blood and tissue exudate generated during the operation.

[0023] Fourth, the doctor issues an instruction through the external workbench to control the nestable execution arm of the medical surgical robot 15 to extend or retract, so as to adapt to the deep oral surgical space; the sensor on the execution arm feeds back the position and force information in real time, so as to avoid damaging the surrounding tissue; the surgical instrument 17 at the end of the medical surgical robot 15, which can be replaced by hemostatic forceps, surgical knives, medical forceps and the like, performs precise surgical operation on the affected area; during the operation, the negative pressure aspirator 14 continuously works to clean the blood and exudate in the surgical area in time, so as to ensure the clear surgical field until the operation is completed.

[0024] The embodiments of the present application are given for the purpose of illustration and description, and are not exhaustive or limit the present application to the disclosed form. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are chosen and described in order to better illustrate the principles and actual application of the present application, and to enable those of ordinary skill in the art to understand the present application in order to design various embodiments with various modifications for specific purposes.

Claims

1. A flexible trocar for small-cavity surgical robots with a tongue depressor mechanism, including a medical surgical robot (15), characterized in that: The medical surgical robot (15) is fixedly equipped with surgical instruments (17). The surface of the medical surgical robot (15) is provided with a flexible channel wall (13). The material of the flexible channel wall (13) is medical soft silicone. The side of the flexible channel wall (13) is provided with a lateral airbag support plate (4). The lateral airbag support plate (4) is a segmented design. The flexible channel wall (13) is provided with a channel erection mechanism on its side. The channel erection mechanism can assist medical staff in piercing the patient's oral mucosa and tissue to establish a surgical channel. The flexible channel wall (13) is provided with a tongue depressor mechanism on its side. The tongue depressor mechanism can lift and open the lateral airbag support plate (4) through the airbag, expand the operating space in the patient's oral cavity and keep the patient's oral breathing unobstructed.

2. The flexible trocar with tongue depressor mechanism for small-cavity surgical robots as described in claim 1, characterized in that, The channel erection mechanism includes an external channel (1), an external handle (10) is slidably installed inside the external channel (1), and a puncture device (11) is fixedly installed on the external handle (10). The puncture device (11) is located inside the external channel (1).

3. The flexible trocar with tongue depressor mechanism for small-cavity surgical robots as described in claim 2, characterized in that, The puncture device (11) is slidably installed inside the flexible channel wall (13). The front end of the puncture device (11) is provided with a slanted puncture head. The puncture device (11) is located inside the flexible channel wall (13). The flexible channel wall (13) is provided with a rigid channel wall (12).

4. The flexible trocar with tongue depressor mechanism for small-cavity surgical robots as described in claim 3, characterized in that, The rigid channel wall (12) is made of medical stainless steel. The rigid channel wall (12) is provided with anti-slip threads. The medical surgical robot (15) is slidably installed in the puncture device (11). The rigid channel wall (12) is provided with a sealing valve made of medical silicone material.

5. The flexible trocar with tongue depressor mechanism for small-cavity surgical robots as described in claim 4, characterized in that, The tongue depressor includes an annular gas channel (2), which has an airflow channel. The annular gas channel (2) has at least three vertical support plates (3) arranged in a ring on the circumferential surface of the annular gas channel (2).

6. The flexible trocar with tongue depressor mechanism for small-cavity surgical robots as described in claim 5, characterized in that, A groove is provided on the vertical support plate (3), and the lateral airbag support plate (4) is fixedly installed on the vertical support plate (3). The lateral airbag support plates (4) are arranged in a ring with the center point of the annular gas channel (2) as the center. The vertical support plate (3) and the lateral airbag support plate (4) are made of medical grade silicone rubber.

7. The flexible trocar with tongue depressor mechanism for small-cavity surgical robots as described in claim 6, characterized in that, The vertical support plate (3) is provided with an irregular support airbag (5), the lower end of the irregular support airbag (5) is located in the side airbag support plate (4), one end of the irregular support airbag (5) is connected to the airflow channel in the annular gas channel (2), and an airflow exchange device (7) is fixedly installed on the external channel (1).

8. The flexible trocar with tongue depressor mechanism for small-cavity surgical robots as described in claim 7, characterized in that, An air inlet pipe (8) is fixedly installed on the air exchange device (7), one end of which is connected to an air bag, and an air delivery pipe (6) is fixedly installed on the air exchange device (7).

9. The flexible trocar with tongue depressor mechanism for small-cavity surgical robots as described in claim 8, characterized in that, The gas delivery pipe (6) is connected to the airflow channel in the annular gas channel (2), the air intake pipe (8) is connected to the gas delivery pipe (6), and a negative pressure suction pipe (9) is fixedly installed on the airflow exchange device (7).

10. The flexible trocar with tongue depressor mechanism for small-cavity surgical robots as described in claim 9, characterized in that, The lower end of the airflow exchange device (7) is fixedly installed with a negative pressure suction device (14). One end of the negative pressure suction device (14) is connected to the negative pressure suction pipe (9), and the other end of the negative pressure suction device (14) is fixedly installed at the front end of the medical surgical robot (15).

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