A ureteroscopy surgery robot

Abstract

The application discloses a ureter flexible mirror surgery robot, which comprises a master operation control device and an operation robot. The application does not change the operation habit of doctors, so that the doctors can reuse the traditional ureter flexible mirror surgery skills learned, and the learning time is short; the rotating handle control mechanism of the master operation control device can rotate in positive and negative directions with unlimited angle, so that the operation is flexible and comfortable, the limit distortion of human joints is avoided, and the work burden of doctors can be reduced; the coaxial optimization design of the ureter flexible mirror and the robot mechanism, and the integration of the image processor avoid the risk of kinking and falling of cables and pipelines during the movement and rotation of the flexible mirror, the system has high integration degree, and the operating room is more simple; the resistance detection scheme of the instrument delivery device can monitor the resistance value in real time during the instrument delivery process, and has an instant stop function when the threshold value is exceeded, so that the occurrence of the situation of piercing the endoscope instrument channel or causing the instrument to arch or even damage is avoided.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a flexible ureteroscopic surgical robot. Background Technology

[0002] Endoscopic examination and treatment are commonly used diagnostic and therapeutic methods in modern clinical practice, and represent a developing trend in minimally invasive diagnosis and treatment. For example, flexible nephroureteroscopy is frequently used for the examination and treatment of kidney and ureteral diseases in urology; bronchoscopy is commonly used for the examination and treatment of bronchial and lung diseases in respiratory medicine; and gastroscopy and colonoscopy are commonly used for the examination and treatment of digestive tract diseases. Flexible nephroureteroscopy, bronchoscopy, or digestive endoscopy, through the body's natural urinary, respiratory, or digestive tract cavities, requires no incisions to examine the kidneys and ureters of the urinary system, the bronchi and lungs of the respiratory system, or the gastrointestinal tract of the digestive system, for appropriate examinations and treatments. With advantages such as minimal damage, less pain, and faster recovery, these minimally invasive techniques have been widely applied in urology, respiratory medicine, and gastroenterology, becoming a primary clinical diagnostic and treatment method.

[0003] Traditional endoscopic examinations or treatments require doctors to hold the endoscope and control its movement forward, backward, and rotation within the body cavity through physical contact, ultimately reaching the designated position. During this process, doctors need to adjust the endoscope's position in real-time based on the images, and insert laser fibers or tissue foreign body grasping devices into the endoscope's guide port as needed. This requires the operator to hold the endoscope in the same position for extended periods, and prolonged, repetitive operation can easily lead to muscle soreness, fatigue, and injury in the operator's hands, wrists, neck, shoulders, and arms, depleting their physical strength and energy, and even affecting the quality of the procedure.

[0004] Therefore, some flexible ureteroscopic surgical robots have been designed to address the above problems.

[0005] However, existing flexible ureteroscopic surgical robots have the following drawbacks during use: 1. The operating method of the existing flexible ureteroscopic surgical robot is not in line with the current operating habits of doctors, and doctors need to relearn the operating skills.

[0006] 2. The main operator of some existing robots is still limited by human anatomy in controlling the rotation angle of the endoscope's axis. This results in the doctor needing to bend their wrist to the limit and even rotate their torso to achieve large-angle rotations of the endoscope, indicating poor ergonomics.

[0007] 3. When operating a current flexible ureteroscopic surgical robot, if the surgeon pushes or twists the scope along the handle axis, the vision and illumination composite cable, irrigation tubing, and holmium laser fiber distributed in different parts of the flexible scope handle will move along with it, which may bring the risk of tubing traction, friction, or even dislodgement.

[0008] 4. The existing robot's instrument (fiber optic / stone basket) delivery mechanism does not have resistance detection capability. When the instrument encounters excessive resistance during insertion, it is easy to puncture the endoscope instrument channel or cause the instrument to bend or even be damaged. Summary of the Invention

[0009] To address the aforementioned technical problems, this invention presents a flexible ureteroscopic surgical robot.

[0010] The present invention adopts the following technical solution: A flexible ureteroscopic surgical robot includes a main end operation control device and an operation robot. The operation robot includes a flexible end translation mechanism, a flexible end axial rotation mechanism, a mid-position key rotation mechanism, a rotatable tubing assembly, and an instrument delivery device. The flexible endoscope translation mechanism is equipped with a flexible endoscope axial rotation mechanism, a center key rotation mechanism, a rotatable tubing assembly, and an instrument delivery device. The flexible ureteroscope axial rotation mechanism includes a hollow rotating stage, a rotating base is fixedly installed at the rotating end of the hollow rotating stage, a flexible ureteroscope is detachably fixedly installed on the rotating base, the inlet end of the flexible ureteroscope is rotatably connected to a rotatable tubing assembly, an instrument is inserted through the rotatable tubing assembly, and the rotation axis of the flexible ureteroscope is collinear with the axis of the hollow rotating stage. The center key rotation mechanism is located on the rotating base and is used to adjust and control the position of the center key on the flexible ureteroscope. The instrument delivery device is used to drive the instrument to move back and forth horizontally. The main operation control device includes a left-hand operation structure, a right-hand operation combination, and a touch screen; The left-hand operating structure includes a left-hand frame, on which a vertically rotating handle and a horizontally rotating main-end operation center key are mounted. The main-end operation center key is located above the rotating handle. Encoders are fixedly mounted at the ends of the main-end operation center key and the rotating handle, respectively. The encoder at the end of the main-end operation center key controls the center key rotation mechanism through feedback, which is used to adjust and control the center key toggle position on the ureteroscope. The encoder at the end of the rotating handle controls the hollow rotary table through feedback to drive the rotation of the ureteroscope. The right-hand operation combination includes two bearing seats, each bearing seat is rotatably connected to a U-shaped wheel, and a belt is connected between the two U-shaped wheels. An encoder is fixedly installed at the end of one U-shaped wheel. The encoder at the end of the U-shaped wheel controls the flexible endoscope translation mechanism through feedback, which drives the flexible ureteroscope to move back and forth in the horizontal direction. The touchscreen is used to control the instrument delivery device, driving the instrument to move back and forth horizontally.

[0011] Preferably, the flexible lens translation mechanism includes a linear guide rail, a linear motor, and a flexible lens translation base, wherein the linear motor drives the flexible lens translation base to move along the linear guide rail.

[0012] Preferably, the center key rotation mechanism includes a servo motor, which is fixed to the bottom of the rotating base. A rotating paddle is fixedly installed at the output end of the servo motor, and the rotating paddle holds the center key of the ureteroscope.

[0013] Preferably, the rotatable tubing assembly includes a hose and a Y-valve, which are connected together. The end of the hose is fixedly connected to a Luer female to hose connector, which is rotatably connected to a double male movable Luer connector. The double male movable Luer connector is rotatably connected to the inlet end of the ureteroscope through the Luer female. The Y-valve is fixedly connected to the axial rotation mechanism of the ureteroscope.

[0014] Preferably, the instrument delivery device includes an upper mounting plate and a lower mounting plate. A drive motor and a spring support block are fixedly mounted between the upper and lower mounting plates. A drive wheel is fixedly mounted at the output end of the drive motor. A track is fixedly connected to the lower mounting plate. A slider is slidably connected to the track. The slider moves back and forth along the track towards the spring support block. A driven wheel mounting block is fixedly mounted on the slider. A driven wheel is rotatably connected to the driven wheel mounting block. The instrument is clamped between the drive wheel and the driven wheel. A pressure spring is installed between the spring support block and the driven wheel mounting block.

[0015] Preferably, the lower mounting plate is fixedly mounted on the flexible mirror translation mechanism via an instrument delivery device mounting block, a three-dimensional force sensor, and a sensor mounting base, with the three-dimensional force sensor fixedly mounted between the instrument delivery device mounting block and the sensor mounting base.

[0016] Preferably, a scope holder is fixedly installed on the rotating base, and the flexible ureteroscope is detachably installed on the rotating base via the scope holder.

[0017] Preferably, a cable socket is fixedly installed on the rotating base, and the wiring of the ureteroscope is connected to the cable socket through a cable plug.

[0018] Preferably, a lifting mechanism is fixedly installed at the bottom of the flexible mirror translation mechanism, and a robot base carriage is fixedly installed at the bottom of the lifting mechanism. A control box is also installed on the robot base carriage, and an image processor is installed inside the control box.

[0019] Preferably, the main operation control device includes an operating console, a left-hand operation structure, a right-hand operation combination and a touch screen are fixedly installed on the operating console, and the operating console is equipped with an emergency stop button and a power switch.

[0020] The beneficial effects of the present invention are: (1) The present invention designs a robot master end operation control device, which does not change the doctor's operating habits, allowing the doctor to reuse the traditional ureteroscopic surgery skills that have been learned, and the learning time is short; (2) The rotating handle of the master end operation control device controls the axial rotation of the scope body, which can rotate in both directions at infinite angles, making the operation flexible and comfortable, avoiding the extreme twisting of human joints, and reducing the workload of doctors; (3) The coaxial optimization design of the ureteroscopic scope and the robot mechanism, as well as the integration of the image processor, avoids the risk of kinking and falling off of cables and pipelines during the movement and rotation of the scope, and the system integration is high and the operating room layout is more concise; (4) A resistance detection scheme for the instrument delivery device is designed, which can monitor the resistance value in real time during the instrument delivery process and has an instant stop function when the threshold is exceeded, thereby avoiding the occurrence of puncturing the endoscope instrument channel or causing the instrument to bend or even be damaged. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of a main-end operation control device in this invention; Figure 2 This is a schematic diagram of one structure of the robot used in this invention; Figure 3 This is a schematic diagram of the flexible endoscope axial rotation mechanism, the center key rotation mechanism, the rotatable tubing assembly, and the instrument delivery device in this invention. Figure 4 This is a schematic diagram of a rotating pipeline assembly in this invention; Figure 5 This is a schematic diagram of one structure of the instrument delivery device in this invention; In the diagram: 1. Control panel, 2. Touch screen, 3. Left handrail, 4. Rotary handle, 5. Main operating center key, 6. Bearing seat, 7. U-shaped wheel, 8. Belt, 9. Encoder, 10. Emergency stop button, 11. Robot base trolley, 12. Control box, 13. Lifting mechanism, 14. Linear guide rail, 15. Linear motor, 16. Flexible endoscope translation seat, 17. Flexible endoscope axial rotation mechanism, 18. Center key rotation mechanism, 19. Rotatable tubing assembly, 20. Instrument delivery device, 21. Hollow rotary table, 22. Rotating base, 23. Endoscope fixing seat, 24. Flexible ureteroscope, 25. Cable socket, 26. 27. Cable plug; 28. Servo motor; 29. ​​Rotary lever; 30. Center key; 31. Luer female connector; 32. Instrument; 33. Hose; 34. Y-valve; 35. Infusion hose inlet; 36. Instrument insertion port; 37. Luer female connector to hose connector; 38. Double male movable Luer connector; 39. Upper mounting plate; 40. Lower mounting plate; 41. Spring support block; 42. Rail; 43. Slider; 44. Driven wheel mounting block; 45. Pressure spring; 46. Driven wheel; 47. Drive motor; 48. Drive wheel; 49. Instrument delivery device mounting block; 50. Sensor mounting base; 61. Three-dimensional force sensor. Detailed Implementation

[0022] The technical solution of the present invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings: Example: A flexible ureteroscopic surgical robot, including a master end operation control device and an operating robot.

[0023] like Figure 1 As shown, the main operation control device includes an operating console 1, a left-hand operation structure, a right-hand operation combination, a touch screen 2, an emergency stop button 10, and a power button. The left-hand operation structure, the right-hand operation combination, the touch screen, the emergency stop button, and the power button are respectively fixedly installed on the operating console.

[0024] The left-hand operating structure includes a left-hand frame 3, on which a vertically rotating handle 4 and a horizontally rotating main-end operation center key 5 are mounted. The main-end operation center key is located above the rotating handle. Encoders are fixedly mounted at the ends of the main-end operation center key and the rotating handle, respectively. The encoder at the end of the main-end operation center key controls the center key rotation mechanism through feedback, which is used to adjust and control the center key toggle position on the ureteroscope. The encoder at the end of the rotating handle controls the hollow rotary table through feedback to drive the rotation of the ureteroscope.

[0025] The right-hand operation combination includes two bearing seats 6, with U-shaped wheels 7 rotatably connected to each bearing seat. A belt 8 connects the two U-shaped wheels. An encoder 9 is fixedly installed at the end of one U-shaped wheel. The encoder at the end of the U-shaped wheel controls the flexible endoscope translation mechanism through feedback, driving the flexible endoscope to move back and forth in the horizontal direction.

[0026] The touchscreen is used to control the instrument delivery device, driving the instrument to move back and forth horizontally.

[0027] like Figure 2 As shown, the operating robot includes a robot base carriage 11, a lifting mechanism 13, a flexible endoscope translation mechanism, a flexible endoscope axial rotation mechanism 17, a center key rotation mechanism 18, a rotatable tubing assembly 19, and an instrument delivery device 20. The robot base carriage and lifting mechanism enable the alignment and adjustment of the surgical height and position. An electrical control box 12 is also installed on the robot base carriage, which integrates an image processor.

[0028] The flexible endoscope translation mechanism includes a linear guide rail 14, a linear motor 15, and a flexible endoscope translation base 16. The linear motor drives the flexible endoscope translation base to move along the linear guide rail. A flexible endoscope axial rotation mechanism and an instrument delivery device are fixedly mounted on the flexible endoscope translation base.

[0029] like Figure 3 As shown, the flexible ureteroscope axial rotation mechanism includes a hollow rotating stage 21, which is fixedly mounted on the flexible ureteroscope translation base. A rotating base 22 is fixedly mounted on the rotating end of the hollow rotating stage, and a ureteroscope body fixing base 23 is fixedly mounted on the rotating base. The flexible ureteroscope 24 is detachably mounted on the rotating base via the ureteroscope body fixing base. The inlet end of the flexible ureteroscope is rotatably connected to a rotatable tubing assembly, through which an instrument 31 passes. The rotation axis of the flexible ureteroscope is collinear with the axis of the hollow rotating stage. The coaxial design and the integration of the image processor avoid the risks of kinking and detachment of cables and tubing during the movement and rotation of the flexible ureteroscope, and the system has a high degree of integration and a simpler operating room layout. A cable socket 25 is fixedly mounted on the rotating base, and the wiring of the flexible ureteroscope is plugged into the cable socket via a cable plug 26.

[0030] The center key rotation mechanism includes a servo motor 27, which is fixed to the bottom of the rotating base. A rotating paddle 28 is fixedly installed at the output end of the servo motor, and the rotating paddle holds the center key 29 of the ureteroscope.

[0031] like Figure 4 As shown, the rotatable tubing assembly includes a flexible hose 32 and a Y-valve 33. The flexible hose and the Y-valve are connected. The end of the flexible hose is fixedly connected to a Luer female to flexible hose connector 36. The Luer female to flexible hose connector is rotatably connected to a double male movable Luer connector 37. The double male movable Luer connector is rotatably connected to the inlet end of the ureteroscope via a Luer female 30. The Y-valve is fixedly connected to the axial rotation mechanism of the ureteroscope. The axis of the flexible hose is collinear with the axis of the hollow rotating stage.

[0032] When the hollow rotating stage drives the flexible ureteroscope to rotate, the double male movable Luer connector connects with the female Luer connector and rotates with the flexible ureteroscope. The Y-type valve and the tubing remain stationary. The Y-type valve is equipped with an irrigation tubing inlet 34 and an instrument insertion port 35 for connecting the irrigation tubing and the insertion instrument.

[0033] like Figure 5 As shown, the instrument delivery device includes an upper mounting plate 38 and a lower mounting plate 39. A drive motor 46 and a spring support block 40 are fixedly mounted between the upper and lower mounting plates. A drive wheel 47 is fixedly mounted at the output end of the drive motor. A track 41 is fixedly connected to the lower mounting plate. A slider 42 is slidably connected to the track. The slider moves back and forth along the track towards the spring support block. A driven wheel mounting block 43 is fixedly mounted on the slider. A driven wheel 45 is rotatably connected to the driven wheel mounting block. The instrument is clamped and transmitted between the drive wheel and the driven wheel. A pressure spring 44 is installed between the spring support block and the driven wheel mounting block.

[0034] The lower mounting plate is fixedly mounted on the flexible endoscope translation mechanism via the instrument delivery device mounting block 48, the three-dimensional force sensor 50, and the sensor mounting base 49. The three-dimensional force sensor is fixedly mounted between the instrument delivery device mounting block and the sensor mounting base.

[0035] The driving and driven wheels are friction wheels. This invention uses friction wheels for instrument delivery. The resistance generated by the friction between the instrument and the instrument channel also acts on the friction wheel delivery mechanism. By installing a three-dimensional force sensor below the friction wheel delivery mechanism, the reaction force on the entire mechanism can be monitored in real time. Considering the installation space and the force detection range, this paper selects the Hefei Lizhi LZ-SWF32 three-dimensional force sensor to sense the resistance.

[0036] The force detection information detected by the aforementioned three-dimensional force sensor will be transmitted in real time to the microcontroller of the drive motor responsible for driving the device. Once the resistance exceeds the safety threshold, an emergency stop-reverse motion operation will be immediately performed to avoid more serious dangers.

[0037] Without the use of a robot, the doctor's direct manipulation of the ureteroscope is as follows: 1. When it is necessary to control the bending of the tip of the ureteroscope, hold the ureteroscope body with one hand and use your thumb to turn the center position key of the ureteroscope. Turning the center position key of the handle will control the bending of the tip of the ureteroscope.

[0038] 2. When the surgery requires pushing the ureteroscope forward, hold the ureteroscope body with one hand and the insertion end of the ureteroscope with the other hand, and push the ureteroscope forward.

[0039] 3. When it is necessary to control the axial rotation of the ureteroscope, the doctor needs to rotate the wrist holding the flexible ureteroscope to control the axial rotation of the ureteroscope.

[0040] 4. When it is necessary to insert instruments, hold the flexible ureteroscope in one hand and the laser fiber or other instruments in the other hand, and slowly insert them step by step.

[0041] Using the ureteroscopic surgical robot of this invention, the doctor performs the following operations: 1. When it is necessary to control the bending of the tip of the ureteroscope, hold the rotating handle with your left hand and use your left thumb to move the center position key of the main end operation to adjust the position. The encoder at the end of the center position key of the main end operation controls the rotation mechanism of the center position key through feedback, which is used to adjust and control the position of the center position key on the ureteroscope, simulating the direct operation of the ureteroscope.

[0042] 2. When the surgery requires pushing the ureteroscope forward, hold the rotating handle with your left hand and the belt with your right hand. Pushing the belt forward causes the encoder at the end of the U-shaped wheel to control the ureteroscope's translation mechanism, moving the ureteroscope forward horizontally. This simulates direct manipulation of the ureteroscope. It does not change the surgeon's operating habits, allowing them to reuse previously learned traditional ureteroscopic surgical skills, and requires a short learning time.

[0043] 3. When it is necessary to control the axial rotation of the ureteroscope, hold the rotating handle with your left hand and rotate the handle. The encoder at the end of the rotating handle controls the hollow rotating stage through feedback to drive the rotation of the ureteroscope, thereby realizing the axial rotation of the ureteroscope. Compared with flipping the wrist, the mechanism of the rotating handle to control the axial rotation of the ureteroscope can rotate in both directions at an infinite angle, making the operation flexible and comfortable, avoiding extreme twisting of the human joints, and reducing the workload of doctors.

[0044] 4. When it is necessary to insert an instrument, the insertion speed can be directly input through the touch screen, and the control drive motor will be started to drive the instrument to be inserted slowly and gradually. Compared with manual insertion by doctors, it saves more burden on doctors. At the same time, this invention can monitor the resistance value in real time during the instrument delivery process and has an instant stop function when the threshold is exceeded, thereby avoiding the occurrence of puncturing the endoscope instrument channel or causing the instrument to bend or even be damaged.

[0045] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Other variations and modifications are possible without departing from the technical solutions described in the claims.

Claims

1. A flexible ureteroscopic surgical robot, comprising a master-end operation control device and an operating robot, characterized in that, The operating robot includes a flexible endoscope translation mechanism, a flexible endoscope axial rotation mechanism, a center key rotation mechanism, a rotatable tubing assembly, and an instrument delivery device. The flexible endoscope translation mechanism is equipped with a flexible endoscope axial rotation mechanism, a center key rotation mechanism, a rotatable tubing assembly, and an instrument delivery device. The flexible ureteroscope axial rotation mechanism includes a hollow rotating stage, a rotating base is fixedly installed at the rotating end of the hollow rotating stage, a flexible ureteroscope is detachably fixedly installed on the rotating base, the inlet end of the flexible ureteroscope is rotatably connected to a rotatable tubing assembly, an instrument is inserted through the rotatable tubing assembly, and the rotation axis of the flexible ureteroscope is collinear with the axis of the hollow rotating stage. The center key rotation mechanism is located on the rotating base and is used to adjust and control the position of the center key on the flexible ureteroscope. The instrument delivery device is used to drive the instrument to move back and forth horizontally. The main operation control device includes a left-hand operation structure, a right-hand operation combination, and a touch screen; The left-hand operating structure includes a left-hand frame, on which a vertically rotating handle and a horizontally rotating main-end operation center key are mounted. The main-end operation center key is located above the rotating handle. Encoders are fixedly mounted at the ends of the main-end operation center key and the rotating handle, respectively. The encoder at the end of the main-end operation center key controls the center key rotation mechanism through feedback, which is used to adjust and control the center key toggle position on the ureteroscope. The encoder at the end of the rotating handle controls the hollow rotary table through feedback to drive the rotation of the ureteroscope. The right-hand operation combination includes two bearing seats, each bearing seat is rotatably connected to a U-shaped wheel, and a belt is connected between the two U-shaped wheels. An encoder is fixedly installed at the end of one U-shaped wheel. The encoder at the end of the U-shaped wheel controls the flexible endoscope translation mechanism through feedback, which drives the flexible ureteroscope to move back and forth in the horizontal direction. The touchscreen is used to control the instrument delivery device, driving the instrument to move back and forth horizontally.

2. The ureteroscopic surgical robot according to claim 1, characterized in that, The flexible mirror translation mechanism includes a linear guide rail, a linear motor, and a flexible mirror translation base. The linear motor drives the flexible mirror translation base to move along the linear guide rail.

3. The ureteroscopic surgical robot according to claim 1, characterized in that, The center key rotation mechanism includes a servo motor, which is fixed to the bottom of the rotating base. A rotating paddle is fixedly installed at the output end of the servo motor, and the rotating paddle holds the center key of the ureteroscope.

4. The ureteroscopic surgical robot according to claim 1, characterized in that, The rotatable tubing assembly includes a hose and a Y-valve, which are connected together. The end of the hose is fixedly connected to a Luer female to hose connector, which is rotatably connected to a double male movable Luer connector. The double male movable Luer connector is rotatably connected to the inlet end of the ureteroscope through the Luer female. The Y-valve is fixedly connected to the axial rotation mechanism of the ureteroscope.

5. The ureteroscopic surgical robot according to claim 1, characterized in that, The instrument delivery device includes an upper mounting plate and a lower mounting plate. A drive motor and a spring support block are fixedly installed between the upper and lower mounting plates. A drive wheel is fixedly installed at the output end of the drive motor. A rail is fixedly connected to the lower mounting plate. A slider is slidably connected to the rail. The slider moves back and forth along the rail toward the spring support block. A driven wheel mounting block is fixedly installed on the slider. A driven wheel is rotatably connected to the driven wheel mounting block. The instrument is clamped between the drive wheel and the driven wheel. A pressure spring is installed between the spring support block and the driven wheel mounting block.

6. The ureteroscopic surgical robot according to claim 5, characterized in that, The lower mounting plate is fixedly mounted on the flexible mirror translation mechanism via the instrument delivery device mounting block, the three-dimensional force sensor, and the sensor mounting base. The three-dimensional force sensor is fixedly mounted between the instrument delivery device mounting block and the sensor mounting base.

7. The ureteroscopic surgical robot according to claim 1, characterized in that, A scope holder is fixedly installed on the rotating base, and the flexible ureteroscope can be detachably installed on the rotating base via the scope holder.

8. The ureteroscopic surgical robot according to claim 1, characterized in that, A cable socket is fixedly installed on the rotating base, and the wiring of the ureteroscope is connected to the cable socket through a cable plug.

9. The ureteroscopic surgical robot according to claim 1, characterized in that, The bottom of the flexible mirror translation mechanism is fixedly equipped with a lifting mechanism, and the bottom of the lifting mechanism is fixedly equipped with a robot base trolley.

10. A flexible ureteroscopic surgical robot according to claim 1, characterized in that, The main operation control device includes an operating console, a left-hand operation structure, a right-hand operation combination and a touch screen fixedly installed on the operating console, and an emergency stop button and a power switch installed on the operating console.

Images