Improved surgical intervention intelligent robot

Abstract

The utility model discloses an improved surgical intervention intelligent robot, and belongs to the technical field of medical instruments. Comprising a base table, multiple sets of mechanical arms, a positioning platform and a positioning assembly. One ends of the mechanical arms are movably connected to the base table at equal angles, the other ends of the mechanical arms are connected to the positioning platform through the end executors, the mechanical arms are driven by the driving mechanism, the driving mechanism is integrally arranged in the base table, the positioning assembly comprises a first support and a first ball head, and the first support is fixed to the outer side of the positioning platform. The first support is in a square shape, the first ball head is arranged in the center of the end, away from the positioning platform, of the first support in a semi-wrapping mode, a through hole is formed in the first ball head, and the intervention tool penetrates through the through hole and extends to a blocking target. The limitation of the base, the multiple sets of arms and the lifting platform on the angle and the position of the intervention tool is reduced, and the operation flexibility of the intelligent robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, and in particular to an improved surgical intervention intelligent robot. Background Art

[0002] Surgical interventional intelligent robots are high-tech medical devices designed to assist surgeons in performing various minimally invasive surgeries. These robots help doctors perform extremely precise operations, especially in areas that are difficult to operate directly with human hands, through precise control systems, combined with high-resolution image guidance and advanced sensing technology. They are mainly used in complex surgeries such as cardiac, neurological, urological and laparoscopic surgeries.

[0003] Existing interventional tool adjustment mechanisms, such as the invention patent application with application number CN201880097079.0: the adjustment mechanism includes a base, multiple groups of arms and a lifting platform, one end of each group of arms is connected to the base at equal angles, the lifting platform is connected to the other end of the arm through multiple groups of end effectors, a spherical joint is provided at the center position of the lifting platform, the spherical joint is installed on the lifting platform through multiple outwardly extending support structures, the interventional tool slides along the hole on the spherical joint, so that the interventional tool is maintained and inserted into the patient's body.

[0004] The existing technology has the following defects: in complex surgeries that need to be operated at different angles and directions, doctors need to approach specific occlusion targets from various angles. In the above-mentioned adjustment mechanism, the spherical joint is located at the center of the lifting platform, and the range of motion of the interventional tool is limited by the base, multiple sets of arms and the lifting platform. The doctor may find it difficult to achieve the occlusion target during operation due to the lack of sufficient flexibility. At the same time, the spherical joint is located in the center of the lifting platform, which is not convenient for postoperative needle withdrawal operations, increases the difficulty of operation for surgeons in minimally invasive surgery, and is not conducive to the normal progress of the operation. Therefore, there is room for improvement. Utility Model Content

[0005] In order to solve the above-mentioned technical problems, the utility model provides an improved surgical intervention intelligent robot to solve the technical problems that the activity range of existing intervention tools is limited by a base, multiple sets of arms and a lifting platform, and doctors may find it difficult to achieve the occlusion target during operation and lack sufficient flexibility.

[0006] The utility model is realized by the following technical solutions:

[0007] An improved surgical intervention intelligent robot comprises a base, multiple groups of robotic arms, a positioning platform and a positioning component; one end of each group of the robotic arms is connected to the base at an equiangular distribution, and the other end of the robotic arm is connected to the positioning platform via a distal actuator; the robotic arm is driven by a driving mechanism, and the driving mechanism is integrated in the base; the positioning component comprises a first bracket and a first ball head, the first bracket is fixed to the outside of the positioning platform, the first ball head is rotatably mounted on the first bracket, a through hole is arranged on the first ball head, and an intervention tool passes through the through hole and extends to the occluded target.

[0008] Preferably, the first bracket is arranged in a U-shape, and the first ball head is arranged at a central position of an end of the first bracket away from the positioning platform.

[0009] Preferably, the positioning assembly also includes a second bracket and a second ball head, the second bracket is fixed to the outside of the base, the second ball head is rotatably mounted on the second bracket, a through hole is provided on the second ball head, and the interventional tool passes through the two groups of through holes of the first ball head and the second ball head and extends to the occlusion target.

[0010] Preferably, the second bracket is arranged in a U-shape, and the second ball head is arranged at a central position of an end of the second bracket away from the base.

[0011] Preferably, the second bracket is arranged in a straight line, and the second ball head is arranged at a central position of an end of the second bracket away from the base.

[0012] Preferably, the base is disc-shaped, and an arc-shaped positioning groove is formed through the base, and the arc-shaped positioning groove is used to connect with the clamping member.

[0013] Preferably, the base is widened.

[0014] Preferably, the first ball head is arranged on the first bracket in a semi-wrapped shape; and the second ball head is arranged on the second bracket in a semi-wrapped shape.

[0015] The beneficial effects of the utility model are:

[0016] By integrating the driving mechanism into the base, the external structure of the entire device is made more compact, reducing the space occupied by the outside of the device, allowing operators to operate in a smaller space, thereby improving the overall flexibility and operability; fixing the first bracket to the outside of the device reduces the restrictions on the angle and position of the interventional tool by the base, multiple sets of arms and the lifting platform, improving the operational flexibility of the intelligent robot, allowing the interventional tool to have a larger range of activities, and the position and angle of the interventional tool can be adjusted more accurately to meet the needs of different surgical scenarios, realizing multi-dimensional adjustment of the interventional tool, and fixing the interventional tool to the outside of the positioning platform at the same time, facilitating the needle withdrawal operation after the operation, thereby improving the flexibility and efficiency of the operation;

[0017] The two sets of brackets provide dual support for the insertion of interventional tools, so that the tools can maintain good alignment during the insertion process; the first ball head and the second ball head provide more precise channels through their respective through holes, making the path of the interventional tool more stable, significantly improving the accuracy of the tool when inserted into the occluded target; the two sets of brackets are respectively set on the outside of the positioning platform and the base, allowing the interventional tool to be adjusted within a wider angle range to adapt to different surgical needs and path planning, and improving the flexibility and controllability of the operation;

[0018] By setting the base as a disc-shaped structure, the overall weight distribution is more even, lowering the center of gravity, which helps to improve the stability of the equipment during operation and reduce the risk of tilting and tipping; the arc-shaped positioning groove can compensate for certain installation errors, ensure that the base and the clamp are tightly combined, and reduce the overall stability reduction caused by errors; the widened base can provide a larger contact area, so that the force applied by the integrated drive mechanism can be more evenly distributed on the base, reducing damage or deformation caused by concentrated stress.

[0019] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the background technology, the drawings required for use in the embodiments of the utility model or the background technology will be described below.

[0021] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and, together with the specification, are used to illustrate the technical solutions disclosed in the present utility model.

[0022] Figure 1 This is a schematic diagram of the overall structure of the first embodiment of the interventional intelligent robot;

[0023] Figure 2 for Figure 1 The enlarged view of point A in the middle;

[0024] Figure 3 This is a schematic diagram of the overall structure of the second embodiment of the interventional intelligent robot;

[0025] Figure 4 This is a schematic diagram of the overall structure of the third embodiment of the interventional intelligent robot.

[0026] Legend: 1. Base; 2. Robotic arm; 3. Positioning platform; 4. Positioning assembly; 41. First bracket; 42. First ball head; 43. Second bracket; 44. Second ball head; 5. Distal actuator; 6. Through hole; 7. Interventional tool; 8. Arc-shaped positioning groove. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0029] In the description of the present invention, it should be noted that the terms "center", "upper", "lower",

[0030] The directions or positional relationships indicated by "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the directions or positional relationships shown in the drawings, or are the directions or positional relationships in which the utility model product is usually placed when in use. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0031] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0032] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In conjunction with the accompanying drawings, some embodiments of the present invention are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0034] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the utility model, the specific implementation method, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0035] See also Figure 1-Figure 4 An improved surgical intervention intelligent robot comprises a base 1, multiple groups of robotic arms 2, a positioning platform 3 and a positioning assembly 4; one end of each group of robotic arms 2 is connected to the base 1 at an equal angle, and the other end of the robotic arm 2 is connected to the positioning platform 3 through a distal actuator 5. The robotic arm 2 is driven by a driving mechanism, and the driving mechanism is integrated in the base 1. The positioning assembly 4 comprises a first bracket 41 and a first ball head 42. The first bracket 41 is fixed to the outer side of the positioning platform 3, and the first ball head 42 is rotatably mounted on the first bracket 41. The first ball head 42 is provided with a through hole 6, and an intervention tool 7 passes through the through hole 6 and extends to the occlusion target.

[0036] In the surgical intervention intelligent robot, the base 1 is set as a ring structure, the positioning platform 3 is set as a disc structure, and the first ball head 42 is connected to a driving mechanism for holding the intervention tool 7 and controlling the insertion of the intervention tool 7 into the patient's body. The positioning platform 3 set with a ring structure and the base 1 set with a disc structure can better fit the patient's body surface and provide a more stable support and operating platform. The first bracket 41 is set on the outside of the positioning platform 3, and the first ball head 42 is rotatably installed on the first bracket 41, so that the intervention tool 7 can move outside the device, so that the intervention tool 7 has a larger adjustment range and adjustment amplitude, which improves the adjustment flexibility of the intervention tool 7, avoids the restriction of the angle and position of the intervention tool 7 by the base 1, the mechanical arm 2 and the positioning platform 3, and improves the operational flexibility of the intelligent robot.

[0037] The external operator inputs instructions through the console or other control devices, and these instructions include the positioning, movement, rotation and other operations of the distal actuator 5; the input instructions are converted into electrical signals or other forms of signals through the control system, and then transmitted to the connected robotic arm 2 through the distal actuator 5; the distal actuator 5 that receives the instructions will control the position, angle or other parameters of the robotic arm 2 connected to it according to the instructions; the distal actuator 5 contains sensors and actuators inside, the sensors are used to detect the position and state of the robotic arm 2, and the actuators are used to control the movement of the robotic arm 2. After receiving the instructions, the distal actuator 5 will adjust the position and angle of the robotic arm 2 through the internal control system, thereby adjusting the position of the first ball head 42. The first ball head 42 is driven by an independent braking mechanism. Since the interventional tool 7 is wrapped by the first ball head 42, the braking mechanism adjusts the angle of the interventional tool 7 by adjusting the rotation angle of the first ball head 42. The braking mechanism cooperates with the actuator distal end 5 to adjust the angle and position of the first ball head 42, thereby achieving precise adjustment of the position and angle of the interventional tool 7 to meet the requirements of surgical operation.

[0038] Integrating the drive mechanism inside the base 1 makes the external structure of the entire device more compact. This design reduces the space occupied by the outside of the device, allowing operators to operate in a smaller space, thereby improving the overall flexibility and operability; since the drive mechanism is no longer exposed to the outside, the interventional tool 7 is not interfered with by the drive mechanism during the insertion process, reducing unnecessary friction and collision during the insertion process, and improving the smoothness of the tool's movement, thereby ensuring the accuracy of the interventional path. This design makes the insertion path of the interventional tool 7 more direct, reduces the path deviation caused by the influence of the external structure, achieves more precise control, and significantly reduces the deviation between the insertion point and the pivot point; the integrated design of the drive mechanism also enhances the structural stability of the overall device, reduces the distortion and instability of the robotic arm 2 that may be caused by external forces, which is particularly critical when performing complex interventional operations, ensuring the accurate positioning and effect of the interventional tool 7.

[0039] The height of the positioning platform 3 relative to the base 1 is determined in the calibration stage before the operation according to the specifications of the interventional tool 7, the use requirements, the physiological conditions of the patient and other factors. The multiple sets of mechanical arms 2 are connected with the drive assembly to coordinately adjust the positioning platform 3 to move on the same plane. During the adjustment process, the interventional tool 7 is loosely held by the first ball head 42 and the drive mechanism, and is freely pivoted or rotated around the occluded target, so that the interventional tool 7 is inserted into the occluded target at a specific angle.

[0040] Among them, occlusion targets include inspection targets and treatment targets. For example, in the inspection of the vascular system, coronary angiography, pulmonary angiography, carotid angiography, etc. can be used to help doctors understand the condition of blood vessels and diagnose vascular diseases; in interventional tumor embolization therapy and interventional radiotherapy, tumors, vascular malformations and other diseases are treated through radiological intervention; as well as percutaneous tumor ablation, interventional tumor embolization therapy, etc., tumors are treated through interventional means to reduce surgical trauma; cardiac pacemaker implantation, heart valve replacement, etc., are used to treat heart diseases and improve heart function through interventional means.

[0041] The first bracket 41 is fixedly connected to the outside of the device, so that the interventional tool 7 can be moved outside the device, which can increase the flexibility and maneuverability of the interventional tool 7. This design can make the interventional tool 7 more easily reach the target position that needs to be treated or examined during the operation, improving the operability and convenience of the operation; the first bracket 41 is fixedly connected to the outside of the device, and the positioning platform 3 of the device can more flexibly control the movement of the interventional tool 7 during the movement. Since the interventional tool 7 is active on the outside of the device, the interventional tool 7 can have a larger range of movement, and the position and angle of the interventional tool 7 can be adjusted more accurately to meet the needs of different surgical scenes, and the multi-dimensional adjustment of the interventional tool 7 can be achieved; the design of making the interventional tool 7 move outside the device can reduce the limitation of the surgical space. In some surgical scenes, the surgical space may be limited, resulting in the limitation of the operation of the interventional tool 7. Placing the interventional tool 7 outside the device can reduce the occupation of the surgical space, and after the interventional tool 7 is fixed to the outside of the positioning platform 3, it is convenient to withdraw the needle after the operation, thereby improving the flexibility and efficiency of the operation.

[0042] During the surgical operation, the base 1 can be adhered to the patient's body by tape or other fixing means, or it can be fixed on other mechanisms. When the base 1 is fixed on other mechanisms, the control point is closer to the patient's body, which can reduce the deviation caused by the insertion of the interventional tool 7, thereby improving the positioning accuracy; the interventional tool 7 can select a suitable direction to pass through the through hole 6, and multiple groups of robotic arms 2 work together to control the positioning platform 3 to adjust the position, thereby realizing the orientation adjustment of the interventional tool 7 within a larger range.

[0043] A limit piece is also provided on the interventional tool 7, and the limit piece is fixed to the end of the interventional tool 7 away from the occlusion target. After confirming the insertion direction and depth of the interventional tool 7, the first ball head 42 is locked, and the driving mechanism holds the interventional tool 7 so that the distance between the limit piece and the first ball head 42 is approximately equal to the insertion depth of the interventional tool 7 into the patient's body, thereby limiting the insertion depth of the interventional tool 7 into the patient's body, avoiding excessive insertion of the interventional tool 7, and ensuring the accuracy and safety of the interventional surgery.

[0044] The interventional tool 7 is also communicatively connected to a pressure sensor, which detects the change in contact pressure of the interventional tool 7 at different positions and depths, and performs data analysis and processing. During the operation, the surgeon can make timely adjustments based on the data information, ensuring the accuracy and safety of the insertion process of the interventional tool 7.

[0045] See also Figure 1 and Figure 2 In order to reduce the influence of external forces on the robot, reduce the lateral force generated by the movement of the operating tool, and improve the flexibility of the rotation of the interventional tool 7, based on this, in the first embodiment, the first bracket 41 is arranged in a square shape, and the first ball head 42 is arranged at the center of the end of the first bracket 41 away from the positioning platform 3. The first bracket 41 is arranged in a square shape, and this structure has a large bearing area and stability, and can effectively disperse the force applied thereto, thereby reducing the deformation or tilt caused by the external force; the first ball head 42 is located at the center of the end of the first bracket 41 away from the positioning platform 3, so that the center of gravity of the first ball head 42 and the operating tool can be effectively controlled, which helps to reduce the lateral force generated by the movement of the operating tool, thereby reducing the interference with the surgical environment; the rotation of the first ball head 42 is arranged at the end away from the base 1, which improves the ability of the interventional tool 7 to rotate freely, simulates the flexibility and multi-angle operation of human hands, and enables the doctor to adjust the direction of the interventional tool 7 as needed during the surgical operation, so as to reach the target position more accurately.

[0046] See also Figure 3In order to provide a more precise intervention channel and improve the flexibility and controllability of the operation, based on this, in the second embodiment, the positioning component 4 also includes a second bracket 43 and a second ball head 44. The second bracket 43 is fixed to the outside of the base 1, and the second ball head 44 is rotatably mounted on the second bracket 43. The second ball head 44 is provided with a through hole 6. The intervention tool 7 passes through the two groups of through holes 6 of the first ball head 42 and the second ball head 44 and extends to the occluded target. The first bracket 41 and the second bracket 43 provide double support for the insertion of the intervention tool 7, so that the tool maintains good alignment during the insertion process; the first ball head 42 and the second ball head 44 provide a more precise channel through their respective through holes 6, so that the path of the intervention tool 7 when passing through is more stable, which significantly improves the accuracy of the tool when inserted into the occluded target; the two groups of brackets are respectively arranged on the outside of the positioning platform 3 and the base 1, allowing the intervention tool 7 to be adjusted within a wider angle range to adapt to different surgical needs and path planning, and improve the flexibility and controllability of the operation; by expanding the adjustment range, the positioning component 4 can Better coverage of potential operational blind spots allows the interventional tool 7 to make corresponding adjustments even in complex environments, ensuring that doctors can successfully complete interventional surgery under various circumstances. The second ball head 44 is driven by an independent braking mechanism. Since the interventional tool 7 is wrapped by the first ball head 42 and the second ball head 44, the braking mechanism adjusts the rotation angle of the first ball head 42 and the second ball head 44 to achieve precise adjustment of the depth of the angle of the interventional tool 7. The braking mechanism cooperates with the execution terminal 5 to adjust the angle and position of the first ball head 42 and the second ball head 44, thereby achieving depth control of the interventional tool 7 to meet the requirements of surgical operations.

[0047] In order to improve the stability of the entire positioning assembly 4 and reduce the occlusion of the device itself during the interventional operation, based on this, in one embodiment, the second bracket 43 is arranged in a square shape, and the second ball head 44 is arranged at the center of the end of the second bracket 43 away from the base 1. The design of the square structure can provide a more uniform force distribution, resist lateral force and torsional force, thereby improving the stability of the entire positioning assembly 4, and ensuring that the interventional tool 7 is not easy to deviate or shake during the insertion process; the first ball head 42 and the second ball head 44 are arranged at the end away from the positioning platform 3 and the base 1, providing a larger action arm, so that a larger adjustment angle can be achieved; because the ball head is arranged at a position away from the base 1 and the positioning platform 3, the occlusion of the device itself can be reduced during the interventional operation, allowing medical personnel to obtain a better field of view, facilitating observation and operation, and helping to improve the intuitiveness and accuracy of the operation; the layout of the ball head away from the structure enables the interventional tool 7 to adapt to various complex physiological structures and target positions when inserted into the patient's body, and achieve rapid adjustment.

[0048] See also Figure 4In order to provide a more uniform force distribution and reduce the obstruction of the medical staff's field of vision, based on this, in the third embodiment, the second bracket 43 is arranged in a straight line, and the second ball head 44 is arranged at the center of the end of the second bracket 43 away from the base 1. The U-shaped structure of the first bracket 41 provides a more uniform force distribution and can better resist external forces in multiple directions. For example, when the interventional tool 7 is inserted into the target, the U-shaped structure can disperse the force outward when bearing force, reducing the risk of deformation caused by single-point force; the second bracket 43 is arranged in a straight line. Since the horizontal plane of the U-shaped structure is small, it can effectively reduce the obstruction of the medical staff's field of vision, provide a wider observation angle, and ensure that the doctor can accurately monitor the progress of the operation and deal with possible unexpected situations in time; the U-shaped structure is more simplified, making the installation and adjustment process of the bracket more efficient, reducing the complexity of equipment assembly and maintenance.

[0049] In order to improve the stability of the device during operation and improve the assembly accuracy of the base 1, based on this, in one embodiment, the base 1 is disc-shaped, and an arc-shaped positioning groove 8 is provided on the base 1, and the arc-shaped positioning groove 8 is used to connect with the clamp. The disc-shaped structure makes the overall weight distribution more uniform, lowers the center of gravity, helps to improve the stability of the device during operation, and reduces the risk of tilting and tipping; the circular base 1 can better disperse stress when subjected to external force, avoids the occurrence of local concentrated stress, and helps to improve the durability and life of the base 1; the disc-shaped base 1 has a larger cross-sectional area, which can provide a larger contact area, and the contact with the skin surface or other fixed points is more firm, thereby enhancing its stability; the shape of the arc-shaped positioning groove 8 provides a more natural docking and positioning method, which can effectively guide the clamp or other components into the accurate position, and improves the assembly accuracy; the arc design can compensate for certain installation errors, ensure that the base 1 is tightly combined with the clamp, and reduce the overall stability reduction caused by errors.

[0050] In order to improve the anti-overturning ability of the base 1, reduce the vibration generated during the operation, and improve the anti-interference ability of the robot device, based on this, in one embodiment, the base 1 is widened. The widened base 1 can provide a larger contact area, so that the force applied by the integrated drive mechanism can be more evenly distributed on the base 1, reducing damage or deformation caused by concentrated stress; the widened base 1 helps to reduce the vibration and impact generated by the operation of the drive mechanism, and to a certain extent isolates the interference of vibration on other components (such as the robot arm 2 and the positioning platform 3), ensuring precise operation; the widening of the base 1 can provide a more flexible layout space for the drive mechanism, making the arrangement of various drive mechanisms more reasonable and compact, which helps to improve the beauty and integration of the overall structure; the expansion of the bottom area of ​​the base 1 makes it more difficult for the device to overturn during operation, especially when performing high-precision interventional operations, which can significantly reduce the risk of tilting and ensure the safety of the operation; due to the enhanced structural stability and bearing capacity of the widened base 1, the risk of accidents during surgery can be effectively reduced to ensure the safety of the medical team and patients.

[0051] In order to reduce the physical constraints of the interventional tool 7 during operation and provide a more flexible adjustment method, based on this, in one embodiment, the first ball head 42 is semi-enclosed and arranged on the first bracket 41; the second ball head 44 is semi-enclosed and arranged on the second bracket 43. The semi-enclosed design of the ball head enables it to achieve greater freedom on the bracket, allowing the interventional tool 7 to rotate and tilt in different directions; the interventional tool 7 can adapt to the complex occlusion target shape without the need to readjust the entire robot, so that the occlusion target can be reached more easily; the semi-enclosed ball head structure reduces the physical constraints of the interventional tool 7 during operation by providing more motion trajectories, and provides a more flexible adjustment method, so that doctors can be more precise when handling minimally invasive surgery; the freedom of the semi-enclosed ball head allows the tool to quickly adapt to changes in the external environment during each operation, which facilitates rapid mobilization in emergency situations and can respond quickly in emergencies.

[0052] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. An improved surgical intervention intelligent robot, characterized in that: The invention comprises a base (1), a plurality of sets of mechanical arms (2), a positioning platform (3) and a positioning assembly (4); one end of each set of mechanical arms (2) is movably connected to the base (1) at an equal angle, and the other end of the mechanical arm (2) is connected to the positioning platform (3) via a distal actuator (5); the mechanical arm (2) is driven by a driving mechanism, and the driving mechanism is integrated in the base (1); the positioning assembly (4) comprises a first bracket (41) and a first ball head (42); the first bracket (41) is fixed to the outside of the positioning platform (3); the first bracket (41) is arranged in a square shape; the first ball head (42) is arranged in a semi-wrapped shape at the center position of one end of the first bracket (41) away from the positioning platform (3); a through hole (6) is arranged on the first ball head (42); an intervention tool (7) passes through the through hole (6) and extends to the occlusion target.

2. The improved surgical intervention intelligent robot according to claim 1, characterized in that: The positioning assembly (4) also includes a second bracket (43) and a second ball head (44). The second bracket (43) is fixed to the outside of the base (1). The second bracket (43) is arranged in a square shape. The second ball head (44) is arranged in a semi-wrapped shape at the center position of one end of the second bracket (43) away from the base (1). A through hole (6) is arranged on the second ball head (44). The intervention tool (7) extends through the two groups of through holes (6) of the first ball head (42) and the second ball head (44) to the occlusion target.

3. The improved surgical intervention intelligent robot according to claim 2, characterized in that: The second bracket (43) is arranged in a straight line.

4. The improved surgical intervention intelligent robot according to claim 1, characterized in that: The base (1) is in the shape of a disk, and an arc-shaped positioning groove (8) is provided through the base (1), and the arc-shaped positioning groove (8) is used to be connected to the clamping member.

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