Flexible instrument surgical robot

Abstract

The utility model discloses a flexible instrument surgical robot. The flexible instrument surgical robot comprises a base unit; the operation table unit is installed on the base unit and comprises a table body and a driving mechanism arranged on the table body, the operation table unit is configured to be capable of installing a flexible instrument, the flexible instrument comprises a shell part and an instrument body, the shell part is provided with an inlet and outlet part, and the inlet and outlet part is provided with an outlet; the instrument body can enter and exit from the shell part through the inlet and outlet part, and the driving mechanism is configured to be capable of driving the instrument body to be released or recycled; and the connecting unit comprises at least one connecting pipe, and the connecting unit is configured to be capable of connecting the inlet and outlet part and an endoscope instrument. According to the flexible instrument surgical robot, the risk of pollution and cross infection can be reduced, and the flexible instrument can be used easily.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, in particular to a flexible instrument surgical robot. Background Art

[0002] Diseases of natural cavities such as the digestive system, urinary system, and respiratory system are common major chronic diseases with high morbidity and mortality rates, which pose serious threats to human health. Among the many treatment methods, human cavity interventional surgery using flexible endoscopes in conjunction with related surgical instruments for diagnosis and treatment is currently the mainstream treatment method.

[0003] The surgical operation space for human cavity intervention surgery is very narrow, and usually requires the use of flexible instruments for diagnosis and treatment. In addition, in order to meet the needs of cavity intervention, current flexible instruments are generally designed as flexible and slender instruments. Due to their slender characteristics, they require the cooperation of multiple medical staff during use to reduce the possibility of contact between flexible instruments and dirt during implantation and recovery, thereby reducing the risk of contamination and cross infection. However, this also makes the use of flexible instruments inconvenient.

[0004] Therefore, how to provide a solution to overcome or alleviate the above-mentioned defects is still a technical problem that needs to be solved urgently by those skilled in the art. Utility Model Content

[0005] The utility model aims to provide a flexible instrument surgical robot, which can reduce the risk of contamination and cross infection and make the use of the flexible instrument simpler.

[0006] In order to solve the above technical problems, the utility model provides a flexible instrument surgical robot, comprising: a base unit; an operating table unit, installed on the base unit, including a table body and a driving mechanism arranged on the table body, the operating table unit is configured to be able to install a flexible instrument, the flexible instrument includes an outer shell part and an instrument body, the outer shell part is provided with an inlet and outlet part, the instrument body can enter and exit the outer shell part through the inlet and outlet part, and the driving mechanism is configured to be able to drive the instrument body to release or recover; a connecting unit, including at least one connecting tube, the connecting unit is configured to be able to connect the inlet and outlet part and the endoscopic instrument.

[0007] In the above scheme, a relatively closed passage can be formed between the inlet and outlet parts of the flexible instrument and the endoscopic instrument through the connecting unit. The instrument body of the flexible instrument is displaced within the connecting unit during the process of implanting the endoscopic instrument and recovering it from the endoscopic instrument. This can avoid the possibility of contact between the instrument body and dirt to a large extent, thereby reducing the risk of contamination and cross infection.

[0008] More importantly, the connecting unit also has a guiding function, which can guide the displacement of the instrument body. In specific applications, medical staff basically only need to control the driving mechanism, which can reduce the number of medical staff during the operation and make the use of flexible instruments simpler.

[0009] Optionally, the connecting unit also includes a tissue extraction component, which is also installed on the platform body, and the tissue extraction component includes a reversing mechanism and a collecting mechanism, the reversing mechanism includes a first channel segment, a second channel segment and a third channel segment, the first channel segment is connected to the inlet and outlet parts through one connecting tube, the second channel segment is connected to the endoscopic instrument through another connecting tube, and the third channel segment points to the collecting mechanism; the reversing mechanism has a first connecting state and a second connecting state, in the first connecting state, the first channel segment is connected to the second channel segment, and in the second connecting state, the first channel segment is connected to the third channel segment.

[0010] Optionally, the driving mechanism is configured with a first fixing bracket and a second fixing bracket, the first fixing bracket is used for installing and fixing the driving mechanism on the platform, and the second fixing bracket is used for fixing the flexible device and the driving mechanism.

[0011] Optionally, the driving mechanism includes a docking module, a sensing module and an identification module, the docking module is configured to be able to dock with the flexible device, the sensing module is used to sense whether the flexible device is installed in place, and the identification module is used to identify the type of the flexible device.

[0012] Optionally, the platform body includes a first frame and a first shell, and the first shell is covered on the first frame; and / or the platform body is further configured with a handle.

[0013] Optionally, the platform is provided with an operating unit, and the operating unit is at least communicatively connected to the driving mechanism.

[0014] Optionally, the operating part at least includes an operating panel and an operating handle, and the operating handle is communicatively connected to the driving mechanism via a wired or wireless manner.

[0015] Optionally, the platform body is further provided with a storage portion and a wireless charging module, the storage portion is used to store the operating handle, and the wireless charging module is used to charge the operating handle stored in the storage portion.

[0016] Optionally, the base unit includes a base and a column, the base is configured with casters and an electrical module, and the column is used to connect the base and the operating table unit.

[0017] Optionally, a display unit is further included, and the display unit is installed on the operating console unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of the flexible instrument surgical robot provided by the utility model;

[0019] Figure 2 for Figure 1 Schematic diagram of the structure of the connecting unit;

[0020] Figure 3 is a connection structure diagram of the first skeleton, the second skeleton and the third skeleton;

[0021] Figure 4 for Figure 3 Schematic diagram of the structure from another perspective;

[0022] Figure 5 is a connection structure diagram of the first shell, the second shell and the third shell;

[0023] Figure 6 is a schematic diagram of the structure of the flexible device;

[0024] Figure 7 is a schematic diagram of the structure of the driving mechanism;

[0025] Figure 8 It is the connection structure diagram of the operation console unit and the display unit;

[0026] Fig. 9 It is a structural diagram of the electrical module.

[0027] The following are the descriptions of the reference numerals:

[0028] 1 base unit, 11 base, 111 second frame, 111a frame part, 111b bottom plate, 111c first fixing plate, 111d second fixing plate, 111e counterweight, 111f caster fixing part, 111g caster, 112 second shell, 113 electrical module, 113a internal power supply, 113b industrial computer, 113c driver, 113d socket strip, 113e fan, 113f filter, 113g shell, 113h heat dissipation port, 12 column, 121 third frame, 121a column, 121b third fixing plate, 121c reinforcement, 122 third shell;

[0029] 2 operation table unit, 21 table body, 211 first frame, 211a panel component, 211b integrated board, 211c support plate, 211d display screen fixing part, 211e handle, 212 first shell, 213 first operation panel, 214 second operation panel, 215 operation handle, 216 storage part, 217 emergency stop button, 218 power on / off button, 219 wireless charging module, 22 driving mechanism, 221 fixing cylinder, 222 first fixing bracket, 223 second fixing bracket, 223a fixing groove, 224 docking module, 225 sensor module, 226 identification module;

[0030] 3 connecting unit, 31 first connecting pipe, 32 second connecting pipe, 33 tissue extraction component, 331 reversing mechanism, 332 collecting mechanism, 333 oscillating mechanism, 334 feedback mechanism;

[0031] 4 flexible device, 41 outer shell, 411 inlet and outlet, 412 limiter, 42 inner shell, 43 docking plate;

[0032] 5 display unit, 51 display screen, 52 connection frame. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0034] In the embodiments of the present invention, the terms "first", "second", and "third" are used only for descriptive purposes and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features.

[0035] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0036] In the description of the embodiments of the present utility model, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0037] Please refer to Figure 1-Figure 9 , Figure 1 This is a schematic diagram of the structure of the flexible instrument surgical robot provided by the utility model. Figure 2 for Figure 1 Schematic diagram of the structure of the connecting unit. Figure 3 is a connection structure diagram of the first skeleton, the second skeleton and the third skeleton, Figure 4 for Figure 3 A schematic diagram of the structure from another perspective. Figure 5 is a connection structure diagram of the first shell, the second shell and the third shell, Figure 6 is a schematic diagram of the structure of the flexible device. Figure 7 is the structural diagram of the driving mechanism. Figure 8 This is the connection structure diagram of the console unit and the display unit. Fig. 9 It is a structural diagram of the electrical module.

[0038] like Figure 1 As shown, an embodiment of the utility model provides a flexible instrument surgical robot, including a base unit 1, an operating table unit 2, a connection unit 3 and a display unit 5.

[0039] The base unit 1 is the structural foundation of the flexible instrument surgical robot, and is used to provide installation positions for other unit components. For example, the aforementioned operating table unit 2 and connecting unit 3 can be directly or indirectly installed on the base unit 1. In actual applications, the structural form of the base unit 1 can be selected in a variety of ways, and no clear limitation is made here, as long as it can meet the actual use requirements.

[0040] In a specific example, Figure 1 As shown, the base unit 1 may include a base 11 and a column 12, and the column 12 is configured to connect the base 11 and the operating table unit 2, so that the operating table unit 2 can maintain a certain installation height, so that it can be used conveniently.

[0041] The above-mentioned base 11 and column 12 can both adopt a built-in skeleton + shell structure. The built-in skeleton is used to meet the strength performance and connection requirements of related components. The shell is used to cover the built-in skeleton; in this way, on the one hand, it can reduce the impact of external impurities such as water vapor and dust on the built-in skeleton, etc., and on the other hand, it can also improve the flatness of the external structure of the base 11 and the column 12, so as to reduce the collision damage caused by the base unit 1 to nearby personnel and the environment during use. At the same time, it can also improve the aesthetics of the base unit 1 to a certain extent. For the convenience of description, the built-in skeleton and shell of the base 11 can be referred to as the second skeleton 111 and the second shell 112 respectively, and the built-in skeleton and shell of the column 12 can be referred to as the third skeleton 121 and the third shell 122 respectively. The second skeleton 111 can be connected to the third skeleton 121, and the second shell 112 can also be connected to the third shell 122.

[0042] like Figure 3 and Figure 4 As shown, the second skeleton 111 may include a frame portion 111a, which may be a frame body formed by connecting plates and pipes, etc. The bottom of the frame portion 111a may be connected to a bottom plate 111b, and the frame portion 111a and the bottom plate 111b may enclose a space for accommodating the electrical module 113. A first fixing plate 111c may be provided above the bottom plate 111b, and the first fixing plate 111c is configured to be connected to the electrical module 113. A second fixing plate 111d may be provided below the bottom plate 111b, and the number of the second fixing plates 111d may be multiple, and they may be arranged at intervals on the bottom plate 111b to enhance the structural strength of the base 11. A counterweight 111e may also be provided below the bottom plate 111b, and the counterweight 111e may be a plate, etc., which is used to improve the balance performance of the base 11. The second skeleton 111 may also be configured with casters 111g, which may be specifically installed via caster fixings 111f. The casters 111g may be used to achieve displacement of the base unit 1, thereby facilitating medical staff to adjust the position of the flexible instrument surgical robot provided in the embodiment of the utility model.

[0043] Here, the embodiment of the utility model does not limit the connection method of each component in the second frame 111. In practical applications, those skilled in the art can choose according to specific needs, as long as the reliability of the connection can be guaranteed; for example, various connection methods such as welding, screw connection, clamping, riveting, bonding, etc. can be used. It should be understood that this non-limiting description of the connection method is also applicable to various frame-like components that appear later.

[0044] Combination Fig. 9, the electrical module 113 may include a housing 113g, which may be formed by welding of plates, etc., and the housing 113g may be installed on the aforementioned first fixed plate 111c. The housing 113 may be provided with an internal power supply 113a, an industrial computer 113b, and a driver 113c, etc., wherein the internal power supply 113a is used to provide power support, and the industrial computer 113b and the driver 113c may be used as control components to receive and issue corresponding instructions. The housing 113g may also be provided with a socket 113d, which may provide various forms of sockets for realizing the connection between the electrical module 113 and external devices such as an external power supply and an external host, and may be used to realize the interaction between the electrical module 113 and external devices. The housing 113g may also be provided with a heat dissipation port 113h, and the housing 113g may also be provided with a fan 113e, which is used to provide heat dissipation wind to cool and dissipate the electrical module 113. A filter 113f is also provided at the heat dissipation port 113h. The filter 113f is used to filter the heat dissipation wind introduced by the fan 113e, thereby reducing the influence of external dust and other impurities on the normal operation of the internal components of the electrical module 113.

[0045] The third frame 121 may include a column 121a, and the lower end of the column 121a may be connected to a third fixing plate 121b, and a reinforcing member 121c may be provided between the column 121a and the third fixing plate 121b, and the reinforcing member 121c is used to improve the connection reliability between the column 121a and the third fixing plate 121b. The third fixing plate 121b is used to be connected to the frame portion 111a of the second frame 111; through the provision of the third fixing plate 121b, the area of ​​the contact surface between the third frame 121 and the second frame 111 can be increased, which is conducive to improving the connection reliability between the two, and can improve the convenience of the connection between the third frame 121 and the second frame 111. Of course, the third fixing plate 121b may not be provided, in which case the column 121a will be directly connected to the frame portion 111a. The upper end of the column 121a is used to be connected to the operating table unit 2, and in order to improve the reliability of the connection, a reinforcing member 121c may also be provided between the column 121a and the operating table unit 2.

[0046] The operation table unit 2 includes a table body 21 and a driving mechanism 22 provided on the table body 21 .

[0047] The platform 21 may also adopt a structure of an internal frame + a shell. In the embodiment of the utility model, for the convenience of description, the internal frame and the shell of the platform 21 may be referred to as a first frame 211 and a first shell 212 respectively.

[0048] like Figure 3 and Figure 4As shown, the first frame 211 may include a panel component 211a and an integrated board 211b. The integrated board 211b may be located below the panel component 211a and located at the periphery of the panel component 211a to improve the structural strength of the panel component 211a. In practical applications, the panel component 211a and the integrated board 211b may be integrally formed, such as integrally stamped. The first frame 211 may also include a support plate 211c, which is located below the panel component 211a and may be used to improve the structural strength of the first frame 211. The support plate 211c may also be enclosed with the panel component 211a to form a receiving space for accommodating the drive mechanism 22, etc. The support plate 211c may be connected to the aforementioned column 121a. The first skeleton 211 may further include a display screen fixing part 211d and a handle 211e, wherein the display screen fixing part 211d is used to be connected to the display unit 5, and the handle 211e is a holding structure for facilitating medical personnel to shift the flexible instrument surgical robot provided in the embodiment of the utility model.

[0049] The operating table unit 2 is configured to be able to install a flexible instrument 4. Here, the embodiment of the utility model does not limit the type of the flexible instrument 4. In practical applications, those skilled in the art can determine it in combination with specific application scenarios, for example, the flexible instrument 4 can be a clamp type, an electrocoagulation and cutting type, an injection type, a guide type, a basket type, etc. In addition, in the embodiment of the utility model, the flexible instrument 4 mainly refers to a slender instrument.

[0050] like Figure 6 As shown, the flexible instrument 4 includes a shell 41 and an instrument body (not shown in the figure), and the shell 41 is provided with an inlet and outlet 411. The inlet and outlet 411 can be specifically tubular, etc., for guiding the instrument body, and the instrument body can enter and exit the shell 41 through the inlet and outlet 411. The shell 41 can also be provided with a limiting portion 412 for limiting the installation of the flexible instrument 4 on the operating table unit 2.

[0051] The specific structural form of the flexible device 4 and the release and storage method of the device body are not the core improvements of the embodiment of the utility model, so they are not described in detail here. In actual application, those skilled in the art can refer to relevant technologies to determine.

[0052] For ease of understanding, the following embodiments of the present invention are only combined with Figure 6 An exemplary description is given. Figure 6In the implementation method, the flexible device 4 can also include an inner shell portion 42, and the inner shell portion 42 can be threadedly assembled on the outer shell portion 41, and the device body can be arranged between the inner shell portion 42 and the outer shell portion 41, so that when the inner shell portion 42 and the outer shell portion 41 are driven to rotate relative to each other, the release and storage of the device body can be achieved; the flexible device 4 can also include a docking plate 43, and the flexible device 4 can specifically be powered by the docking plate 43 and the driving mechanism 22, and the driving mechanism 22 is configured to drive the device body to release or recover.

[0053] like Figure 7 As shown, the driving mechanism 22 may include a fixed cylinder 221, which is the shell part of the driving mechanism 22. The fixed cylinder 221 is provided with a first fixed bracket 222 and a second fixed bracket 223. The first fixed bracket 222 is used to fix the fixed cylinder 221 on the platform 21. The second fixed bracket 223 is used to fix the flexible device 4, and specifically can be a shell part 41 for fixing the flexible device 4. In detail, the second fixed bracket 223 can be provided with a fixed groove 223a, and the limiting part 412 of the shell part 41 can be inserted into the fixed groove 223a, so that the flexible device 4 can be fixed relative to the driving mechanism 22; of course, the fixed groove 223a can also be provided on the shell part 41, and then the limiting part 412 can be provided on the second fixed bracket 223, which is also feasible.

[0054] The driving mechanism 22 may further include a docking module 224, which is used to dock with the aforementioned docking tray 43 to achieve dynamic engagement between the driving mechanism 22 and the flexible device 4. It should be understood that for implementations in which the docking module 224 and the docking tray 43 cannot be directly connected, a transition connection component may be provided between the driving mechanism 22 and the flexible device 4 to achieve indirect connection between the docking module 224 and the docking tray 43, and the specific structural form of the transition connection component is not explicitly limited herein.

[0055] The driving mechanism 22 may further include a sensing module 225 and an identification module 226. The sensing module 225 may specifically be a distance sensor, a proximity light sensor, a travel switch, etc., for detecting whether the flexible device 4 and the driving mechanism 22 are installed in place. The identification module 226 may be, for example, a camera, a radio frequency identification (RFID) module, etc., which is used to detect the flexible device 4 after the flexible device 4 is installed in place to identify the type of the flexible device 4, and may record relevant information such as the type of the flexible device 4, which may be sent to the display unit 5 for display; the identification module 226 may be integrated into the second fixed bracket 223 to improve the integration of the device.

[0056] The type of specific driving elements and related structures in the driving mechanism 22 are not the core improvement points of the embodiment of the utility model, so they are not described in detail here. In actual applications, those skilled in the art can refer to relevant technologies to determine them.

[0057] The connection unit 3 includes at least one connection tube, and the connection unit 3 is configured to connect the inlet and outlet parts 411 and the endoscopic instrument. As described in the background technology section, the endoscopic instrument can be implanted in the natural cavity of the human body for the implementation of human cavity intervention surgery.

[0058] In the above scheme, a relatively closed passage can be formed between the inlet and outlet parts 411 of the flexible instrument 4 and the endoscopic instrument through the connecting unit 3. The instrument body of the flexible instrument 4 is displaced within the connecting unit 3 during the process of implanting the endoscopic instrument and recovering it from the endoscopic instrument. This can avoid the possibility of contact between the instrument body and dirt to a large extent, thereby reducing the risk of contamination and cross infection.

[0059] More importantly, the connecting unit 3 also has a guiding function, which can guide the displacement of the instrument body. In specific applications, medical staff basically only need to control the driving mechanism 22, which can reduce the number of medical staff during the operation and make the use of the flexible instrument 4 simple.

[0060] In some implementations, the connection unit 3 may only include a connection tube, and in this case, the instrument body may only be displaced within the connection tube.

[0061] In some other implementations, the connection unit 3 may further include a tissue extraction component 33, such as Figure 1 As shown, the tissue extraction component 33 may also be installed on the platform 21 .

[0062] Combination Figure 2 , the tissue extraction component 33 may include a reversing mechanism 331 and a collecting mechanism 332. The reversing mechanism 331 may include a first channel section, a second channel section and a third channel section. The first channel section may be connected to the inlet and outlet section 411 via a connecting tube, and the second channel section may be connected to the endoscopic instrument via another connecting tube. For ease of description, the connecting tube connected to the first channel section may be referred to as the first connecting tube 31, and the connecting tube connected to the second channel section may be referred to as the second connecting tube 32. The third channel section may point to the collecting mechanism 332.

[0063] The reversing mechanism 331 can have a first connected state and a second connected state. In the first connected state, the first channel section and the second channel section can be connected. At this time, the instrument body can be implanted into the endoscopic instrument or removed from the endoscopic instrument through the first connecting pipe 31, the reversing mechanism 331 and the second connecting pipe 32. In the second connected state, the first channel section and the third channel section can be connected. At this time, the instrument body can enter the collection mechanism 332 through the first connecting pipe 31 and the reversing mechanism 331, which is suitable for the scenario where the instrument body will extract tissue from the human body and the tissue needs to be collected. The specific structural form of the reversing mechanism 331 can refer to the relevant technology and is not limited here.

[0064] The collection mechanism 332 is provided with at least one collection component, which can be, for example, a test tube, a storage bottle, etc., for collecting the tissue extracted by the instrument body. After the collection operation is completed, the collection component can be removed, and of course, the entire collection mechanism 332 can also be removed as a whole for subsequent detection and other operations.

[0065] The tissue extraction component 33 may further include an oscillating mechanism 333 and a feedback mechanism 334. The oscillating mechanism 333 may be located below the reversing mechanism 331 and above the collecting mechanism 332. When the instrument body extends into the collecting mechanism 332, the oscillating mechanism 333 may oscillate the instrument body so as to release the tissue extracted by the instrument body into the collecting mechanism 332. The feedback mechanism 334 may be located at the side of the collecting mechanism 332 and below the oscillating mechanism 333. A camera module is provided in the feedback mechanism 334 for photographing the process of tissue extraction. The image information obtained by the photographing may also be synchronized to the display unit 5.

[0066] In some optional implementations, the platform 21 may also be provided with an operating unit, which may at least be in communication with the drive mechanism 22 to control the start and stop of the drive mechanism 22. In the embodiment of the utility model, specific types of the operating unit include but are not limited to an operating panel and an operating handle 215.

[0067] The operation panel can be installed on the platform 21, and the number of the operation panel can be one or more, which can be determined in combination with actual usage needs. Figure 8 As shown, there may be two operation panels, namely a first operation panel 213 and a second operation panel 214 .

[0068] The operating handle 215 can be connected to the driving mechanism 22 by wired or wireless communication. In the embodiment of the utility model, it is preferably connected by wireless means, such as Bluetooth connection, so that the operating handle 215 is basically free of constraints when used, and is more convenient to use and has a higher degree of freedom.

[0069] The platform 21 may also be provided with a storage portion 216 and a wireless charging module 219. The storage portion 216 may be used to store the operating handle 215, which can reduce the possibility of the operating handle 215 being lost. The wireless charging module 219 is used to charge the operating handle 215 stored in the storage portion 216 to replenish the power of the operating handle 215. The power source of the wireless charging module 219 may be the internal power supply 113a in the aforementioned electrical module 113.

[0070] It should be understood that the operating handle 215 may also directly use a detachable dry cell battery to provide power, in which case the aforementioned wireless charging module 219 may not be provided.

[0071] The operating console unit 2 may also be provided with an emergency stop button 217 and a power on / off button 218 , etc. The emergency stop button 217 is used to realize an emergency stop of the driving mechanism 22 , and the power on / off button 218 is used to realize power on / off.

[0072] The display unit 5 may be mounted on the console unit 2 .

[0073] like Figure 8 As shown, the display unit 5 may include a display screen 51 and a connecting frame 52, and the display screen 51 may be installed through the connecting frame 52. Specifically, the connecting frame 52 may be connected to the display screen fixing member 211d of the first frame 211. The connecting frame 52 may be a non-adjustable fixed frame; or, the connecting frame 52 may be an adjustable frame with an adjustment function, so as to adjust the installation position of the display screen 51 relative to the operating table unit 2. The specific structural form of the adjustable frame may refer to the relevant technology and is not explicitly limited here.

[0074] The flexible instrument surgical robot provided by the embodiment of the utility model has a compact structure and occupies a small space. A doctor can basically complete a human cavity intervention surgery alone. The operation is convenient, which can greatly reduce the waste of human resources and the probability of cross-infection of instruments. In addition, its functional layout is reasonable, and the human-machine interaction process is more comfortable.

[0075] The above are only preferred implementations of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A flexible instrument surgical robot, characterized in that: include: Base unit; an operating table unit, mounted on the base unit, comprising a table body and a driving mechanism disposed on the table body, wherein the operating table unit is configured to be able to mount a flexible instrument, wherein the flexible instrument comprises an outer shell and an instrument body, wherein the outer shell is provided with an inlet and outlet, and the instrument body can enter and exit the outer shell through the inlet and outlet, and wherein the driving mechanism is configured to be able to drive the instrument body to release or recycle; The connection unit includes at least one connection tube, and the connection unit is configured to connect the inlet and outlet parts with the endoscope instrument.

2. The flexible instrument surgical robot according to claim 1, characterized in that: The connection unit further comprises a tissue extraction component, which is also mounted on the platform body, and comprises a reversing mechanism and a collecting mechanism, wherein the reversing mechanism comprises a first channel section, a second channel section and a third channel section, wherein the first channel section is connected to the inlet and outlet portion via one of the connecting tubes, the second channel section is connected to the endoscope instrument via another of the connecting tubes, and the third channel section points to the collecting mechanism; The reversing mechanism has a first connected state and a second connected state. In the first connected state, the first channel segment is connected to the second channel segment. In the second connected state, the first channel segment is connected to the third channel segment.

3. The flexible instrument surgical robot according to claim 1, characterized in that: The driving mechanism is configured with a first fixing bracket and a second fixing bracket, wherein the first fixing bracket is used for installing and fixing the driving mechanism on the platform, and the second fixing bracket is used for fixing the flexible device and the driving mechanism.

4. The flexible instrument surgical robot according to claim 1, characterized in that: The driving mechanism includes a docking module, a sensor module and an identification module. The docking module is configured to be able to dock with the flexible device. The sensor module is used to sense whether the flexible device is installed in place. The identification module is used to identify the type of the flexible device.

5. The flexible instrument surgical robot according to any one of claims 1 to 4, characterized in that: The platform body comprises a first frame and a first shell, wherein the first shell is covered on the first frame; and / or, The platform body is also provided with a handle.

6. The flexible instrument surgical robot according to any one of claims 1 to 4, characterized in that: The platform is provided with an operating part, and the operating part is at least in communication connection with the driving mechanism.

7. The flexible instrument surgical robot according to claim 6, characterized in that: The operating part at least includes an operating panel and an operating handle, and the operating handle is connected to the driving mechanism in a wired or wireless manner.

8. The flexible instrument surgical robot according to claim 7, characterized in that: The platform body is further provided with a storage portion and a wireless charging module. The storage portion is used to store the operating handle, and the wireless charging module is used to charge the operating handle stored in the storage portion.

9. The flexible instrument surgical robot according to any one of claims 1 to 4, characterized in that: The base unit includes a base and a column, the base is configured with casters and an electrical module, and the column is used to connect the base and the operating table unit.

10. The flexible instrument surgical robot according to any one of claims 1 to 4, characterized in that: It also includes a display unit, which is installed on the operating console unit.

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