Tissue suction assembly and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses a tissue suction assembly and a surgical robot system.The tissue suction assembly comprises a suction tool which comprises a suction catheter and a suction cup arranged at the far end of the suction catheter; the clamping tool comprises an arm body and a clamp arranged at the far end of the arm body, the clamp is used for clamping the suction catheter, and the arm body is used for driving the suction catheter to move. Suction force can be evenly applied to the surface of a tissue or an organ through the suction cup, the tissue or the organ can be attracted more firmly, the suction force applied to the surface of the tissue or the organ is softer, the situation that the tissue or the organ is damaged due to the fact that a rigid instrument directly clamps the tissue or the organ is avoided, and the use process is safer.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a tissue suction component and a surgical robot system. Background Art

[0002] Laparoscopic surgery is a surgical method that has gradually developed and been widely used in recent years. It has the advantages of small incision, fast postoperative recovery, and low postoperative infection and complications. During the operation, it is often necessary to grasp and move tissues or organs, and the tissues or organs must not be damaged during the grasping and moving process, otherwise it is easy to cause accidental damage to the organs or tissues or leakage of tissue fluid, and tumor damage will cause the spread and metastasis of cancer cells, with serious consequences.

[0003] In existing clinical surgeries, rigid instruments such as clamps and tweezers are usually used to directly grab and move tissues or organs. This operation method can easily cause excessive local pressure at the part where the instrument first contacts the tissue, thereby causing accidental damage to the tissue or organ, or causing the rupture of a tumor or cyst. In addition, since the surgeon operates at the console (away from the patient or the operating table), he usually needs the assistance of a surgical assistant (usually an assistant doctor or nurse) to insert the instrument into the body through an auxiliary incision to grab and move tissues or organs. This can easily lead to the surgeon's intentions and instructions being poorly understood by the surgical assistant, resulting in accidents during the operation and prolonged surgery. Utility Model Content

[0004] Based on the above problems, the purpose of the present disclosure is to provide a tissue suction component, comprising:

[0005] A suction tool, comprising a suction catheter and a suction cup disposed at the distal end of the suction catheter; and

[0006] The clamping tool comprises an arm body and a clamp arranged at the distal end of the arm body, wherein the clamp is used for clamping the suction catheter, and the arm body is used for driving the suction catheter to move.

[0007] In some embodiments, the suction cup gradually increases in lateral dimension from the proximal end to the distal end.

[0008] In some embodiments, the suction tool further comprises:

[0009] A connecting piece is connected to the suction catheter, the hardness of the connecting piece is greater than the hardness of the suction catheter, and the clamp is used to clamp the connecting piece.

[0010] In some embodiments, the connecting member includes an annular member, which is tightly sleeved on the suction catheter, and a toothed structure is provided on the outer peripheral surface of the annular member.

[0011] In some embodiments, the suction cup is a medical elastic suction cup; and / or

[0012] The suction catheter is a medical elastic catheter.

[0013] In some embodiments, it also includes:

[0014] A negative pressure device is connected to the proximal end of the suction catheter and is used to provide negative pressure to the suction catheter.

[0015] In some embodiments, the suction tool further comprises:

[0016] The connecting valve is arranged at the proximal end of the suction catheter and is used to control the connection or disconnection between the negative pressure device and the suction catheter.

[0017] In some embodiments, the suction tool further comprises:

[0018] A Luer connector is arranged at the proximal end of the connecting valve and is used for connecting to the negative pressure device.

[0019] In some embodiments, the suction tool further comprises:

[0020] An adapter, the proximal end of which is connected to the distal end of the connecting valve, and the distal end of which is connected to the proximal end of the suction catheter.

[0021] In some embodiments, the arm comprises a deformable arm or a rigid arm.

[0022] In some embodiments, the deformable arm includes at least one of an articulated arm, a serpentine structure arm, and a continuum arm.

[0023] The present disclosure also provides a surgical robot system, comprising:

[0024] at least one robotic arm;

[0025] A tissue suction assembly as described in any embodiment of the present disclosure, wherein the clamping tool of the tissue suction assembly is disposed at the distal end of the at least one mechanical arm; and

[0026] The control device is communicatively connected with the at least one mechanical arm and the clamping tool, and is used to control the arm movement and / or the opening and closing of the clamps of the clamping tool to clamp the suction catheter of the suction tool of the tissue suction assembly and drive the suction catheter to move.

[0027] Some embodiments of the present disclosure have one or more of the following beneficial effects:

[0028] 1. The suction cup can evenly apply attraction to the surface of tissues or organs, and can more firmly attract tissues or organs to avoid rigid instruments directly clamping tissues or organs, causing damage to tissues or organs, and the use process is safer; 2. The tissue suction component clamps the suction tool through the clamp of the clamping tool, controls the movement of the clamping tool, and drives the suction tool to move to achieve the movement of tissues or organs. During the process, no additional auxiliary operations by the surgical assistant are required, which helps to shorten the operation time. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. For ordinary technicians in this field, other embodiments can be obtained based on the contents of the embodiments of the present disclosure and these drawings without creative work.

[0030] Figure 1 A schematic diagram showing the structure of a tissue attraction assembly according to some embodiments of the present disclosure;

[0031] Figure 2 A partial structural schematic diagram showing a tissue attraction assembly according to some embodiments of the present disclosure;

[0032] Figure 3 A schematic diagram showing the structure of an attraction tool according to some embodiments of the present disclosure;

[0033] Figure 4 A partially enlarged schematic diagram of the structure of a tissue attraction assembly according to some embodiments of the present disclosure is shown;

[0034] Figure 5 A schematic diagram of the structure of a surgical robot system according to some embodiments of the present disclosure is shown.

[0035] List of reference numerals:

[0036] 1000, tissue attraction component;

[0037] 100, suction tool; 110, suction catheter; 120, suction cup; 121, proximal end; 122, distal end; 130, connector; 131, toothed structure; 140, connecting valve; 150, Luer connector; 160, adapter;

[0038] 200, clamping tool; 210, arm body; 220, clamp;

[0039] 300, organization;

[0040] 10. Surgical robot system;

[0041] 11. Operating table; 101. Robotic arm; 102. Driving device;

[0042] 12. Main control trolley; 201. Main operator. DETAILED DESCRIPTION

[0043] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0044] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0045] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In the present disclosure, the end close to the operator (such as a doctor) is defined as the proximal end, the near part or the rear end, the rear part, and the end opposite to the proximal end, the near part or the rear end, the rear part is defined as the distal end, the far end or the front end, the front part. Alternatively, the end close to the operator (such as a surgical patient) is defined as the distal end, the far end or the front end, the front part, and the end opposite to the distal end, the far end or the front end, the front part is defined as the proximal end, the near part or the rear end, the rear part. Those skilled in the art can understand that the embodiments of the present disclosure can be used for medical instruments or surgical robots, and can also be used for other non-medical devices.

[0046] The present disclosure provides a tissue attraction assembly. Figure 1 A schematic structural diagram of a tissue attraction assembly 1000 according to some embodiments of the present disclosure is shown. Figure 2 FIG. 1 is a schematic diagram showing a partial structure of a suction tool 100 according to some embodiments of the present disclosure. Figure 2 A tissue (or organ) 300 is shown. Figure 1As shown, the tissue suction assembly 1000 includes a suction tool 100 and a clamping tool 200. In some embodiments, the suction tool 100 may include a suction catheter 110 and a suction cup 120 disposed at the distal end of the suction catheter 110. It should be understood that the suction catheter 110 may be a hollow tubular structure, and negative pressure is applied to the suction cup 120 through the suction catheter 110 to attract the tissue (or organ) 300. In some embodiments, the suction catheter 110 may be made of a flexible material so that it is not easy to damage the tissue (or organ) 300 in the body. It should be understood that the tissue or organ in the present disclosure may include, but is not limited to, lymph, cysts, tumors, kidneys, and the like.

[0047] Figure 3 FIG. 1 is a schematic diagram showing a structure of a suction tool 100 according to some embodiments of the present disclosure. Figure 1 and Figure 2 As shown, the suction cup 120 may include a proximal portion 121 and a distal portion 122 that are connected to each other. The proximal portion 121 and the distal portion 122 may be integrally formed or connected by bonding. The proximal portion 121 may include a through hole so that the distal portion 122 of the suction cup 120 is connected to the suction catheter 110. In some embodiments, the proximal portion 121 of the suction cup 120 may be tightly sleeved on the distal end of the suction catheter 110, or the proximal portion 121 of the suction cup 120 may be provided at the distal end of the suction catheter 110 by adhesive sealing, or the suction cup 120 may also be integrally formed with the suction catheter 110. The suction catheter 110 is in communication with the suction cup 120 so as to apply negative pressure to the suction cup 120 through the suction catheter 110 to attract tissue (or organ) 300.

[0048] In some embodiments, the transverse dimension of the suction cup 120 gradually increases from the proximal end to the distal end. Figure 1 , Figure 2 and Figure 3 As shown, the distal end 122 of the suction cup 120 can be in a bowl-shaped, funnel-shaped or trumpet-shaped structure, and the lateral dimension of the distal end 122 gradually increases from the proximal end to the distal end. In this way, the distal end 122 of the suction cup 120 can evenly apply attraction to the surface of the tissue (or organ) 300, and the distal end contact area of ​​the distal end 122 of the suction cup 120 is larger, which can more firmly attract the tissue or organ. In this way, it can avoid rigid instruments directly clamping tissues or organs, causing damage to the tissues or organs, and the use process is safer.

[0049] In some embodiments, the suction cup 120 can be made of a flexible material so that it can more closely attract the surface of the tissue (or organ) 300 . During the suction process, the attraction applied to the surface of the tissue (or organ) 300 is softer to avoid damage to the tissue (or organ) 300 .

[0050] In some embodiments, the suction catheter 110 is a medical elastic catheter. In some embodiments, the suction cup 120 can be a medical elastic suction cup 120. It should be understood that the suction catheter 110 and the suction cup 120 can be made of medical elastic materials, such as medical silicone materials, medical rubber materials, medical siloxane materials, or a combination of multiple medical polymer materials. This can meet medical use requirements.

[0051] In some embodiments, Figure 1 and Figure 2 As shown, the clamping tool 200 may include an arm 210 and a clamp 220 disposed at the distal end of the arm 210. The clamp 220 is used to clamp the suction catheter 110, and the arm 210 is used to drive the suction catheter 110 to move. It should be understood that the clamp 220 may include two clamp heads hinged to the distal end of the arm 210, or the clamp 220 may include a clamp head fixedly disposed at the distal end of the arm 210 and a clamp head hingedly disposed at the distal end of the arm 210. The two clamp heads cooperate with each other to achieve clamping.

[0052] In some embodiments, the arm 210 may include a deformable arm or a rigid arm. In some embodiments, the deformable arm may include at least one of an articulated arm, a snake-bone structure arm, and a continuous arm. By manipulating the movement of the arm 210, the suction catheter 110 clamped by the clamp 220 is driven to move in the body, so as to drive the suction cup 120 to move, so as to move the tissue (or organ) 300.

[0053] Figure 4 FIG. 1 is a schematic diagram showing a partially enlarged structure of a tissue attraction assembly 1000 according to some embodiments of the present disclosure. Figure 3 and Figure 4 As shown, the suction tool 100 also includes a connector 130. The connector 130 is connected to the suction catheter 110. The hardness of the connector 130 can be greater than the hardness of the suction catheter 110, and the clamp 220 is used to clamp the connector 130. In some embodiments, the connector 130 can be made of a polycarbonate material. It should be understood that the connector 130 can also be made of a polymer such as nylon, polyethylene, polypropylene, or a combination of multiple polymers. The hardness of the connector 130 is greater than the hardness of the suction catheter 110, which can prevent the clamp 220 from flattening the suction catheter 110 and affecting the negative pressure from the suction catheter 110 to the suction cup 120.

[0054] In some embodiments, the hardness of the part of the suction catheter 110 used for clamping can be greater than the hardness of other parts. Alternatively, the suction catheter 110 can also maintain a moderate hardness as a whole. In this way, it can be easily clamped by the clamp 220 without the need to set up an additional connector 130.

[0055] In some embodiments, the connecting member 130 may include an annular member. The annular member is tightly sleeved on the suction catheter 110, for example, it can be sleeved on the suction catheter 110 closer to the distal end. In actual operation, the clamp 220 clamps the annular member and maintains the clamping state to achieve clamping and fixing of the suction tool 100, so as to drive the suction tool 100 to move in the body through the clamping tool 200. It should be understood that the connecting member 130 can also be other connecting structures, such as a connecting block, a connecting groove, a connecting protrusion, etc.

[0056] In some embodiments, Figure 4 As shown, the outer circumferential surface of the annular member is provided with a toothed structure 131. For example, the annular member may include a toothed structure 131 extending in the axial direction and arranged at intervals, such as Figure 4 Alternatively, the annular member may include a toothed structure extending in the circumferential direction and arranged at intervals, or the annular member may include a toothed structure extending in the oblique direction and arranged at intervals. The above is only an example, and the toothed structure may also include other forms of arrangement and distribution, which are not limited here.

[0057] In some embodiments, the tissue suction assembly 1000 may also include a negative pressure device (not shown). The negative pressure device is connected to the proximal end of the suction catheter 110, and is used to provide negative pressure to the suction catheter 110. The negative pressure device is used to allow the suction cup 120 to suck the tissue (or organ) 300, ensuring that the suction cup 120 can evenly apply attraction to the surface of the tissue (or organ) 300 during the process of grasping and moving the tissue (or organ) 300. It should be understood that the negative pressure device can provide a constant negative pressure, or provide different levels of negative pressure for different tissues or organs. For example, for tissues or organs with a lower pressure tolerance, a smaller negative pressure is provided, and for tissues or organs with a larger pressure tolerance and prone to slippage, a larger negative pressure is provided. In this way, different tissue suction needs can be better met.

[0058] In some embodiments, the suction tool 100 further includes a connecting valve 140. The connecting valve 140 is disposed at the proximal end of the suction catheter 110, and is used to control the connection or disconnection of the negative pressure device with the suction catheter 110. It should be understood that the connecting valve 140 may be a two-way valve or other control valve. The operator may control the connecting valve 140 to control the connection between the negative pressure device and the suction catheter 110, so as to apply negative pressure, so that the suction cup 120 attracts the tissue (or organ) 300, and control the connecting valve 140 to control the disconnection of the negative pressure device from the suction catheter 110, so as to stop applying negative pressure, so that the suction cup 120 releases the tissue (or organ) 300.

[0059] In some embodiments, the suction tool 100 may further include a Luer connector 150, such as Figure 1 or Figure 3The Luer connector 150 is disposed at the proximal end of the connecting valve 140 for connecting to the negative pressure device. It should be understood that the Luer connector 150 is used to meet medical requirements and can be switched between different negative pressure devices, making it more convenient to use.

[0060] In some embodiments, the suction tool 100 may further include an adapter 160, such as Figure 1 or Figure 3 As shown. The proximal end of the adapter 160 is connected to the distal end of the connecting valve 140, and the distal end of the adapter 160 is connected to the proximal end of the suction catheter 110. In some embodiments, the adapter 160 can be tubular, and an interference fit sleeve is arranged on the distal end of the connecting valve 140 and the proximal end of the suction catheter 110, or it is bonded to the distal end of the connecting valve 140 and the proximal end of the suction catheter 110 by glue. It should be understood that the adapter 160 can be made of an elastic material, such as silicone, rubber, etc. In this way, the sealing of the connection between the negative pressure device and the suction catheter 110 can be ensured to avoid air leakage in the channel formed by the negative pressure device and the suction catheter 110, which affects the suction effect of the suction cup 120.

[0061] The present disclosure also provides a surgical robot system. Figure 5 A schematic structural diagram of a surgical robot system 10 according to some embodiments of the present disclosure is shown. Figure 5 Only the clamping tool 200 in the tissue suction assembly 1000 is shown, and the suction tool 100 is not shown. Figure 5 As shown, the surgical robot system 10 includes at least one mechanical arm 101, a tissue suction assembly 1000 in any embodiment of the present disclosure, and a control device (not shown). The clamping tool 200 of the tissue suction assembly 1000 is arranged at the distal end of at least one mechanical arm 101, and the control device is connected to the at least one mechanical arm 101 and the clamping tool 200 for controlling the movement of the arm body 210 of the clamping tool 200 and / or the opening and closing of the clamp 220 to clamp the suction catheter 110 of the suction tool 100 of the tissue suction assembly 1000 and drive the suction catheter 110 to move.

[0062] The suction tool 100 is clamped by the clamp 220 of the clamping tool 200, and the movement of the clamping tool 200 is controlled to drive the suction tool 100 to move, so as to achieve the movement of tissues or organs. During the process, no additional auxiliary operation of the surgical assistant is required, which helps to shorten the operation time.

[0063] In some embodiments, Figure 5As shown, the surgical robot system 10 may include a surgical trolley 11, and the surgical trolley 11 may include at least one mechanical arm 101, and the clamping tool 200 may be detachably arranged at the distal end of at least one mechanical arm 101. It should be understood that the mechanical arm 101 may include multiple movable joints and connecting rods, and has multiple degrees of freedom. The clamping tool 200 is detachably arranged at the distal end of the mechanical arm 101, and the mechanical arm 101 is used to adjust the position and posture of the end (e.g., clamp 220) of the clamping tool 200, or the driving device (e.g., driving device 102) provided on the mechanical arm 101 is used to drive the arm body 210 of the clamping tool 200 to adjust the position and posture of the end (e.g., clamp 220). At least one mechanical arm 101 of the surgical trolley 11 can carry at least one clamping tool 200, and the clamping tool 200 can clamp the suction tool 100 in the body to achieve the movement of tissues or organs.

[0064] In the preoperative preparation process, according to the type of surgery and the surgical position of the patient, at least one mechanical arm 101 can be controlled to move to a suitable position and posture, so that at least one mechanical arm 101 can be connected to the sheath, so that the clamping tool 200 on the mechanical arm 101 can smoothly pass through the sheath into the human body. During the operation, the mechanical arm 101 remains motionless outside the body, and the clamping tool 200 (such as the arm body 210) is controlled to move so that the clamp 220 clamps the suction catheter 110 of the suction tool 100 located in the body, and then the arm body 210 is controlled to move to drive the suction cup 120 of the suction tool 100 in the tissue suction assembly 1000 to move. The mechanical arm 101 remains motionless outside the body, and only drives the suction cup 120 of the suction tool 100 to move by controlling the movement of the clamping tool 200, thereby improving the safety of the operation. It should be understood that in some embodiments, during surgery, the robot arm 101 can also be controlled to move to drive the clamping tool 200 to move, so as to move the suction catheter 110 and the suction cup 120 of the suction tool 100 clamped by the clamp 220.

[0065] In some embodiments, the surgical robot system 10 may further include a main control trolley 12. The operating trolley 11 and the main control trolley 12 may be connected via wired transmission or wireless transmission. In some embodiments, the control device may be disposed on the main control trolley 12 or the operating trolley 11.

[0066] During the operation, the operator controls the clamping tool 200 (or imaging tool, such as an endoscope) carried on at least one mechanical arm 101 of the operating trolley 11 by operating the main operator 201 of the main control trolley 12 to perform an operation. The operating trolley 11 is usually located on the patient's side, responding to the control instructions of the main control trolley 12 to perform a surgical operation on the patient. In some embodiments, the operator can also control the opening and closing of the clamp 220 of the clamping tool 200 by operating the main operator 201 to control the clamp 220 to clamp the suction catheter 110 of the suction tool 100. The operator can also control the arm movement of the clamping tool 200 by operating the main operator 201 to drive the suction catheter 110 and the suction cup 120 of the suction tool 100 to move.

[0067] In some embodiments, the surgical trolley 11 of the surgical robot system 10 may further include at least one driving device 102. The at least one driving device 102 may be disposed between the at least one clamping tool 200 and the at least one robotic arm 101. Figure 5 As shown, the surgical trolley 11 may include a single robotic arm 101, and a plurality of mutually independent driving devices 102 may be provided on the robotic arm 101 (e.g., the end of the robotic arm 101). Those skilled in the art may understand that the surgical trolley 11 may also include a plurality of robotic arms 101, and a plurality of driving devices 102 may be provided on a plurality of robotic arms 101, respectively, and the specific details are not limited here. Those skilled in the art may understand that the surgical robot 10 provided in this embodiment may be any suitable surgical robot including a laparoscopic surgical robot.

[0068] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A tissue suction component, characterized in that: include: A suction tool, comprising a suction catheter and a suction cup disposed at the distal end of the suction catheter; as well as The clamping tool comprises an arm body and a clamp arranged at the distal end of the arm body, wherein the clamp is used for clamping the suction catheter, and the arm body is used for driving the suction catheter to move.

2. The tissue suction assembly according to claim 1, characterized in that: The transverse dimension of the suction cup gradually increases from the proximal end to the distal end.

3. The tissue suction assembly according to claim 1, characterized in that: The attraction means also includes: A connecting piece is connected to the suction catheter, the hardness of the connecting piece is greater than the hardness of the suction catheter, and the clamp is used to clamp the connecting piece.

4. The tissue suction assembly according to claim 3, characterized in that: The connecting member comprises an annular member, the annular member is tightly sleeved on the suction catheter, and a toothed structure is arranged on the outer peripheral surface of the annular member.

5. The tissue suction assembly according to claim 1, characterized in that: The suction cup is a medical elastic suction cup; and / or The suction catheter is a medical elastic catheter.

6. The tissue suction assembly according to claim 1, characterized in that: Also includes: A negative pressure device is connected to the proximal end of the suction catheter and is used to provide negative pressure to the suction catheter.

7. The tissue suction assembly according to claim 6, characterized in that: The attraction means also includes: The connecting valve is arranged at the proximal end of the suction catheter and is used to control the connection or disconnection between the negative pressure device and the suction catheter.

8. The tissue suction assembly according to claim 7, characterized in that: The attraction means also includes: A Luer connector is arranged at the proximal end of the connecting valve and is used for connecting to the negative pressure device.

9. The tissue suction assembly according to claim 7, characterized in that: The attraction means also includes: An adapter, the proximal end of which is connected to the distal end of the connecting valve, and the distal end of which is connected to the proximal end of the suction catheter.

10. The tissue suction assembly according to claim 1, characterized in that: The arm body includes a deformable arm body or a rigid arm body.

11. The tissue suction assembly according to claim 10, characterized in that: The deformable arm body includes at least one of an articulated arm body, a snake-bone structure arm body, and a continuous arm body.

12. A surgical robot system, characterized in that: include: at least one robotic arm; The tissue suction assembly according to any one of claims 1 to 11, wherein the clamping tool of the tissue suction assembly is disposed at the distal end of the at least one mechanical arm; as well as The control device is communicatively connected with the at least one mechanical arm and the clamping tool, and is used to control the arm movement and / or the opening and closing of the clamps of the clamping tool to clamp the suction catheter of the suction tool of the tissue suction assembly and drive the suction catheter to move.

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