Microsurgery robot doctor console

Abstract

The utility model discloses a microsurgery robot doctor console which comprises symmetrically arranged main hand mechanisms, optimized Y-axis and X-axis rotating mechanisms, a balance weight design, an emergency stop button, a lifting arm support mechanism, a displayer located between the main hand mechanisms, an operation button in communication connection with a control system and the like. The problems existing in the prior art are solved, and the overall effect of an operation is improved. The utility model has the beneficial effects that: the device has obvious beneficial effects in the aspects of improving the surgical accuracy, the operation convenience, the safety, the comfort and the like, and also shows potential advantages in the aspects of technical implementation and cost effectiveness at the same time.

Description

Technical Field

[0001] The utility model relates to the medical field, in particular to a microsurgery robot doctor console. Background Art

[0002] Microsurgery is a very delicate operation that usually requires doctors to have superb operating skills and great patience. In traditional microsurgery, doctors directly hold surgical instruments to operate, which not only challenges the doctor's physical strength and endurance, but also due to the limitations of human hands, it is difficult to achieve ideal surgical accuracy and stability.

[0003] Existing microsurgery auxiliary equipment, such as surgical microscopes and fixed operating tables, can improve the accuracy of surgery to a certain extent, but they still cannot completely solve the problems of hand fatigue and stability. In addition, when complex angles of surgery are required, doctors often need to frequently adjust their posture and line of sight, which undoubtedly increases the difficulty and risk of surgery.

[0004] The emergence of microsurgery robot technology provides new possibilities for solving the above problems. By applying robot technology to the field of microsurgery, precise control of surgical instruments can be achieved, improving the stability and safety of surgery. However, most of the existing microsurgery robot systems have the following problems:

[0005] Surgical comfort and efficiency: Existing systems may not fully consider the physician’s comfort during long surgeries and the ease of access to real-time information during the procedure.

[0006] System synchronization accuracy: The synchronization accuracy of existing surgical robotic systems may not be sufficient to meet the needs of complex microsurgery, especially when multi-dimensional fine adjustment is required.

[0007] Human-machine interaction: Existing surgical robot systems still have room for improvement in simulating human hand movements and strength, which affects the flexibility and naturalness of the surgery. Utility Model Content

[0008] In view of the above-mentioned deficiencies of the prior art, the microsurgery robot doctor console proposed in the utility model aims to provide a more accurate, convenient, safe and economical surgical auxiliary tool through a series of innovative designs. These designs include symmetrically arranged main hand mechanisms, optimized Y-axis and X-axis rotation mechanisms, balanced counterweight design, emergency stop button, lifting arm support mechanism, display located between the main hand mechanisms, and operation buttons connected to the control system, etc., aiming to solve the problems existing in the prior art and improve the overall effect of the surgery.

[0009] The utility model is realized by the following technical solutions:

[0010] The utility model discloses a microsurgery robot doctor console, comprising a shell and a main hand mechanism, wherein: two main hand mechanisms are provided, and are fixedly connected to the shell in a horizontally symmetrical arrangement;

[0011] The main hand mechanism includes a support ring, a moving center, a translation mechanism, an X-axis rotation mechanism, a Y-axis rotation mechanism, a Z-axis rotation handle and a support base;

[0012] The support ring is in the shape of a circular ring, fixedly connected to the support base, and arranged vertically with the support base; three connecting parts are arranged on the end surface of the support ring to be assembled and connected with the translation mechanism; the three connecting parts are arranged in a uniform circular array along the central axis of the support ring;

[0013] The translation mechanism includes three rod-plate connecting assemblies, and the three rod-plate connecting assemblies are respectively assembled and connected with three connecting parts arranged on the support ring;

[0014] The rod-plate connection assembly includes a rod frame and a rotating plate. The outer contour of the rod frame is rectangular. Two opposing rod frames are respectively rotatably connected to the moving center and the rotating plate. The connecting portion provided on the support ring is a columnar protrusion, and the rotating plate is hinged to the connecting portion.

[0015] The moving center is a rigid part, and one end of the moving center away from the translation mechanism is equipped with a Y-axis rotation mechanism; the Y-axis rotation mechanism is equipped with an X-axis rotation mechanism; the X-axis rotation mechanism is equipped with a Z-axis rotation handle;

[0016] One end of the support ring away from the translation mechanism is fixedly connected to the shell; the main hand mechanism is communicatively connected with the surgical robot control system.

[0017] Furthermore, the Y-axis rotation mechanism includes a Y-axis L-shaped rod, a Y-axis rotation joint and a Y-axis counterweight; the Y-axis L-shaped rod is assembled and connected to the moving center through the Y-axis rotation joint; one end of the Y-axis L-shaped rod is assembled and connected to the X-axis rotation mechanism, and the other end is fixedly connected to the Y-axis counterweight; the rotation axis of the Y-axis rotation mechanism is arranged parallel to the central axis of the support ring;

[0018] The X-axis rotation mechanism includes an X-axis rotation joint and an X-axis L-shaped rod, the X-axis rotation joint is connected to the Y-axis rotation mechanism, one end of the X-axis L-shaped rod is connected to the X-axis rotation joint, and the other end is connected to the Z-axis rotation handle; the rotation axis of the X-axis rotation mechanism and the rotation axis of the Y-axis rotation mechanism are in the same plane, and the two are arranged vertically;

[0019] The Z-axis rotation handle comprises a Z-axis rotation joint and a handle, the Z-axis rotation joint is connected to the X-axis rotation mechanism, and the handle is coaxially rotationally connected to the Z-axis rotation joint; the rotation axis of the Z-axis rotation handle is vertically arranged to the rotation axis of the X-axis rotation mechanism and the rotation axis of the Y-axis rotation mechanism;

[0020] In the absence of external interference, the center of mass of the handle is located at the intersection of the rotation axis of the X-axis rotation mechanism, the rotation axis of the Y-axis rotation mechanism and the rotation axis of the Z-axis rotation handle.

[0021] Furthermore, a lifting arm support mechanism is provided on one end of the shell body away from the two main hand mechanisms to provide support for the operator.

[0022] Furthermore, the lifting arm supporting mechanism includes a support arm, a main shaft, a lifting mechanism and a cavity; the support arm is movably connected to the cavity, inserted in the cavity, and can perform lifting and lowering movements along the insertion direction; the support arm is assembled and connected to the lifting mechanism, the lifting mechanism is connected to the main shaft, and the state of the lifting mechanism is controlled by the main shaft; the main shaft extends from the inside to the outside of the cavity, and a rotating handle is coaxially fixedly connected at its end face.

[0023] Furthermore, the lifting mechanism includes a sliding block and a scissor-type lifting mechanism; the sliding block is threadedly connected to the main shaft and moves toward the center of the main shaft under the rotation of the main shaft; the sliding block is assembled and connected to the scissor-type lifting mechanism to change the action posture of the scissor-type lifting mechanism.

[0024] Furthermore, a display is provided on the shell; the display is located between the two main hand mechanisms; and the display is communicatively connected to the surgical robot control system.

[0025] Furthermore, an emergency stop button is provided on the shell, and the emergency stop button is communicatively connected with the surgical robot control system.

[0026] Furthermore, the Z-axis rotation handle is equipped with a plurality of operation buttons, and the operation buttons are communicatively connected with the surgical robot control system.

[0027] The beneficial effects of the utility model are:

[0028] Improve surgical accuracy: Through the symmetrically arranged main hand mechanism and the connection parts arranged in a uniform circular array, the microsurgery robot doctor console of the utility model ensures the stability and symmetry of the translation mechanism, thereby improving the accuracy of the surgical operation.

[0029] Enhanced operational coordination: The horizontally symmetrical arrangement of the master-hand mechanism provides coordination and consistency between the operator's left and right hands, which is essential for microsurgery that requires delicate manipulation.

[0030] Optimized operating experience: The design of the Y-axis rotation mechanism allows doctors to make vertical adjustments during surgery, while the connection between the Y-axis L-shaped rod and the X-axis rotation mechanism provides horizontal flexibility. These designs together enhance the doctor's operating experience.

[0031] Reduce the burden on doctors: The Y-axis counterweight design can balance the weight of the mechanism, reduce the burden on the motor, and improve the response speed and energy efficiency of the system, thereby reducing doctors' fatigue during long operations.

[0032] Multi-dimensional adjustment capability: The design of the X-axis rotation mechanism and Z-axis rotation handle enables doctors to make multi-dimensional fine adjustments during surgery, which is especially important for complex microsurgery operations.

[0033] Improve surgical safety: The design of the emergency stop button is an important part of the safety mechanism of the surgical robot. It can quickly cut off the power supply in an emergency to ensure the safety of the operation.

[0034] Enhanced convenience and efficiency: The operating buttons on the Z-axis rotation handle are connected to the surgical robot control system, allowing the doctor to directly control the robot's movements during the operation without shifting the hand position, which greatly improves the convenience and efficiency of the surgical operation.

[0035] Improve surgical comfort: The design of the lifting arm support mechanism provides doctors with a stable support platform. The lifting movement of the support arm and the design of the scissor-type lifting mechanism allow doctors to easily adjust the position of the support arm according to personal comfort and the height of the operating table, thereby improving the comfort and efficiency of the operation.

[0036] Real-time information acquisition: The display is designed to be located between the two main hand mechanisms, allowing doctors to view surgery-related images and information in real time during the operation without shifting their gaze, which helps improve the safety and efficiency of the operation.

[0037] In summary, the microsurgical robot doctor console of the utility model has significant beneficial effects in improving surgical accuracy, operational convenience, safety and comfort, and also shows potential advantages in technical implementation and cost-effectiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 : A schematic diagram of the three-dimensional structure of the utility model;

[0039] Figure 2 : A three-dimensional structural diagram of the main hand mechanism of the utility model;

[0040] Figure 3 : Another three-dimensional structural diagram of the main hand mechanism of the utility model;

[0041] Figure 4 : A three-dimensional structural diagram of the lifting arm support mechanism of the utility model;

[0042] Figure 5 : A three-dimensional structural cross-sectional view of the lifting arm support mechanism of the utility model;

[0043] Figure 6 : A first three-dimensional structural schematic diagram of the housing of the utility model;

[0044] Figure 7 : A second three-dimensional structural schematic diagram of the housing of the utility model;

[0045] Figure 8 : A third three-dimensional structural diagram of the housing of the utility model;

[0046] Fig. 9 : A fourth three-dimensional structural schematic diagram of the housing of the utility model;

[0047] In the figure: 1-shell, 2-main hand mechanism, 3-display, 4-emergency stop button, 5-lifting arm support mechanism, 21-support ring, 22-moving center, 23-translation mechanism, 24-X-axis rotation mechanism, 25-Y-axis rotation mechanism, 26-Z-axis rotation handle, 27-support base, 51-support arm, 52-spindle, 53-lifting mechanism, 54-cavity, 531-sliding block, 532-scissor-type lifting mechanism. DETAILED DESCRIPTION

[0048] The utility model is further described below in conjunction with the accompanying drawings and specific embodiments:

[0049] Example: Figure 1-9 As shown, a microsurgery robot doctor console includes a housing 1 and a main hand mechanism 2, wherein: two main hand mechanisms 2 are provided and are fixedly connected to the housing 1 in a horizontally symmetrical arrangement;

[0050] The main hand mechanism 2 includes a support ring 21, a moving center 22, a translation mechanism 23, an X-axis rotation mechanism 24, a Y-axis rotation mechanism 25, a Z-axis rotation handle 26 and a support base 27;

[0051] The support ring 21 is annular, fixedly connected to the support base 27, and arranged vertically with the support base 27; three connecting parts are arranged on the end surface of the support ring 21 to be assembled and connected with the translation mechanism 23; the three connecting parts are arranged in a uniform circular array along the central axis of the support ring 21;

[0052] The translation mechanism 23 includes three rod-plate connection assemblies, and the three rod-plate connection assemblies are respectively assembled and connected with three connection parts provided on the support ring 21;

[0053] The rod-plate connection assembly includes a rod frame and a rotating plate. The outer contour of the rod frame is rectangular. Two opposing rod frames are respectively rotatably connected to the moving center and the rotating plate. The connecting portion provided on the support ring 21 is a columnar protrusion, and the rotating plate is hinged to the connecting portion.

[0054] The moving center 22 is a rigid member, and one end thereof away from the translation mechanism 23 is equipped with a Y-axis rotation mechanism; the Y-axis rotation mechanism is equipped with an X-axis rotation mechanism; the X-axis rotation mechanism is equipped with a Z-axis rotation handle;

[0055] One end of the support ring 21 away from the translation mechanism 23 is fixedly connected to the housing 1; the main hand mechanism 2 is in communication connection with the surgical robot control system.

[0056] Wherein: the Y-axis rotation mechanism includes a Y-axis L-shaped rod, a Y-axis rotation joint and a Y-axis counterweight; the Y-axis L-shaped rod is assembled and connected to the moving center 22 through the Y-axis rotation joint; one end of the Y-axis L-shaped rod is assembled and connected to the X-axis rotation mechanism, and the other end is fixedly connected to the Y-axis counterweight; the rotation axis of the Y-axis rotation mechanism is arranged parallel to the central axis of the support ring 21;

[0057] The X-axis rotation mechanism includes an X-axis rotation joint and an X-axis L-shaped rod, the X-axis rotation joint is connected to the Y-axis rotation mechanism, one end of the X-axis L-shaped rod is connected to the X-axis rotation joint, and the other end is connected to the Z-axis rotation handle; the rotation axis of the X-axis rotation mechanism and the rotation axis of the Y-axis rotation mechanism are in the same plane, and the two are arranged vertically;

[0058] The Z-axis rotation handle comprises a Z-axis rotation joint and a handle, the Z-axis rotation joint is connected to the X-axis rotation mechanism, and the handle is coaxially rotationally connected to the Z-axis rotation joint; the rotation axis of the Z-axis rotation handle is vertically arranged to the rotation axis of the X-axis rotation mechanism and the rotation axis of the Y-axis rotation mechanism;

[0059] In the absence of external interference, the center of mass of the handle is located at the intersection of the rotation axis of the X-axis rotation mechanism, the rotation axis of the Y-axis rotation mechanism and the rotation axis of the Z-axis rotation handle.

[0060] Wherein: a lifting arm support mechanism 5 is arranged at one end of the shell body away from the two main hand mechanisms, for providing support for the operator.

[0061] The lifting arm supporting mechanism 5 includes a support arm 51, a main shaft 52, a lifting mechanism 53 and a cavity 54; the support arm 51 is movably connected to the cavity 54, plugged into the cavity 54, and can perform lifting and lowering movements along the plugging direction; the support arm 51 is assembled and connected to the lifting mechanism 53, and the lifting mechanism 53 is connected to the main shaft 52, and the state of the lifting mechanism 53 is controlled by the main shaft 52; the main shaft 52 extends from the inside of the cavity 54 to the outside, and a rotating handle is coaxially fixedly connected at its end face.

[0062] The lifting mechanism 53 includes a sliding block 531 and a scissor-type lifting mechanism 532; the sliding block 531 is threadedly connected to the main shaft 52 and moves toward the center of the main shaft 52 under the rotation of the main shaft 52; the sliding block 531 is assembled and connected to the scissor-type lifting mechanism 532 to change the action posture of the scissor-type lifting mechanism 532.

[0063] A display 3 is provided on the housing 1; the display 3 is located between the two main hand mechanisms 2; and the display 3 is communicatively connected with the surgical robot control system.

[0064] An emergency stop button 4 is provided on the housing 1 and is communicatively connected to the surgical robot control system.

[0065] The Z-axis rotation handle is equipped with a plurality of operation buttons, which are communicatively connected with the surgical robot control system.

[0066] In the design of the microsurgery robot doctor console, the horizontal symmetrical arrangement of the main hand mechanism 2 provides the operator's left and right hand coordination and consistency, which is essential for microsurgery that requires delicate operations. The annular design of the support ring 21 and the connection parts arranged in a uniform circumferential array ensure the stability and symmetry of the translation mechanism 23, thereby improving the accuracy of the surgical operation.

[0067] The design of the Y-axis rotation mechanism 25 allows the doctor to make vertical adjustments during surgery, while the connection between the Y-axis L-shaped rod and the X-axis rotation mechanism provides horizontal flexibility. The design of the Y-axis counterweight can balance the weight of the mechanism, reduce the burden on the motor, and improve the response speed and energy efficiency of the system.

[0068] The design of the X-axis rotation mechanism 24 and the Z-axis rotation handle 26 enables the doctor to make fine adjustments in multiple dimensions during surgery. The connection between the X-axis L-shaped rod and the Z-axis rotation handle 26 allows the doctor to position the surgical tool at different angles, which is particularly important for complex microsurgery operations.

[0069] The center of mass of the handle is located at the intersection of the three-axis rotation axis, which ensures the balance of the handle without external interference, which helps reduce the fatigue of doctors during long operations. In addition, this design also helps to improve the stability and accuracy of surgical operations.

[0070] The design of the lifting arm support mechanism 5 provides a stable support platform for the doctor. The lifting movement of the support arm 51 and the design of the scissor-type lifting mechanism 532 allow the doctor to easily adjust the position of the support arm 51 according to personal comfort and the height of the operating table, thereby improving the comfort and efficiency of the operation.

[0071] The display 3 is designed to be located between the two main hand mechanisms 2. This position makes it easy for the doctor to view surgery-related images and information in real time during the operation without shifting his or her sight, which helps to improve the safety and efficiency of the operation.

[0072] The design of the emergency stop button 4 is an important part of the safety mechanism of the surgical robot. Through the communication connection with the surgical robot control system, the emergency stop button 4 can quickly cut off the power supply in an emergency to ensure the safety of the operation.

[0073] The operating buttons on the Z-axis rotation handle 26 are connected to the communication with the surgical robot control system, so that the doctor can directly control the movement of the robot during the operation without shifting the hand position, which greatly improves the convenience and efficiency of the surgical operation.

[0074] The core of the communication connection of the surgical robot control system is to achieve seamless synchronization between the doctor's operation and the robot's action. This process involves the following key components:

[0075] Sensor network: Each key part of the console, including the X-axis, Y-axis, and Z-axis rotation mechanisms, is equipped with high-precision sensors that can capture the doctor's tiny hand movements and force changes in real time and convert these data into electrical signals.

[0076] Data transmission: The data collected by the sensor is transmitted to the central processing unit (CPU) through a high-speed communication network. This network can use wired (such as Ethernet) or wireless (such as Wi-Fi) technology to ensure the real-time and reliability of data transmission.

[0077] Central Processing Unit (CPU): As the brain of the system, the CPU is responsible for receiving sensor data, performing complex algorithmic processing, and converting the processed data into control instructions. These processes include filtering to remove noise, feature extraction to identify the doctor's intended movements, and synchronization algorithms to ensure the consistency of the robot's movements with the doctor's movements.

[0078] Actuators: Control commands are sent to actuators via a communication interface. These actuators can be motors or hydraulic systems that precisely drive surgical instruments to operate in sync with the surgeon’s hand movements.

[0079] Feedback system: The actuator is also equipped with feedback sensors to monitor the actual position and status of the surgical instrument. This information is sent back to the CPU in real time to form a closed-loop control system, allowing the system to self-adjust to improve synchronization accuracy.

[0080] In the present invention, the connection relationship between the control system and each component is as follows:

[0081] Main hand mechanism and sensor: Each X-axis, Y-axis, and Z-axis rotation handle of the main hand mechanism is directly connected to a sensor to capture the doctor's operating movements.

[0082] Sensor and CPU: The sensor transmits data to the CPU through the communication line inside the console.

[0083] CPU and actuator: After the CPU processes the data, it sends control instructions to the actuator through the robot's internal communication network.

[0084] Actuator and surgical instrument: The actuator is directly connected to the surgical instrument and moves the surgical instrument accurately according to the instructions of the CPU.

[0085] The synchronization of the master hand movement and the surgical instrument movement is achieved through the following steps:

[0086] Real-time data acquisition: The sensor monitors the movements of the main hand mechanism in real time, including position, speed and force, and sends the data in the form of electrical signals.

[0087] Data processing and instruction generation: The CPU receives sensor data, processes it through algorithms, and generates control instructions that match the doctor's operating intentions.

[0088] Instruction execution: After receiving the control instruction, the actuator drives the surgical instrument to perform corresponding precise movements.

[0089] State feedback and closed-loop control: Feedback sensors on the actuators monitor the actual state of the surgical instruments and send the information back to the CPU to form a closed-loop control to ensure precise synchronization of the movements.

[0090] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A microsurgery robot doctor console, comprising a housing (1) and a main hand mechanism (2), characterized in that: The main hand mechanisms (2) are provided with two, which are arranged horizontally and symmetrically and fixedly connected to the housing (1); The main hand mechanism (2) comprises a support ring (21), a moving center (22), a translation mechanism (23), an X-axis rotation mechanism (24), a Y-axis rotation mechanism (25), a Z-axis rotation handle (26) and a support base (27); The support ring (21) is annular, fixedly connected to the support base (27), and arranged vertically with the support base (27); three connecting parts are arranged on the end surface of the support ring (21) to be assembled and connected with the translation mechanism (23); the three connecting parts are arranged in a uniform circular array along the central axis of the support ring (21); The translation mechanism (23) comprises three rod-plate connection assemblies, and the three rod-plate connection assemblies are respectively assembled and connected with three connection parts provided on the support ring (21); The rod-plate connection assembly comprises a rod frame and a rotating plate, the outer contour of the rod frame is rectangular, and two opposite rod frames are respectively rotatably connected to the moving center and the rotating plate; the connecting portion provided on the support ring (21) is a columnar protrusion, and the rotating plate is hinged to the connecting portion; The moving center (22) is a rigid part, and one end of the moving center (22) away from the translation mechanism (23) is connected to a Y-axis rotation mechanism; the Y-axis rotation mechanism is connected to an X-axis rotation mechanism; the X-axis rotation mechanism is connected to a Z-axis rotation handle; One end of the support ring (21) away from the translation mechanism (23) is fixedly connected to the housing (1); and the main hand mechanism (2) is communicatively connected to the surgical robot control system.

2. A microsurgery robot doctor console as claimed in claim 1, characterized in that: The Y-axis rotation mechanism comprises a Y-axis L-shaped rod, a Y-axis rotation joint and a Y-axis counterweight; the Y-axis L-shaped rod is assembled and connected to the moving center (22) via the Y-axis rotation joint; one bent end of the Y-axis L-shaped rod is assembled and connected to the X-axis rotation mechanism, and the other end is fixedly connected to the Y-axis counterweight; the rotation axis of the Y-axis rotation mechanism is arranged parallel to the central axis of the support ring (21); The X-axis rotation mechanism comprises an X-axis rotation joint and an X-axis L-shaped rod, wherein the X-axis rotation joint is connected to the Y-axis rotation mechanism, one end of the X-axis L-shaped rod is connected to the X-axis rotation joint, and the other end is connected to the Z-axis rotation handle; the rotation axis of the X-axis rotation mechanism and the rotation axis of the Y-axis rotation mechanism are in the same plane, and the two are arranged vertically; The Z-axis rotation handle comprises a Z-axis rotation joint and a handle, the Z-axis rotation joint is connected to the X-axis rotation mechanism, and the handle is coaxially rotationally connected to the Z-axis rotation joint; the rotation axis of the Z-axis rotation handle is vertically arranged to the rotation axis of the X-axis rotation mechanism and the rotation axis of the Y-axis rotation mechanism; In a state without external interference, the center of mass of the handle is located at the intersection of the rotation axis of the X-axis rotation mechanism, the rotation axis of the Y-axis rotation mechanism and the rotation axis of the Z-axis rotation handle.

3. A microsurgery robot doctor console as claimed in claim 1 or 2, characterized in that: A lifting arm support mechanism (5) is provided on one end of the housing away from the two main hand mechanisms, for providing support for the operator.

4. A microsurgery robot doctor console as claimed in claim 3, characterized in that: The lifting arm support mechanism (5) comprises a support arm (51), a main shaft (52), a lifting mechanism (53) and a cavity (54); the support arm (51) is movably connected to the cavity (54), plugged into the cavity (54), and can perform lifting and lowering movements along the plugging direction; the support arm (51) is assembled and connected to the lifting mechanism (53), and the lifting mechanism (53) is connected to the main shaft (52), and the state of the lifting mechanism (53) is controlled by the main shaft (52); the main shaft (52) extends from the inside of the cavity (54) to the outside, and a rotating handle is coaxially fixedly connected to its end face.

5. A microsurgery robot doctor console as claimed in claim 4, characterized in that: The lifting mechanism (53) comprises a sliding block (531) and a scissor-type lifting mechanism (532); the sliding block (531) is threadedly connected to the main shaft (52) and moves toward the center of the main shaft (52) under the rotation of the main shaft (52); the sliding block (531) is assembled and connected to the scissor-type lifting mechanism (532) to change the action posture of the scissor-type lifting mechanism (532).

6. A microsurgery robot doctor console as claimed in claim 1 or 2, characterized in that: A display (3) is provided on the housing (1); the display (3) is located between the two main hand mechanisms (2); and the display (3) is communicatively connected to a surgical robot control system.

7. A microsurgery robot doctor console as claimed in claim 1, characterized in that: The housing (1) is provided with an emergency stop button (4), which is communicatively connected to a surgical robot control system.

8. A microsurgery robot doctor console as claimed in claim 2, characterized in that: The Z-axis rotation handle is equipped with a plurality of operation buttons, and the operation buttons are communicatively connected with the surgical robot control system.

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