Flexible ureteroscope surgical robot with multi-instrument cooperative operation

Abstract

The present invention relates to the field of medical surgical robots. Disclosed is a flexible ureteroscope surgical robot with multi-instrument cooperative operation. The system specifically comprises components such as a flexible ureteroscope drive module, a ureteral access sheath drive module, a flexible ureteroscope quick-installation module, a sheath quick-installation module, a guidewire feed module, and a control box. First, the ureteral access sheath drive module accurately positions a ureteral access sheath into a patient's urethra and ureter, creating conditions for unobstructed entry of a disposable flexible ureteroscope. Subsequently, the flexible ureteroscope drive module drives the disposable flexible ureteroscope through the positioned ureteral access sheath into the body, while the guidewire feed module controls a laser guidewire to be introduced along the flexible ureteroscope to perform precise laser lithotripsy at the stone location. Additionally, a lifting module provides necessary height adjustments on the basis of the patient's physical condition, enhancing surgical adaptability. The control box serves as an operational center of the system, offering surgeons an intuitive operation interface.

Description

Multi-instrument cooperative ureteroscopy surgery robot TECHNICAL FIELD

[0001] The present application relates to the field of medical surgery robots, in particular to a multi-instrument cooperative ureteroscopy surgery robot. BACKGROUND

[0002] Ureteroscopy lithotripsy surgery is a minimally invasive medical treatment for treating ureteral calculi. In traditional ureteroscopy lithotripsy surgery, a doctor inserts an elongated flexible scope through the patient's urethra until reaching the stone location. With the help of the camera on the flexible scope, the doctor can directly observe the stone and use a laser or mechanical tool to break it into small pieces, which are then removed or naturally excreted from the body. This method has the advantages of less trauma and faster recovery compared to open surgery. However, existing ureteroscopy lithotripsy surgery devices have certain limitations. First, the success of the surgery is highly dependent on the doctor's technical level and experience, and the accuracy and safety of the surgery require a high level of operation from the doctor. Second, manual operation of the flexible scope can result in a longer surgery time, patient discomfort, and increased risk of complications. In addition, the doctor's field of view is limited during the surgery, which can sometimes make it difficult to accurately locate the stone.

[0003] Therefore, how to provide an auxiliary device that can completely or partially solve the above technical problems is a technical problem that persons skilled in the art urgently need to solve.

[0004] SUMMARY

[0005] The purpose of the present application is to provide a multi-instrument cooperative ureteroscopy surgery robot to solve the problems existing in the prior art.

[0006] To achieve the above-mentioned purpose, the present application provides the following solution: the present application provides a multi-instrument cooperative ureteroscopy surgery robot, comprising:

[0007] a bottom plate, two ends of the bottom plate are vertically provided with two side plates;

[0008] a flexible scope support plate, two ends of the flexible scope support plate are vertically provided with two hinged plates, the flexible scope support plate is located between the two side plates, and the two hinged plates are hinged to the two side plates, respectively;

[0009] a flexible scope rotating mechanism, the flexible scope rotating mechanism is fixedly connected to the bottom plate, an output end of the flexible scope rotating mechanism penetrates the side plate and is fixedly connected to the hinged plate, and the flexible scope rotating mechanism can drive the flexible scope support plate to rotate;

[0010] A soft mirror feeding guide rail is fixedly arranged on the soft mirror support plate, and a soft mirror bending mechanism is arranged on the soft mirror feeding guide rail and is in sliding connection with the soft mirror feeding guide rail.

[0011] Further, the soft mirror rotating mechanism comprises:

[0012] A soft mirror rotating motor is fixedly arranged on the lower surface of the bottom plate,

[0013] A driving pulley is in transmission connection with the output end of the soft mirror rotating motor;

[0014] A driven pulley is in transmission connection with the driving pulley through a synchronous belt, and the driven pulley is fixedly connected with the hinged plate. The middle part of the side plate and the hinged plate is provided with a through hole, and the soft mirror tube of the disposable ureteral soft mirror extends from the through hole and is in communication with the ureteral guide sheath.

[0015] Further, it further comprises:

[0016] A soft mirror quick mounting device is arranged on the soft mirror feeding guide rail, and the disposable ureteral soft mirror and the soft mirror bending mechanism are arranged on the soft mirror quick mounting device.

[0017] Further, it further comprises:

[0018] A soft mirror feeding motor is fixedly arranged on the lower surface of the soft mirror support plate, and the soft mirror feeding motor drives the soft mirror quick mounting device to slide along the soft mirror feeding guide rail through a soft mirror feeding screw.

[0019] Further, the soft mirror bending mechanism comprises:

[0020] A soft mirror bending motor is fixedly arranged on the soft mirror quick mounting device, and the disposable ureteral soft mirror is provided with a bending knob capable of adjusting the bending degree, and the output end of the soft mirror bending motor is in transmission connection with the bending knob.

[0021] Further, the soft mirror quick mounting device comprises:

[0022] A base is provided with a left clamping plate and a right clamping plate, and a tension spring is arranged in the base and is fixedly connected with the left clamping plate and the right clamping plate, respectively.

[0023] A tension handle is in transmission connection with the left and right clamping plates, when the tension handle is pulled inward, the left and right clamping plates are close to each other and compress the tension spring, when the tension handle is pulled outward, the tension spring resets and separates the left and right clamping plates, when the left and right clamping plates are close to each other, the disposable ureteroscope can be fixed between the left and right clamping plates.

[0024] Further, it also includes:

[0025] A mounting frame is below the bottom plate and fixedly connected with the bottom plate;

[0026] A sheath feeding guide rail is arranged on the mounting frame;

[0027] A sheath fixing frame is arranged on the sheath feeding guide rail and in sliding connection therewith, the ureter guide sheath is detachably connected with the sheath fixing frame, and the connection between the sheath fixing frame and the ureter guide sheath is close to the side plate;

[0028] A sheath feeding motor is below the mounting frame and fixedly connected with the mounting frame, the sheath feeding motor drives the sheath fixing frame to slide along the sheath feeding guide rail through a sheath feeding lead screw.

[0029] Further, it also includes a sheath quick mounting device, which includes:

[0030] A lower pressing cover is fixedly arranged on the sheath fixing frame;

[0031] An upper pressing cover is hingedly connected with the lower pressing cover, and a clamping groove adapted to the ureter guide sheath is defined between the upper and lower pressing covers;

[0032] A pressing cover lock is hingedly connected with the lower pressing cover, and when the upper pressing cover is rotated to the upper surface of the lower pressing cover, the pressing cover lock can be rotated to the upper surface of the upper pressing cover.

[0033] Further, it also includes:

[0034] A support plate is fixedly connected with the fixed plate, and the bottom of the support plate extends downward to form a support member;

[0035] A lifting module is in transmission connection with the support member and can drive the support member to move in the up-down direction.

[0036] Further, the support plate has a clamping portion, the bottom plate is fixed in the clamping portion, and the clamping portion adjusts the clamping degree through a tension knob.

[0037] Further, a worm gear motor is fixed on the ureteral soft mirror by a guide wire motor fixing plate;

[0038] A lower roller is rotatably connected to the guide wire motor fixing plate by a lower roller cover, and the lower roller is fixedly connected to an output end of the worm gear motor;

[0039] An upper roller is rotatably connected to the guide wire motor fixing plate by an upper roller cover, and the lower roller and the upper roller are rotatably connected, and a groove is defined between the lower roller and the upper roller, the laser guide wire passes through the groove, and the lower roller and the upper roller rotate to drive the laser guide wire to feed;

[0040] A three-way joint is communicated with a soft mirror tube of the ureteral soft mirror, and the guide wire enters the soft mirror tube of the ureteral soft mirror through the three-way joint. The laser guide wire is located between the two rollers, and the friction generated by the rollers effectively pushes the laser guide wire forward, realizing accurate feeding operation. When the guide wire needs to be recovered, the worm gear motor is reversed, and the guide wire is recovered backward, greatly improving the flexibility and safety of the operation.

[0041] The present application discloses the following technical effects:

[0042] 1. The present application can realize soft mirror tube rotation, bending and translation through the cooperation of multiple instruments, greatly improving the flexibility and positioning accuracy of the device, reducing the operation time and reducing the risk of patient complications.

[0043] 2. The ureteral guide sheath serves as a communication tool between the urethra and the soft mirror of the patient, which can reduce the risk of direct contact between the soft mirror and the urethra and ureter, thereby reducing surgical trauma and reducing patient discomfort. At the same time, the ureteral guide sheath can also serve as a soft mirror auxiliary positioning structure, and the soft mirror can smoothly enter the patient's urethra for surgical operation along the ureteral guide sheath. In addition, when the soft mirror needs to be inserted twice during the operation, the ureteral guide sheath can be used again without the need for secondary operation.

[0044] 3. The soft mirror and the ureteral guide sheath are fixed by using a quick mounting device, and the fixing structure is stable and reliable, convenient and fast to install, which is beneficial to simplify the preoperative preparation work and improve the efficiency.

[0045] 4. The lifting module, the sheath feeding motor and the sheath feeding guide rail can flexibly adjust the height and position of the device, and adapt to the physical conditions of various patients.

[0046] 5. When using the device disclosed in the present application for operation, no trauma or incision needs to be made on the patient's body, and the soft mirror can be smoothly inserted through the urethra, greatly reducing the patient's pain during and after the operation. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed in the embodiments will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0048] Fig. 1 is a schematic diagram of the overall structure of the present application;

[0049] Fig. 2 is a schematic diagram of the soft mirror driving device of the present application;

[0050] Fig. 3 is a schematic diagram of the laser guide wire driving device of the present application;

[0051] Fig. 4 is a schematic diagram of the soft mirror quick mounting device of the present application;

[0052] Fig. 5 is a schematic diagram of the sheath quick mounting device of the present application;

[0053] Fig. 6 is a schematic diagram of the sheath feeding guide rail of the present application;

[0054] Among them, 1, control box; 2, lifting module; 3, support; 4, ureter guide sheath; 5, sheath quick mounting device; 6, synchronous belt; 7, disposable ureteral soft mirror; 8, soft mirror support plate; 9, soft mirror quick mounting device; 10, bending knob; 11, soft mirror bending motor; 12, soft mirror feeding screw; 13, soft mirror feeding guide rail; 14, soft mirror feeding motor; 15, bottom plate; 16, support plate; 17, tension knob; 18, sheath feeding motor; 19, sheath feeding screw; 20, sheath feeding guide rail; 21, sheath fixing frame; 22, soft mirror rotating motor; 23, driving pulley; 24, mounting frame; 25, driven pulley; 26, right clamping plate; 27, tension handle; 28, left clamping plate; 29, upper gland; 30, lower gland; 31, gland lock; 32, side plate; 33, hinged plate; 34, base; 35, lower roller cover; 36, upper roller; 37, upper roller cover; 38, tee joint; 39, guide wire motor fixing plate; 40, lower roller; 41, laser guide wire; 42, worm and gear motor. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present application.

[0056] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0057] The present embodiment provides a ureteroscope surgical robot with cooperative operation of multiple instruments, including: a base plate 15, two side plates 32 are vertically provided at both ends of the base plate 15, and the base plate 15 and the two side plates 32 are partially hollowed out to facilitate the wiring of the following electrical structures; a soft mirror support plate 8, two hinged plates 33 are vertically provided at both ends of the soft mirror support plate 8, the soft mirror support plate 8 is located between the two side plates 32, and the side plates 32 have hinge holes near the top, and the two hinged plates 33 are hinged to the two side plates 32 respectively through hinge shafts; a soft mirror rotating mechanism, the soft mirror rotating mechanism is fixedly connected to the base plate 15, and the soft mirror The output end of the soft endoscope rotation mechanism passes through the side plate 32 and is fixedly connected to the hinged plate 33. The soft endoscope rotation mechanism can drive the soft endoscope support plate 8 to rotate; the soft endoscope feeding guide rail 13, the soft endoscope feeding guide rail 13 is fixedly set on the soft endoscope support plate 8, and the soft endoscope feeding guide rail 13 is provided with a soft endoscope bending mechanism, which is slidably connected to the soft endoscope feeding guide rail 13; the soft endoscope bending mechanism is provided with a disposable ureteral soft endoscope 7, and the soft endoscope bending mechanism can adjust the curvature of the disposable ureteral soft endoscope 7. The soft endoscope tube of the disposable ureteral soft endoscope 7 passes through the hinged plate 33 and the side plate 32 and is connected to the ureteral guide sheath 4.

[0058] In this embodiment, the soft endoscope rotation mechanism includes: a soft endoscope rotation motor 22, which is fixedly arranged on the lower surface of the base plate 15, a driving pulley 23, and the output end of the soft endoscope rotation motor 22 is transmission-connected to the driving pulley 23; a driven pulley 25, which is transmission-connected to the driven pulley 25 through a synchronous belt 6, and the driven pulley 25 is fixedly connected to the hinge plate 33. The middle parts of the side plate 32 and the hinge plate 33 both have through holes, and the soft endoscope tube of the disposable ureteroscope 7 extends from the through hole and is connected to the ureteral guide sheath 4.

[0059] In this embodiment, it further comprises: a flexible endoscope quick-installation device 9 , on which the disposable flexible ureteroscope 7 and the flexible endoscope bending mechanism are both arranged. The flexible endoscope quick-installation device 9 is slidably connected to the flexible endoscope feeding guide rail 13 .

[0060] In this embodiment, it also includes: a soft mirror feeding motor 14, which is fixedly arranged on the lower surface of the soft mirror support plate 8; the soft mirror feeding motor 14 drives the soft mirror quick-install device 9 to slide along the soft mirror feeding guide rail 13 through the soft mirror feeding screw 12.

[0061] In this embodiment, the flexible endoscope bending mechanism includes: a flexible endoscope bending motor 11, which is fixedly mounted on the flexible endoscope quick-install device 9. The disposable ureteroscope 7 has a bending knob 10 that can adjust the curvature, and the output end of the flexible endoscope bending motor 11 is transmission-connected to the bending knob 10.

[0062] In the embodiment, the soft mirror quick mounting device 9 comprises a base 34, the left clamping plate 28 and the right clamping plate 26 are arranged on the base 34, and the base 34 is internally provided with elastic springs which are fixedly connected with the left clamping plate 28 and the right clamping plate 26 respectively; the elastic handle 27 is in transmission connection with the left clamping plate 28 and the right clamping plate 26, when the elastic handle 27 is pulled inward, the left clamping plate 28 and the right clamping plate 26 are close to each other and compress the elastic springs, when the elastic handle 27 is pulled outward, the elastic springs are reset and separate the left clamping plate 28 and the right clamping plate 26, when the left clamping plate 28 and the right clamping plate 26 are close to each other, the disposable ureteral soft mirror 7 can be fixed between the left clamping plate 28 and the right clamping plate 26.

[0063] In the embodiment, the installation frame 24 is arranged below the bottom plate 15 and is fixedly connected with the bottom plate 15; the sheath feeding guide rail 20 is arranged on the installation frame 24; the sheath fixing frame 21 is arranged on the sheath feeding guide rail 20 and is in sliding connection with the sheath feeding guide rail 20, the ureter guide sheath 4 is detachably connected with the sheath fixing frame 21, and the connection position of the sheath fixing frame 21 and the ureter guide sheath 4 is close to the side plate 32; the sheath feeding motor 18 is arranged below the installation frame 24 and is fixedly connected with the installation frame 24, and the sheath feeding motor 18 drives the sheath fixing frame 21 to slide along the sheath feeding guide rail 20 through the sheath feeding screw 19.

[0064] In the embodiment, the sheath quick mounting device 5 comprises the lower pressing cover 30 which is fixedly arranged on the sheath fixing frame 21; the upper pressing cover 29 which is hinged with the lower pressing cover 30, and the upper pressing cover 29 and the lower pressing cover 30 define a clamping groove which is matched with the ureter guide sheath 4; and the pressing cover lock 31 which is hinged with the lower pressing cover 30, when the upper pressing cover 29 is rotated to the upper surface of the lower pressing cover 30, the pressing cover lock 31 can be rotated to the upper surface of the upper pressing cover 29.

[0065] In the embodiment, the support plate 16 is fixedly connected with the fixed plate, and the bottom of the support plate 16 extends downward to form the support 3; the lifting module 2 is in transmission connection with the support 3 and can drive the support 3 to move in the up-down direction. Further, the support plate 16 has a clamping part, the bottom plate 15 is fixed in the clamping part, and the clamping part can adjust the clamping degree through the elastic knob 17.

[0066] In the embodiment, the worm gear motor 42 is fixed on the disposable ureteral soft mirror 7 through the guide wire motor fixing plate 39.

[0067] Lower roller 40, lower roller 40 is rotatably connected to the guide wire motor fixed plate 39 through the lower roller cover 35, and the lower roller 40 is fixedly connected with the output end of the worm gear motor 42;

[0068] Upper roller 36, upper roller 36 is rotatably connected to the guide wire motor fixed plate 39 through the upper roller cover 37, and the lower roller 40 and the upper roller 36 are rotatably connected, and the recess is defined between the lower roller 40 and the upper roller 36, and the laser guide wire passes through the recess, and the rotation of the lower roller 40 and the upper roller 36 can drive the laser guide wire to feed;

[0069] Three-way joint 38, three-way joint 38 communicates with the soft mirror tube of the disposable ureteral soft mirror 7, and the guide wire enters the soft mirror tube of the disposable ureteral soft mirror 7 through the three-way joint 38.

[0070] In the embodiment, a control box 1 and a mobile trolley are further included, the control box 1 is arranged on the mobile trolley, and the control box 1 is responsible for overall control of the operation of each motor; the lifting assembly is fixedly arranged on the mobile trolley, and the whole surgical robot can move synchronously with the mobile trolley.

[0071] The specific working process is as follows:

[0072] 1. Ureteral guide sheath 4 installation

[0073] According to the patient's physical condition, the height of the robot is adjusted through the lifting module 2. The tail end of the ureteral guide sheath 4 is fixed between the upper pressure cover 29 and the lower pressure cover 30 and is pressed and locked by the pressure cover lock 31, the sheath feeding motor 18 is started, the sheath feeding motor 18 drives the sheath feeding screw 19 to slide along the sheath feeding guide rail 20, and the position of the ureteral guide sheath 4 is adjusted. The head end of the ureteral guide sheath 4 is positioned in the urethra and ureter of the patient, so that the ureteral soft mirror can smoothly enter.

[0074] 2. Soft mirror installation

[0075] The soft mirror is fixed between the left clamping plate 28 and the right clamping plate 26. The soft mirror tube is introduced into the inside of the ureteral guide sheath 4.

[0076] 3. Soft mirror position adjustment

[0077] 3.1 Soft mirror feeding position adjustment

[0078] The soft mirror feeding motor 14 is started, the soft mirror feeding motor 14 drives the soft mirror quick mounting device 9 to slide along the soft mirror feeding guide rail 13 through the soft mirror feeding screw 12, and the soft mirror feeding position is adjusted.

[0079] 3.2 Soft mirror curvature adjustment

[0080] The soft mirror bending motor 11 is started, the soft mirror bending motor 11 drives the bending knob 10 to rotate, and the curvature of the soft mirror is adjusted.

[0081] 3.3 Soft mirror angle adjustment

[0082] Start the soft mirror rotating motor 22, which in turn drives the driving pulley 23, the driven pulley 25, the hinged plate 33 to rotate, and then drives the soft mirror support plate 8, the soft mirror rotation, adjusts the angle of the soft mirror.

[0083] After the soft mirror position is determined, the ureteral soft mirror lithotripsy surgery can be performed normally.

[0084] During the above process, the dynamic cooperative operation between the driving module corresponding to the ureteral guide sheath 4 and the driving module corresponding to the soft mirror. This cooperative operation not only includes the preliminary guidance of the soft mirror into the body by the ureteral guide sheath 4, but also during the operation, with the movement of the soft mirror, the ureteral guide sheath 4 will also be adjusted accordingly to optimize the operation path and improve the safety of the operation.

[0085] In the initial stage of the operation, the driving module corresponding to the ureteral guide sheath 4 is responsible for accurately positioning and inserting the ureteral guide sheath 4 into the urethra and ureter of the patient, ensuring that an initial safe channel is provided for the insertion and operation of the soft mirror. Once the ureteral guide sheath 4 reaches its initial position, the soft mirror is loaded and connected to the system through the soft mirror quick loading device, and then enters the patient's body along the ureteral guide sheath 4.

[0086] When the soft mirror moves in the body and performs lithotripsy and other surgical operations, according to the real-time position of the soft mirror and the operation requirements, the driving module corresponding to the ureteral guide sheath 4 adjusts the position and posture of the ureteral guide sheath 4. This dynamic adjustment allows the soft mirror to be more flexible in the ureter, while maintaining the safety and clear visibility of the operation area, ensuring efficient and accurate execution of lithotripsy and other surgical operations.

[0087] This dynamic cooperative operation between the soft mirror and the ureteral guide sheath 4 significantly improves the flexibility and safety of the operation, reduces the risk of trauma and complications during the operation. By precisely controlling the position adjustment of the ureteral guide sheath 4 in response to the movement of the soft mirror, the ureteral soft mirror surgery is more efficient and safe, providing a more high-quality treatment plan for the patient.

[0088] 3. Laser guide wire feeding

[0089] The upper roller 36 and the lower roller 40 are installed on their corresponding cover plates, i.e. the upper roller cover 37 and the lower roller cover 35, and a groove is designed in the middle of the upper roller 36 and the lower roller for guiding the smooth passage of the laser guide wire 41.

[0090] Before the operation begins, the laser guide wire 41 is placed in the groove formed by the upper roller 36 and the lower roller 40, ensuring that the laser guide wire 41 is positioned correctly and ready to feed, the worm gear motor 42 is started to drive the lower roller 40 to rotate. Due to the action of friction, the upper roller 36 will also rotate, at this time, the laser guide wire 41 clamped between the two rollers begins to feed forward. When feeding, enter the disposable ureteroscope 7 through the channel of the three-way joint 38, realize the stable feeding of the laser guide wire 41.

[0091] In the description of the present application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0092] The above-described embodiments are only to describe the preferred modes of the present application, and not to limit the scope of the present application, and various modifications and improvements to the technical solutions of the present application made by those skilled in the art without departing from the design spirit of the present application shall fall within the protection scope determined by the claims of the present application.

Claims

1. A ureteroscopic surgical robot with multi-instrument collaborative operation, characterized in that: include: A bottom plate (15), wherein two side plates (32) are vertically provided at both ends of the bottom plate (15); A soft mirror support plate (8), two hinged plates (33) are vertically provided at both ends of the soft mirror support plate (8), the soft mirror support plate (8) is located between the two side plates (32), and the two hinged plates (33) are respectively hinged to the two side plates (32); a flexible mirror rotating mechanism, the flexible mirror rotating mechanism being fixedly connected to the bottom plate (15), an output end of the flexible mirror rotating mechanism penetrating the side plate (32) and being fixedly connected to the hinge plate (33), and the flexible mirror rotating mechanism being capable of driving the flexible mirror support plate (8) to rotate; A soft endoscope feeding guide rail (13), wherein the soft endoscope feeding guide rail (13) is fixedly arranged on the soft endoscope support plate (8), and a soft endoscope bending mechanism is arranged on the soft endoscope feeding guide rail (13), and the soft endoscope bending mechanism is slidably connected to the soft endoscope feeding guide rail (13); a disposable ureteroscope (7) is arranged on the soft endoscope bending mechanism, and the soft endoscope bending mechanism can adjust the curvature of the disposable ureteroscope (7), and the soft endoscope tube of the disposable ureteroscope (7) passes through the hinge plate (33) and the side plate (32) and is connected to the ureteral guide sheath (4).

2. The multi-instrument collaborative ureteroscopic surgical robot according to claim 1, characterized in that: The soft lens rotation mechanism comprises: A flexible mirror rotating motor (22), wherein the flexible mirror rotating motor (22) is fixedly arranged on the lower surface of the base plate (15), A driving pulley (23), the output end of the flexible mirror rotating motor (22) is in transmission connection with the driving pulley (23); The driven pulley (25) is connected to the driving pulley (23) through a synchronous belt (6). The driven pulley (25) is fixedly connected to the hinge plate (33). The middle parts of the side plate (32) and the hinge plate (33) are provided with through holes. The flexible mirror tube of the disposable ureteroscope (7) is connected to the hinge plate (33). The through hole extends out and communicates with the ureteral guide sheath (4).

3. The multi-instrument collaborative ureteroscopic surgical robot according to claim 1, characterized in that: Also includes: A flexible endoscope quick-installation device (9), wherein the disposable ureteroscope (7) and the flexible endoscope bending mechanism are both arranged on the flexible endoscope quick-installation device (9), and the flexible endoscope quick-installation device (9) is slidably connected to the flexible endoscope feeding guide rail (13).

4. The multi-instrument collaborative ureteroscopic surgical robot according to claim 3, characterized in that: Also includes: A soft mirror feeding motor (14) is fixedly arranged on the lower surface of the soft mirror support plate (8); the soft mirror feeding motor (14) drives the soft mirror quick-install device (9) to slide along the soft mirror feeding guide rail (13) via the soft mirror feeding screw (12).

5. The multi-instrument collaborative ureteroscopic surgical robot according to claim 3, characterized in that: The soft lens bending mechanism comprises: A flexible endoscope bending motor (11) is fixedly mounted on the flexible endoscope quick-installation device (9); the disposable flexible ureteroscope (7) has a bending knob (10) capable of adjusting the degree of bending; and the output end of the flexible endoscope bending motor (11) is in transmission connection with the bending knob (10).

6. The multi-instrument collaborative ureteroscopic surgical robot according to claim 3, characterized in that: The flexible lens quick-install device (9) comprises: A base (34), wherein a left clamping plate (28) and a right clamping plate (26) are provided on the base (34), and a tension spring is provided in the base (34), and the tension spring is fixedly connected to the left clamping plate (28) and the right clamping plate (26) respectively; The elastic handle (27) is in transmission connection with the left clamping plate (28) and the right clamping plate (26). When the elastic handle (27) is pulled inward, the left clamping plate (28) and the right clamping plate (26) are tightened. The two plates (28, 26) are brought close to each other and the tension spring is compressed. When the tension handle (27) is pulled outward, the tension spring is reset and the left splint (28) and the right splint (26) are separated. When the left splint (28) and the right splint (26) are brought close to each other, the disposable ureteroscope (7) can be fixed between the left splint (28) and the right splint (26).

7. A multi-instrument collaborative ureteroscopic surgical robot according to any one of claims 1 to 6, characterized in that: Also includes: a mounting frame (24), the mounting frame (24) being located below the base plate (15) and fixedly connected to the base plate (15); a sheath tube feeding guide rail (20), wherein the sheath tube feeding guide rail (20) is arranged on the mounting frame (24); a sheath tube fixing frame (21), the sheath tube fixing frame (21) being arranged on the sheath tube feeding guide rail (20) and being slidably connected thereto, the ureteral guide sheath (4) being detachably connected to the sheath tube fixing frame (21), and the connection between the sheath tube fixing frame (21) and the ureteral guide sheath (4) being close to the side plate (32); A sheath tube feeding motor (18) is located below the mounting frame (24) and is fixedly connected to the mounting frame (24). The sheath tube feeding motor (18) drives the sheath tube fixing frame (21) to slide along the sheath tube feeding guide rail (20) via a sheath tube feeding screw (19).

8. The multi-instrument collaborative ureteroscopic surgical robot according to claim 7, characterized in that: It also includes a sheath tube quick-installation device (5), which includes: A lower pressure cover (30), wherein the lower pressure cover (30) is fixedly arranged on the sheath tube fixing frame (21); An upper pressure cover (29), wherein the upper pressure cover (29) is hinged to the lower pressure cover (30), and a slot adapted to the ureteral guide sheath (4) is defined between the upper pressure cover (29) and the lower pressure cover (30); The pressure cover lock buckle (31) is hinged to the lower pressure cover (30). When the upper pressure cover (29) is rotated to the upper surface of the lower pressure cover (30), the pressure cover lock buckle (31) can be rotated. to the upper surface of the upper gland (29).

9. A multi-instrument collaborative ureteroscopic surgical robot according to any one of claims 1 to 6, characterized in that: Also includes: A support plate (16), a fixing plate fixedly connected to the support plate (16), the bottom of the support plate (16) extending downward to form a support member (3); the support plate (16) having a clamping portion, the bottom plate (15) being fixed in the clamping portion, and the clamping portion adjusting the clamping degree by a loosening knob (17); A lifting module (2) is connected to the support member (3) in a transmission manner and is capable of driving the support member (3) to move in an up-down direction.

10. The multi-instrument collaborative ureteroscopic surgical robot according to claim 1, characterized in that: Also includes: A worm gear motor (42), wherein the worm gear motor (42) is fixed to the disposable ureteroscope (7) via a guide wire motor fixing plate (39); A lower roller (40), the lower roller (40) being rotatably connected to the guide wire motor fixing plate (39) via a lower roller cover (35), and the lower roller (40) being fixedly connected to the output end of the worm gear motor (42); An upper roller (36), the upper roller (36) is rotatably connected to the guide wire motor fixing plate (39) through an upper roller cover (37), the lower roller (40) is rotatably connected to the upper roller (36), a groove is defined between the lower roller (40) and the upper roller (36), and the laser guide wire (41) passes through the groove, and the rotation of the lower roller (40) and the upper roller (36) can drive the laser guide wire (41) to feed; A three-way connector (38) is connected to the flexible tube of the disposable ureteroscope (7), and the guide wire enters the flexible tube of the disposable ureteroscope (7) through the three-way connector (38).

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