299 results about "Endoscopic surgery" patented technology

The invention discloses an operation index determination method and device for an endoscopic surgery, equipment and a storage medium, and can be applied to the technical field of surgical operation data processing. The method comprises the following steps: firstly, acquiring a surgical operation data set of a target operation object for an endoscopic surgery; the surgical operation data set comprises a plurality of pieces of surgical operation data sorted according to a time sequence. Each piece of surgical operation data comprises five-dimensional data, namely endoscope action data, endoscope type data, instrument action data, instrument type data and surgical object data. And constructing a hidden Markov model by using the surgical operation data set. In the hidden Markov model, the surgical operation described by the surgical operation data is the observed quantity, and the surgical state is the state quantity, and based on the hidden Markov model, the statistical principle is utilized to carry out quantitative evaluation on the surgical operation indexes, so that the accurate evaluation of the surgical operation when a doctor carries out the endoscopic surgery is realized, and the reference effectiveness of the operation indexes is improved.

The invention relates to the technical field of medical image processing, in particular to an endoscopic surgery video real-time structure analysis method and system, and the method comprises the steps: carrying out the frame-by-frame semantic segmentation of real-time video data, and generating a segmentation mask of each frame of image; calculating a comprehensive quality score of the target frame based on the segmentation masks of the target frame and the previous frame of the target frame; analyzing a motion amount index between adjacent frames; generating the current length of a sliding time sequence window according to the comprehensive quality score and the exercise amount index, and fusing multiple frames of segmentation masks in the sliding time sequence window to generate a reference mask; extracting a key point from the reference mask, and obtaining a displacement vector of the key point from a previous frame of the target frame to the target frame; generating a pixel-level displacement field according to the displacement vector, deforming the segmentation mask of the previous frame of the target frame to the target frame, and generating a prediction mask of the target frame; and performing superposition display on the prediction mask and the image of the target frame. According to the scheme, the time sequence consistency and stability of the video semantic segmentation result can be enhanced.

The invention discloses a medical operation AR practical training system based on mixed reality and reinforcement learning and a training method thereof, and relates to the technical field of medical education and medical operation training. The system comprises an MR terminal presentation and interaction module, a case and scene management module, a multi-mode operation data acquisition and evaluation module, a reinforcement learning training strategy engine module, a practical training process control module, a training examination management module and the like, a vivid medical scene is constructed in an MR environment, and data such as operation tracks, force and step time sequences of students are acquired in real time; the evaluation result is coded into a state to be input into the reinforcement learning model, the case difficulty, the prompting mode and the training rhythm are adjusted in a self-adaptive mode, individualized, procedural and quantifiable skill training and assessment are achieved, and the method is suitable for various operations such as cardio-pulmonary resuscitation, endoscopic surgery and puncture catheterization.

The invention discloses a shapeable surgical instrument with a locking device, relates to the technical field of medical instruments, and is particularly suitable for single-port endoscopic surgery. The device comprises an outer rod assembly, an inner rod assembly and a handle assembly, the outer rod can be shaped into any continuous space curve by hands and keep the shape, and the problems that a traditional straight rod instrument cannot reach a narrow operation area, and a pre-bending instrument cannot be shaped secondarily are solved. The inner rod is a flexible force transmission element, the far end is connected with the tong head assembly, and the near end is connected with the handle assembly through a detachable locking device. The locking device drives a radial movable block (a sphere or a cylinder) to clamp the inner rod through an axial movable block, so that quick disassembly and assembly are realized; and the tong head can be synchronously driven to rotate (through the rotating wheel) and open and close (through the rear handle) in cooperation with the handle assembly. According to the design, the instrument is divided into three independent parts, namely the handle, the outer rod and the inner rod, an inner hole of the outer rod is thoroughly exposed, the problem that postoperative cleaning and sterilization are not thorough is solved, and the infection risk is reduced.

The invention provides a breast endoscopic surgery simulation training system. The breast endoscopic surgery simulation training system comprises a hardware end and a software end, the hardware end comprises a simulation human body model, and the software end is provided with a 3D mesh model corresponding to the simulation human body model; the simulation surgical instrument comprises a simulation electrotome, a simulation endoscope, simulation grasping forceps and a simulation incision protection sleeve, and the software end is provided with an electrotome model, an endoscope model, a grasping forceps model and an incision protection sleeve model which correspond to one another; the pose detection device is used for detecting the current pose of the simulation surgical instrument in real time and sending the current pose to the software end, so that interaction between the simulation surgical instrument and the simulation human body model is mapped to interaction between the instrument model and the 3D mesh model; the software end further comprises a display screen, and the display screen is used for displaying interaction between the instrument model and the 3D mesh model in real time. According to the scheme, breast endoscopic surgery training, teaching and research which are closer to a real surgery scene can be provided, so that the safety and the operation precision in an actual breast endoscopic surgery are improved.

The present invention is an apparatus, device or tool for performing endoscopic (that is, minimally invasive) surgery. An exemplary embodiment of the invention includes a video endoscope whilst in another embodiment of the invention includes an endoscopic surgical tool which, when equipped with one of a suite of endoscopic surgical instruments, can be used by a surgeon to perform surgical procedures inside a body. Another embodiment of the present invention includes a suite of endoscopic surgical instruments designed to work co-operatively with the endoscopic surgical tool. In another embodiment of the present invention, a video-assisted endoscopic surgical tool system is provided. In one embodiment, the system includes the video-assisted endoscopic surgical tool and a suite of at least one endoscopic surgical instrument.

The invention provides an endoscopic surgery video multi-target segmentation method based on a basic segmentation large model and mixed expert fine tuning. The method comprises the following steps: preprocessing a data set, establishing an SAM2 baseline segmentation network, constructing a hierarchical hybrid expert module, constructing a stage gating network, establishing an endoscopic surgery video segmentation network, training the endoscopic surgery video segmentation network, and automatically segmenting an endoscopic surgery video by the segmentation network. According to the invention, accurate segmentation of different operation scenes can be realized. The hierarchical hybrid expert module and the stage gating network are introduced, and the problems of scene difference and multi-organization segmentation commonly existing in endoscopic surgery video segmentation tasks can be well solved.

The invention discloses a robot calibration method for spine endoscopic surgery, which comprises the following steps: S1, optical marking points are pasted on the skin or bony structure of a patient, the skin marking is used for fixing a reflective ball by using a medical adhesive tape, the bony marking is percutaneously implanted into a spinous process or crista iliaca through a titanium alloy bone nail, and at least six marking points are needed. According to the method, minimally invasive property and stability are both considered through a double marking strategy, six points cover three vertebral bodies to ensure the integrity of an anatomical range, registration errors caused by breathing / body position changes are reduced, meanwhile, non-rigid registration is combined with a B spline grid (10 mm) to consider calculation efficiency and spine physiological curvature adaptability, high-precision surface reconstruction is achieved through a Marching Cubes algorithm, and the method has the advantages of being high in precision and high in precision. An error suppression mechanism is formed by + / -0.25 mm precision and redundancy measurement (five times of sampling) of the optical tracking system, registration robustness is improved through SVD and ICP double-algorithm complementation, multi-constraint path planning is achieved through an A * algorithm and Monte Carlo simulation, and a 4 mm safety corridor provides a buffer space for instrument errors.

The invention relates to the technical field of urinary surgery, in particular to a balloon expansion device for urinary surgery endoscopic surgery, which comprises an air bag, a catheter and an adjusting mechanism, the catheter horizontally penetrates through the air bag and is communicated with the adjusting mechanism. The interior of the air bag is divided into a plurality of independent inner cavities through the first diaphragm, the second diaphragm and the third diaphragm, and independent expansion control over all areas is achieved by matching with the filling pipes and the adjusting mechanisms which are in one-to-one correspondence; an operator can accurately adjust the filling degree of different inner cavities according to the anatomical structure difference of the surgical site, excessive expansion of a non-target area is avoided, the accuracy of surgical operation is remarkably improved, and the device is particularly suitable for fine treatment of local tissue in a complex urinary surgery endoscopic surgery.

The invention relates to the technical field of medical instruments, in particular to a three-mode endoscope system, a control method and an endoscopic surgery robotic.The three-mode endoscope system comprises a light source device, a mode switching assembly, an imaging handle and an image processing host; the mode switching assembly generates an observation mode switching signal; the light source device outputs visible light, first near-infrared light and second near-infrared light. The imaging handle transmits light output by the light source device to target tissue; the imaging handle collects an imaging light beam returned by the target tissue and outputs a corresponding electric signal; the image processing host receives the electric signal and generates a visual image. According to the three-mode endoscope system, a white light mode, a fluorescence mode and a blood flow mode are integrated in a single endoscope system, an operator can obtain a blood vessel map at a target tissue through the blood flow mode of the three-mode endoscope system, and therefore the trend of large blood vessels invisible to naked eyes is revealed in the dissection process, the risk of accidental injury of the blood vessels is avoided, and the dissection efficiency is improved. And the operation safety is improved.

The invention provides an extrascopic rotary bone grinding device for spine endoscopic surgery, and belongs to the technical field of machinery. The extra-scope rotary bone grinding device for the spine endoscopic surgery comprises a handheld part and a driving assembly fixedly connected to the outer end face of the handheld part in a locked mode, and is characterized in that the driving end of the driving assembly is in shaft connection with a shaft rod, a grinding head is integrally manufactured at the outer end of the shaft rod, a plurality of grinding teeth are arranged on the peripheral face of the grinding head in a staggered mode, and a toothed trephine is arranged at the outer end of the grinding head; the outer wall of the shaft rod is sleeved with a protective outer sleeve, a liquid injection component is arranged on the inner layer of the protective outer sleeve, a scrap capturing component is integrally manufactured between the inner wall of the protective outer sleeve and the outer wall of the shaft rod, the inner ring wall of the scrap capturing component is in interference fit with the outer wall of the shaft rod, and one end of the interior of the scrap capturing component is in clearance fit with the outer wall of the grinding head. And in cooperation with the protective outer sleeve, the liquid injection component and the debris capturing component, the accuracy, safety and convenience of bone tunnel expansion operation in the spine endoscopic surgery can be effectively improved.

The right-angle separating forceps for the subclavian approach endoscopic surgery comprise a right-angle separating forceps head, a forceps rod, an inner rod, a rotating wheel, an operating handle and a fixing handle, the right-angle separating forceps head is installed at the front end of the forceps rod, and the inner rod is hinged to the rear end of the right-angle separating forceps head; the inner wall of the forceps rod is provided with an inner rod fixing groove, the outer side of the forceps rod is provided with a forceps rod rotating groove, and the rear end of the forceps rod is provided with a dismounting groove; fixing blocks are arranged on two sides of the middle part and are connected with the forceps rod, and a ball head is arranged at the rear end and is connected with the operating handle; a forceps rod clamping block is arranged in the rotating wheel and in an inner rod channel, and a channel opening is provided with a forceps rod clamping block clamped into the forceps rod rotating groove. The forceps are easy to disassemble, the forceps rod and the inner rod are detachable, and instruments can be thoroughly cleaned and disinfected conveniently; the clamp rod is matched with the rotating wheel, so that the clamping and separating range can be expanded; the flushing joint is vertically downward, so that the view at the upper end of the right-angle separation tong head is prevented from being blocked and the operation of a doctor is prevented; the tong head is a right-angle separating tong, so that fine operation in a narrow space is facilitated.

The utility model discloses a placing device for high-frequency endoscopic surgery electrode storage, which comprises an endoscope electrode, the surface of the endoscope electrode is sleeved with an outer frame, the front side of the outer frame is open, the inside of the outer frame is movably connected with a shaft rod through a bearing, and the shaft rod is movably connected with a bearing. The top and the bottom of the surface of the shaft rod are fixedly connected with bearing discs, the endoscope electrodes are evenly inserted in the surfaces of the bearing discs in a surrounding mode, and the endoscope electrodes at different positions can be located at the open position of the outer frame in the process that the shaft rod carries the bearing discs to rotate. The endoscope electrodes are sleeved with the outer frame, the open front face is arranged to facilitate storing and taking, the shaft rod and the bearing disc are combined so that the multiple endoscope electrodes can be evenly connected in a surrounding and inserted mode, the electrodes at different positions can be located at the open position through rotation of the shaft rod, and a user can conveniently select and use the electrodes. And the storage efficiency and the use convenience of the electrode are improved.

The invention discloses a tracheal catheter special for upper gastrointestinal endoscopic surgery, which comprises an inner tube, an outer tube capable of sliding up and down with the inner tube is sleeved outside the inner tube, the top end of the outer tube is fixedly connected with the inner tube through a fixing knob, a respirator joint is arranged at the top end of the inner tube, an inner tube water bag is arranged at the bottom of the inner tube, and an outer tube water bag is arranged at the bottom of the inner tube. An inner tube suction hole is formed in one side of the inner tube water bag, and a Murphy hole is formed in the position, located below the inner tube water bag, of the bottom of the inner tube. The problems that in an upper gastrointestinal endoscopic surgery in the prior art, the exposed part of the tracheal catheter affects surgical operation, the cuff of the tracheal catheter compresses a surgical site or affects taking out of a specimen, the tracheal catheter rubs with an endoscope and is prone to disengagement to damage tracheal mucosa, and blood and secretions in the trachea are not sucked thoroughly are solved.

The utility model provides a kind of pulling device for endoscopic surgery, it includes connecting piece, and multiple pulling rings fixed on the connecting piece, multiple the pulling ring is sequentially spaced along the length direction of the connecting piece, and the intersection of adjacent two the pulling ring and the included angle is 72 °-120 °;The material of the connecting piece is inelastic material, and the material of the pulling ring is elastic material.The pulling ring of the present application is suitable for endoscopic dissection surgery, cooperates tissue clamp, according to different needs, pulls open mucosa, improves surgical field of view, and the number of tissue clamp can be reduced, the operation time is reduced, and the operation cost is saved.

The utility model relates to the field of medical instruments, and discloses a working cannula for cervical endoscopic surgery, which comprises a cannula main body provided with a through hole, a first opening of the cannula main body is obliquely arranged, one side, close to a second opening of the cannula main body, of the first opening is defined as a first side, and one side, far away from the second opening, of the first opening is defined as a second side; the sleeve main body is provided with a limiting thread above the first opening, and the limiting thread is matched with the limiting ring to adjust and control the working depth of the sleeve main body; the limiting threads are arranged and matched with the limiting ring, so that the movement of the cannula body can be well limited, the depth of the cannula placed in the intervertebral space is controlled and stabilized during operation, the situation that the cannula body is too deep to penetrate the rear wall of the intervertebral disc and damage the spinal cord is avoided, the operation risk is reduced, and related complications of spinal cord injury are reduced.

The invention relates to the technical field of motion terrorism risk assessment, in particular to a spine endoscopic postoperative motion terrorism assessment method and system based on a 5E rehabilitation mode. According to the degree of adaptation of a patient to all rehabilitation trainings of the same type in each treatment stage and the change synchronization degree of rehabilitation state values, and the difference of entry scores of the same entry of an analysis questionnaire corresponding to the rehabilitation trainings and an adjacent next questionnaire, the rehabilitation training is analyzed; the association degree between each rehabilitation training of each treatment stage and each item of the questionnaire is obtained; adjusting the entry score of each entry of each questionnaire by using the correlation degree, and obtaining an optimized TSK total score of the corresponding questionnaire; and based on the optimized TSK total score of the questionnaire in all treatment stages, evaluating the motion terrorism symptom of the patient. According to the method, the entry score of the questionnaire is adjusted through the association degree between each rehabilitation training and the entry of the questionnaire, so that the influence degree of drug interference factors, physiological stress response and the like is reduced, and the accuracy of acterrorism symptom rating is effectively improved.

The present invention relates to a method for guiding an endoscopic surgery, a corresponding computer-readable storage medium, a control apparatus, a computer program product, and an electronic device for navigation of an endoscopic surgery, a navigation system, and a robotic system. The method comprises: a step of endoscopic image acquisition; a step of enhancement information acquisition: acquiring at least two of the following three types of enhancement information: a) a spliced image obtained by splicing a plurality of images of an endoscope; b) a three-dimensional image of a physiological structure of a patient; and c) a marker on the three-dimensional image or a two-dimensional image of the physiological structure of the patient; a step of endoscopic enhanced image fusion: fusing an acquired current image of the endoscope with at least two types of enhancement information; and a step of displaying a view including at least a portion of an endoscopic enhanced image. According to the present invention, the current image of the endoscope is fused with at least two of the three types of enhancement information, such that the endoscopic image is enhanced in multiple dimensions, thereby achieving omnibearing multi-dimensional guidance for an operator.

This system provides a method for controlling target irradiation to identify targets during endoscopic procedures. [Solution] The endoscope system comprises a light source that generates illumination light, a diagnostic energy source configured to generate a diagnostic beam, an imaging sensor, an endoscope, and a controller circuit, wherein the controller circuit is configured to receive from the imaging sensor an image of a target illuminated by the light source operating in a first illumination mode, determine the brightness or intensity of the received image of the target, send a trigger to the diagnostic energy source to emit the diagnostic beam through the optical fiber to the target when the determined brightness or intensity of the received image satisfies certain conditions, receive reflected light from the target generated by the diagnostic beam, and identify the composition of the target, at least in part, based on the analysis of the reflected light.

1. The name of the design product: Laying cloth (multi-functional endoscope surgery customization). 2. The use of the design product: used for laying sterile barrier during endoscopic surgery, while assisting instrument fixation and storage. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The invention provides a traditional Chinese medicine hot compress bag for relieving endoscopic postoperative pain and a preparation method of the traditional Chinese medicine hot compress bag, and belongs to the technical field of traditional Chinese medicine hot compress bags. The invention provides a traditional Chinese medicine composition for regulating spleen and stomach and activating meridians to stop pain. The traditional Chinese medicine composition is prepared from the following raw materials in parts by weight: 70 to 100 parts of liquorice root, 20 to 80 parts of rhizoma zingiberis, 20 to 80 parts of fructus evodiae, 20 to 80 parts of semen raphani, 20 to 80 parts of malt, 20 to 50 parts of cassia twig, 20 to 50 parts of fructus perillae and 10 to 30 parts of black prepared common monkshood daughter root. The traditional Chinese medicine composition provided by the invention has remarkable effects of regulating spleen and stomach and activating meridians to stop pain, and can play roles of astringing and inducing astringency, tonifying middle-Jiao and Qi, and dispersing blood stasis and relieving pain after being prepared into a traditional Chinese medicine Reyan bag. Due to the design of the self-heating device, the heating time of the traditional Chinese medicine hot compress bag is long, the heating power maintaining time is long, transdermal absorption of medicines in the traditional Chinese medicine hot compress bag is facilitated, and the pain after the endoscopic surgery can be remarkably relieved.

The present invention relates to a method for guiding an endoscopic surgery, a corresponding computer-readable storage medium, a control apparatus, a computer program product, and an electronic device for navigation of an endoscopic surgery, a navigation system, and a robotic system. The method comprises: a step of endoscopic image acquisition; a step of enhancement information acquisition: acquiring at least two of the following three types of enhancement information: a) a spliced image obtained by splicing a plurality of images of an endoscope; b) a three-dimensional image of a physiological structure of a patient; and c) a marker on the three-dimensional image or a two-dimensional image of the physiological structure of the patient; a step of endoscopic enhanced image fusion: fusing an acquired current image of the endoscope with at least two types of enhancement information; and a step of displaying a view including at least a portion of an endoscopic enhanced image. According to the present invention, the current image of the endoscope is fused with at least two of the three types of enhancement information, such that the endoscopic image is enhanced in multiple dimensions, thereby achieving omnibearing multi-dimensional guidance for an operator.

The invention relates to the technical field of surgical navigation, in particular to a children urinary system endoscopic surgery visual auxiliary operation system which comprises a respiratory displacement field generation module, a tissue stiffness inversion module, a visual scale correction module, a tangential gradient calculation module and an anisotropic registration correction module. According to the method, a respiration displacement field is analyzed to invert tissue hardness parameters, a preoperative physical model with biomechanical characteristics is constructed, non-rigid deformation behaviors of kidneys and ureters of children in a stress state are simulated, the physical depth of pixels is calculated in combination with endoscopic image characteristics, sparse feature point cloud is converted into real-scale spatial data, and the spatial depth of the kidneys and ureters of the children is calculated. And according to the tangential gradient change of the path, constructing an anisotropic weight matrix to dynamically adjust the registration constraint intensity, and driving the virtual model to follow the movement track of the endoscope to carry out adaptive deformation correction, so that real-time three-dimensional visual guidance for soft tissue respiratory movement and contact deformation is realized.

The present application relates to a kind of wrist joint and minimally invasive surgery robot and knee arthroscopy surgery robot, the knee arthroscopy surgery robot includes remote end 2 degrees of freedom wrist joint, 1 degree of freedom flexible mechanical arm, rigid insertion sheath, wire transmission device, bending drive device and gear transmission device;Wherein, by integrating endoscope module in wrist joint terminal, to realize the intelligent exploration in knee joint cavity;By the 2 degrees of freedom movement of wrist joint, realize the local intelligent adjustment of endoscope field of view;By the 1 degree of freedom bending movement of flexible mechanical arm, realize the large range bending movement and safety interaction of endoscope;By controlling the extension and retraction of rigid insertion sheath, it is convenient for doctor to control endoscope to enter knee joint cavity from knee joint incision smoothly, also can change the bending radius of flexible joint in flexible mechanical arm by regulating the extension amount of rigid insertion sheath, to realize the intelligent adjustment of endoscope field of view in large range and small range.

The utility model provides a spine endoscopic surgery flushing water recovery device, which belongs to the spine endoscopic surgery technical field, and comprises a protection box, a recovery separation assembly and a disinfection assembly, the disinfection assembly comprises a torque motor arranged on one side of the protection box, the output shaft end of the torque motor penetrates through the protection box and one side of the inner wall of a water storage tank, and a rotating rod is arranged on one side of the inner wall of the water storage tank; the disinfection device has the beneficial effects that through the arrangement of the torque motor, a user can conveniently open the first electric valve through the control switch, so that the first electric valve is opened, and then disinfectant in a medicine bottle is poured into the water storage tank through the first electric valve; at the moment, a user turns on a torque motor through a control switch, the torque motor drives a rotating rod to rotate and then drives stirring blades to rotate, the stirring blades mix the recycled liquid with disinfectant, the recycled liquid is disinfected, breeding of a large number of bacteria is avoided, bacteria in the recycled liquid are reduced, and therefore the purpose of conducting preliminary disinfection on the recycled liquid is achieved.

1. The name of the design product: endoscope adapter. 2. The use of the design product: used in endoscopic surgery, matched with endoscope, connected endoscope main machine with patient body cavity. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective view 1.

This invention relates to the field of medical device technology, specifically to a tissue protection shielding device for laparoscopic surgery. The device includes a shielding assembly and a pull cord. The shielding assembly comprises several shielding plates; each shielding plate has a perforation, and an elastic element connects adjacent shielding plates. The elastic element provides elastic force to allow the shielding assembly to roll into a cylindrical shape when no external force is applied, at which point the shielding assembly is in its initial state. The pull cord has a limiting element. When the shielding assembly is in its initial state, pulling the pull cord reduces the length of the cord that is threaded through the shielding assembly, causing adjacent shielding plates to rotate relative to each other. This allows the shielding assembly to bend in the opposite direction into an arc shape, and the elastic element is compressed by the corresponding two shielding plates, resulting in a protruding structure protruding from the inner surface of the shielding assembly. This tissue protection shielding device for laparoscopic surgery can improve the protection of the liver, preventing injury or cuts to the liver.

An air-water valve assembly is provided for regulating the flow of both water and air through an endoscope. The valve assembly includes a tripartite stem having a plurality of seals disposed thereon and a hub configured to releasably couple the valve assembly to an endoscope for an endoscopic procedure. The stem includes a lower stem member, an upper stem member, and a cap that may be coupled together in a variety of configurations. Each of the lower stem member, upper stem member, and the cap may include a channel or bore extending therethrough to permit fluid communication between a distal opening of the lower member and an aperture of the cap once the stem is assembled.

1. Name of the product in this design: Rotatable laparoscopic soft instrument sheath for surgical platform. 2. Application of this design: Suitable for use as a passage for endoscopes and instruments in laparoscopic and other endoscopic surgeries. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The invention discloses a rigid spine endoscopic surgery robot module capable of rapidly switching instruments and a switching method.The rigid spine endoscopic surgery robot module comprises a base, a rigid instrument assembly, an overall rotating mechanism and an instrument feeding mechanism are arranged on the base, the rigid instrument assembly comprises an instrument base, and a guide rail sliding block assembly is fixed to the outer portion of the instrument base; the sliding block is connected with a rigid surgical instrument through an instrument connecting piece; the instrument feeding mechanism comprises a lead screw feeding device; an elastic connecting mechanism is installed on a nut of the lead screw and comprises a nut fixing piece, a spring, a floating connecting piece and a stand column. The nut fixing piece is fixedly connected with the nut and connected with the floating connecting piece through the stand column and can move up and down relatively, and the axis of the spring is parallel to the stand column. A groove is formed in the top surface of the floating connecting piece; when the groove is in matched contact with the instrument connecting piece, the instrument connecting piece is driven to move forwards; the overall rotating mechanism is arranged at one end of the instrument base and drives the instrument base.