32 results about "Medical robotics" patented technology

The invention belongs to the technical field of image processing, and particularly relates to an object six-degree-of-freedom pose estimation method based on three-dimensional geometric information registration, which comprises a target detection module, a three-dimensional point cloud generation model and a geometric information registration pose estimation module. According to the method, geometric reconstruction, a geometric information high-precision registration technology and an object pose estimation task are combined, a geometric reconstruction module introduces object geometric feature extraction and feature decoding to realize deep understanding and modeling of an algorithm on object geometric features, the whole process accords with geometric disorder, and the accuracy of object pose estimation is improved. And the accuracy and scene adaptability of the algorithm are further improved. According to the method, accurate estimation of the six-degree-of-freedom pose of the object can be achieved, and powerful support is provided for the fields of industrial automation, robot vision, AR / VR, automatic driving, medical robots and the like.

The invention relates to the technical field of robot control and autonomous navigation, in particular to a bronchoscope robot autonomous control method based on deep reinforcement learning. Autonomous navigation of the bronchoscope robot is performed through a deep reinforcement learning training agent, pose data and picture data are acquired in real time by using an electromagnetic navigation technology and an endoscope camera, then data feature extraction and multi-modal data fusion are performed, the data are input to a reinforcement learning agent, and motion output is obtained through a deep network. And finally, three-degree-of-freedom control of the robot is realized. The method has a wide application prospect, and is particularly suitable for the fields of medical robot navigation, artificial intelligence operation assistance and the like. Position data are acquired through electromagnetic navigation, image data are acquired through an endoscope camera, and observation input of deep reinforcement learning is constructed by using a processing method of feature extraction and attention mechanism fusion.

The invention belongs to the technical field of tactile communication and intelligent man-machine interaction, and discloses a multi-point tactile intelligent encoding and decoding device, system and method, and the method comprises the steps: obtaining an original tactile signal through an acquisition end, and extracting features through a neural network auto-encoder; a weighted fusion module based on an attention mechanism combines channel state information (CSI) to carry out dynamic grouping residual quantization on coding features, and low-code-rate compression transmission is realized; the sensing end inversely quantizes received data and reconstructs a signal, and outputs a tactile signal in combination with a multi-scale sensing calibration mechanism in an optimized manner, so that the tactile signal is closer to original input in a human body sensing dimension; the multi-point tactile feedback device obtains vibration feedback corresponding to the real-time multi-channel vibration tactile signal based on the reconstructed signal. By fusing the deep learning architecture and the psychological tactile perception model, efficient compression, low-delay transmission and high-quality reconstruction of tactile signals are achieved, and the method is suitable for high-precision tactile interaction scenes such as virtual reality, remote operation and medical robots.

The present disclosure relates to a medical robot-assisted visualization system (1) for visualizing, in particular during a surgical operation on a patient (P), having a robot (2), the robot has a robot base (4), a movable medical vehicle preferably as a mobile robot base (4), and a movable robot arm (6) connected to the robot base (4); the invention relates to a robot (2) comprising a movable robot arm (6), a visualization unit (8) as an end effector of the robot (2), which visualization unit is mounted or mounted on the movable robot arm (6) and can be spatially positioned, in particular arranged in position and orientation, by means of the movement of the robot arm (6), and a control unit (10), the control unit is adapted to control at least one position and / or orientation of the visualization unit (8). The robot (2) is a seven-axis robot and / or the robot arm (6) has seven axes and is rotatable, in particular about seven axes of rotation, by means of which the robot arm (6) can be moved into different robot arm postures with a constant position and / or orientation of the visualization unit (8). The disclosure also relates to a control method for a medical robot-assisted visualization system (1) according to the parallel claims, a computer-readable storage medium and a computer program.

This invention belongs to the field of medical robotic arm technology, and more particularly to a needle-holding robotic arm for minimally invasive surgery, comprising a handle, a protective shell, and a crank shell. The invention features an anti-tipping wheel located inside the crank shell near the shaft. The rim of this anti-tipping wheel presses firmly against the surface of the wire rope, effectively preventing the wire rope from slipping out of the groove in the reel during high-speed or large-angle transmission. This ensures that the gripper's movements are consistent with the surgeon's intentions, avoiding missed steps due to skipped threads or slack, thereby improving the safety and precision of the surgery. Simultaneously, the wire rope is driven by gear transmission inside the protective shell, and the pitch axis controls the pitch angle of the gripper. This allows the surgeon to control the opening and closing of the gripper and the pitch angle simultaneously or separately through a single finger gripping operation, enabling complex actions such as needle clamping, needle rotation, and suturing within confined human cavities. This significantly improves the instrument's operational flexibility and surgical efficiency.

The present invention relates to the field of medical robot technology, and specifically discloses a master-slave femoral shaft fracture reduction parallel robot and its control system, comprising: a base; an adjustment mechanism is installed on one side of the top of the base, a slave robot is installed on the upper inner side of the adjustment mechanism, a plurality of tooth blocks are installed on the inner wall of the slave robot, a support seat is installed on the other side of the top of the base, and an operating table is installed on the top of the support seat; the present invention can adjust the position of the slave robot by driving a first driver so as to reduce the fracture of the patient's left leg or right leg respectively, and at the same time, the telescopic function of the electric telescopic column allows the height of the slave robot to be adjusted to accommodate patients of different body shapes, thereby improving the patient's comfort during surgery, and in addition, the driving of the second driver can further adjust the position of the slave robot, which enhances the flexibility and operating range of the robot.

This utility model relates to a medical robotic gripper, belonging to the field of minimally invasive surgical instrument technology. It includes a working part, a transition connecting part, and a gripping part. The gripping part includes a handle. A finger shaft is placed on the left side of the handle, extending through the handle and into its interior. A gripping finger is fixedly connected to the bottom surface of the finger shaft. A winding wheel is connected to the finger shaft. A transition shaft is rotatably connected inside the handle. A transition winding wheel is fixedly installed on the outer peripheral wall of the transition shaft. A reversing shaft is rotatably connected inside the handle. A reversing shaft wheel is fixedly installed on the outer peripheral wall of the reversing shaft. This medical robotic gripper adopts a modular design, facilitating assembly by medical personnel, simplifying the mechanical structure, reducing the quantity and cost of consumables for minimally invasive surgery, lowering the learning threshold, and reducing the cost of minimally invasive surgery procedures and training. Furthermore, the gripping finger facilitates use by different operators, making it more convenient and practical.

The present invention is applicable to medical equipment and provides a medical mechanical arm based on an ultrasonic motor, comprising a linear guide rail, a bottom seat, and a rotating seat; a support arm is hinged on the top of the rotating seat; the support arm is rotatably connected to a connecting tube at one end away from the rotating seat; a first screw is rotatably connected inside the connecting tube; a bracket is sleeved on the inner side of the end of the connecting tube away from the support arm; the inner sides of both ends of the U-shaped frame are rotatably connected to the second screw, and the inner sides of the two limiting guide grooves are slidably matched with limiting guide seats that are threadedly matched with the second screw; the end plate is hinged to two symmetrically arranged side push plates through a double-axis hinge seat; a connecting rod is hinged between the back sides of the push plates on both sides and the two limiting guide seats; the device can be operated remotely, realizes multi-degree-of-freedom displacement, adjusts the patient's body position, improves the work efficiency of medical staff, and avoids motor failure in a nuclear magnetic field environment by using an ultrasonic motor.

The invention relates to the technical field of robot simulation and control, in particular to a bronchoscope robot simulation control platform and method based on VTK, and is suitable for structural modeling, motion control, virtual simulation and the like of continuum robots (such as bronchoscope robots). The method can be widely applied to the fields of medical robot simulation, operation training, robot control algorithm verification and the like. Firstly, the platform adopts a voxelization modeling technology to carry out modeling on a bronchoscope robot, and forms and behaviors of different continuum robots can be simulated only by setting structural parameters and freedom of motion of the robot. The center line of the bronchial tree is rapidly extracted by using a vmtk library, and a motion control algorithm based on the center line of the bronchial tree is designed, so that the simulation platform can effectively simulate interaction between the robot and the bronchial tree. Meanwhile, the collision condition of the robot and the bronchial tree is calculated in real time through a collision detection interface built in the vtk, and real-time accurate feedback is conducted in the simulation process.

The application discloses a somatosensory simulation platform rehabilitation effect driving control method based on a reverse generation model, belongs to the technical field of medical robots and rehabilitation training equipment, and constructs a single / multimodal somatosensory stimulation-response database; a golden sample set with a peak value of neural activation is screened; a neural-physical reverse mapping model based on a probability generation mechanism is established, a conditional probability distribution from a neural activation feature space to a physical stimulation parameter feature space is learned; a target neural activation is set, and an expected physical stimulation parameter is generated by using the trained model; a kinetic safety filter is constructed to generate a final safety control instruction; and the safety control instruction is used to drive the somatosensory simulation platform to move. The application further provides a somatosensory simulation platform rehabilitation effect driving control system based on a reverse generation model, which comprises a data acquisition and screening module, a reverse reasoning calculation module, a safety control module and a collaborative execution module. The application improves the effect, accuracy and safety of somatosensory simulation training.

The invention discloses a dynamic safe multi-mode sleep control robot system and method, and relates to the technical field of intelligent medical robotics.The system comprises a negative electric wave generation module, a multi-device cooperation bus, a robot body and an emergency early warning module, the negative electric wave generation module outputs 0.1-15 Hz adjustable square waves and is provided with a brain wave feedback adjusting unit, and the multi-device cooperation bus is connected with the robot body; the bus is connected with multiple devices through a TSN protocol, the robot body comprises a six-degree-of-freedom mechanical arm and a silent movable chassis, the mechanical arm has quadruple safety protection, the early warning module comprises a millimeter wave radar and AI false positive filtering, breathing, heartbeat and turning-over abnormity can be monitored, and the method comprises three-level verification of reinforcement learning activation equipment, sleep quality evaluation matrix building and apnea setting. The system can dynamically adapt to the sleep stage, the sleep aiding effect and safety are improved, and the false alarm rate is reduced.

The present invention provides a scattered light field holographic three-dimensional displacement measurement device, method and medium, belonging to the field of optical precision measurement technology. The device of the present invention is mainly composed of a laser, a beam expansion and collimation unit, a first beam splitter, a second beam splitter, a third beam splitter, a plane mirror and a camera. By combining the holographic measurement of the scattered light field and digital image correlation and other technologies, high-speed synchronous measurement of the three-dimensional vector displacement of a high-scattering object is achieved. The present invention combines digital image correlation technology and holographic measurement technology of scattered light fields, and has the advantages of non-contact, high measurement accuracy, fast measurement speed, synchronous measurement of three-dimensional vector displacement, compact device, etc., and has broad application prospects in high-precision measurement occasions such as aerospace and micro medical robots.

The disclosure provides an electrical control system, method and electrical management platform of a medical robot, the electrical control system comprising a master station and an industrial computer in communication connection, a general control module and a motor control module, the master station being used to acquire target processing information, generate general control instructions and motion control instructions, the general control module being used to control the general module based on the general control instructions; the industrial computer being used to control the motor control module to perform motion control on the motor executive mechanism based on the motion control instructions; the communication speed between the industrial computer and the motor control module is higher than the communication speed between the master station and the general control module. The disclosure sets a double host computer architecture composed of the master station and the industrial computer, the two host computers work in cooperation and interact information, the electrical control efficiency of the medical robot is higher; meanwhile, the high-speed signal and the low-speed signal are separated, and the reliability of the overall network topology structure of the medical robot system is enhanced.

The present application relates to the field of medical robotics, and more particularly to a control mechanism for a flexible robotic arm and a medical device. The control mechanism comprises a first swing control structure comprising a first swing line, a second swing line, a first screw, a second screw, and a first rotating screw. The distal ends of the two swing lines are fixed to the distal end of the first flexible arm. The proximal ends of the swing lines are connected to corresponding screws. The first screw and the second screw are disposed on either side of the first rotating screw. The first rotating screw is rotatably connected to the proximal end of the first flexible arm and has first and second threads with opposite rotation directions. The first and second threads respectively engage with the inner threads of the first and second screws. Rotation of the first rotating screw can cause one of the two swing lines to tighten and the other to release, thereby controlling the swing of the first flexible arm. The control mechanism has a simple structure, simple operation, and accurate swing control, which is conducive to the design of a simple, high-precision, and miniaturized surgical robot.

The application relates to a mechanical arm, an emergency unlocking device is arranged on a mechanical arm body, a brake assembly comprises a driving part, a brake part and a reset part, the driving part is drivingly assembled with the brake part, the driving part is used for driving the brake part to move to an unlocking position of the brake assembly, so that the brake assembly is converted to an unlocking state; the reset part is drivingly assembled with the brake part, the reset part is used for driving the brake part to move to a brake position of the brake assembly, so that the brake assembly is converted to a brake state; the unlocking assembly is non-contact drivingly matched with the brake part, the unlocking assembly is used for driving the brake part to move to the unlocking position of the brake assembly by using a non-contact force, so that the brake assembly is converted to the unlocking state. In the process of the emergency unlocking state in the brake state, a non-contact force is adopted, the mode does not cause damage to the structure of the mechanical arm, such as an opening setting part, and therefore the original design rigidity of medical instruments such as the mechanical arm can be met.

1. Name of the product in this design: Medical robotic arm (2). 2. Purpose of this design: Medical assistance. 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. 5. The product in this design is a long and slender item, and its length is drawn using an abbreviated method. 6. Other situations requiring explanation: Part A is a partial enlarged view of point A in the main view; Part B is a partial enlarged view of point B in the bottom view; and Part C is a partial enlarged view of point C in the left view.

The disclosure provides a remote medical robot control method and a control system for controlling a remote medical robot, which can be applied to the technical field of medicine and the technical field of mechanical control. The remote medical robot control method comprises: in response to the master-slave mapping frequency of the communication signal between the master end and the slave end not satisfying the frequency threshold, extracting the real-time pose sequence of the slave end from the control information for controlling the slave end, the master end being used for responding to user operation and interacting with the slave end through the communication signal, and the slave end being used for controlling the remote medical robot to perform actions based on the control information; inputting the real-time pose sequence into a target prediction model to obtain a predicted pose sequence; performing trajectory interpolation on the predicted pose sequence according to the trajectory path of the predicted pose sequence to obtain a target pose sequence, the target master-slave mapping frequency satisfying the frequency threshold; inputting the target pose sequence into the controller of the slave end to generate a control instruction; and controlling the remote medical robot based on the control instruction.

A medical manipulator relates to the technical field of medical instruments and comprises a fixing plate, a dovetail seat is arranged on the fixing plate, and a dovetail slide rail is slidably connected into the dovetail seat; a rack is arranged on the dovetail slide rail; the lower end of the dovetail sliding rail is connected with a gripper assembly. The dovetail seat comprises a dovetail body; one side of the dovetail body is fixedly connected with two positioning bearings through short plug screws; the other side of the dovetail body is connected with a bearing fixing block through a long plug screw; the bearing fixing block is fixedly connected with two positioning bearings through short plug screws; bearing adjusting blocks are arranged at the upper end and the lower end of the dovetail body; external screw bearings are arranged on the two bearing adjusting blocks; according to the mechanical arm, the dovetail base and the dovetail sliding rail are adopted for accurate positioning, the gear drives the rack to move, the grabbing stroke of the mechanical arm can be adjusted at will, and the positioning accuracy is high; the manipulator device is small in size and low in energy consumption.

The invention relates to the technical field of medical robots, in particular to an injection instrument posture control method, system and equipment based on a mechanical arm and a medium, and the injection instrument posture control method based on the mechanical arm comprises the steps that a target posture of a doctor operating an injection instrument is shot, and an optical image and a depth map of the target posture are obtained; acquiring center coordinates of mark centers of two mark points on an injection instrument from the optical image, and acquiring depth values corresponding to the mark centers from the depth map; converting the center coordinate and the depth value into three-dimensional coordinates of the two mark points by combining an internal reference matrix of the camera; calculating a rotation matrix and a translation vector; the coordinates of the target posture in the space coordinate system are converted into coordinates in a mechanical arm base coordinate system, the mechanical arm joint angle is calculated based on robot inverse kinematics, and a joint angle instruction is generated; and the joint angle instruction is sent to the mechanical arm, and the mechanical arm is driven to adjust the end effector to the target posture.

The present invention relates to the technical field of medical devices, and specifically discloses a pipeline management system for a medical intelligent robotic arm, comprising a plastic skeleton, a shooting mechanism, a pipe delivery assembly, a control device and a storage tube; the storage tube is fixedly arranged on the plastic skeleton; the pipe delivery assembly includes a connecting tube, an electric delivery device, a swing mechanism and a carrier plate; the connecting tube is provided with a receiving port for accommodating the carrier plate; one end of the carrier plate is hingedly connected to the connecting tube, and the swing mechanism is used to drive the carrier plate to swing; the electric delivery device is fixedly arranged on the back of the carrier plate; the connecting tube is connected to one of the storage tubes, and the plastic skeleton is fixedly connected to the connecting tube; one of the storage tubes is provided with a track, a positioning piece and an LED soft light, and the shooting mechanism is slidably connected to the track; the shooting mechanism and the pipe delivery assembly are both electrically connected to the control device; the pipeline management system for the medical intelligent robotic arm can store the pipelines of the medical robotic arm, and facilitates the management of the pipelines and pipelines of the medical intelligent robotic arm.

The invention discloses a digital-object co-fusion heterogeneous multi-medical service robot collaborative energization method, and relates to the field of artificial intelligence and robots, and the method comprises the following steps: collecting heterogeneous medical service robot behavior data in a physical environment and a digital twin environment through a multi-modal perception model; performing multi-modal fusion and optimization processing on the behavior data, and constructing a behavior big data sharing knowledge base; a robot behavior strategy is optimized based on a deep reinforcement learning algorithm, and a knowledge base is continuously updated through a dynamic knowledge updating strategy; cooperative energy increasing among the heterogeneous medical service robots is realized through knowledge reasoning and migration mechanisms, and the service efficiency and the intelligent level are improved. According to the method, the environment perception capability, the autonomous decision-making efficiency and the multi-machine cooperation level of the medical robot are remarkably improved, and high-adaptability and high-reliability technical support is provided for an intelligent medical scene.

The invention relates to the technical field of dental medical robots, and provides an oral cavity intelligent robot positioning system based on real world recognition, which comprises a real scene data acquisition and labeling module, a real environment data acquisition and labeling module and a real scene data processing module, establishing an identification rule system containing a dangerous structure, an operation-related structure and a safety attribute through structured labeling; the oral cavity internal positioning and planting path matching module is used for constructing an implant position model based on CT and oral scanning data and realizing rapid matching of planting paths; the dangerous area real-time judgment and avoidance module integrates AI image recognition and spatial distance calculation functions and is used for monitoring the operation environment in real time and triggering graded safety control in the operation process; and the system hardware and technology fusion optimization module adopts a lightweight hardware architecture of a humanoid robot and a dexterous hand. The robot can sense and recognize a real operation scene, a dangerous structure is automatically avoided, the operation process is simplified, the labor cost is reduced, and the operation safety and efficiency are improved.

A medical robotic system can include a secondary brake release to allow a user to more easily move the arms of the robotic system when the system is in a power-off or fault state. The robotic system can include a joint and a brake mechanism that can limit motion of the joint. The brake mechanism can include a braking material, a first electromagnetic assembly, and a user-commanded release mechanism. The first electromagnetic assembly can disengage the braking material from an engaged configuration to a disengaged configuration. Further, the user-commanded release device can disengage the braking material from the engaged configuration to the disengaged configuration independent of the first electromagnetic assembly.

Robotic telemanipulation system with adaptable level of autonomy, including: - a control device for a user; - at least one manipulation device; and - a bidirectional data transmission device; wherein the control device is designed to convert user inputs into control signals for controlling the manipulation device and to transmit the control signals to the manipulation device via the data transmission device, wherein the manipulation device is designed to receive control signals from the bidirectional data transmission device, to convert the control signals into actions of the manipulation device and to return feedback signals via the data transmission device to the control device, wherein the control device is further configured to output the feedback signals of the manipulation device to the user and wherein the control device comprises a database and / or a database interface and a control unit, wherein the control unit is designed to receive initial information from the database and / or a database interface and / or to store secondary information in the database and / or to transfer it to the database interface for storage, where the control unit selects a degree of autonomy for converting user inputs into control signals for the manipulation device, depending on the initial information. characterized by the fact that The control unit is trained to choose the level of autonomy in a process of reciprocal learning, whereby the robotic telemanipulation system initially acts with little or no autonomy and, over the course of a user's usage time, the system acts more autonomously based on knowledge of the user's preferences.

Systems and methods relating to medical technology are disclosed. For example, a medical robotic system can include first and second robotic arms. An introducer can be coupled to the first robotic arm. The introducer can include a first opening, a second opening, and a channel connecting the first opening and the second opening. A flexible elongate medical tool can be coupled to the second robotic arm. The second robotic arm can be configured to drive the flexible elongate medical tool through the introducer coupled to the first robotic arm and into a patient.

The application belongs to the technical field of tactile communication and intelligent human-computer interaction, and discloses a multi-point tactile intelligent encoding and decoding device, system and method. An acquisition end obtains original tactile signals, and extracts features through a neural network self-encoder. A weighted fusion module based on an attention mechanism dynamically groups and quantizes residual errors of the encoded features in combination with channel state information (CSI), so as to realize low-code-rate compression transmission. A perception end inversely quantizes received data and reconstructs signals, and optimizes output tactile signals in combination with a multi-scale perception calibration mechanism, so that the output tactile signals are closer to original inputs in the human perception dimension. A multi-point tactile feedback device obtains vibration feedback corresponding to real-time multi-channel vibration tactile signals based on the reconstructed signals. The application realizes efficient compression, low-delay transmission and high-quality reconstruction of tactile signals by fusing a deep learning architecture and a psychological tactile perception model, and is suitable for virtual reality, remote operation, medical robots and other high-precision tactile interaction scenes.

A locking device (10) includes: a first connecting mechanism (1), a first positioning mechanism (3) connected to the first connecting mechanism (1); a second connecting mechanism (2), and a second positioning mechanism (4) connected to the second connecting mechanism (2), wherein the second positioning mechanism (4) has at least two positioning parts (41); wherein the second connecting mechanism (2) is rotatably connected to the first connecting mechanism (1), wherein the second positioning mechanism (4) is capable of rotating relative to the first positioning mechanism (3) about its own axis, and the first positioning mechanism (3) is capable of locking or unlocking any one of the positioning parts (41) of the second positioning mechanism (4). By cooperating with the first positioning mechanism (3) and the corresponding positioning parts, the second connecting mechanism (2) and the first connecting mechanism (1) can be locked together after the second connecting mechanism (2) rotates relative to the first connecting mechanism (1) by a certain angle, without the need for a servo motor or stepper motor, thereby achieving control of the rotation angle of the first connecting mechanism (1) and the second connecting mechanism (2), and thus reducing the cost of the locking device. A medical robotic arm (100) is also provided.

Disclosed is a micro-medical robot-based guidewire for vascular intervention. The guidewire includes: a core shaft; an outer coil surrounding an outer circumference of a distal portion of the core shaft; a tip end to which a front end of the core shaft and / or a front end of the outer coil is connected; an outer joining unit configured to connect a rear end of the outer coil and a rear end of the core shaft; an inner joining unit, disposed inside the outer coil, configured to connect the outer coil and an outer surface of the core shaft; and at least two magnetic bodies, disposed at a specific section in the inner space of the outer coil, wherein each of the magnetic bodies with each through-hole being formed at each center thereof is configured to allow the front end of the core shaft to go through said each through-hole.

This application belongs to the field of image processing technology, and specifically relates to a method for estimating the six-degree-of-freedom pose of an object based on three-dimensional geometric information registration, including a target detection module, a three-dimensional point cloud generation model, and a geometric information registration pose estimation module. The present invention combines geometric reconstruction and high-precision geometric information registration technology with the object pose estimation task. The geometric reconstruction module introduces object geometric feature extraction and feature decoding to achieve an in-depth understanding and modeling of the algorithm's geometric features. The entire process conforms to geometric disorder, further improving the algorithm's accuracy and scene adaptability. The present invention can achieve accurate estimation of the six-degree-of-freedom pose of an object, providing strong support for fields such as industrial automation, robotic vision, AR / VR, autonomous driving, and medical robotics.

The application discloses a medical mechanical arm, which comprises a driving part, a flexible arm, a wrist joint part and a multifunctional composite medical operation instrument terminal, wherein the multifunctional composite medical operation instrument terminal is used for performing operation in a human body, and the multifunctional composite medical operation instrument terminal comprises a clamping part, an outer sleeve, an inner rotating cylinder, an illuminating lamp and a camera. The clamping part is used for clamping relevant tissues. The inner rotating cylinder can drive the clamping part to rotate so as to adjust the clamping angle. The illuminating lamp is used for providing illumination during operation, and the camera is used for providing video shooting during operation. The illuminating lamp and the camera can be adjusted in angle and position. The application adopts a flat clamping mode, is reliable and stable, does not hurt organs, and the angle of the video shooting device and the illumination device can be adjusted in a large range, which is beneficial to accurate operation. The application has compact and reasonable structure, high practicability, and great economic and social values.