CN111603244A

CN111603244A - Surgical robot

Info

Publication number: CN111603244A
Application number: CN202010630519.3A
Authority: CN
Inventors: 孙加源; 郑筱轩; 严笠骏; 刘帅洋
Original assignee: Shanghai Chest Hospital
Current assignee: Shanghai Chest Hospital
Priority date: 2020-07-03
Filing date: 2020-07-03
Publication date: 2020-09-01

Abstract

The invention discloses a surgical robot, which comprises a supporting rod, a first mechanical arm and a second mechanical arm; the first end of the first mechanical arm is connected with the supporting rod, the second end of the first mechanical arm is provided with a clamp mounting mechanism, the first mechanical arm comprises a plurality of movably connected connecting arms, and the clamp mounting mechanism can be adjusted to a specified position and locked; the first end of second arm with the bracing piece is connected, the second end of second arm is provided with positioning fixture, the second arm includes a plurality of swing joint's linking arm, and is adjustable positioning fixture arrives assigned position and locking. The invention greatly improves the efficiency of bronchoscope operation, reduces the investment of medical staff, reduces the current situation that hospital is full of patients and is queued for examination, can also operate the bronchoscope through a remote controller or manually, not only ensures the safety in the operation process, but also is flexible and convenient to use, and reduces the X-ray radiation injury of medical staff and patients.

Description

Surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a bronchoscope surgical robot.

Background

At present, in bronchoscopy, an examination operation is completed by manually operating an endoscope by an experienced doctor under the coordination of 3 to 5 medical staff, the operation mode of the operation is low in efficiency, and the operation risk is increased because a plurality of hands are needed on site. Meanwhile, in the checking process, the X-ray irradiation can affect the health of medical staff and patients on the operation site, and the efficiency and the accuracy of the operation can be reduced by reducing the X-ray irradiation for protecting the health of the medical staff and the patients. The robot system is used for assisting a doctor to operate the endoscope, part of operation work is to finish detection under the remote control of the doctor, the difficulty of the operation can be reduced, the requirements of operating personnel are reduced, the detection efficiency is improved, the pain of a patient is reduced, and the harm of X-ray radiation to medical personnel is reduced. It is a necessary trend in the development of such operations to release the doctor from the complicated operations and concentrate the doctor on the acquisition of medical images and the diagnosis of the disease condition.

In the patents disclosed in China, the pulmonarily department hospital in Shanghai city proposed a bronchoscope auxiliary fixing frame (utility model, application number: 201520339390.5), the third affiliated hospital in the third military medical science of China liberation military proposed a bronchoscope fixing device (invention, application number: 201610638799.6), the third affiliated children hospital in Suzhou university proposed a bronchoscope fixing frame (utility model, application number: 201520444396.9), and the like, all of which adopt mechanical devices to fix the bronchoscope, are difficult to flexibly operate in the actual operation process and have a long distance from the actual use.

At present, the research on the bronchoscope surgical robot at home and abroad is relatively less, the surgical requirement is large, and the medical staff is difficult to meet the market requirement. Therefore, it is urgently needed to provide a bronchoscope surgical robot which can improve the surgical efficiency and reduce the number of medical staff in a single operation.

Disclosure of Invention

The invention aims to provide a surgical robot which can improve the efficiency of bronchoscope surgery, is flexible and convenient to use and reduces the harm of X-ray radiation to medical staff.

The invention adopts the technical scheme that a surgical robot is provided to solve the technical problems, and comprises a supporting rod, a first mechanical arm and a second mechanical arm; the first end of the first mechanical arm is connected with the supporting rod, the second end of the first mechanical arm is provided with a clamp mounting mechanism, the first mechanical arm comprises a plurality of movably connected connecting arms, and the clamp mounting mechanism can be adjusted to a specified position and locked; the first end of second arm with the bracing piece is connected, the second end of second arm is provided with positioning fixture, the second arm includes a plurality of swing joint's linking arm, and is adjustable positioning fixture arrives assigned position and locking.

Preferably, including the lead screw, the bracing piece is provided with first guide rail in vertical direction, the first end of second arm is provided with first slider, the first end of first slider has the spout, the spout card is established on the first guide rail, the centre of first slider is provided with the hole, the hole be provided with the screw thread that the lead screw matches, the lead screw passes the hole with first slider threaded connection.

Preferably, the first mechanical arm comprises a first horizontal rotating arm, a pitching arm and a plurality of spherical joint arms which are connected in sequence from a first end to a second end.

Preferably, the first end cover of first horizontal rotation arm is established on the rotation axis on bracing piece top, first horizontal rotation arm with the junction of bracing piece is provided with first locking mechanism.

Preferably, a first rotating joint is vertically arranged at the second end of the first horizontal rotating arm, a pitching joint is arranged at the first end of the pitching arm, the pitching joint is connected with the rotating joint, and the second end of the pitching arm is connected with the ball joint arm through a ball joint.

Preferably, the number of the spherical joint arms is three, and the first spherical joint arm, the second spherical joint arm and the third spherical joint arm are respectively provided, a first end of the first spherical joint arm is connected with the second end of the pitching arm through a first spherical joint, a second end of the first spherical joint arm is connected with a first end of the second spherical joint arm through a second spherical joint, a second end of the second spherical joint arm is connected with a first end of the third spherical joint arm through a third spherical joint, and a clamp mounting mechanism is arranged at a second end of the third spherical joint arm.

Preferably, the clamp mounting mechanism has a plug-in slot with an upward opening.

Preferably, a scope clamp is inserted into the mounting mechanism and used for fixing the bronchoscope.

Preferably, the endoscope clamp comprises a clamp bottom sleeve and an opening-closing type cover plate, the clamp bottom sleeve is provided with a first groove, the shape of the first groove is matched with the operating part of the bronchoscope and used for fixing the bronchoscope, one side of the opening-closing type cover plate is rotatably connected with the clamp bottom sleeve, the bottom surface of the opening-closing type cover plate is pressed on the clamp bottom sleeve, and the top surface of the opening-closing type cover plate is provided with a stepping motor.

Preferably, a second locking mechanism is arranged between the other side of the open-close type cover plate and the clamp bottom sleeve.

Preferably, one side of the first groove extends to form a support plate, a second groove is formed on the support plate, and the second groove is used for supporting and fixing an introducing pipe of the bronchoscope.

Preferably, a linear motor is arranged on one side of the supporting plate, the linear motor is provided with an output shaft, a second guide rail is arranged on the other side of the supporting plate, a second sliding block is arranged on the second guide rail, a first connecting piece and a second connecting piece are arranged on the second sliding block, the output shaft of the linear motor penetrates through the supporting plate and then is fixedly connected with the connecting piece, and the first connecting piece can be used for clamping and fixing the catheter of the bronchoscope.

Preferably, the second arm is including the second horizontal rotation arm, third horizontal rotation arm and the fourth horizontal rotation arm that connect gradually, the first end of second horizontal rotation arm pass through second rotary joint with the lift slider is connected, the second end of second horizontal rotation arm pass through third rotary joint with the first end of third horizontal rotation arm is connected, the second end of third horizontal rotation arm pass through fourth rotary joint with the first end of fourth horizontal rotation arm is connected, the second end of fourth horizontal rotation arm is provided with positioning fixture.

Preferably, the bottom of bracing piece is provided with moving platform, moving platform with the bracing piece sets up perpendicularly, moving platform's bottom is provided with the wheel.

Compared with the prior art, the invention has the following beneficial effects: the surgical robot provided by the invention fixes the bronchoscope main body at the tail end of the mechanical arm through the first mechanical arm, and fixes the bronchoscope tube at the patient insertion opening through the second mechanical arm, so that the bronchoscope tube is prevented from shaking. The number of medical staff in a single operation is reduced, the working hour consumption of medical staff in a single bronchoscope operation is reduced by at least half, the efficiency of the bronchoscope operation is greatly improved, the current situation that a hospital is full of patients and is queued for examination is reduced, and particularly the current situation that medical resources in small and medium cities are insufficient is reduced. In addition, bronchoscopic surgery is very popular at present, and when many diseases need to be diagnosed and treated by the bronchoscopic surgery, the surgical robot provided by the invention can be widely used, so that the bronchoscopic surgery is more popular and more patients can be benefited. Particularly, the surgical robot provided by the invention controls the direction of a far-end mirror surface on a mirror machine clamp through a stepping motor, performs insertion, extraction, shaking and other actions on a guide-in pipe through a linear motor, and can operate a bronchoscope through a remote controller or manually, so that the safety in the surgical process is ensured, the harm of a doctor caused by X-ray radiation is reduced, the structure and the size of a mechanical arm are simplified as much as possible, and the surgical robot has stronger specialty and practical value.

Drawings

Fig. 1 is a schematic view of the overall structure of a surgical robot according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a first robot according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a second robot arm according to an embodiment of the present invention;

FIGS. 4a and 4b are schematic structural views of a clamp of a bronchoscope-mounted scope apparatus according to an embodiment of the present invention;

fig. 5 is a schematic view of the surgical robot used in bronchoscopy according to the embodiment of the present invention.

In the figure:

1-a first robot arm, 11-a first horizontal swivel arm, 12-a pitch arm, 13-a ball joint arm, 111-a first locking mechanism, 131-a first ball joint arm, 132-a second ball joint arm, 133-a third ball joint arm, 14-a first swivel joint, 15-a pitch joint, 16-a ball joint, 161-a first ball joint, 162-a second ball joint, 163-a third ball joint, 17-a socket, 18-a scope clamp, 2-a second robot arm, 21-a link arm, 211-a second horizontal swivel arm, 212-a third horizontal swivel arm, 213-a fourth horizontal swivel arm, 22-a positioning clamp, 23-a swivel joint, 231-a second swivel joint, 232-a third swivel joint, 233-a fourth swivel joint, 3-a support bar, 31-a first guide rail, 4-a screw rod, 41-a lifting knob, 5-a first slide block, 6-a moving platform, 61-a wheel, 7-a bronchoscope, 71-an operation part, 72-an operation tool, 73-a steering regulator, 181-a clamp bottom sleeve, 182-an opening and closing cover plate, 183-a support plate, 184-a second guide rail, 185-a second slide block, 1811-a first groove, 1821-a second locking mechanism, 1851-a first connecting piece, 1852-a second connecting piece, 19-a stepping motor, 20-a linear motor, 201 output shafts, 8-a patient and 9-a sickbed.

Detailed Description

The invention is further described below with reference to the figures and examples.

Referring to fig. 1 and 2, the surgical robot provided by the present invention includes a first robot arm 1, a second robot arm 2, and a support rod 3; the first mechanical arm 1 is used for holding a bronchoscope 7, a first end of the first mechanical arm 1 is connected with the supporting rod 3, a second end of the first mechanical arm 1 is provided with a clamp mounting mechanism, the first mechanical arm 1 comprises a plurality of movably connected connecting arms, and the clamp mounting mechanism can be adjusted to an appointed position and locked; specifically, a first end of the first mechanical arm 1 is sleeved on the rotating shaft at the top end of the supporting rod 3, and a first locking mechanism 111 is arranged at the joint of the first mechanical arm 1 and the supporting rod 3. The first robot arm 1 includes, from a first end to a second end, a first horizontal rotation arm 11, a pitch arm 12, and a plurality of ball joint arms 13 connected in this order. A first rotating joint 14 is vertically arranged at the second end of the first horizontal rotating arm 11, a pitching joint 15 is arranged at the first end of the pitching arm 12, the pitching joint 15 is connected with the first rotating joint 14, and the second end of the pitching arm 12 is connected with the spherical joint arm 13 through a spherical joint 16. In an embodiment, the number of the ball joint arms 13 is three, and the first ball joint arm 131, the second ball joint arm 132 and the third ball joint arm 133 are respectively provided, a first end of the first ball joint arm 131 is connected to the second end of the tilt arm 12 through a first ball joint 161, a second end of the first ball joint arm 131 is connected to the first end of the second ball joint arm 132 through a second ball joint 162, a second end of the second ball joint arm 132 is connected to the first end of the third ball joint arm 133 through a third ball joint 163, and a clamp mounting mechanism is provided at the second end of the third ball joint arm 133, and the type and number of the connecting arms can be flexibly designed according to circumstances, so long as the position of the end can be adjusted, which is not particularly limited by the present invention. In one embodiment, the clamp mounting mechanism is a socket 17 with an upward opening, further, the back of the mirror clamp 18 is provided with a socket structure matching with the socket 17, the mirror clamp 18 is mounted on the socket 17 and controlled by the first robot arm 1, and the mirror clamp 18 is used for fixing the operation part 71 of the bronchoscope 7. Preferably, the first horizontal rotating Arm 11 adopts a SCARA configuration (Selective Compliance Assembly Robot Arm), and the first horizontal rotating Arm 11 can be positioned in a large space, and after reaching a designated position, the first horizontal rotating Arm is locked by a manual lock or an electromagnetic band-type brake; the tail end of the first mechanical arm 1 adopts three continuous ball joints 16, each ball joint 16 adopts pneumatic locking and reverse braking locking, when a doctor needs to adjust the position of the bronchoscope 7, the joint of the first mechanical arm 1 is released for adjustment after a button is remotely controlled by a remote controller or manually pressed, and the button is released for locking after the position reaches a designated position.

Referring to fig. 3, a first end of the second mechanical arm 2 is connected to the support rod 3, a second end of the second mechanical arm 2 is provided with a positioning fixture 22, the second mechanical arm 2 includes a plurality of connecting arms 21 movably connected by rotating joints 22, and the positioning fixture 22 can be adjusted to a designated position and locked. In an embodiment, the second mechanical arm 2 includes a second horizontal rotation arm 211, a third horizontal rotation arm 212 and a fourth horizontal rotation arm 213, which are connected in sequence, a first end of the second horizontal rotation arm 211 is connected to the first slider 5 through a second rotation joint 231, a second end of the second horizontal rotation arm 211 is connected to a first end of the third horizontal rotation arm 212 through a third rotation joint 232, a second end of the third horizontal rotation arm 212 is connected to a first end of the fourth horizontal rotation arm 213 through a fourth rotation joint 233, and a second end of the fourth horizontal rotation arm 213 is provided with the positioning fixture 22. The second robot arm 2 is a manual grasping device, has a main function of grasping and fixing a pipeline such as a catheter or a probe wire during an examination, has four degrees of freedom, and can be manually adjusted during use. The second mechanical arm 2 is controlled manually, and the position of the positioning clamp 22 is adjusted by a doctor and is locked and fixed. The type and number of the connecting arms of the second mechanical arm 2 can be flexibly designed according to specific situations, as long as the positioning clamp 22 can be adjusted to a specified position, and the invention is not particularly limited thereto.

Referring to fig. 1 and 5, a first guide rail 31 is vertically arranged on the support rod 3, a first slider 5 is arranged at a first end of the second mechanical arm 2, a sliding groove 51 is arranged at a first end of the first slider 5, the sliding groove 51 is clamped on the first guide rail 31, an inner hole matched with the screw rod 4 is arranged in the middle of the first slider 5, a thread matched with the screw rod 4 is arranged on a hole wall of the inner hole, the screw rod 4 penetrates through the inner hole to be in threaded connection with the first slider 5, a lifting knob 41 is arranged at one end of the screw rod 4, and the rotating lifting knob 41 drives the screw rod 4 to rotate so as to drive the first slider 5 to move in the vertical direction along the first guide rail 31, so that the height of the second mechanical arm 2 in the vertical direction. The bottom of bracing piece 3 is provided with moving platform 6, and 3 fixed connection of bracing piece are on moving platform 6, and moving platform 6's bottom is provided with wheel 61, makes things convenient for operation robot moving as a whole.

Referring to fig. 4a and 4b, the bronchoscope 7 includes an operation portion 71 located outside the body and a catheter (not shown) extending into the body, a bending portion and a tip portion are sequentially disposed at a distal end of the catheter, a steering adjuster 73 is disposed on the operation portion 71, the steering adjuster 73 controls a direction of the tip portion by controlling a bending degree of the bending portion, in one embodiment, the scope clamp 18 includes a clamp base 181 and an open-close cover 182, the clamp base 181 has a first recess 1811, the first recess 1811 is shaped to match the operating portion 71 of the bronchoscope 7, an operation part 71 for fixing the bronchoscope 7, one side of an open-close type cover plate 182 is rotationally connected with a clamp bottom sleeve 181 through a rotating shaft, in the closed state, the bottom surface of the open-close type cover plate 182 is pressed on the clamp bottom sleeve 181, and the open-close type cover plate 182 can be opened or closed around the rotating shaft to place or take out the operation part 71 of the bronchoscope 7; the top surface of the open-close type cover plate 182 is provided with a stepping motor 19, an operation part 71 of the bronchoscope 7 is placed in the first groove 1811, a steering regulator 73 on the operation part 71 is connected with the stepping motor 19, and the steering regulator 73 is controlled by the stepping motor 19 so as to control the direction of the catheter of the bronchoscope 7 inserted into the tip part in the human body. Preferably, a second locking mechanism 1821 is arranged between the other side of the opening and closing type cover plate 182 and the clamp bottom sleeve 181, the opening and closing type cover plate 182 is fixed to the clamp bottom sleeve 181 after being closed, the operation portion 71 of the rear bronchoscope 7 which is opened by carelessness by the opening and closing type cover plate 182 is prevented from falling out of the first groove 1811, the second locking mechanism 1821 can be in a locking mode such as electromagnetic adsorption, buckling, bolts and pins, electromagnetic adsorption is preferred, the opening and closing type cover plate 182 can be self-locked after being closed, and the opening and closing type cover plate can be quickly unlocked when being opened. One side of the first concave 1811 extends to form a supporting plate 183, a second concave 1831 is formed on the supporting plate 183, the second concave 1831 is used for supporting and fixing the operation tool 72, and the operation tool 72 can be a biopsy tool such as a biopsy forceps. Further, a linear motor 20 is arranged on one side of the supporting plate 183, the linear motor 20 has an output shaft 201, a second guide rail 184 is arranged on the other side of the supporting plate 183, a second sliding block 185 is arranged on the second guide rail 184, a first connecting piece 1851 and a second connecting piece 1852 are arranged on the second sliding block 185, the output shaft 201 of the linear motor 20 penetrates through the supporting plate 183 and then is fixedly connected with the first connecting piece 1851, the operating tool 72 is clamped on the second connecting piece 1852, and during operation, the linear motor 20 drives the second sliding block 185 to linearly move along the second guide rail 184, so as to drive the operating tool 72 to move, and the depth of the operating tool 72 entering the body is controlled to obtain a pathological sample.

The bronchoscope 7 is fixed at the tail end of the first mechanical arm 1 of the surgical robot by adopting the scope clamp 18, and the rotation angle of the steering regulator 73 is controlled to control the direction of the far-end mirror surface, the position of the fixed guide pipe 72, the insertion and the shake of the guide pipe 72 and the like. In order to facilitate switching between doctor operation and robot auxiliary operation, the bronchoscope 7 is convenient and fast as much as possible when the bronchoscope clamp 18 is installed and taken down, a clamp bottom sleeve 181 is adopted for coarse positioning and fixing, and an opening-closing cover plate 182 is used for secondary fixing and locking. The steering regulator 73 of the bronchoscope 7 is naturally guided into the first recess 1811 of the scope clamp 18, the rotation angle is controlled by the stepping motor 19, and the doctor can control the direction of the distal end of the catheter of the bronchoscope 7 manually or by remote controller operation. The operation tool 72 is manually clamped on the second sliding block 185, the second sliding block 185 is remotely controlled by the linear motor 20 through the second guide rail 184, so that the actions of plugging and pulling out, shaking and the like can be realized, and the pathological sample can be obtained by matching with the actions of clamping, pulling out and the like of a doctor in the operation process.

Referring to fig. 5, the operation process of the surgical robot provided by the present invention is as follows: before examination, the doctor can adjust the second robot arm 2 to a proper position by adjusting the lifting knob 41 to rotate the lead screw 4 so that the positioning jig 22 is positioned above the insertion opening of the patient 8, and then fix the connecting arms 21 of the second robot arms 2 by the locking knobs. Then, fixing the bronchoscope 7 at the tail end of the first mechanical arm 1 through a scope clamp 18, then roughly adjusting the position of the first mechanical arm 1 through the first horizontal rotating arm 11, positioning the first horizontal rotating arm 11 in a large-scale space, and locking the first locking mechanism 111 after reaching a designated position; when a doctor needs to adjust the position of the bronchoscope 7, the joint of the first mechanical arm 1 is released and the pitching arm 12 and the spherical joint arm 13 are adjusted after the remote controller is adopted for remote control or the button is manually pressed, and the button is released for locking after the bronchoscope 7 reaches the designated position. The endoscope tube is fixed in the positioning clamp 22, the doctor can manually or by adopting a remote controller to operate and control the stepping motor 19 to control the direction of the distal tip part of the bronchoscope 7, and the doctor can manually or by adopting the remote controller to operate and control the linear motor 20 to realize the depth of the control tool 72 entering the body, and the doctor is matched with the actions of clamping, pulling and the like in the operation process to obtain a pathological sample.

Therefore, the surgical robot provided by the invention has at least the following advantages:

firstly, the surgical robot provided by the invention can design a passive mechanical arm which saves space, is convenient for a doctor to operate and can ensure the safety of a surgical process, and parameters of the mechanical arm are optimized through flexible operation space analysis of the mechanical arm;

secondly, the surgical robot provided by the invention is provided with a clamp suitable for a specific bronchoscope, the bronchoscope can be conveniently installed and taken down, manual operation of a doctor and auxiliary operation of a mechanical arm can be conveniently switched, and fine adjustment in the surgical process can be realized through remote control operation;

thirdly, the passive mechanical arm is actively adapted to the dynamic process through controlling the damping of the joint under different joint postures, so that the flexible operation can be realized, and the safety in the operation process is ensured;

fourthly, a high real-time teleoperation control system suitable for an operation site can be arranged, and efficient operation in the operation process is guaranteed.

Although the present invention has been described with respect to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A surgical robot is characterized by comprising a supporting rod, a first mechanical arm and a second mechanical arm; the first end of the first mechanical arm is connected with the supporting rod, the second end of the first mechanical arm is provided with a clamp mounting mechanism, the first mechanical arm comprises a plurality of movably connected connecting arms, and the clamp mounting mechanism can be adjusted to a specified position and locked; the first end of second arm with the bracing piece is connected, the second end of second arm is provided with positioning fixture, the second arm includes a plurality of swing joint's linking arm, and is adjustable positioning fixture arrives assigned position and locking.

2. The surgical robot according to claim 1, comprising a screw rod, wherein the support rod is provided with a first guide rail in a vertical direction, the first end of the second mechanical arm is provided with a first sliding block, the first end of the first sliding block is provided with a sliding groove, the sliding groove is clamped on the first guide rail, an inner hole is arranged in the middle of the first sliding block, the inner hole is provided with a thread matched with the screw rod, and the screw rod passes through the inner hole and is in threaded connection with the first sliding block.

3. A surgical robot as claimed in claim 1, wherein the first robot arm comprises, in series from a first end to a second end, a first horizontal swivel arm, a pitch arm and a plurality of ball joint arms.

4. The surgical robot as claimed in claim 3, wherein the first end of the first horizontal rotating arm is sleeved on the rotating shaft at the top end of the supporting rod, and a first locking mechanism is disposed at a joint of the first horizontal rotating arm and the supporting rod.

5. A surgical robot as claimed in claim 3, wherein the second end of the first horizontal rotating arm is vertically provided with a first rotating joint, the first end of the pitch arm is provided with a pitch joint, the pitch joint is connected with the rotating joint, and the second end of the pitch arm is connected with the ball joint arm through a ball joint.

6. A surgical robot as claimed in claim 5, wherein the number of said ball joint arms is three, being a first ball joint arm, a second ball joint arm and a third ball joint arm, respectively, the first end of the first ball joint arm being connected to the second end of the pitch arm by a first ball joint, the second end of the first ball joint arm being connected to the first end of the second ball joint arm by a second ball joint, the second end of the second ball joint arm being connected to the first end of the third ball joint arm by a third ball joint, the second end of the third ball joint arm being provided with a clamp mounting mechanism.

7. A surgical robot as claimed in claim 6, wherein the clamp mounting mechanism has a socket with an upwardly facing opening.

8. A surgical robot as claimed in claim 7, wherein a scope clamp is attached to the clamp mounting mechanism for securing a bronchoscope.

9. The surgical robot as claimed in claim 8, wherein the scope clamp includes a clamp bottom cover and an open-close type cover plate, the clamp bottom cover has a first groove, the shape of the first groove matches with the operating portion of the bronchoscope for fixing the bronchoscope, one side of the open-close type cover plate is rotatably connected with the clamp bottom cover, the bottom surface of the open-close type cover plate is pressed on the clamp bottom cover, the top surface of the open-close type cover plate is provided with a stepping motor, and the stepping motor is used for controlling the bronchoscope.

10. A surgical robot as claimed in claim 9, wherein a second locking mechanism is provided between the other side of the open-close cover plate and the clamp shoe.

11. A surgical robot as claimed in claim 10, wherein a support plate is formed by extending one side of the first recess, and a second recess is formed on the support plate for supporting an introduction tube for fixing the bronchoscope.

12. The surgical robot of claim 11, wherein a linear motor is disposed on one side of the supporting plate, the linear motor has an output shaft, a second guide rail is disposed on the other side of the supporting plate, a second sliding block is disposed on the second guide rail, a first connecting member and a second connecting member are disposed on the second sliding block, the output shaft of the linear motor passes through the supporting plate and then is fixedly connected with the first connecting member, and the second connecting member is used for clamping and fixing the catheter of the bronchoscope.

13. The surgical robot according to claim 1, wherein the second mechanical arm comprises a second horizontal rotating arm, a third horizontal rotating arm and a fourth horizontal rotating arm, the second horizontal rotating arm, the third horizontal rotating arm and the fourth horizontal rotating arm are sequentially connected, a first end of the second horizontal rotating arm is connected with the lifting slider through a second rotating joint, a second end of the second horizontal rotating arm is connected with a first end of the third horizontal rotating arm through a third rotating joint, a second end of the third horizontal rotating arm is connected with a first end of the fourth horizontal rotating arm through a fourth rotating joint, and the second end of the fourth horizontal rotating arm is provided with the positioning clamp.

14. A surgical robot as claimed in claim 1, wherein a moving platform is provided at the bottom of the support bar, the moving platform is disposed perpendicular to the support bar, and wheels are provided at the bottom of the moving platform.