CN213722387U - Laparoscopic surgery robot driven by cross beam - Google Patents

Abstract

The utility model provides a laparoscopic surgery robot driven by a beam, which comprises a beam, universal joints, a joint shell and a driving assembly. The cross beam comprises an X-axis cross beam and a Y-axis cross beam, the X-axis cross beam is transversely arranged and connected with the support frame, and the Y-axis cross beam is vertically connected with the X-axis cross beam and crossed with the X-axis cross beam; the beam is provided with a driving component; the joint shell is connected with the cross beam or the driving assembly, and the universal joint is installed in the joint shell. When the external universal joint deflects, the internal laparoscope instrument can be driven to deflect in a reverse lever mode. The utility model discloses utilize universal joint's three-dimensional rotation ability to simplify surgical robot's structure, promoted surgical robot's portability and operability.

Description

Laparoscopic surgery robot driven by cross beam

Technical Field

The utility model relates to a surgical robot system, in particular to a laparoscopic surgical robot driven by a beam.

Background

With advances in technology, more and more minimally invasive surgical procedures are beginning to become widespread. The minimally invasive surgery has the advantages of small wound, easy recovery of patients and the like, and is more and more widely applied along with the development of medical endoscope technology. However, the minimally invasive surgery has a narrow observation field and an inflexible operation area, so that the difficulty of the minimally invasive surgery is much higher than that of a common surgery. Perfect cooperation between a doctor and a mirror holder is required to achieve the desired effect of a single operation. The tacit between the two needs to be formed by long-term cooperation of the main doctor and the endoscope holding operator, and a plurality of unstable factors exist in the tacit between the two. In the minimally invasive surgery, an endoscope enters a body through a small incision fixed on the body surface to complete the surgery, and the endoscope is required to do fixed-point motion at the incision in view of the restriction of the body surface incision and the surgery safety of a patient.

The existing DaVinci robot is the minimally invasive robot which is most successful in commercialization and clinical practice in the world, an open-loop parallelogram telecentric positioning mechanism adopted by the robot is used for realizing a parallelogram mechanism by means of steel belt synchronous constraint, and the mechanism has the defect that a telecentric positioning point needs to be searched by means of a device during assembly. The passive arm is integrated by a mechanical arm based on a mobile platform, and the mode has the defects that the whole mechanical system is large in size, the passive arm is required to have four degrees of freedom for preoperative adjustment, so that the cantilever beam is long, and the overall rigidity of the robot is reduced. Meanwhile, the driving of most of the existing surgical instrument devices is directly driven by a motor, so that the driving motor is often arranged on the upper portion of the platform, the head and feet are light, the driving moment of the joint is increased, the mechanical arm system is easy to vibrate, most of endoscope driving devices adopt a nut-screw transmission mode, the mode is inconvenient for manual preoperative adjustment, the vertical moving device adopts a mode that the motor drives the nut screw to move up and down, and the whole volume is large. Therefore, the research and development of a novel minimally invasive robot mechanical arm system has important significance for the development of the field of minimally invasive robots in China.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects existing in the prior art, the utility model provides a surgical robot with universal joints and a control device thereof.

The technical scheme is as follows: in order to solve the technical problem, the laparoscopic surgery robot driven by the cross beam comprises the cross beam, a universal joint, a joint shell and a driving assembly. The cross beam comprises an X-axis cross beam and a Y-axis cross beam, the X-axis cross beam is transversely arranged and connected with the support frame, and the Y-axis cross beam is vertically connected with the X-axis cross beam and crossed with the X-axis cross beam; the beam is provided with a driving component; the joint shell is connected with the cross beam or the driving assembly, and the universal joint is installed in the joint shell. When the external universal joint deflects, the internal laparoscope instrument can be driven to deflect in a reverse lever mode. The utility model discloses utilize universal joint's three-dimensional rotation ability to simplify surgical robot's structure, promoted surgical robot's portability and operability.

Specifically, the beam is provided with a linear guide rail and a sliding block matched with the linear guide rail, the sliding block is connected with a driving assembly, and the driving assembly is used for driving the linear guide rail and the sliding block to move mutually. Preferably, the linear guide and the slide block are provided with a lubricating coating.

Preferably, the cross beam is provided with a rack parallel to the linear guide rail, and the driving assembly is provided with a gear meshed with the rack.

Preferably, the cross beam is provided with a friction strip parallel to the linear guide rail, and the driving assembly is provided with a roller which is in close contact with the friction strip.

Specifically, a first driving assembly is arranged on the X-axis beam, a second driving assembly is arranged on the Y-axis beam, and the first driving assembly and the second driving assembly are fixedly connected with each other.

Specifically, a first driving assembly is arranged on the X-axis beam, a second driving assembly is arranged on the Y-axis beam, and the X-axis beam and the Y-axis beam are fixedly connected with each other.

In particular, the universal joint is a ball-and-socket joint comprising a ball and a joint seat.

Specifically, the universal joint comprises an inner ring and an outer ring, the inner ring is hung on the outer ring, and the outer ring is hung on the joint shell; the rotating shafts of the inner ring and the outer ring are mutually vertical, and the included angle of the shaft axis is 90 degrees.

In particular, the universal joint has a passage tube in the center for passing a surgical instrument.

Specifically, the driving assembly comprises a driving piece and a driving motor, and the driving piece and the driving motor are directly connected or connected through a transmission device.

In particular, a remote control device is also included. Preferably a wireless remote control. The universal joint is also provided with a battery which can mutually receive and send control signals with the control console.

The operator remotely controls the surgical robot with the universal joint through the control device to execute actions such as left and right, pitching, rotating or advancing. The following modes can be adopted: 1. the operation assistant controls the operation robot with universal joint to move under the operation table through the remote control device. 2. The doctor is on the operating table and controls the operating table by hand through the remote control rod on the hand-held instrument. 3. The doctor of the main knife is on the operating table and controls the doctor by a remote control rod on the mask.

Has the advantages that:

1. is simple and portable. A single ball and socket joint replaces a complex robotic arm. Each ball joint can be packaged and transported independently, and the ball joint is small in size, light in weight, convenient to carry and assemble. Can also be applied to field rescue and aerospace.

2. Is convenient for batch production. After being damaged, the novel component can be replaced at any time, and the disposable consumable can be used.

3. Reducing the configuration of the operating personnel. The system can enable a doctor to freely control other mechanical arms by lips, tongues and feet when the doctor operates with two hands, which is equivalent to more hands, reduces one doctor holding the endoscope or an assistant doctor, and can also avoid obstacles generated when the two people communicate.

4. Simple structure, installation, debugging are simple. The control method has the advantages of few components needing to be controlled, simple system, few faults and easy maintenance. Good economical efficiency and reduces the economic burden of patients.

In addition to the technical problems addressed by the present invention, the technical features that constitute the technical solutions, and the advantages brought by the technical features of these technical solutions. To make the objects, technical solutions and advantages of the present invention clearer, the drawings in the embodiments of the present invention will be combined below to make clearer and more complete descriptions of other technical problems, technical solutions and advantages brought by these technical features that the present invention can solve, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Drawings

FIG. 1 is a schematic view of a laparoscopic surgical robot with a ball and socket joint according to a first embodiment;

FIG. 2 is a schematic structural diagram of a driving assembly according to a first embodiment;

FIG. 3 is a schematic view of the puncture channel tube in the abdominal cavity according to the first embodiment;

FIG. 4 is a schematic view of the puncture channel tube after deflection in the abdominal cavity according to one embodiment;

FIG. 5 is a schematic view of deflection in the first embodiment;

FIG. 6 is a schematic structural view of a double-ring universal joint according to a second embodiment;

FIG. 7 is a schematic structural view of a surgical robot with an L-shaped cross beam in the third embodiment;

fig. 8 is a schematic structural diagram of a fixed connection between a first driving assembly and a second driving assembly in the fourth embodiment.

Wherein, 1-ball joint, 2-double ring universal joint, 3-joint supporting device, 4-laparoscope, 5-driving component and 8-human abdominal wall;

11-spherical part, 12-spherical part through hole, 13-joint shell, 14-outer ring rotating shaft, 15-inner ring rotating shaft, 16-outer ring, 17-inner ring and 18-joint shell through hole;

31-a movable frame, 32-a spring, 33-a support rod, 34-a support frame, 35-an X-axis beam, 36-a Y-axis beam, 37-a connecting rod, 38-a slide rail and 39-a slide block;

41-skin layer, 42-muscle layer, 43-puncture point, 44-puncture channel tube;

51-driving piece, 52-driving motor, 53-transmission device, 54-driving piece fixing frame, 55-first driving component and 56-second driving component.

Detailed Description

Example one

This embodiment is used for laparoscopic surgery, the utility model discloses a laparoscopic surgery robot by crossbeam driven is used as holding mirror arm, replaces a surgical assistant. As shown in fig. 1, the cross beams include an X-axis cross beam 35 and a Y-axis cross beam 36, the X-axis cross beam 35 is parallel to the long axis of the patient body, the X-axis cross beam 35 is connected with a support rod 33, and the support rod is fixed on a support frame 34. The Y-axis beam 36 is vertically connected to the X-axis beam 35 and crosses the X-axis beam 35; the beam is provided with a driving component 5; the ball joint 1 is connected to a Y-axis beam 36, and the ball 11 is mounted in the ball joint 1.

The cross beam is provided with a linear guide rail 38 and a sliding block 39 matched with the linear guide rail 38, the sliding block 39 is connected with a driving assembly 5, and the driving assembly 5 is used for driving the linear guide rail 38 and the sliding block 39 to move mutually. The linear guide 38 and the slide 39 are provided with a lubricating coating. The driving motor 52 is in transmission connection with the three driving members 51 through a transmission device 53, and the sliding block 39 can be divided into two parts to wrap the driving members 51 and the cross beam. The cross beam is provided with a friction strip parallel to the linear guide rail 38, and the driving piece 51 is a roller which can drive the linear guide rail 38 to move in the sliding block 39 after being tightly contacted with the friction strip.

The joint shell 13 is formed by involution of two symmetrical parts, and after involution, the spherical piece 11 is clamped in the joint shell 13 to form the ball-and-socket joint 1. The ball 11 has a through hole in the centre through which the piercing passage tube 44 passes and enters the abdominal cavity. The puncture channel tube 44 is bound by the human abdominal wall 8, and mainly has a skin layer 41 and a muscle layer 42 for mechanical support, and other tissues are too weak to support. The surgeon may strengthen the restraining force on the puncture channel tube 44 by suturing the skin or muscle at the puncture site 43.

A first drive assembly 55 is provided on the X-axis beam 35 and a second drive assembly 56 is provided on the Y-axis beam 36. One end of the X-axis beam 35 is fixedly connected with the second driving assembly 56 through the connecting rod 37. The first drive assembly 55 is fixedly connected to the support bar 33 and drives the X-axis beam 35, the Y-axis beam 36, and the second drive assembly 56 to move together in parallel along the long axis of the patient. The Y-axis beam movement drives the ball-and-socket joint 1 to move downwards on the surface of the human abdominal wall 8, and the ball-and-socket joint 1 drives one end of the puncture channel tube 44 to move downwards. Since one end of the puncture channel tube 44 is tied to the puncture point 43, the puncture channel tube 44 is deflected, and the laparoscope 4 inside the body is deflected upward around the puncture point 43.

As shown in FIGS. 3 and 4, the second drive assembly 56 drives the Y-axis beam 36 and the ball-and-socket joint 1 in parallel along the patient's transverse axis, and the ball-and-socket joint 1 moves one end of the puncture channel tube 44 leftward. Since one end of the puncture channel tube 44 is tied to the puncture point 43, the puncture channel tube 44 is deflected, which causes the laparoscope 4 to be deflected to the right about the puncture point 43.

As shown in FIG. 5, in a non-limiting embodiment, the center point of the rotation of the imaginary laparoscope 4 can be preset at a specific position O of the puncture channel tube 44, and when the deflection angle of the ball-type member 1 is 0 degree, the center of the ball-type member 1 is located at the center point O' of the movable frame 31. The straight line AO is the axis of the laparoscope 4 in fig. 4. When the ball-shaped element 1 outside the body moves from the point B to the point A, the axis BO of the laparoscope 4 deflects to the point AO by taking the point O as a rotation point, and the deflection in the abdominal cavity is realized.

Because AO and BO form the triangle-shaped, longer than the perpendicular bisector OO ', the little displacement that the puncture channel pipe 44 can produce when AO deflects to OO', because the skin is elastic, and the puncture channel pipe 44 can move about in ball-type piece 11, and the influence is less. In another embodiment, the joint moving frame 31 is a hemisphere structure, the lengths of AO, BO and OO' are the same or slightly different, and the displacement generated by the AO deflecting to BO is 0 or very small, so that the influence can be further reduced.

Surgical robots with universal joints may need to meet conflicting needs. That is, when the gimbaled surgical robot is actuated, it must be placed close to the patient while allowing medical personnel and the like to access the patient without hindrance, and when actuated, the gimbaled surgical robot must be over the patient's body while ensuring sterility so as to eliminate the risk of infection to the patient. In addition, the gimbaled surgical robot must provide a sufficient level of strength, accuracy, and flexibility for motion while providing small, slim-sized, and lightweight features, and must be mounted in a stable manner while being able to move freely and occupying a small area. Furthermore, a gimbaled surgical robot must provide freedom to the patient and medical personnel in preparation for surgery.

This embodiment provides a desirable set of characteristics for a gimbaled surgical robot such as that described above. Unlike the conventional universal joint surgical robot in which each robot arm is coupled to the main body, so that the robot is large in size, low in mobility, and complicated in movement, the universal joint surgical robot of the present embodiment is fixed by the joint support device 3 closely contacting with the patient, the length of the laparoscope above the universal joint surgical robot can be limited to 50cm, and more than 1 support rod 33 and the laparoscopic surgical robot connected thereto can be connected to the support frame 34. The support bracket 34 can also adjust the height of the support bar 33 up and down. There are rollers under the support frame 34 to realize free movement of the surgical robot with universal joint and small occupied area.

Various instruments required for the operation, such as a laparoscopic camera, a holder, a suction tube, an actuator, etc., may be installed in the installation manner of the laparoscope 4 in the present embodiment. The driving assembly is powered by a wire, a wireless or a battery, and receives a wire or a wireless signal through a remote control device.

Example two

As shown in fig. 6, this embodiment is similar to the first embodiment except that the ball joint 1 is not used, but a double ring joint 2 is used. The surgical robot is provided with a double-ring joint 2 consisting of an inner ring 17, an outer ring 16 and a slide rail 38, wherein the inner ring 17 is hung on the outer ring 16, and the outer ring 16 is hung on the slide rail 38; the inner ring rotating shaft 14 is perpendicular to the outer ring rotating shaft 14, and the included angle of the shaft axes is 90 degrees. The inner ring 17 is tightly wound around the puncture tube 44 and may be integrated therewith. A fine adjustment driving component is mounted on the slide rail 38 to drive the surgical robot to perform finer movements. The fine adjustment driving component is fixedly connected with one end of the Y-axis beam. The other structure is the same as the first embodiment.

EXAMPLE III

The embodiment is an improvement on the first embodiment, and the improvement is that an electric support rod of a drag hook is arranged at the front end of the ball joint 1 instead of the laparoscope 4. The electric support rod comprises a screw rod, a screw rod outer tube, a spring, an inner sleeve and an outer sleeve, wherein each sleeve is fixedly connected with one end of the screw rod or one end of the screw rod outer tube, the spring is sleeved outside the screw rod and the screw rod outer tube, the two ends of the spring are fixed at the end parts of the two sleeves respectively, the screw rod is matched with the screw rod outer tube, the screw rod rotates in a cavity of the screw rod outer tube and does linear reciprocating motion, one end of the two sleeves is sleeved, and the screw rod does linear reciprocating motion to drive the inner sleeve to slide in the outer sleeve. The outer sleeve penetrates into the ball socket joint 1 and can drive the front end draw hook to move forwards and backwards while being driven to move. The other structure is the same as the first embodiment.

Example four

As shown in fig. 7, this embodiment is similar to the first embodiment except that the X-axis beam 35 and the Y-axis beam 36 are fused to each other to form an "L" shaped beam. The first drive assembly 55 and the second drive assembly 56 cannot pass through the beam corners and can only operate on the X-axis beam 35 and the Y-axis beam 36, respectively.

EXAMPLE five

As shown in fig. 8, the present embodiment is similar to the first embodiment except that the first driving assembly 55 and the second driving assembly 56 are fixedly connected to each other. A first drive assembly 55 runs on the X-axis beam 35 and a second drive assembly 56 drives the Y-axis beam 36 to run.

EXAMPLE six

The operation table control device is connected with the operation table, the robot control device is used for controlling the operation of the surgical robot with the universal joint, and the operation table control device is connected with the robot control device. When the universal joint type operation robot is used, the operation robot with the universal joint is controlled by the operation table, the instruction of the operation table is given by the operation table control device and reaches the slave-end robot control device through RTC instant messaging, and the robot control device receives the instruction and then transmits the instruction to the operation robot with the universal joint to perform corresponding action. The state of the surgical robot with the universal joint is collected to the robot control device, the robot control device arrives at the console control device through RTC communication, and meanwhile, the state information of the console control device and the state information of the surgical robot with the universal joint are collected, processed and arrived at the console and fed back to a worker.

The operating platform control device is provided with a monitoring device for monitoring whether the working personnel are in place or not and a display for displaying the state information of the operating platform and the robot. When the monitoring device monitors abnormal states, the monitoring device can brake or cut off the power according to monitoring results so as to ensure safe operation of the operation. Preferably, the monitoring device comprises a 3D motion sensing camera (Kinect) and a foot switch, when the 3D motion sensing camera monitors that a worker is in place, partial functional operations of the surgical robot with the universal joint can be performed, and when the worker steps on the foot switch, the surgical robot with the universal joint can start to operate; when the staff is not in place, and the foot switch is not stepped on, the surgical robot with the universal joint brakes to avoid the movement of the surgical robot with the universal joint caused by the operation of an operation interface caused by abnormal factors.

The robot control device is provided with a sensing assembly 6 for recording the laparoscope 4, and the sensing assembly 6 can record the displacement of the laparoscope 4, so as to record the motion track of the laparoscope 4. Whether the motion path of the laparoscope 4 meets the surgical requirements or not can be automatically judged through the information recorded by the sensing assembly 6, and when a plurality of surgical robots with universal joints are arranged, whether the motion path of each surgical instrument interferes or not can be monitored, so that a new motion path is re-planned, and the motion safety of the surgical instruments is ensured.

The robot control device is also provided with a motor driving device for acquiring motor state information and a motor braking device for reflecting the state of the robot, and when a danger signal is monitored, the motor braking device automatically brakes. The motor driving device can be matched with the encoder, when the encoder monitors that the movement path of the surgical robot with the universal joint is abnormal, the encoder can feed back information to the motor driving device, and the motor driving device drives the motor to start a new working path.

The robot control device is characterized by further comprising a motor communication device, the motor and the motor driving device are monitored in real time, the feedback state between the motor driving device and the surgical robot with the universal joint is monitored, monitoring information is fed back to a worker, and under the condition of failure, the motor communication device can perform brake lamp operation according to the monitoring information, so that normal operation of the surgical robot is guaranteed, or failure information is fed back to the worker, and the worker can rapidly process the failure.

In addition, the operating platform control device is used for a data recording module for recording the parameter information of the surgical robot with the universal joint and/or the parameter information of the operating platform, so that fault information can be conveniently searched. Specifically, the data recording module comprises an operation log and control hand data, for example, in the control hand data, a worker operates a handle, the operation log is transmitted to a surgical robot end with a universal joint through an operation console controller, so that the surgical robot with the universal joint acts, information during the action of the surgical robot with the universal joint is fed back to the operation console controller through an encoder and a motor driving device to form a feedback mechanism, if the operation data is inconsistent with the encoder or the motor data, the system is automatically adjusted, if the operation data is not adjusted, a fault occurs, and data needs to be checked in the control hand data and a fault place needs to be found.

Preferably, the console control device is provided with an emergency stop switch for emergency braking to emergency brake the robot when a failure occurs, thereby reducing loss due to the failure.

In one embodiment of the present application, the robot control device and the console control device are further provided with a first UPS power supply (uninterruptible power supply) and a second UPS power supply, respectively, which monitor voltage and protect circuits. The UPS power supply is used for monitoring the voltage and the stability of a power grid, and the UPS power supply is started under the condition of power failure, so that smooth operation is ensured, and information obtained by monitoring is fed back to workers through the console controller.

The robot control device and the console control device are respectively provided with a first power supply power monitor and a second power supply power monitor for monitoring the circuit state of each part of the control device, the circuit normally works when the voltage and current values of the circuit are within a preset parameter range, and when the voltage and current values exceed the preset parameter, a fault exists, and the robot control device and the console control device immediately brake or cut off the power.

The robot control device and the operating platform control device are respectively provided with a first state indicator light for displaying the working state of the surgical robot with the universal joint and a second state indicator light for displaying the working state of the operating platform. Above-mentioned pilot lamp can present the operating condition of robot end and operation panel most audio-visual for the staff, and the staff is according to the demonstration condition of pilot lamp, through the check error code, and the trouble place can be found out fast. Specifically, the indicator light may be specifically configured with indication conditions such as normal, standby, warning, danger, and the like, so that a worker can monitor the use state of the robot.

The embodiment of the utility model provides a controlling means specifically includes operation panel controlling means and robot controlling means to control operation panel and the state that has universal joint's surgical robot respectively, and operation panel controlling means is connected with robot controlling means, thereby realizes information connection and feedback between the two, makes the staff can operate in order to carry out the operation at operation panel end to the surgical robot that has universal joint. In the operation process, the monitoring device can monitor whether the staff is in place in real time, so as to judge whether to brake, and effectively avoid the operation of the operation robot with universal joints under partial misoperation; the display can display all state information of the operating table and the robot and directly present the state information to workers, so that the workers can quickly and accurately find problems existing in the system, the problems are quickly solved, and the safety of the operation is ensured; in addition, the encoder on the robot control device can record the number of turns of the motor, so that the movement track of the mechanical arm is recorded, whether a problem exists in the movement path can be automatically judged through an information system fed back by the encoder, whether interference occurs when a plurality of surgical robots with universal joints move is judged, more accurate safe work of the surgical robots with the universal joints can be ensured according to feedback information of the surgical robots, and the safety of surgery is improved.

Based on the control device provided by the above embodiment, the embodiment of the utility model also provides a surgical robot, which comprises an operation table, a surgical robot with universal joints, and a control device respectively connected with the operation table and the surgical robot with universal joints; and the control device is any one of the control devices described above. For the structure of the rest of the surgical robot, please refer to the prior art, and the description is omitted here.

Since the surgical robot has the control device, the surgical robot also has high safety in use to some extent.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various changes and modifications may be made by those skilled in the art, and various changes, modifications, equivalents and improvements may be made to the embodiments within the scope of the principles and technical ideas of the present invention, and all shall be included in the protection scope of the present invention.

Claims (9)

1. The utility model provides a laparoscopic surgery robot by crossbeam drive, includes crossbeam, universal joint, joint shell and drive assembly, its characterized in that: the cross beam comprises an X-axis cross beam and a Y-axis cross beam, the X-axis cross beam is transversely arranged and connected with the support frame, and the Y-axis cross beam is vertically connected with the X-axis cross beam and crossed with the X-axis cross beam; the beam is provided with a driving assembly; the joint shell is connected with the cross beam or the driving assembly, and the universal joint is installed in the joint shell.

2. A laparoscopic surgical robot driven by a crossbar according to claim 1, wherein: the beam is provided with a linear guide rail and a sliding block matched with the linear guide rail, the sliding block is connected with a driving assembly, and the driving assembly is used for driving the linear guide rail and the sliding block to move mutually.

3. The laparoscopic surgical robot driven by a traverse according to claim 2, wherein: the cross beam is provided with a rack parallel to the linear guide rail, and the driving assembly is provided with a gear meshed with the rack.

4. The laparoscopic surgical robot driven by a traverse according to claim 2, wherein: the cross beam is provided with a friction strip parallel to the linear guide rail, and the driving assembly is provided with a roller which is in close contact with the friction strip.

5. A laparoscopic surgical robot driven by a crossbar according to claim 1, wherein: a first driving assembly is arranged on the X-axis beam, a second driving assembly is arranged on the Y-axis beam, and the first driving assembly and the second driving assembly are fixedly connected with each other.

6. A laparoscopic surgical robot driven by a crossbar according to claim 1, wherein: and a first driving assembly is arranged on the X-axis beam, a second driving assembly is arranged on the Y-axis beam, and the X-axis beam and the Y-axis beam are fixedly connected with each other.

7. A laparoscopic surgical robot driven by a crossbar according to claim 1, wherein: the universal joint is a ball and socket joint comprising a ball and socket member and a joint seat.

8. A laparoscopic surgical robot driven by a crossbar according to claim 1, wherein: the universal joint comprises an inner ring and an outer ring, the inner ring is hung on the outer ring, and the outer ring is hung on the joint shell; the rotating shafts of the inner ring and the outer ring are mutually vertical, and the included angle of the shaft axis is 90 degrees.

9. A laparoscopic surgical robot driven by a crossbar according to claim 1, wherein: the universal joint is provided with a passage pipe at the center, and the passage pipe is used for passing through a surgical instrument.

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