CN219614013U - Intelligent resectoscope configured on natural channel surgical robot - Google Patents

Abstract

An intelligent electrotome mirror configured in a natural channel surgical robot comprises an electrotome mirror and an end effector which are mutually combined; the electric cutting mirror comprises a rear intelligent electric cutting box and a front semi-operation manipulator. The intelligent resectoscope arranged on the natural channel surgical robot removes the operation part of the surgical manipulator, and the end effector does not need to design a clamping part with complex and heavy structure in order to adapt to the operation part of the surgical manipulator, so that the structure of the end effector is greatly simplified, the weight of the end effector is lightened, and the end effector is lighter and more portable; the intelligent electric cutting box can be made of materials with low cost, so that the intelligent electric cutting box can be used as a disposable consumable, and can be discarded after an operation, disinfection is not needed, and the operation procedure is simplified.

Description

Intelligent resectoscope configured on natural channel surgical robot

Technical Field

The utility model belongs to the field of machinery. In particular to an intelligent resectoscope arranged on a natural channel surgical robot.

Background

In clinical application, the existing endoscope system and handle structure are designed completely according to the operation habit of hands, and are difficult to grasp by a mechanical arm and have poor precision. It is urgently required to design an intelligent electric cutting mirror convenient for the mechanical arm to grasp.

Robotic-assisted minimally invasive surgery has evolved from the nineties of the last century. A variety of surgical robotic systems have been successfully used clinically, which has attracted considerable attention from the medical and scientific world. Surgical robot systems have fused a number of emerging disciplines, enabling minimally invasive, intelligent and digital surgical procedures, and in recent years, surgical robots have been widely used worldwide, with surgical categories covering urology, obstetrics, cardiac surgery, thoracic surgery, hepatobiliary surgery, gastrointestinal surgery, otorhinolaryngology, and the like. Surgical robots generally consist mainly of three parts: 1. a surgical control system; 2. a three-dimensional imaging video image platform; 3. and (5) a mechanical arm. The operator obtains relevant information of the operation part of the patient through the three-dimensional imaging video image platform, then outputs an operation instruction through the control system, and finally the mechanical arm performs operation. However, in general, the manipulator arm only provides a large surgical motion, similar to a human arm, and the delicate and specific surgical motion is performed by a surgical actuator (end effector) attached to the distal end of the manipulator arm, i.e., the end effector functions like a human palm and fingers. As previously mentioned, currently available endoscope handle structures do not take into account the grasping of the surgical effector at the distal end of the robotic arm at all, which presents a significant obstacle to automated operation of the endoscope.

Disclosure of Invention

The end effector attached to the distal end of the robotic arm generally includes a clamping portion for fixedly mounting the surgical manipulator and ensuring that the surgical manipulator does not rock during the surgical procedure; the control part communicates with an external operation control device through a cable, and drives the operation operator to finish operation after obtaining an operation instruction. Existing end effectors are generally designed to accommodate existing surgical operators by securing the entire surgical operator to the end effector via a clamp. However, there are problems such as that in order to firmly fix the surgical manipulator to the end effector, it is necessary to provide clamping members having complicated structures, which are large in size and weight, and which are disadvantageous in downsizing and portability of the end effector. As another example, to accommodate the structure of the surgical manipulator, the design of the power and gearing structures in the end effector must be compromised, which reduces the efficiency of the drive and increases the risk of failure.

In view of the above-described deficiencies of existing end effectors, embodiments of the present utility model provide a smart resectoscope configured for a natural-path surgical robot, the smart resectoscope configured for a natural-path surgical robot comprising a combined electro-resectoscope (301) and an end effector (302); the electro-surgical scope (301) includes a rear smart electro-surgical cassette (3011) and a front semi-surgical manipulator.

According to one embodiment of the utility model, for example, the intelligent electrotome box (3011) has a box shape with steps on the whole, and the cross section of the lower part of the intelligent electrotome box is a trapezoid with small upper part and large lower part; the intelligent electric cutting box (3011) comprises a left shell (101), a right shell (102), a flip cover (103), an unlocking button (104), a self-locking column (105), a connecting contact (106), a power input head (107), an endoscope fast interface (108) and an endoscope sheath fast interface (109), wherein the shape and the structure of the left shell are symmetrical.

According to one embodiment of the utility model, for example, the quick endoscope interface (108) has a structure that mates with an endoscope, enabling quick insertion of the endoscope; the connecting contact (106) is arranged at the end part of the intelligent electric cutting box (3011), is connected with a circuit structure in the intelligent electric cutting box (3011), the mirror sheath quick interface (109) is provided with a structure matched with the mirror body (010), the mirror body (010) can be quickly inserted, the power input head (107) can be connected with a power output rotating shaft of the end effector, and the driving force is input into an internal transmission mechanism of the intelligent electric cutting box (3011);

preferably, the unlocking button (104) is connected with the self-locking column (105), the unlocking button (104) is pressed down, and the self-locking column (105) is contracted to be flush with the outer surface of the intelligent electric cutting box (3011).

According to one embodiment of the utility model, for example, the intelligent electric cutting box (3011) further comprises a front fixed plate (110), a rear fixed plate (111), a guide plate (112), a rear vertical plate (113), a rack (114), a worm (115), a worm wheel (116), a gear connecting shaft (117), a front vertical plate (118), a photoelectric sensor (119), a sliding block (120), a guide rod (121), a connecting rod (122) and an indicator lamp (123);

preferably, the guide rod (121) is respectively connected and fixed with the front fixing plate (110) and the rear fixing plate (111), and the sliding block (120) is provided with double holes and penetrates through the guide rod (121) and the side resectoscope body, so that the sliding block (120) can reciprocate back and forth and cannot rotate; the screw hole is arranged below the sliding block (120) and is connected with the connecting rod (122), and the other end of the connecting rod (122) is connected with the rack (114), so that power is transmitted to the sliding block (120).

According to one embodiment of the utility model, for example, an end effector (302) includes a housing (201), an interface (205), a cover (206), a gasket (207), a button (208), a receiving compartment (209), a power output head (202), an effector contact (210), a self-locking aperture (211);

preferably, the end effector (302) is quickly attachable to and detachable from the end of the robot arm via the interface (205).

According to an embodiment of the present utility model, for example, the housing (201) has a cabin-type structure, the upper cover (206) is a flat plate, and is mounted on the housing (201) to form an inner space together with the housing (201) in which the power output related components are mounted;

preferably, a spacer (207) is mounted on the housing (201) for mounting the camera module; the button (208) is arranged on the shell (201) and is connected with a circuit inside the end effector (302) to control the on-off of the related circuit;

preferably, the accommodating bin (209) is arranged at the front end of the end effector (302) and is a cavity with a shape and a size matched with those of the intelligent electric cutting box (3011), the cross section is a trapezoid with a small upper part and a large lower part, and after the intelligent electric cutting box (3011) is inserted into the accommodating bin (209), the trapezoid structure with the small upper part and the large lower part limits the up-and-down movement of the intelligent electric cutting box (3011);

preferably, when holding storehouse (209) side and setting up from lockhole (211), install intelligent electric cutting box (3011), press unlocking button (104), auto-lock post (105) shrink to with intelligent electric cutting box (3011)'s surface parallel and level, then with intelligent electric cutting box (3011) insert hold storehouse (209), to connecting contact (106) and executor contact (210) contact, power input head (107) are connected with power output head (202), loosen unlocking button (104), auto-lock post (105) rebound and insert in from lockhole (211), thereby limited the fore-and-aft motion of intelligent electric cutting box (3011).

According to one embodiment of the utility model, for example, the end effector (302) further comprises a motor (203), a counting substrate (204) mounted in an inner space formed by the upper cover (206) and the housing (201);

preferably, the motor (203) is connected with the power output head (202), after the intelligent electric cutting box (3011) is inserted into the accommodating bin (209), the power output head (202) is inserted into the power input head (107), the power output head (202) rotates to drive the power input head (107) to rotate together, the worm (115) is further driven to rotate, the worm (115) rotates to drive the worm wheel (116) meshed with the worm to rotate, and the worm wheel (116) rotates to further drive the rack (114) to translate;

preferably, the rack (114) is connected with the slider (120) through the connecting rod (122), so that the translation of the rack (114) drives the slider (120) to translate, and finally drives the resectoscope to move.

Drawings

Fig. 1 is a schematic diagram of a prior art end effector adapted for a hand-held manipulator.

Fig. 2 is a schematic view of another angular configuration of a prior art end effector adapted for a hand-held manipulator.

Fig. 3 is a schematic view of a conventional surgical manipulator.

Fig. 4 is a schematic view of an operation portion of a conventional surgical manipulator.

Fig. 5 is a schematic structural view of an intelligent resectoscope configured in a natural-channel surgical robot according to an embodiment of the present utility model.

Fig. 6 is a schematic view of a structure of an intelligent resectoscope configured on a natural-channel surgical robot according to another angle of the present utility model.

Fig. 7 is a schematic view showing the appearance of the intelligent electrotome box 3011 from two angles in the intelligent electrotome mirror of the natural channel surgical robot according to the embodiment of the present utility model.

Fig. 8 is a schematic diagram of the external structure of the intelligent electrotome box 3011 configured in the intelligent electrotome of the natural channel surgical robot according to the embodiment of the utility model.

Fig. 9 is a schematic diagram of an internal structure of an intelligent electrotome box 3011 configured in an intelligent electrotome of a natural-tunnel surgical robot according to an embodiment of the present utility model.

Fig. 10 is a schematic longitudinal section structure of an intelligent electrotome 3011 configured in an intelligent electrotome of a natural-access surgical robot according to an embodiment of the present utility model.

Fig. 11 is an external block diagram of an end effector 302 configured in a smart resectoscope of a natural-channel surgical robot, according to an embodiment of the present utility model.

Fig. 12 is a schematic view of an external structure of an end effector 302 configured in a smart resectoscope of a natural-channel surgical robot from another angle, according to an embodiment of the present utility model.

Fig. 13 is an internal block diagram of an end effector 302 configured in a smart resectoscope of a natural-channel surgical robot, according to an embodiment of the present utility model.

Detailed Description

The present utility model will be further described in detail below with reference to specific embodiments and with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present utility model more apparent. Those skilled in the art will recognize that the present utility model is not limited to the drawings and the following examples.

In the description of the present utility model, it should be noted that, for the azimuth words such as "length", "width", "upper", "lower", "far", "near", etc., the azimuth or positional relationship is based on the azimuth or positional relationship shown in the drawings, only for convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and should not be construed as limiting the specific protection scope of the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not intended to be limiting, but rather are not to be construed as indicating or implying a relative importance or implying any particular order of such features.

Fig. 1 is a schematic diagram of a prior art end effector adapted for a hand-held manipulator. Fig. 2 is a schematic view of another angular configuration of a prior art end effector adapted for a hand-held manipulator. As shown in fig. 1 and 2, the existing end effector is designed completely to adapt to the structure of the hand-held manipulator, the front buckle assembly 01 and the rear buckle assembly 02 are designed to fix the hand-held manipulator, and as can be seen in fig. 1 and 2, the two buckle assemblies have large volume and complex structure, increase the overall weight of the end effector, and also increase the design and production costs. The power structure and the transmission structure of the end effector are also designed completely to adapt to the handheld manipulator, so that the transmission efficiency is reduced and the accuracy is affected.

Fig. 3 is a view of the structure of a conventional surgical manipulator. As shown in fig. 3, the surgical operator includes a mirror body 010, a water inlet 011, a water outlet 012, a front operation handle 013, a rear operation handle 014, a push block 015, and the like. The surgical manipulator is detachable from the part shown by the broken line in fig. 3, and the right half (the operating part) is detached, the shape and structure of which are shown in fig. 4. When a doctor performs an operation by holding the surgical manipulator by hand, the finger passes through the front operation knob 013 and the rear operation knob 014, and the surgical operation of the surgical manipulator (for example, the movement of the electric cutting ring of the electric cutting scope) is controlled by the movement of the finger. The existing end effector is provided with a power component such as a motor, and the power output shaft of the motor is connected with the pushing block 015, so that the electric control of the surgical manipulator is realized. As can be seen from fig. 3, the structure of the surgical manipulator is relatively complex, and the operation part at the right end mainly considers the requirement of the doctor for handheld use, and does not consider the use requirement of the surgical robot. If, as in the prior art, the shape and structural design of the components of the end effector associated with the power output must be compromised in order to accommodate the configuration of the surgical manipulator, the power is transferred from the motor to the surgical site (e.g., the resectoscope) through a number of passes and transfers, and the power is lost during such a process.

The structure of the intelligent resectoscope arranged on the natural channel operation robot is shown in fig. 5. Fig. 6 is a schematic view of a smart resectoscope structure configured for a natural-channel surgical robot, shown from another perspective. As shown in fig. 5 and 6, an intelligent resectoscope configured on a natural channel surgical robot according to an embodiment of the present utility model includes an electric resectoscope 301 and an end effector 302 combined with each other. As shown in fig. 5, the electro-surgical scope 301 includes a rear smart electro-surgical cassette 3011 and a front semi-surgical manipulator. The semi-operation manipulator comprises a mirror body 010, a water inlet 011 and a water outlet 012. That is, the semi-surgical manipulator is the surgical manipulator shown in fig. 3, detached from the portion shown by the broken line in fig. 3, and the left portion of the right half shown in fig. 4 is removed.

Fig. 7, 8, 9, 10 illustrate the internal and external structure of the smart cut box 3011. Wherein fig. 7 is a schematic view of the appearance of the intelligent cut box 3011 shown from two angles. Fig. 8 is a schematic view of the external structure of the smart cut box 3011. Fig. 9 is a schematic diagram of the internal structure of the smart cut box 3011. Fig. 10 is a schematic longitudinal section structure of the intelligent electric cutting box 3011. As shown in fig. 7, the intelligent electric cutting box 3011 has a box shape with steps on the whole, and the cross section of the lower part is a trapezoid with small upper part and large lower part. As shown in fig. 8, the intelligent electric cutting box 3011 comprises a left casing 101, a right casing 102, a flip cover 103, an unlocking button 104, a self-locking column 105, a connecting contact 106, a power input head 107, a quick endoscope interface 108 and a quick endoscope sheath interface 109 which are symmetrical in shape and structure. The quick endoscope interface 108 is configured to mate with an endoscope for quick insertion. The connection contact 106 is disposed at an end of the intelligent electric cutting box 3011, and is connected to a circuit structure inside the intelligent electric cutting box 3011, and when the intelligent electric cutting box 3011 is connected to the end effector 302, the connection contact 106 is connected to an actuator contact on the end effector, so that the circuit is completed. The quick interface 109 of the mirror sheath has a structure matched with the mirror body 010, and can insert the mirror body 010 quickly. The power input head 107 may be connected to a power output shaft of the end effector, and input a driving force to an internal transmission mechanism of the intelligent cut-off box 3011. The unlocking knob 104 is connected with the self-locking post 105, and when the unlocking knob 104 is pressed down, the self-locking post 105 is contracted to be flush with the outer surface of the intelligent electric cutting box 3011.

As shown in fig. 9 and 10, the intelligent electric cutting box 3011 further includes a front fixing plate 110, a rear fixing plate 111, a pressure guiding plate 112, a rear vertical plate 113, a rack 114, a worm 115, a worm wheel 116, a gear connecting shaft 117, a front vertical plate 118, a photoelectric sensor 119, a slider 120, a guide rod 121, a connecting rod 122, and an indicator lamp 123. The guide rod 121 is respectively connected and fixed with the front fixing plate 110 and the rear fixing plate 111, and the sliding block 120 is provided with double holes and penetrates through the guide rod 121 and the side of the resectoscope body, so that the sliding block 120 can reciprocate back and forth and cannot rotate; the screw hole below the slider 120 is connected with the connecting rod 122, and the other end of the connecting rod 122 is connected with the rack 114, so that power is transmitted to the slider 120. The indicator light 123 is used to indicate the status of the intelligent cut box 3011, such as a fault, normal, or other status.

Fig. 11 is an external block diagram of an end effector 302 configured in a smart resectoscope of a natural-channel surgical robot, according to an embodiment of the present utility model. Fig. 12 is a schematic view of an external structure of an end effector 302 configured in a smart resectoscope of a natural-channel surgical robot from another angle, according to an embodiment of the present utility model. As shown in fig. 11, the end effector 302 includes a housing 201, an interface 205, a cover 206, a gasket 207, a button 208, a receiving compartment 209, a power output head 202, an effector contact 210, and a self-locking aperture 211. Through interface 205, end effector 302 may be quickly attached and detached from the end of the robotic arm. The housing 201 has a cabin-type structure in which the upper cover 206 is a flat plate and is mounted on the housing 201 to form an inner space together with the housing 201 in which the power output related components are mounted. A spacer 207 is mounted on the housing 201 for mounting the camera module. The button 208 is mounted on the housing 201 and is connected to circuitry within the end effector 302 to control the on and off of the associated circuitry. The accommodating bin 209 is arranged at the front end of the end effector 302, is a cavity with a shape and a size matched with the intelligent electric cutting box 3011, and has a trapezoid cross section with a small upper part and a large lower part, and the trapezoid structure with the small upper part and the large lower part limits the up-and-down movement of the intelligent electric cutting box 3011 after the intelligent electric cutting box 3011 is inserted into the accommodating bin 209. When the intelligent electric cutting box 3011 is installed by pressing the unlocking button 104, the self-locking column 105 is contracted to be flush with the outer surface of the intelligent electric cutting box 3011, then the intelligent electric cutting box 3011 is inserted into the accommodating bin 209 until the connecting contact 106 is contacted with the actuator contact 210, the power input head 107 is connected with the power output head 202, the unlocking button 104 is loosened, and the self-locking column 105 is rebounded and inserted into the self-locking hole 211, so that the front-back movement of the intelligent electric cutting box 3011 is limited.

Fig. 13 is an internal block diagram of an end effector 302 configured in a smart resectoscope of a natural-channel surgical robot, according to an embodiment of the present utility model. As shown in fig. 13, the end effector 302 further includes a motor 203 and a counting substrate 204 mounted in an inner space formed by the upper cover 206 and the housing 201. The motor 203 is connected to the power output head 202, and when the power is on, the motor 203 rotates to drive the power output head 202 to rotate together. After the intelligent electric cutting box 3011 is inserted into the accommodating bin 209, the power output head 202 is inserted into the power input head 107 (see fig. 8 and 9), the power output head 202 rotates to drive the power input head 107 to rotate together, the worm 115 is further driven to rotate, the worm 115 rotates to drive the worm wheel 116 meshed with the worm to rotate, the worm wheel 116 rotates to further drive the rack 114 to translate, the rack 114 is connected with the sliding block 120 through the connecting rod 122 as shown in fig. 10, and then the sliding block 120 is driven to translate by the translation of the rack 114, and finally the electric cutting mirror is driven to move.

The intelligent resectoscope provided by the embodiment of the utility model, which is configured on the natural channel operation robot, has a plurality of beneficial technical effects, including:

1) The intelligent resectoscope arranged on the natural channel surgical robot removes the operating part of the surgical manipulator, and the end effector does not need to design a clamping part with complex and heavy structure in order to adapt to the operating part of the surgical manipulator, so that the structure of the end effector is greatly simplified, the weight of the end effector is reduced, and the end effector is lighter and more portable.

2) The intelligent electrotome provided by the embodiment of the utility model is configured in the natural channel surgical robot, a brand-new intelligent electrotome box 3011 is designed to replace the operation part of a surgical operator, the power output shaft of the end effector is directly connected with the power input shaft of the intelligent electrotome box 3011, and then the power is transmitted to the electrotome through the transmission mechanism inside the intelligent electrotome box 3011.

3) The intelligent electrotome provided by the embodiment of the utility model is configured in the natural channel surgical robot, a brand-new intelligent electrotome box 3011 is designed to replace the operation part of a surgical operator, the intelligent electrotome box 3011 can be made of materials with low cost (such as plastics), so that the intelligent electrotome box 3011 can be used as a disposable consumable, and the intelligent electrotome box 3011 is discarded after surgery without disinfection, thereby simplifying the surgical procedure.

4) The structural design of the intelligent electric cutting box 3011 is universal, and for different electric cutting mirrors, the intelligent electric cutting box 3011 can be suitable only by changing the fast interface 108 of the mirror and the fast interface 109 of the mirror sheath, so that the universality and the interchangeability are greatly improved, and because passive components (including the rack 114, the worm 115, the worm wheel 116 and other transmission components) are concentrated in the intelligent electric cutting box 3011, the motor 203 is only reserved in the end effector, the intelligent electric cutting box 3011 has low cost, can be used once, and the end effector with high cost can be repeatedly used, so that the consumable cost of the effector is reduced by one order of magnitude, and the surgical cost of a patient is reduced by one order of magnitude.

Claims (10)

1. An intelligent resectoscope arranged on a natural channel surgical robot, which is characterized by comprising an electric resectoscope (301) and an end effector (302) which are mutually combined; the electric resectoscope (301) comprises a rear intelligent resectoscope box (3011) and a front semi-operation manipulator; the intelligent electrotome box (3011) is integrally in a box shape with steps, and the cross section of the lower part of the intelligent electrotome box is a trapezoid with small upper part and large lower part; the intelligent electric cutting box (3011) comprises a left shell (101), a right shell (102), a flip cover (103), an unlocking button (104), a self-locking column (105), a connecting contact (106), a power input head (107), an endoscope fast interface (108) and an endoscope sheath fast interface (109), wherein the shape and the structure of the left shell are symmetrical;

the endoscope quick interface (108) is provided with a structure matched with the endoscope, so that the endoscope can be quickly inserted; the connecting contact (106) is arranged at the end part of the intelligent electric cutting box (3011), is connected with the circuit structure inside the intelligent electric cutting box (3011), the mirror sheath quick interface (109) is provided with a structure matched with the mirror body (010), the mirror body (010) can be quickly inserted, the power input head (107) can be connected with the power output rotating shaft of the end effector, and the driving force is input into the internal transmission mechanism of the intelligent electric cutting box (3011).

2. The smart resectoscope of claim 1 configured for a natural-access surgical robot, wherein the unlocking knob (104) is connected to the self-locking post (105), the unlocking knob (104) is depressed, and the self-locking post (105) is retracted flush with the outer surface of the smart resectoscope cartridge (3011).

3. The smart resectoscope of claim 2 configured for a natural channel surgical robot, the smart resectoscope (3011) further comprising a front fixed plate (110), a rear fixed plate (111), a pressure guide plate (112), a rear vertical plate (113), a rack (114), a worm (115), a worm gear (116), a gear connection shaft (117), a front vertical plate (118), a photoelectric sensor (119), a slider (120), a guide rod (121), a connecting rod (122), and an indicator light (123).

4. The intelligent resectoscope configured on a natural channel surgical robot according to claim 3, wherein the guide rod (121) is respectively connected and fixed with the front fixing plate (110) and the rear fixing plate (111), and the sliding block (120) is provided with double holes to penetrate through the guide rod (121) and the resectoscope body beside, so that the sliding block (120) can reciprocate back and forth without rotating; the screw hole is arranged below the sliding block (120) and is connected with the connecting rod (122), and the other end of the connecting rod (122) is connected with the rack (114), so that power is transmitted to the sliding block (120).

5. The smart resectoscope of claim 4 configured for a natural-channel surgical robot, wherein the end effector (302) comprises a housing (201), an interface (205), an upper cover (206), a gasket (207), a button (208), a receiving bin (209), a power output head (202), an effector contact (210), a self-locking aperture (211);

through the interface (205), the end effector (302) can be quickly connected and disconnected with the end of the mechanical arm.

6. The smart resectoscope of claim 5 configured for a natural-access surgical robot, wherein the housing (201) has a cabin-type structure, the upper cover (206) is a flat plate mounted on the housing (201), and forms an inner space together with the housing (201), and the power output-related part is mounted in the inner space.

7. The smart resectoscope of claim 6 configured for a natural-channel surgical robot, wherein a spacer (207) is mounted on the housing (201) for cradling the camera module; the button (208) is mounted on the housing (201) and connected with the circuit inside the end effector (302) to control the on-off of the related circuit.

8. The intelligent resectoscope arranged on a natural channel surgical robot according to claim 7, wherein the accommodating bin (209) is arranged at the front end of the end effector (302) and is a cavity with a shape and a size matched with the intelligent resectoscope box (3011), the cross section is a trapezoid with a small upper part and a large lower part, and after the intelligent resectoscope box (3011) is inserted into the accommodating bin (209), the trapezoid structure with the small upper part and the large lower part limits the up-and-down movement of the intelligent resectoscope box (3011).

9. The smart resectoscope of claim 8 configured for a natural channel surgical robot, wherein a self-locking hole (211) is provided in a side of the receiving bin (209), when the smart resectoscope box (3011) is installed, the unlocking knob (104) is pressed down, the self-locking post (105) is retracted to be flush with an outer surface of the smart resectoscope box (3011), then the smart resectoscope box (3011) is inserted into the receiving bin (209) until the connecting contact (106) is contacted with the actuator contact (210), the power input head (107) is connected with the power output head (202), the unlocking knob (104) is released, and the self-locking post (105) is rebounded and inserted into the self-locking hole (211), thereby limiting the back-and-forth movement of the smart resectoscope box (3011).

10. The smart resectoscope according to any one of claims 1-9, wherein the end effector (302) further comprises a motor (203), a counting substrate (204) mounted in an interior space formed by the upper cover (206) and the housing (201);

the motor (203) is connected with the power output head (202), after the intelligent electric cutting box (3011) is inserted into the accommodating bin (209), the power output head (202) is inserted into the power input head (107), the power output head (202) rotates to drive the power input head (107) to rotate together, the worm (115) is further driven to rotate, the worm (115) rotates to drive the worm wheel (116) meshed with the worm to rotate, and the worm wheel (116) rotates to further drive the rack (114) to translate;

the rack (114) is connected with the sliding block (120) through the connecting rod (122), so that the sliding block (120) is driven to move in a sliding mode by the translation of the rack (114), and finally the resectoscope is driven to move.